mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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989bc332b2
* Add XMOS XCore ports Some minor modifications are also made to the kernel to support the XCore compiler's automatic stack size calculation. * Update kernel to support SMP The XMOS XCore ports are also updated to support SMP. * Fix compiler warnings in xcore ports The port set and clear interrupt mask from ISR macros were removed from the ports so that the default macros found in FreeRTOS.h are used instead. The default macros do not result in warnings when they are used. * Remove inline function from timers.h Inline function converted to macro. This should now build when optimizations are off and inlining is disabled. * Fix compiler warnings in xcore ports and tasks.c * fixed documentation for ulTaskNotifyTake() and ulTaskNotifyTakeIndexed() * spelling fixes for tasks.c Co-authored-by: Michael Bruno <mikeb@xmos.com>
187 lines
6.9 KiB
ArmAsm
187 lines
6.9 KiB
ArmAsm
// Copyright (c) 2020, XMOS Ltd, All rights reserved
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#include "rtos_support_rtos_config.h"
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/* The FreeRTOS interrupt code calls vTaskSwitchContext.
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Therfore it must be added to the rtos_isr group with the
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rest of the ISR callback functions. */
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.weak _fptrgroup.rtos_isr.nstackwords.group
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.add_to_set _fptrgroup.rtos_isr.nstackwords.group, vTaskSwitchContext.nstackwords, vTaskSwitchContext
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.globl kexcept
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.align 128 /* align the kernel section to 128 bytes */
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.type kexcept,@function
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.issue_mode dual
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.cc_top kexcept.function, kexcept
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kexcept:
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ldc r11, 0x0008
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shl r11, r11, 16
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ldc r9, 0x0080
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or r11, r11, r9
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bau r11 //_TrapHandler is at 0x00080080. TODO: Is it always? Why can't I access the symbol _TrapHandler?
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_yield:
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{set sp, r4 /* Restore the task's SP to save the rest of its context. */
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get r11, id} /* Get the logical core ID into r11. */
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ldaw r0, dp[rtos_core_map]
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ldw r0, r0[r11] /* Translate to the RTOS core ID into r0 */
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bu _yield_continue /* Skip the ulPortYieldRequired check and jump right to */
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/* the context save and switch. Also skips saving SPC */
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/* since the kcall handler has already saved it. */
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.align 64
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kcall:
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/* start saving the thread's context */
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extsp RTOS_SUPPORT_INTERRUPT_STACK_GROWTH
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stw r1, sp[9]
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stw r11, sp[19]
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/* kcall sets SPC to the instruction of the kcall rather than the next instruction */
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/* so we need to adjust the SPC value that we save to the stack: */
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stw spc, sp[1] /* save the saved program counter onto the stack... */
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ldw r1, sp[1] /* so that we can load it into r1 (which we have already saved). */
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add r1, r1, 4 /* Add 4 to the spc to make it point to the instruction after the kcall. */
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{stw r1, sp[1] /* Now save it to the stack. */
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/* kcall uses the same common function as interrupt callbacks. */
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/* tell it to call _yield above. */
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ldap r11, _yield}
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mov r1, r11
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/* fall into rtos_interrupt_callback_common */
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.globl rtos_interrupt_callback_common
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rtos_interrupt_callback_common:
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/* This is the body of the RTOS _xcore_c_interrupt_callback_XXX functions. */
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/* r1 = interrupt_callback_t function */
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/* Save the thread's context onto the thread's stack. */
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/* The stack was extended for this by the wrapper function. */
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/* Begin only by saving some registers. The rest will be saved */
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/* later if vTaskSwitchContext() needs to be called. */
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/* LR needs to be saved because it is clobbered when calling the callback. */
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/* r0-r3, and r11 need to be saved because the callback may clobber them. */
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/* r4 is saved because it is used here to hold the task SP. */
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stw lr, sp[7]
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stw r0, sp[8]
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/*stw r1, sp[9] already saved by the wrapper function. */
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stw r2, sp[10]
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stw r3, sp[11]
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{stw r4, sp[12]
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/*stw r11, sp[19] already saved by the wrapper function. */
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ldaw r4, sp[0]} /* Get value of current stackpointer into r4. */
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{kentsp 0 /* switch to the kernel stack. */
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/* The value 0 is safe to use since we don't need the SP */
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/* that it saves to KSP[0]. We already have it in r4. */
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get r11, ed} /* Get the event data... */
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{mov r0, r11 /* into the first argument for the callback function... */
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bla r1} /* and call the callback function. */
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{set sp, r4 /* Restore the task's SP now. */
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get r11, id} /* Get the logical core ID into r11. */
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ldaw r0, dp[rtos_core_map]
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ldw r0, r0[r11] /* Translate to the RTOS core ID into r0. */
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ldaw r2, dp[ulPortYieldRequired] /* Get the yield required array into r2. */
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ldw r1, r2[r0] /* Is a yield required for this core? */
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{bf r1, _freertos_restore_ctx_partial /* If not, restore the context now. */
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ldc r1, 0}
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stw r1, r2[r0] /* Otherwise, clear the yield required flag. */
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/* Save the rest of the current task's context. */
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/* Save standard xs2 regs */
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stw spc, sp[1]
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_yield_continue:
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stw ssr, sp[2]
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stw sed, sp[3]
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stw et, sp[4]
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stw dp, sp[5]
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stw cp, sp[6]
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stw r5, sp[13]
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stw r6, sp[14]
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stw r7, sp[15]
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stw r8, sp[16]
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stw r9, sp[17]
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stw r10, sp[18]
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#if 1
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/* Save VPU status and headroom */
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vgetc r11
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{stw r11, sp[20]
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/* Save VPU regs */
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ldaw r11, sp[21]}
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{vstr r11[0]
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ldaw r11, sp[29]}
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{vstd r11[0]
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ldaw r11, sp[37]}
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vstc r11[0]
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#endif
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ldaw r5, dp[pxCurrentTCBs] /* Get the current TCB array into r5. */
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ldw r1, r5[r0] /* Get this core's current TCB pointer into r1. */
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stw r4, r1[0x0] /* Save the current task's SP to the first */
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/* word (top of stack) in the current TCB. */
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{kentsp 0 /* switch back to the kernel stack. */
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mov r6, r0} /* copy the RTOS core ID into r6 so we don't lose it. */
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ldap r11, vTaskSwitchContext
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bla r11 /* Finally call vTaskSwitchContext(core_id) now that the task's */
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/* entire context is saved. Note the core id in r0 is the argument. */
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//krestsp 0 /* unnecessary since KSP is already set and the SP */
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/* is being restored next from the current TCB. */
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.globl _freertos_restore_ctx
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_freertos_restore_ctx:
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ldw r0, r5[r6] /* get this core's current TCB pointer into r0 */
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ldw r0, r0[0x0] /* Get the top of the stack from the current TCB... */
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set sp, r0 /* into the stack pointer register. */
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/* Restore the current task's context */
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#if 1
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/* Restore VPU regs */
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ldaw r11, sp[37]
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{vldc r11[0]
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ldaw r11, sp[29]}
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{vldd r11[0]
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ldaw r11, sp[21]}
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vldr r11[0]
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/* Restore VPU status and headroom */
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ldw r11, sp[20]
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vsetc r11
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#endif
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/* Restore standard xs2 regs */
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ldw spc, sp[1]
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ldw ssr, sp[2]
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ldw sed, sp[3]
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ldw et, sp[4]
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ldw dp, sp[5]
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ldw cp, sp[6]
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ldw r5, sp[13]
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ldw r6, sp[14]
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ldw r7, sp[15]
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ldw r8, sp[16]
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ldw r9, sp[17]
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ldw r10, sp[18]
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_freertos_restore_ctx_partial:
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ldw lr, sp[7]
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ldw r0, sp[8]
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ldw r1, sp[9]
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ldw r2, sp[10]
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ldw r3, sp[11]
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ldw r4, sp[12]
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{ldw r11, sp[19]
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/* shrink the stack by the size of the context just restored */
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ldaw sp, sp[RTOS_SUPPORT_INTERRUPT_STACK_GROWTH]}
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kret /* exit kernel mode and return to the thread */
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.cc_bottom kexcept.function
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