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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-09-06 06:07:45 -04:00
First pass at adding R4F floating point support.
This commit is contained in:
Richard Barry
parent
fe2163ede4
commit
9ff79da901
7 changed files with 570 additions and 168 deletions
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@ -90,9 +90,9 @@ unsigned portLONG ulCriticalNesting = 9999;
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/* Constants required to set up the initial stack of each task. */
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#define portINITIAL_SPSR ( ( portSTACK_TYPE ) 0x1F )
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#define portINITIAL_FPSCR ( ( portSTACK_TYPE ) 0x00 )
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#define portINSTRUCTION_SIZE ( ( portSTACK_TYPE ) 0x04 )
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#define portINITIAL_SPSR ( ( portSTACK_TYPE ) 0x1F )
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#define portINITIAL_FPSCR ( ( portSTACK_TYPE ) 0x00 )
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#define portINSTRUCTION_SIZE ( ( portSTACK_TYPE ) 0x04 )
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#define portTHUMB_MODE_BIT ( ( portSTACK_TYPE ) 0x20 )
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/* The number of words on the stack frame between the saved Top Of Stack and
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@ -106,6 +106,12 @@ extern void vPortStartFirstTask( void );
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/*-----------------------------------------------------------*/
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/* Saved as part of the task context. Set to pdFALSE if the task does not
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require an FPU context. */
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unsigned long ulTaskHasFPUContext = 0;
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/*-----------------------------------------------------------*/
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/*
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* See header file for description.
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@ -116,6 +122,13 @@ portSTACK_TYPE *pxOriginalTOS;
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pxOriginalTOS = pxTopOfStack;
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#if __TI_VFP_SUPPORT__
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{
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/* Ensure the stack is correctly aligned on exit. */
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pxTopOfStack--;
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}
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#endif
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/* Setup the initial stack of the task. The stack is set exactly as
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expected by the portRESTORE_CONTEXT() macro. */
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@ -167,8 +180,7 @@ portSTACK_TYPE *pxOriginalTOS;
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*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
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pxTopOfStack--;
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/* The last thing onto the stack is the status register, which is set for
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system mode, with interrupts enabled. */
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/* Set the status register for system mode, with interrupts enabled. */
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*pxTopOfStack = ( portSTACK_TYPE ) ( ( _get_CPSR() & ~0xFF ) | portINITIAL_SPSR );
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if( ( ( unsigned long ) pxCode & 0x01UL ) != 0x00 )
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@ -177,6 +189,17 @@ portSTACK_TYPE *pxOriginalTOS;
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*pxTopOfStack |= portTHUMB_MODE_BIT;
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}
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#ifdef __TI_VFP_SUPPORT__
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{
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pxTopOfStack--;
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/* The last thing on the stack is the tasks ulUsingFPU value, which by
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default is set to indicate that the stack frame does not include FPU
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registers. */
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*pxTopOfStack = pdFALSE;
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}
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#endif
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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@ -307,3 +330,21 @@ void vPortExitCritical( void )
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}
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/*-----------------------------------------------------------*/
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#if __TI_VFP_SUPPORT__
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void vPortTaskUsesFPU( void )
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{
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extern void vPortInitialiseFPSCR( void );
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/* A task is registering the fact that it needs an FPU context. Set the
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FPU flag (saved as part of the task context. */
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ulTaskHasFPUContext = pdTRUE;
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/* Initialise the floating point status register. */
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vPortInitialiseFPSCR();
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}
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#endif /* __TI_VFP_SUPPORT__ */
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/*-----------------------------------------------------------*/
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@ -51,117 +51,203 @@
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; licensing and training services.
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;*/
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; TCJ: Using SSI interrupt todo portYIELD_WITHIN_API, means that we do not need
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; to save ulCriticalNesting in the task context
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.text
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.arm
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.ref vTaskSwitchContext
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.ref vTaskIncrementTick
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.ref ulTaskHasFPUContext
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.ref pxCurrentTCB
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;-------------------------------------------------------------------------------
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;/*-----------------------------------------------------------*/
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;
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; Save Task Context
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;
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portSAVE_CONTEXT .macro
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stmfd sp!, {r0}
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stmfd sp, {sp}^
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sub sp, sp, #4
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ldmfd sp!, {r0}
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stmfd r0!, {lr}
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mov lr, r0
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ldmfd sp!, {r0}
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stmfd lr, {r0-lr}^
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sub lr, lr, #0x3C
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.if (__TI_VFPV3D16_SUPPORT__)
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fstmdbd lr!, {d0-d15}
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mrs r0, spsr
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fmrx r1, fpscr
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stmfd lr!, {r0,r1}
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.else
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mrs r0, spsr
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stmfd lr!, {r0}
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.endif
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ldr r0, curTCB
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ldr r0, [r0]
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str lr, [r0]
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DSB
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; Push R0 as we are going to use it
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STMDB SP!, {R0}
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; Set R0 to point to the task stack pointer.
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STMDB SP,{SP}^
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SUB SP, SP, #4
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LDMIA SP!,{R0}
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; Push the return address onto the stack.
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STMDB R0!, {LR}
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; Now LR has been saved, it can be used instead of R0.
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MOV LR, R0
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; Pop R0 so it can be saved onto the task stack.
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LDMIA SP!, {R0}
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; Push all the system mode registers onto the task stack.
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STMDB LR,{R0-LR}^
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SUB LR, LR, #60
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; Push the SPSR onto the task stack.
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MRS R0, SPSR
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STMDB LR!, {R0}
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.if (__TI_VFP_SUPPORT__)
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;Determine if the task maintains an FPU context.
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LDR R0, ulFPUContextConst
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LDR R0, [R0]
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; Test the flag
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CMP R0, #0
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; If the task is not using a floating point context then skip the
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; saving of the FPU registers.
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BEQ PC+3
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FSTMDBD LR!, {D0-D15}
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FMRX R1, FPSCR
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STMFD LR!, {R1}
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; Save the flag
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STMDB LR!, {R0}
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.endif
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; Store the new top of stack for the task.
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LDR R0, pxCurrentTCBConst
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LDR R0, [R0]
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STR LR, [R0]
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.endm
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;-------------------------------------------------------------------------------
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;/*-----------------------------------------------------------*/
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;
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; Restore Task Context
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;
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portRESTORE_CONTEXT .macro
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ldr r0, curTCB
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ldr r0, [r0]
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ldr lr, [r0]
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.if (__TI_VFPV3D16_SUPPORT__)
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ldmfd lr!, {r0,r1}
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fldmiad lr!, {d0-d15}
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fmxr fpscr, r1
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.else
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ldmfd lr!, {r0}
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.endif
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msr spsr_csxf, r0
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ldmfd lr, {r0-r14}^
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ldr lr, [lr, #0x3C]
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subs pc, lr, #4
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LDR R0, pxCurrentTCBConst
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LDR R0, [R0]
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LDR LR, [R0]
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.if (__TI_VFP_SUPPORT__)
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; The floating point context flag is the first thing on the stack.
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LDR R0, ulFPUContextConst
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LDMFD LR!, {R1}
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STR R1, [R0]
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; Test the flag
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CMP R1, #0
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; If the task is not using a floating point context then skip the
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; VFP register loads.
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BEQ PC+3
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; Restore the floating point context.
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LDMFD LR!, {R0}
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FLDMIAD LR!, {D0-D15}
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FMXR FPSCR, R0
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.endif
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; Get the SPSR from the stack.
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LDMFD LR!, {R0}
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MSR SPSR_CF, R0
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; Restore all system mode registers for the task.
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LDMFD LR, {R0-R14}^
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; Restore the return address.
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LDR LR, [LR, #+60]
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; And return - correcting the offset in the LR to obtain the
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; correct address.
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SUBS PC, LR, #4
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.endm
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;-------------------------------------------------------------------------------
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; Start First Task
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;/*-----------------------------------------------------------*/
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; Start the first task by restoring its context.
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.def vPortStartFirstTask
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vPortStartFirstTask
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vPortStartFirstTask:
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portRESTORE_CONTEXT
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;-------------------------------------------------------------------------------
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; Yield Processor
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;/*-----------------------------------------------------------*/
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; Yield to another task.
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.def vPortYieldProcessor
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.ref vTaskSwitchContext
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vPortYieldProcessor
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add lr, lr, #4
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vPortYieldProcessor:
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; Within an IRQ ISR the link register has an offset from the true return
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; address. SWI doesn't do this. Add the offset manually so the ISR
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; return code can be used.
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ADD LR, LR, #4
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; First save the context of the current task.
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portSAVE_CONTEXT
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bl vTaskSwitchContext
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; Select the next task to execute. */
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BL vTaskSwitchContext
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; Restore the context of the task selected to execute.
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portRESTORE_CONTEXT
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;-------------------------------------------------------------------------------
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; Yield Processor From Within FreeRTOS API
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;/*-----------------------------------------------------------*/
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; Yield to another task from within the FreeRTOS API
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.def vPortYeildWithinAPI
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vPortYeildWithinAPI
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vPortYeildWithinAPI:
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; Save the context of the current task.
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portSAVE_CONTEXT
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; clear SSI flag
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movw r0, #0xFFF4
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movt r0, #0xFFFF
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ldr r0, [r0];
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; switch task
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bl vTaskSwitchContext
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; Clear SSI flag.
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MOVW R0, #0xFFF4
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MOVT R0, #0xFFFF
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LDR R0, [R0]
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; Select the next task to execute. */
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BL vTaskSwitchContext
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; Restore the context of the task selected to execute.
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portRESTORE_CONTEXT
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;-------------------------------------------------------------------------------
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;/*-----------------------------------------------------------*/
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; Preemptive Tick
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.def vPortPreemptiveTick
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.ref vTaskIncrementTick
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vPortPreemptiveTick
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vPortPreemptiveTick:
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; Save the context of the current task.
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portSAVE_CONTEXT
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; clear interrupt flag
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movw r0, #0xFC88
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movt r0, #0xFFFF
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mov r1, #1
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str r1, [r0]
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bl vTaskIncrementTick
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bl vTaskSwitchContext
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; Clear interrupt flag
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MOVW R0, #0xFC88
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MOVT R0, #0xFFFF
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MOV R1, #1
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STR R1, [R0]
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; Increment the tick count, making any adjustments to the blocked lists
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; that may be necessary.
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BL vTaskIncrementTick
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; Select the next task to execute.
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BL vTaskSwitchContext
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; Restore the context of the task selected to execute.
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portRESTORE_CONTEXT
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;-------------------------------------------------------------------------------
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.ref pxCurrentTCB
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curTCB .word pxCurrentTCB
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.if (__TI_VFP_SUPPORT__)
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.def vPortInitialiseFPSCR
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vPortInitialiseFPSCR:
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MOV R0, #0
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FMXR FPSCR, R0
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BX LR
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.endif ;__TI_VFP_SUPPORT__
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pxCurrentTCBConst .word pxCurrentTCB
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ulFPUContextConst .word ulTaskHasFPUContext
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;-------------------------------------------------------------------------------
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