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First pass at adding R4F floating point support.

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pull/1/head
Richard Barry 13 years ago
parent fe2163ede4
commit 9ff79da901
7 changed files with 571 additions and 169 deletions
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129
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/.cproject
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@ -26,45 +26,45 @@
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11
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/.settings/org.eclipse.core.resources.prefs
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@ -10,3 +10,14 @@ encoding//Debug/startup/subdir_rules.mk=UTF-8
encoding//Debug/startup/subdir_vars.mk=UTF-8
encoding//Debug/subdir_rules.mk=UTF-8
encoding//Debug/subdir_vars.mk=UTF-8
encoding//Debug_with_FPU/demo/subdir_rules.mk=UTF-8
encoding//Debug_with_FPU/demo/subdir_vars.mk=UTF-8
encoding//Debug_with_FPU/makefile=UTF-8
encoding//Debug_with_FPU/objects.mk=UTF-8
encoding//Debug_with_FPU/os/subdir_rules.mk=UTF-8
encoding//Debug_with_FPU/os/subdir_vars.mk=UTF-8
encoding//Debug_with_FPU/sources.mk=UTF-8
encoding//Debug_with_FPU/startup/subdir_rules.mk=UTF-8
encoding//Debug_with_FPU/startup/subdir_vars.mk=UTF-8
encoding//Debug_with_FPU/subdir_rules.mk=UTF-8
encoding//Debug_with_FPU/subdir_vars.mk=UTF-8

61
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/FreeRTOSConfig.h
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@ -79,50 +79,53 @@
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 1
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0
#define configCPU_CLOCK_HZ ( ( unsigned portLONG ) 90000000 ) /* Timer clock. */
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 8 )
#define configMINIMAL_STACK_SIZE ( ( unsigned portSHORT ) 128 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) 32768 )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configIDLE_SHOULD_YIELD 1
#define configGENERATE_RUN_TIME_STATS 0
#define configUSE_MALLOC_FAILED_HOOK 1
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configUSE_PREEMPTION 1
#define configUSE_FPU 1
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 1
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0
#define configCPU_CLOCK_HZ ( ( unsigned portLONG ) 90000000 ) /* Timer clock. */
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 8 )
#define configMINIMAL_STACK_SIZE ( ( unsigned portSHORT ) 128 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) 32768 )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configIDLE_SHOULD_YIELD 1
#define configGENERATE_RUN_TIME_STATS 0
#define configUSE_MALLOC_FAILED_HOOK 1
#define configCHECK_FOR_STACK_OVERFLOW 2
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Mutexes */
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
/* Semaphores */
#define configUSE_COUNTING_SEMAPHORES 1
/* Timers */
#define configUSE_TIMERS 1
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( 2 )
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH ( 128 )
/* Set the following definitions to 1 to include the API function, or zero to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_xTaskResumeFromISR 0
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_xTaskResumeFromISR 0
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define configASSERT( x ) if( ( x ) == pdFALSE ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
#endif /* FREERTOS_CONFIG_H */

1
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/main.c
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@ -113,7 +113,6 @@ extern void main_full( void );
/* See the documentation page for this demo on the FreeRTOS.org web site for
full information - including hardware setup requirements. */
int main( void )
{
/* Prepare the hardware to run this demo. */

51
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/os/port.c
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@ -90,9 +90,9 @@ unsigned portLONG ulCriticalNesting = 9999;
/* Constants required to set up the initial stack of each task. */
#define portINITIAL_SPSR ( ( portSTACK_TYPE ) 0x1F )
#define portINITIAL_FPSCR ( ( portSTACK_TYPE ) 0x00 )
#define portINSTRUCTION_SIZE ( ( portSTACK_TYPE ) 0x04 )
#define portINITIAL_SPSR ( ( portSTACK_TYPE ) 0x1F )
#define portINITIAL_FPSCR ( ( portSTACK_TYPE ) 0x00 )
#define portINSTRUCTION_SIZE ( ( portSTACK_TYPE ) 0x04 )
#define portTHUMB_MODE_BIT ( ( portSTACK_TYPE ) 0x20 )
/* The number of words on the stack frame between the saved Top Of Stack and
@ -106,6 +106,12 @@ extern void vPortStartFirstTask( void );
/*-----------------------------------------------------------*/
/* Saved as part of the task context. Set to pdFALSE if the task does not
require an FPU context. */
unsigned long ulTaskHasFPUContext = 0;
/*-----------------------------------------------------------*/
/*
* See header file for description.
@ -116,6 +122,13 @@ portSTACK_TYPE *pxOriginalTOS;
pxOriginalTOS = pxTopOfStack;
#if __TI_VFP_SUPPORT__
{
/* Ensure the stack is correctly aligned on exit. */
pxTopOfStack--;
}
#endif
/* Setup the initial stack of the task. The stack is set exactly as
expected by the portRESTORE_CONTEXT() macro. */
@ -167,8 +180,7 @@ portSTACK_TYPE *pxOriginalTOS;
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
pxTopOfStack--;
/* The last thing onto the stack is the status register, which is set for
system mode, with interrupts enabled. */
/* Set the status register for system mode, with interrupts enabled. */
*pxTopOfStack = ( portSTACK_TYPE ) ( ( _get_CPSR() & ~0xFF ) | portINITIAL_SPSR );
if( ( ( unsigned long ) pxCode & 0x01UL ) != 0x00 )
@ -177,6 +189,17 @@ portSTACK_TYPE *pxOriginalTOS;
*pxTopOfStack |= portTHUMB_MODE_BIT;
}
#ifdef __TI_VFP_SUPPORT__
{
pxTopOfStack--;
/* The last thing on the stack is the tasks ulUsingFPU value, which by
default is set to indicate that the stack frame does not include FPU
registers. */
*pxTopOfStack = pdFALSE;
}
#endif
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
@ -307,3 +330,21 @@ void vPortExitCritical( void )
}
/*-----------------------------------------------------------*/
#if __TI_VFP_SUPPORT__
void vPortTaskUsesFPU( void )
{
extern void vPortInitialiseFPSCR( void );
/* A task is registering the fact that it needs an FPU context. Set the
FPU flag (saved as part of the task context. */
ulTaskHasFPUContext = pdTRUE;
/* Initialise the floating point status register. */
vPortInitialiseFPSCR();
}
#endif /* __TI_VFP_SUPPORT__ */
/*-----------------------------------------------------------*/

228
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/os/portASM.asm
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@ -51,117 +51,203 @@
; licensing and training services.
;*/
; TCJ: Using SSI interrupt todo portYIELD_WITHIN_API, means that we do not need
; to save ulCriticalNesting in the task context
.text
.arm
.ref vTaskSwitchContext
.ref vTaskIncrementTick
.ref ulTaskHasFPUContext
.ref pxCurrentTCB
;-------------------------------------------------------------------------------
;/*-----------------------------------------------------------*/
;
; Save Task Context
;
portSAVE_CONTEXT .macro
stmfd sp!, {r0}
stmfd sp, {sp}^
sub sp, sp, #4
ldmfd sp!, {r0}
stmfd r0!, {lr}
mov lr, r0
ldmfd sp!, {r0}
stmfd lr, {r0-lr}^
sub lr, lr, #0x3C
.if (__TI_VFPV3D16_SUPPORT__)
fstmdbd lr!, {d0-d15}
mrs r0, spsr
fmrx r1, fpscr
stmfd lr!, {r0,r1}
.else
mrs r0, spsr
stmfd lr!, {r0}
.endif
ldr r0, curTCB
ldr r0, [r0]
str lr, [r0]
.endm
DSB
;-------------------------------------------------------------------------------
; Push R0 as we are going to use it
STMDB SP!, {R0}
; Set R0 to point to the task stack pointer.
STMDB SP,{SP}^
SUB SP, SP, #4
LDMIA SP!,{R0}
; Push the return address onto the stack.
STMDB R0!, {LR}
; Now LR has been saved, it can be used instead of R0.
MOV LR, R0
; Pop R0 so it can be saved onto the task stack.
LDMIA SP!, {R0}
; Push all the system mode registers onto the task stack.
STMDB LR,{R0-LR}^
SUB LR, LR, #60
; Push the SPSR onto the task stack.
MRS R0, SPSR
STMDB LR!, {R0}
.if (__TI_VFP_SUPPORT__)
;Determine if the task maintains an FPU context.
LDR R0, ulFPUContextConst
LDR R0, [R0]
; Test the flag
CMP R0, #0
; If the task is not using a floating point context then skip the
; saving of the FPU registers.
BEQ PC+3
FSTMDBD LR!, {D0-D15}
FMRX R1, FPSCR
STMFD LR!, {R1}
; Save the flag
STMDB LR!, {R0}
.endif
; Store the new top of stack for the task.
LDR R0, pxCurrentTCBConst
LDR R0, [R0]
STR LR, [R0]
.endm
;/*-----------------------------------------------------------*/
;
; Restore Task Context
;
portRESTORE_CONTEXT .macro
ldr r0, curTCB
ldr r0, [r0]
ldr lr, [r0]
.if (__TI_VFPV3D16_SUPPORT__)
ldmfd lr!, {r0,r1}
fldmiad lr!, {d0-d15}
fmxr fpscr, r1
.else
ldmfd lr!, {r0}
.endif
msr spsr_csxf, r0
ldmfd lr, {r0-r14}^
ldr lr, [lr, #0x3C]
subs pc, lr, #4
LDR R0, pxCurrentTCBConst
LDR R0, [R0]
LDR LR, [R0]
.if (__TI_VFP_SUPPORT__)
; The floating point context flag is the first thing on the stack.
LDR R0, ulFPUContextConst
LDMFD LR!, {R1}
STR R1, [R0]
; Test the flag
CMP R1, #0
; If the task is not using a floating point context then skip the
; VFP register loads.
BEQ PC+3
; Restore the floating point context.
LDMFD LR!, {R0}
FLDMIAD LR!, {D0-D15}
FMXR FPSCR, R0
.endif
; Get the SPSR from the stack.
LDMFD LR!, {R0}
MSR SPSR_CF, R0
; Restore all system mode registers for the task.
LDMFD LR, {R0-R14}^
; Restore the return address.
LDR LR, [LR, #+60]
; And return - correcting the offset in the LR to obtain the
; correct address.
SUBS PC, LR, #4
.endm
;-------------------------------------------------------------------------------
; Start First Task
;/*-----------------------------------------------------------*/
; Start the first task by restoring its context.
.def vPortStartFirstTask
vPortStartFirstTask
vPortStartFirstTask:
portRESTORE_CONTEXT
;-------------------------------------------------------------------------------
; Yield Processor
;/*-----------------------------------------------------------*/
; Yield to another task.
.def vPortYieldProcessor
.ref vTaskSwitchContext
vPortYieldProcessor
add lr, lr, #4
vPortYieldProcessor:
; Within an IRQ ISR the link register has an offset from the true return
; address. SWI doesn't do this. Add the offset manually so the ISR
; return code can be used.
ADD LR, LR, #4
; First save the context of the current task.
portSAVE_CONTEXT
bl vTaskSwitchContext
; Select the next task to execute. */
BL vTaskSwitchContext
; Restore the context of the task selected to execute.
portRESTORE_CONTEXT
;-------------------------------------------------------------------------------
; Yield Processor From Within FreeRTOS API
;/*-----------------------------------------------------------*/
; Yield to another task from within the FreeRTOS API
.def vPortYeildWithinAPI
vPortYeildWithinAPI
vPortYeildWithinAPI:
; Save the context of the current task.
portSAVE_CONTEXT
; clear SSI flag
movw r0, #0xFFF4
movt r0, #0xFFFF
ldr r0, [r0];
; switch task
bl vTaskSwitchContext
; Clear SSI flag.
MOVW R0, #0xFFF4
MOVT R0, #0xFFFF
LDR R0, [R0]
; Select the next task to execute. */
BL vTaskSwitchContext
; Restore the context of the task selected to execute.
portRESTORE_CONTEXT
;-------------------------------------------------------------------------------
;/*-----------------------------------------------------------*/
; Preemptive Tick
.def vPortPreemptiveTick
.ref vTaskIncrementTick
vPortPreemptiveTick
vPortPreemptiveTick:
; Save the context of the current task.
portSAVE_CONTEXT
; clear interrupt flag
movw r0, #0xFC88
movt r0, #0xFFFF
mov r1, #1
str r1, [r0]
bl vTaskIncrementTick
bl vTaskSwitchContext
; Clear interrupt flag
MOVW R0, #0xFC88
MOVT R0, #0xFFFF
MOV R1, #1
STR R1, [R0]
; Increment the tick count, making any adjustments to the blocked lists
; that may be necessary.
BL vTaskIncrementTick
; Select the next task to execute.
BL vTaskSwitchContext
; Restore the context of the task selected to execute.
portRESTORE_CONTEXT
;-------------------------------------------------------------------------------
.ref pxCurrentTCB
curTCB .word pxCurrentTCB
.if (__TI_VFP_SUPPORT__)
.def vPortInitialiseFPSCR
vPortInitialiseFPSCR:
MOV R0, #0
FMXR FPSCR, R0
BX LR
.endif ;__TI_VFP_SUPPORT__
pxCurrentTCBConst .word pxCurrentTCB
ulFPUContextConst .word ulTaskHasFPUContext
;-------------------------------------------------------------------------------

259
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/reg_test.asm
Unescape Escape View File

@ -68,10 +68,20 @@
;
.def vRegTestTask1
.ref ulRegTest1Counter
.if (__TI_VFP_SUPPORT__)
.ref vPortTaskUsesFPU
.endif ;__TI_VFP_SUPPORT__
.text
.arm
vRegTestTask1:
.if (__TI_VFP_SUPPORT__)
; Let the port layer know that this task needs its FPU context saving.
BL vPortTaskUsesFPU
.endif
; Fill each general purpose register with a known value.
mov r0, #0xFF
mov r1, #0x11
@ -87,12 +97,134 @@ vRegTestTask1:
mov r11, #0xBB
mov r12, #0xCC
mov r14, #0xEE
.if (__TI_VFP_SUPPORT__)
; Fill each FPU register with a known value.
vmov d0, r0, r1
vmov d1, r2, r3
vmov d2, r4, r5
vmov d3, r6, r7
vmov d4, r8, r9
vmov d5, r10, r11
vmov d6, r0, r1
vmov d7, r2, r3
vmov d8, r4, r5
vmov d9, r6, r7
vmov d10, r8, r9
vmov d11, r10, r11
vmov d12, r0, r1
vmov d13, r2, r3
vmov d14, r4, r5
vmov d15, r6, r7
.endif
vRegTestLoop1:
; Force yeild
swi #0
.if (__TI_VFP_SUPPORT__)
; Check all the VFP registers still contain the values set above.
; First save registers that are clobbered by the test.
push { r0-r1 }
vmov r0, r1, d0
cmp r0, #0xFF
bne reg1_error_loopf
cmp r1, #0x11
bne reg1_error_loopf
vmov r0, r1, d1
cmp r0, #0x22
bne reg1_error_loopf
cmp r1, #0x33
bne reg1_error_loopf
vmov r0, r1, d2
cmp r0, #0x44
bne reg1_error_loopf
cmp r1, #0x55
bne reg1_error_loopf
vmov r0, r1, d3
cmp r0, #0x66
bne reg1_error_loopf
cmp r1, #0x77
bne reg1_error_loopf
vmov r0, r1, d4
cmp r0, #0x88
bne reg1_error_loopf
cmp r1, #0x99
bne reg1_error_loopf
vmov r0, r1, d5
cmp r0, #0xAA
bne reg1_error_loopf
cmp r1, #0xBB
bne reg1_error_loopf
vmov r0, r1, d6
cmp r0, #0xFF
bne reg1_error_loopf
cmp r1, #0x11
bne reg1_error_loopf
vmov r0, r1, d7
cmp r0, #0x22
bne reg1_error_loopf
cmp r1, #0x33
bne reg1_error_loopf
vmov r0, r1, d8
cmp r0, #0x44
bne reg1_error_loopf
cmp r1, #0x55
bne reg1_error_loopf
vmov r0, r1, d9
cmp r0, #0x66
bne reg1_error_loopf
cmp r1, #0x77
bne reg1_error_loopf
vmov r0, r1, d10
cmp r0, #0x88
bne reg1_error_loopf
cmp r1, #0x99
bne reg1_error_loopf
vmov r0, r1, d11
cmp r0, #0xAA
bne reg1_error_loopf
cmp r1, #0xBB
bne reg1_error_loopf
vmov r0, r1, d12
cmp r0, #0xFF
bne reg1_error_loopf
cmp r1, #0x11
bne reg1_error_loopf
vmov r0, r1, d13
cmp r0, #0x22
bne reg1_error_loopf
cmp r1, #0x33
bne reg1_error_loopf
vmov r0, r1, d14
cmp r0, #0x44
bne reg1_error_loopf
cmp r1, #0x55
bne reg1_error_loopf
vmov r0, r1, d15
cmp r0, #0x66
bne reg1_error_loopf
cmp r1, #0x77
bne reg1_error_loopf
; Restore the registers that were clobbered by the test.
pop {r0-r1}
; VFP register test passed. Jump to the core register test.
b reg1_loopf_pass
reg1_error_loopf:
; If this line is hit then a VFP register value was found to be
; incorrect.
b reg1_error_loopf
reg1_loopf_pass:
.endif ;__TI_VFP_SUPPORT__
; Test each general purpose register to check that it still contains the
; expected known value, jumping to vRegTestError1 if any register contains
; an unexpected value.
@ -151,6 +283,11 @@ vRegTestError1:
.arm
;
vRegTestTask2:
.if (__TI_VFP_SUPPORT__)
; Let the port layer know that this task needs its FPU context saving.
BL vPortTaskUsesFPU
.endif
; Fill each general purpose register with a known value.
mov r0, #0xFF000000
mov r1, #0x11000000
@ -167,8 +304,130 @@ vRegTestTask2:
mov r12, #0xCC000000
mov r14, #0xEE000000
.if (__TI_VFP_SUPPORT__)
; Fill each FPU register with a known value.
vmov d0, r0, r1
vmov d1, r2, r3
vmov d2, r4, r5
vmov d3, r6, r7
vmov d4, r8, r9
vmov d5, r10, r11
vmov d6, r0, r1
vmov d7, r2, r3
vmov d8, r4, r5
vmov d9, r6, r7
vmov d10, r8, r9
vmov d11, r10, r11
vmov d12, r0, r1
vmov d13, r2, r3
vmov d14, r4, r5
vmov d15, r6, r7
.endif
vRegTestLoop2:
.if (__TI_VFP_SUPPORT__)
; Check all the VFP registers still contain the values set above.
; First save registers that are clobbered by the test.
push { r0-r1 }
vmov r0, r1, d0
cmp r0, #0xFF000000
bne reg2_error_loopf
cmp r1, #0x11000000
bne reg2_error_loopf
vmov r0, r1, d1
cmp r0, #0x22000000
bne reg2_error_loopf
cmp r1, #0x33000000
bne reg2_error_loopf
vmov r0, r1, d2
cmp r0, #0x44000000
bne reg2_error_loopf
cmp r1, #0x55000000
bne reg2_error_loopf
vmov r0, r1, d3
cmp r0, #0x66000000
bne reg2_error_loopf
cmp r1, #0x77000000
bne reg2_error_loopf
vmov r0, r1, d4
cmp r0, #0x88000000
bne reg2_error_loopf
cmp r1, #0x99000000
bne reg2_error_loopf
vmov r0, r1, d5
cmp r0, #0xAA000000
bne reg2_error_loopf
cmp r1, #0xBB000000
bne reg2_error_loopf
vmov r0, r1, d6
cmp r0, #0xFF000000
bne reg2_error_loopf
cmp r1, #0x11000000
bne reg2_error_loopf
vmov r0, r1, d7
cmp r0, #0x22000000
bne reg2_error_loopf
cmp r1, #0x33000000
bne reg2_error_loopf
vmov r0, r1, d8
cmp r0, #0x44000000
bne reg2_error_loopf
cmp r1, #0x55000000
bne reg2_error_loopf
vmov r0, r1, d9
cmp r0, #0x66000000
bne reg2_error_loopf
cmp r1, #0x77000000
bne reg2_error_loopf
vmov r0, r1, d10
cmp r0, #0x88000000
bne reg2_error_loopf
cmp r1, #0x99000000
bne reg2_error_loopf
vmov r0, r1, d11
cmp r0, #0xAA000000
bne reg2_error_loopf
cmp r1, #0xBB000000
bne reg2_error_loopf
vmov r0, r1, d12
cmp r0, #0xFF000000
bne reg2_error_loopf
cmp r1, #0x11000000
bne reg2_error_loopf
vmov r0, r1, d13
cmp r0, #0x22000000
bne reg2_error_loopf
cmp r1, #0x33000000
bne reg2_error_loopf
vmov r0, r1, d14
cmp r0, #0x44000000
bne reg2_error_loopf
cmp r1, #0x55000000
bne reg2_error_loopf
vmov r0, r1, d15
cmp r0, #0x66000000
bne reg2_error_loopf
cmp r1, #0x77000000
bne reg2_error_loopf
; Restore the registers that were clobbered by the test.
pop {r0-r1}
; VFP register test passed. Jump to the core register test.
b reg2_loopf_pass
reg2_error_loopf:
; If this line is hit then a VFP register value was found to be
; incorrect.
b reg2_error_loopf
reg2_loopf_pass:
.endif ;__TI_VFP_SUPPORT__
; Test each general purpose register to check that it still contains the
; expected known value, jumping to vRegTestError2 if any register contains
; an unexpected value.

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