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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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Add flop support.
This commit is contained in:
Richard Barry
parent
65b947b50f
commit
094945625d
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@ -59,8 +59,16 @@
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#include "FreeRTOS.h"
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#include "task.h"
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/* Library includes. */
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#include "string.h"
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#define portINITIAL_SR 0UL /* No interrupts masked. */
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/* Allocate enough space for FPR0 to FPR15, FPUL and FPSCR, each of which is 4
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bytes big. If this number is changed then the 72 in portasm.src also needs
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changing. */
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#define portFLOP_REGISTERS_TO_STORE ( 18 )
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#define portFLOP_STORAGE_SIZE ( portFLOP_REGISTERS_TO_STORE * 4 )
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/*-----------------------------------------------------------*/
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@ -196,7 +204,7 @@ portBASE_TYPE xPortStartScheduler( void )
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prvSetupTimerInterrupt();
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/* Start the first task. */
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trapa( 32 );
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trapa( portSTART_SCHEDULER_TRAP_NO );
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/* Should not get here. */
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return pdFAIL;
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@ -229,6 +237,58 @@ extern void vApplicationSetupTimerInterrupt( void );
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}
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/*-----------------------------------------------------------*/
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void vPortYield( void )
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{
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long lInterruptMask;
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lInterruptMask = get_imask();
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/* taskYIELD() can only be called from a task, not an interrupt, so the
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current interrupt mask can only be 0 or portKERNEL_INTERRUPT_PRIORITY and
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the mask can be set without risk of accidentally lowering the mask value. */
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set_imask( portKERNEL_INTERRUPT_PRIORITY );
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trapa( portYIELD_TRAP_NO );
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set_imask( ( int ) lInterruptMask );
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xPortUsesFloatingPoint( xTaskHandle xTask )
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{
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unsigned long *pulFlopBuffer;
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portBASE_TYPE xReturn;
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extern void * volatile pxCurrentTCB;
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if( xTask == NULL )
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{
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xTask = pxCurrentTCB;
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}
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/* Allocate a buffer large enough to hold all the flop registers. */
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pulFlopBuffer = ( unsigned long * ) pvPortMalloc( portFLOP_STORAGE_SIZE );
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if( pulFlopBuffer != NULL )
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{
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memset( ( void * ) pulFlopBuffer, 0x00, portFLOP_STORAGE_SIZE );
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*pulFlopBuffer = get_fpscr();
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/* Use the task tag to point to the flop buffer. Pass pointer to just above
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the buffer because the flop save routine uses a pre-decrement. */
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vTaskSetApplicationTaskTag( xTask, ( void * ) ( pulFlopBuffer + portFLOP_REGISTERS_TO_STORE ) );
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xReturn = pdPASS;
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}
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else
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{
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xReturn = pdFAIL;
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}
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return xReturn;
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}
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/*-----------------------------------------------------------*/
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@ -57,9 +57,11 @@
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.export _vPortStartFirstTask
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.export _ulPortGetGBR
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.export _vPortYield
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.export _vPortYieldHandler
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.export _vPortPreemptiveTick
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.export _vPortCooperativeTick
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.export _vPortSaveFlopRegisters
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.export _vPortRestoreFlopRegisters
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.section P
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@ -118,19 +120,7 @@ _vPortStartFirstTask:
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;-----------------------------------------------------------
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_vPortYield:
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; Push r0 so it can be used.
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mov.l r0, @-r15
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; Set the interrupt mask in the status register.
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stc sr, r0
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or #H'70, r0
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ldc r0, sr
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; Restore r0 so its original value can be saved by the movml.l instruction
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; below, without ending up with two copies on the stack.
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mov.l @r15+, r0
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_vPortYieldHandler:
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portSAVE_CONTEXT
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@ -176,5 +166,58 @@ _ulPortGetGBR:
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rts
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nop
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;-----------------------------------------------------------
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_vPortSaveFlopRegisters:
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fmov.s fr0, @-r4
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fmov.s fr1, @-r4
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fmov.s fr2, @-r4
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fmov.s fr3, @-r4
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fmov.s fr4, @-r4
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fmov.s fr5, @-r4
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fmov.s fr6, @-r4
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fmov.s fr7, @-r4
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fmov.s fr8, @-r4
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fmov.s fr9, @-r4
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fmov.s fr10, @-r4
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fmov.s fr11, @-r4
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fmov.s fr12, @-r4
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fmov.s fr13, @-r4
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fmov.s fr14, @-r4
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fmov.s fr15, @-r4
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sts.l fpul, @-r4
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sts.l fpscr, @-r4
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rts
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nop
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;-----------------------------------------------------------
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_vPortRestoreFlopRegisters:
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add.l #-72, r4
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lds.l @r4+, fpscr
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lds.l @r4+, fpul
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fmov.s @r4+, fr15
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fmov.s @r4+, fr14
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fmov.s @r4+, fr13
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fmov.s @r4+, fr12
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fmov.s @r4+, fr11
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fmov.s @r4+, fr10
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fmov.s @r4+, fr9
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fmov.s @r4+, fr8
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fmov.s @r4+, fr7
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fmov.s @r4+, fr6
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fmov.s @r4+, fr5
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fmov.s @r4+, fr4
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fmov.s @r4+, fr3
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fmov.s @r4+, fr2
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fmov.s @r4+, fr1
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fmov.s @r4+, fr0
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rts
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nop
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.end
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@ -93,12 +93,24 @@ extern "C" {
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#define portBYTE_ALIGNMENT 4
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#define portSTACK_GROWTH -1
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#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
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#define portYIELD() trapa( 33 )
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#define portNOP() nop()
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#define portSTART_SCHEDULER_TRAP_NO ( 32 )
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#define portYIELD_TRAP_NO ( 33 )
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#define portKERNEL_INTERRUPT_PRIORITY ( 1 )
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void vPortYield( void );
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#define portYIELD() vPortYield()
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portBASE_TYPE xPortUsesFloatingPoint( void* xTask );
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void vPortSaveFlopRegisters( void *pulBuffer );
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void vPortRestoreFlopRegisters( void *pulBuffer );
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#define traceTASK_SWITCHED_OUT() if( pxCurrentTCB->pxTaskTag != NULL ) vPortSaveFlopRegisters( pxCurrentTCB->pxTaskTag )
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#define traceTASK_SWITCHED_IN() if( pxCurrentTCB->pxTaskTag != NULL ) vPortRestoreFlopRegisters( pxCurrentTCB->pxTaskTag )
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/*-----------------------------------------------------------*/
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#define portENABLE_INTERRUPTS() set_imask( 0x00 )
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#define portDISABLE_INTERRUPTS() set_imask( configMAX_SYSCALL_INTERRUPT_PRIORITY )
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#define portDISABLE_INTERRUPTS() set_imask( portKERNEL_INTERRUPT_PRIORITY )
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/* Critical section handling. */
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#define portCRITICAL_NESTING_IN_TCB ( 1 )
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