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Enable building the GCC Cortex-R5 port without an FPU (#586)

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* Ensure configUSE_TASK_FPU_SUPPORT option is set correctly

If one does enable the FPU of the Cortex-R5 processor, then the GCC
compiler will define the macro __ARM_FP. This can be used to ensure,
that the configUSE_TASK_FPU_SUPPORT is set accordingly.

* Enable the implementation of vPortTaskUsesFPU only if configUSE_TASK_FPU_SUPPORT is set to 1

* Remove error case in pxPortInitialiseStack

The case of configUSE_TASK_FPU_SUPPORT is 0 is now handled

* Enable access to FPU registers only if FPU is enabled

* Make minor formating changes

* Format ARM Cortex-R5 port

* Address review comments from @ChristosZosi

* Minor code review suggestions

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>

---------

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>
Co-authored-by: Christos Zosimidis <christos.zosimidis@gmail.com>
Co-authored-by: Gaurav-Aggarwal-AWS <33462878+aggarg@users.noreply.github.com>
Co-authored-by: Gaurav Aggarwal <aggarg@amazon.com>
This commit is contained in:
Paul Bartell 2023-03-06 08:19:28 -08:00 • committed by GitHub
parent 563c57e7da
commit 7b26ea6263
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 380 additions and 257 deletions
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84
portable/GCC/ARM_CR5/portASM.S
View file

@ -45,7 +45,10 @@
.extern vTaskSwitchContext
.extern vApplicationIRQHandler
.extern ulPortInterruptNesting
#if defined( __ARM_FP )
.extern ulPortTaskHasFPUContext
#endif /* __ARM_FP */
.global FreeRTOS_IRQ_Handler
.global FreeRTOS_SWI_Handler
@ -64,20 +67,21 @@
LDR R1, [R2]
PUSH {R1}
/* Does the task have a floating point context that needs saving? If
ulPortTaskHasFPUContext is 0 then no. */
LDR R2, ulPortTaskHasFPUContextConst
LDR R3, [R2]
CMP R3, #0
#if defined( __ARM_FP )
/* Does the task have a floating point context that needs saving? If
ulPortTaskHasFPUContext is 0 then no. */
LDR R2, ulPortTaskHasFPUContextConst
LDR R3, [R2]
CMP R3, #0
/* Save the floating point context, if any. */
FMRXNE R1, FPSCR
VPUSHNE {D0-D15}
/*VPUSHNE {D16-D31}*/
PUSHNE {R1}
/* Save the floating point context, if any. */
FMRXNE R1, FPSCR
VPUSHNE {D0-D15}
PUSHNE {R1}
/* Save ulPortTaskHasFPUContext itself. */
PUSH {R3}
/* Save ulPortTaskHasFPUContext itself. */
PUSH {R3}
#endif /* __ARM_FP */
/* Save the stack pointer in the TCB. */
LDR R0, pxCurrentTCBConst
@ -95,18 +99,21 @@
LDR R1, [R0]
LDR SP, [R1]
/* Is there a floating point context to restore? If the restored
ulPortTaskHasFPUContext is zero then no. */
LDR R0, ulPortTaskHasFPUContextConst
POP {R1}
STR R1, [R0]
CMP R1, #0
#if defined( __ARM_FP )
/*
* Is there a floating point context to restore? If the restored
* ulPortTaskHasFPUContext is zero then no.
*/
LDR R0, ulPortTaskHasFPUContextConst
POP {R1}
STR R1, [R0]
CMP R1, #0
/* Restore the floating point context, if any. */
POPNE {R0}
/*VPOPNE {D16-D31}*/
VPOPNE {D0-D15}
VMSRNE FPSCR, R0
/* Restore the floating point context, if any. */
POPNE {R0}
VPOPNE {D0-D15}
VMSRNE FPSCR, R0
#endif /* __ARM_FP */
/* Restore the critical section nesting depth. */
LDR R0, ulCriticalNestingConst
@ -132,8 +139,6 @@
.endm
/******************************************************************************
* SVC handler is used to start the scheduler.
*****************************************************************************/
@ -279,22 +284,25 @@ switch_before_exit:
* FPU registers to be saved on interrupt entry their IRQ handler must be
* called vApplicationIRQHandler().
*****************************************************************************/
.align 4
.weak vApplicationIRQHandler
.type vApplicationIRQHandler, %function
vApplicationIRQHandler:
PUSH {LR}
FMRX R1, FPSCR
VPUSH {D0-D15}
PUSH {R1}
LDR r1, vApplicationFPUSafeIRQHandlerConst
BLX r1
#if defined( __ARM_FP )
FMRX R1, FPSCR
VPUSH {D0-D15}
PUSH {R1}
POP {R0}
VPOP {D0-D15}
VMSR FPSCR, R0
LDR r1, vApplicationFPUSafeIRQHandlerConst
BLX r1
POP {R0}
VPOP {D0-D15}
VMSR FPSCR, R0
#endif /* __ARM_FP */
POP {PC}
@ -303,11 +311,15 @@ ulICCEOIRConst: .word ulICCEOIR
ulICCPMRConst: .word ulICCPMR
pxCurrentTCBConst: .word pxCurrentTCB
ulCriticalNestingConst: .word ulCriticalNesting
ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext
#if defined( __ARM_FP )
ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext
vApplicationFPUSafeIRQHandlerConst: .word vApplicationFPUSafeIRQHandler
#endif /* __ARM_FP */
ulMaxAPIPriorityMaskConst: .word ulMaxAPIPriorityMask
vTaskSwitchContextConst: .word vTaskSwitchContext
vApplicationIRQHandlerConst: .word vApplicationIRQHandler
ulPortInterruptNestingConst: .word ulPortInterruptNesting
vApplicationFPUSafeIRQHandlerConst: .word vApplicationFPUSafeIRQHandler
.end