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Improve efficiency even further. Introduce the configMAX_SYSCALL_INTERRUPT_PRIORITY feature.

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This commit is contained in:
Richard Barry 2008-07-25 02:33:56 +00:00
parent 3ab4d1f87f
commit 32592e1385
2 changed files with 79 additions and 82 deletions
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89
Source/portable/GCC/ARM_CM3/port.c
View file

@ -83,7 +83,7 @@ const unsigned portLONG ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY;
/* Each task maintains its own interrupt status in the critical nesting /* Each task maintains its own interrupt status in the critical nesting
variable. */ variable. */
unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa; static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
/* /*
* Setup the timer to generate the tick interrupts. * Setup the timer to generate the tick interrupts.
@ -118,8 +118,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
*pxTopOfStack = 0; /* LR */ *pxTopOfStack = 0; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */ *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
*pxTopOfStack = 0x00000000; /* uxCriticalNesting. */
return pxTopOfStack; return pxTopOfStack;
} }
@ -131,9 +130,7 @@ void vPortSVCHandler( void )
" ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */ " ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */
" ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */ " ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
" ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */ " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
" ldmia r0!, {r1, r4-r11} \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */ " ldmia r0!, {r4-r11} \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
" ldr r2, uxCriticalNestingConst2 \n" /* Restore the critical nesting count used by the task. */
" str r1, [r2] \n"
" msr psp, r0 \n" /* Restore the task stack pointer. */ " msr psp, r0 \n" /* Restore the task stack pointer. */
" mov r0, #0 \n" " mov r0, #0 \n"
" msr basepri, r0 \n" " msr basepri, r0 \n"
@ -142,7 +139,6 @@ void vPortSVCHandler( void )
" \n" " \n"
" .align 2 \n" " .align 2 \n"
"pxCurrentTCBConst2: .word pxCurrentTCB \n" "pxCurrentTCBConst2: .word pxCurrentTCB \n"
"uxCriticalNestingConst2: .word uxCriticalNesting \n"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -154,8 +150,11 @@ void vPortStartFirstTask( unsigned long ulValue )
( void ) ulValue; ( void ) ulValue;
asm volatile( asm volatile(
" msr msp, r0 \n" /* Set the msp back to the start of the stack. */ " ldr r0, =0xE000ED08 \n" /* Use the NVIC offset register to locate the stack. */
" svc 0 \n" /* System call to start first task. */ " ldr r0, [r0] \n"
" ldr r0, [r0] \n"
" msr msp, r0 \n" /* Set the msp back to the start of the stack. */
" svc 0 \n" /* System call to start first task. */
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -173,6 +172,9 @@ portBASE_TYPE xPortStartScheduler( void )
here already. */ here already. */
prvSetupTimerInterrupt(); prvSetupTimerInterrupt();
/* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0;
/* Start the first task. */ /* Start the first task. */
vPortStartFirstTask( *((unsigned portLONG *) 0 ) ); vPortStartFirstTask( *((unsigned portLONG *) 0 ) );
@ -192,10 +194,6 @@ void vPortYieldFromISR( void )
{ {
/* Set a PendSV to request a context switch. */ /* Set a PendSV to request a context switch. */
*(portNVIC_INT_CTRL) |= portNVIC_PENDSVSET; *(portNVIC_INT_CTRL) |= portNVIC_PENDSVSET;
/* This function is also called in response to a Yield(), so we want
the yield to occur immediately. */
portENABLE_INTERRUPTS();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -222,40 +220,31 @@ void xPortPendSVHandler( void )
__asm volatile __asm volatile
( (
" mrs r0, psp \n" " mrs r0, psp \n"
" \n" " \n"
" ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */ " ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */
" ldr r2, [r3] \n" " ldr r2, [r3] \n"
" \n" " \n"
" ldr r1, uxCriticalNestingConst \n" /* Save the remaining registers and the critical nesting count onto the task stack. */ " stmdb r0!, {r4-r11} \n" /* Save the remaining registers. */
" ldr r1, [r1] \n" " str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
" stmdb r0!, {r1,r4-r11} \n" " \n"
" str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */ " stmdb sp!, {r3, r14} \n"
" \n" " mov r0, %0 \n"
" stmdb sp!, {r3, r14} \n" " msr basepri, r0 \n"
" bl vTaskSwitchContext \n" " bl vTaskSwitchContext \n"
" ldmia sp!, {r3, r14} \n" " mov r0, #0 \n"
" \n" /* Restore the context, including the critical nesting count. */ " msr basepri, r0 \n"
" ldr r1, [r3] \n" " ldmia sp!, {r3, r14} \n"
" ldr r2, uxCriticalNestingConst \n" " \n" /* Restore the context, including the critical nesting count. */
" ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */ " ldr r1, [r3] \n"
" ldmia r0!, {r1, r4-r11} \n" /* Pop the registers and the critical nesting count. */ " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
" str r1, [r2] \n" /* Save the new critical nesting value into ulCriticalNesting. */ " ldmia r0!, {r4-r11} \n" /* Pop the registers. */
" msr psp, r0 \n" " msr psp, r0 \n"
" orr r14, #0xd \n" " bx r14 \n"
" \n" /* Exit with interrupts in the state required by the task. */ " \n"
" cbnz r1, sv_disable_interrupts \n" /* If the nesting count is greater than 0 we need to exit with interrupts masked. */ " .align 2 \n"
" bx r14 \n" "pxCurrentTCBConst: .word pxCurrentTCB \n"
" \n" ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY)
"sv_disable_interrupts: \n"
" ldr r1, =ulKernelPriority \n"
" ldr r1, [r1] \n"
" msr basepri, r1 \n"
" bx r14 \n"
" \n"
" .align 2 \n"
"pxCurrentTCBConst: .word pxCurrentTCB \n"
"uxCriticalNestingConst: .word uxCriticalNesting \n"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -267,7 +256,11 @@ void xPortSysTickHandler( void )
*(portNVIC_INT_CTRL) |= portNVIC_PENDSVSET; *(portNVIC_INT_CTRL) |= portNVIC_PENDSVSET;
#endif #endif
vTaskIncrementTick(); portSET_INTERRUPT_MASK_FROM_ISR();
{
vTaskIncrementTick();
}
portCLEAR_INTERRUPT_MASK_FROM_ISR();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

38
Source/portable/GCC/ARM_CM3/portmacro.h
View file

@ -101,35 +101,39 @@ extern void vPortYieldFromISR( void );
/* Critical section management. */ /* Critical section management. */
#define vPortSetInterruptMask() \ /*
* Set basepri to portMAX_SYSCALL_INTERRUPT_PRIORITY without effecting other
* registers. r0 is clobbered.
*/
#define portSET_INTERRUPT_MASK() \
__asm volatile \ __asm volatile \
( \ ( \
" push { r0 } \n" \ " mov r0, %0 \n" \
" ldr r0, =ulKernelPriority \n" \
" ldr r0, [r0] \n" \
" msr basepri, r0 \n" \ " msr basepri, r0 \n" \
" pop { r0 } " \ ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY):"r0" \
) )
/*-----------------------------------------------------------*/ /*
* Set basepri back to 0 without effective other registers.
#define vPortClearInterruptMask() \ * r0 is clobbered.
__asm volatile \ */
( \ #define portCLEAR_INTERRUPT_MASK() \
" push { r0 } \n" \ __asm volatile \
" mov r0, #0 \n" \ ( \
" msr basepri, r0 \n" \ " mov r0, #0 \n" \
" pop { r0 } " \ " msr basepri, r0 \n" \
:::"r0" \
) )
/*-----------------------------------------------------------*/ #define portSET_INTERRUPT_MASK_FROM_ISR() 0;portSET_INTERRUPT_MASK()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) portCLEAR_INTERRUPT_MASK()
extern void vPortEnterCritical( void ); extern void vPortEnterCritical( void );
extern void vPortExitCritical( void ); extern void vPortExitCritical( void );
#define portDISABLE_INTERRUPTS() vPortSetInterruptMask(); #define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK()
#define portENABLE_INTERRUPTS() vPortClearInterruptMask(); #define portENABLE_INTERRUPTS() portCLEAR_INTERRUPT_MASK()
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/