Add flop support.

Source/portable/Renesas/SH2A_FPU/port.c

@@ -59,8 +59,16 @@
 #include "FreeRTOS.h"
 #include "task.h"
 
-#define portINITIAL_SR		0UL /* No interrupts masked. */
+/* Library includes. */
+#include "string.h"
 
+#define portINITIAL_SR			0UL /* No interrupts masked. */
+
+/* Allocate enough space for FPR0 to FPR15, FPUL and FPSCR, each of which is 4
+bytes big.  If this number is changed then the 72 in portasm.src also needs
+changing. */
+#define portFLOP_REGISTERS_TO_STORE	( 18 )
+#define portFLOP_STORAGE_SIZE 		( portFLOP_REGISTERS_TO_STORE * 4 )
 
 /*-----------------------------------------------------------*/
 
@@ -196,7 +204,7 @@ portBASE_TYPE xPortStartScheduler( void )
 	prvSetupTimerInterrupt();
 	
 	/* Start the first task. */
-	trapa( 32 );
+	trapa( portSTART_SCHEDULER_TRAP_NO );
 
 	/* Should not get here. */
 	return pdFAIL;
@@ -229,6 +237,58 @@ extern void vApplicationSetupTimerInterrupt( void );
 }
 /*-----------------------------------------------------------*/
 
+void vPortYield( void )
+{
+long lInterruptMask;
+
+	lInterruptMask = get_imask();
+
+	/* taskYIELD() can only be called from a task, not an interrupt, so the
+	current interrupt mask can only be 0 or portKERNEL_INTERRUPT_PRIORITY and
+	the mask can be set without risk of accidentally lowering the mask value. */	
+	set_imask( portKERNEL_INTERRUPT_PRIORITY );
+	
+	trapa( portYIELD_TRAP_NO );
+	
+	set_imask( ( int ) lInterruptMask );
+}
+/*-----------------------------------------------------------*/
+
+portBASE_TYPE xPortUsesFloatingPoint( xTaskHandle xTask )
+{
+unsigned long *pulFlopBuffer;
+portBASE_TYPE xReturn;
+extern void * volatile pxCurrentTCB;
+
+	if( xTask == NULL )
+	{
+		xTask = pxCurrentTCB;
+	}
+
+	/* Allocate a buffer large enough to hold all the flop registers. */
+	pulFlopBuffer = ( unsigned long * ) pvPortMalloc( portFLOP_STORAGE_SIZE );
+	
+	if( pulFlopBuffer != NULL )
+	{
+		memset( ( void * ) pulFlopBuffer, 0x00, portFLOP_STORAGE_SIZE );
+		
+		*pulFlopBuffer = get_fpscr();
+		
+		/* Use the task tag to point to the flop buffer.  Pass pointer to just above
+		the buffer because the flop save routine uses a pre-decrement. */
+		vTaskSetApplicationTaskTag( xTask, ( void * ) ( pulFlopBuffer + portFLOP_REGISTERS_TO_STORE ) );		
+		xReturn = pdPASS;
+	}
+	else
+	{
+		xReturn = pdFAIL;
+	}
+	
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+
 
 
 

Source/portable/Renesas/SH2A_FPU/portasm.src

@@ -57,9 +57,11 @@
 
 	.export _vPortStartFirstTask
 	.export _ulPortGetGBR
-	.export _vPortYield
+	.export _vPortYieldHandler
 	.export _vPortPreemptiveTick
 	.export _vPortCooperativeTick
+	.export _vPortSaveFlopRegisters
+	.export _vPortRestoreFlopRegisters
 
     .section    P
 
@@ -118,19 +120,7 @@ _vPortStartFirstTask:
 	
 ;-----------------------------------------------------------
 
-_vPortYield:
+_vPortYieldHandler:
-
-	; Push r0 so it can be used.
-	mov.l	r0, @-r15
-	
-	; Set the interrupt mask in the status register.
-	stc		sr, r0
-	or		#H'70, r0
-	ldc		r0, sr
-	
-	; Restore r0 so its original value can be saved by the movml.l instruction 
-	; below, without ending up with two copies on the stack.
-	mov.l	@r15+, r0
 
 	portSAVE_CONTEXT
 
@@ -176,5 +166,58 @@ _ulPortGetGBR:
 	rts
 	nop
 
+;-----------------------------------------------------------
+
+_vPortSaveFlopRegisters:
+
+	fmov.s	fr0, @-r4
+	fmov.s	fr1, @-r4
+	fmov.s	fr2, @-r4
+	fmov.s	fr3, @-r4
+	fmov.s	fr4, @-r4
+	fmov.s	fr5, @-r4
+	fmov.s	fr6, @-r4
+	fmov.s	fr7, @-r4
+	fmov.s	fr8, @-r4
+	fmov.s	fr9, @-r4
+	fmov.s	fr10, @-r4
+	fmov.s	fr11, @-r4
+	fmov.s	fr12, @-r4
+	fmov.s	fr13, @-r4
+	fmov.s	fr14, @-r4
+	fmov.s	fr15, @-r4	
+	sts.l   fpul, @-r4
+	sts.l   fpscr, @-r4
+	
+	rts
+	nop
+
+;-----------------------------------------------------------
+	
+_vPortRestoreFlopRegisters:
+
+	add.l  #-72, r4
+	lds.l  @r4+, fpscr
+	lds.l  @r4+, fpul	
+	fmov.s @r4+, fr15
+	fmov.s @r4+, fr14
+	fmov.s @r4+, fr13
+	fmov.s @r4+, fr12
+	fmov.s @r4+, fr11
+	fmov.s @r4+, fr10
+	fmov.s @r4+, fr9
+	fmov.s @r4+, fr8
+	fmov.s @r4+, fr7
+	fmov.s @r4+, fr6
+	fmov.s @r4+, fr5
+	fmov.s @r4+, fr4
+	fmov.s @r4+, fr3
+	fmov.s @r4+, fr2
+	fmov.s @r4+, fr1
+	fmov.s @r4+, fr0
+	
+	rts
+	nop
+	
 	.end
 		

Source/portable/Renesas/SH2A_FPU/portmacro.h

@@ -90,15 +90,27 @@ extern "C" {
 /*-----------------------------------------------------------*/
 
 /* Hardware specifics. */
-#define portBYTE_ALIGNMENT			4
+#define portBYTE_ALIGNMENT				4
-#define portSTACK_GROWTH			-1
+#define portSTACK_GROWTH				-1
-#define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )		
+#define portTICK_RATE_MS				( ( portTickType ) 1000 / configTICK_RATE_HZ )		
-#define portYIELD()					trapa( 33 )
+#define portNOP()						nop()
-#define portNOP()					nop()
+#define portSTART_SCHEDULER_TRAP_NO		( 32 )
+#define portYIELD_TRAP_NO				( 33 )
+#define portKERNEL_INTERRUPT_PRIORITY	( 1 )
+
+void vPortYield( void );
+#define portYIELD()						vPortYield()
+
+portBASE_TYPE xPortUsesFloatingPoint( void* xTask );
+void vPortSaveFlopRegisters( void *pulBuffer );
+void vPortRestoreFlopRegisters( void *pulBuffer );
+#define traceTASK_SWITCHED_OUT() if( pxCurrentTCB->pxTaskTag != NULL ) vPortSaveFlopRegisters( pxCurrentTCB->pxTaskTag )
+#define traceTASK_SWITCHED_IN() if( pxCurrentTCB->pxTaskTag != NULL ) vPortRestoreFlopRegisters( pxCurrentTCB->pxTaskTag )
+
 /*-----------------------------------------------------------*/
 
 #define portENABLE_INTERRUPTS() 	set_imask( 0x00 )
-#define portDISABLE_INTERRUPTS() 	set_imask( configMAX_SYSCALL_INTERRUPT_PRIORITY )
+#define portDISABLE_INTERRUPTS() 	set_imask( portKERNEL_INTERRUPT_PRIORITY )
 
 /* Critical section handling. */
 #define portCRITICAL_NESTING_IN_TCB ( 1 )