Tidy up GCC Cortex-A port layer - still a work in progress.
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@ -114,6 +114,10 @@
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#warning configINSTALL_FREERTOS_VECTOR_TABLE was undefined. Defaulting configINSTALL_FREERTOS_VECTOR_TABLE to 0.
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#endif
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#ifndef configCLEAR_TICK_INTERRUPT
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#define configCLEAR_TICK_INTERRUPT()
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#endif
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/* A critical section is exited when the critical section nesting count reaches
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this value. */
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#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )
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@ -151,23 +155,23 @@ mode. */
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determined priority level. Sometimes it is necessary to turn interrupt off in
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the CPU itself before modifying certain hardware registers. */
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#define portCPU_IRQ_DISABLE() \
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__asm volatile ( "CPSID i" ); \
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__asm volatile ( "DSB" ); \
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__asm volatile ( "CPSID i" ); \
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__asm volatile ( "DSB" ); \
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__asm volatile ( "ISB" );
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#define portCPU_IRQ_ENABLE() \
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__asm volatile ( "CPSIE i" ); \
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__asm volatile ( "DSB" ); \
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__asm volatile ( "CPSIE i" ); \
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__asm volatile ( "DSB" ); \
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__asm volatile ( "ISB" );
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/* Macro to unmask all interrupt priorities. */
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#define portCLEAR_INTERRUPT_MASK() \
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{ \
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#define portCLEAR_INTERRUPT_MASK() \
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{ \
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portCPU_IRQ_DISABLE(); \
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portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE; \
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__asm( "DSB \n" \
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"ISB \n" ); \
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portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE; \
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__asm( "DSB \n" \
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"ISB \n" ); \
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portCPU_IRQ_ENABLE(); \
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}
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@ -426,6 +430,7 @@ void FreeRTOS_Tick_Handler( void )
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/* Ensure all interrupt priorities are active again. */
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portCLEAR_INTERRUPT_MASK();
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configCLEAR_TICK_INTERRUPT();
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}
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/*-----------------------------------------------------------*/
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@ -58,26 +58,18 @@
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.set SVC_MODE, 0x13
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.set IRQ_MODE, 0x12
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/* Hardware registers. */
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.extern ulICCIAR
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.extern ulICCEOIR
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.extern ulMaxAPIPriorityMask
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.extern ulICCPMR
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/* Variables and functions. */
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.extern ulMaxAPIPriorityMask
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.extern _freertos_vector_table
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.global FreeRTOS_vector_table
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.global FIQInterrupt
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.global Undefined
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.global PrefetchAbortHandler
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.global DataAbortInterrupt
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.extern pxCurrentTCB
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.extern XIntc_DeviceInterruptHandler
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.extern vTaskSwitchContext
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.extern uxCriticalNesting
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.extern pulISRStack
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.extern ulTaskSwitchRequested
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.extern vPortExceptionHandler
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.extern pulStackPointerOnFunctionEntry
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.extern vApplicationIRQHandler
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.extern ulPortInterruptNesting
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.global FreeRTOS_IRQ_Handler
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.global FreeRTOS_SWI_Handler
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@ -96,13 +88,13 @@
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PUSH {R0-R12, R14}
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/* Push the critical nesting count. */
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LDR R2, =ulCriticalNesting
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LDR R2, ulCriticalNestingConst
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LDR R1, [R2]
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PUSH {R1}
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/* Does the task have a floating point context that needs saving? If
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ulPortTaskHasFPUContext is 0 then no. */
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LDR R2, =ulPortTaskHasFPUContext
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LDR R2, ulPortTaskHasFPUContextConst
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LDR R3, [R2]
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CMP R3, #0
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@ -116,7 +108,7 @@
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PUSH {R3}
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/* Save the stack pointer in the TCB. */
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LDR R0, =pxCurrentTCB
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LDR R0, pxCurrentTCBConst
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LDR R1, [R0]
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STR SP, [R1]
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@ -130,13 +122,13 @@
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CPS #SYS_MODE
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/* Set the SP to point to the stack of the task being restored. */
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LDR R0, =pxCurrentTCB
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LDR R0, pxCurrentTCBConst
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LDR R1, [R0]
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LDR SP, [R1]
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/* Is there a floating point context to restore? If the restored
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ulPortTaskHasFPUContext is zero then no. */
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LDR R0, =ulPortTaskHasFPUContext
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LDR R0, ulPortTaskHasFPUContextConst
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POP {R1}
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STR R1, [R0]
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CMP R1, #0
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@ -148,16 +140,18 @@
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VMSRNE FPSCR, R0
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/* Restore the critical section nesting depth. */
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LDR R0, =ulCriticalNesting
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LDR R0, ulCriticalNestingConst
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POP {R1}
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STR R1, [R0]
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/* Ensure the priority mask is correct for the critical nesting depth. */
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LDR R2, =ulICCPMR
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LDR R2, ulICCPMRConst
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LDR R2, [R2]
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CMP R1, #0
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MOVEQ R4, #255
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LDRNE R4, =ulMaxAPIPriorityMask
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STR R4, [r2]
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LDRNE R4, ulMaxAPIPriorityMaskConst
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LDRNE R4, [R4]
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STR R4, [R2]
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/* Restore all system mode registers other than the SP (which is already
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being used). */
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@ -175,40 +169,9 @@
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* SVC handler is used to start the scheduler and yield a task.
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*****************************************************************************/
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FreeRTOS_SWI_Handler:
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/* Save the context of the current task and select a new task to run. */
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/* Save the LR and SPSR onto the system mode stack before switching to
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system mode to save the remaining system mode registers. */
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SRSDB sp!, #SYS_MODE
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CPS #SYS_MODE
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PUSH {R0-R12, R14}
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/* Push the critical nesting count. */
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LDR R2, =ulCriticalNesting
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LDR R1, [R2]
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PUSH {R1}
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/* Does the task have a floating point context that needs saving? If
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ulPortTaskHasFPUContext is 0 then no. */
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LDR R2, =ulPortTaskHasFPUContext
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LDR R3, [R2]
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CMP R3, #0
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/* Save the floating point context, if any. */
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FMRXNE R1, FPSCR
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VPUSHNE {D0-D15}
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VPUSHNE {D16-D31}
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PUSHNE {R1}
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/* Save ulPortTaskHasFPUContext itself. */
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PUSH {R3}
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/* Save the stack pointer in the TCB. */
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LDR R0, =pxCurrentTCB
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LDR R1, [R0]
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STR SP, [R1]
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LDR R0, =vTaskSwitchContext
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portSAVE_CONTEXT
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LDR R0, vTaskSwitchContextConst
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BLX R0
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vPortRestoreTaskContext:
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@ -232,7 +195,7 @@ FreeRTOS_IRQ_Handler:
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/* Increment nesting count. r3 holds the address of ulPortInterruptNesting
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for future use. r1 holds the original ulPortInterruptNesting value for
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future use. */
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LDR r3, =ulPortInterruptNesting
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LDR r3, ulPortInterruptNestingConst
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LDR r1, [r3]
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ADD r4, r1, #1
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STR r4, [r3]
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@ -251,7 +214,8 @@ FreeRTOS_IRQ_Handler:
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/* Call the interrupt handler. */
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PUSH {r0-r3, lr}
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BL vApplicationIRQHandler
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LDR r1, vApplicationIRQHandlerConst
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BLX r1
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POP {r0-r3, lr}
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ADD sp, sp, r2
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@ -308,15 +272,13 @@ switch_before_exit:
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vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD
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instructions, or 8 byte aligned stack allocated data. LR does not need
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saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */
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BL vTaskSwitchContext
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LDR R0, vTaskSwitchContextConst
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BLX R0
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/* Restore the context of, and branch to, the task selected to execute
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next. */
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portRESTORE_CONTEXT
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ulICCIARConst: .word ulICCIAR
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ulICCEOIRConst: .word ulICCEOIR
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vPortInstallFreeRTOSVectorTable:
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/* Set VBAR to the vector table that contains the FreeRTOS handlers. */
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ldr r0, =_freertos_vector_table
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@ -325,6 +287,16 @@ vPortInstallFreeRTOSVectorTable:
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isb
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bx lr
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ulICCIARConst: .word ulICCIAR
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ulICCEOIRConst: .word ulICCEOIR
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ulICCPMRConst: .word ulICCPMR
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pxCurrentTCBConst: .word pxCurrentTCB
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ulCriticalNestingConst: .word ulCriticalNesting
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ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext
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ulMaxAPIPriorityMaskConst: .word ulMaxAPIPriorityMask
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vTaskSwitchContextConst: .word vTaskSwitchContext
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vApplicationIRQHandlerConst: .word vApplicationIRQHandler
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ulPortInterruptNestingConst: .word ulPortInterruptNesting
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.end
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