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6.9.5rc5
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@ -1,40 +1,30 @@
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/**
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* @file
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* @brief QXK/C port to ARM Cortex-M, ARM-KEIL toolset
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* @cond
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******************************************************************************
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* Last updated for version 6.9.1
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* Last updated on 2020-10-11
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*
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* Q u a n t u m L e a P s
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* ------------------------
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* Modern Embedded Software
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*
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/*============================================================================
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* QP/C Real-Time Embedded Framework (RTEF)
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* Copyright (C) 2005 Quantum Leaps, LLC. All rights reserved.
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*
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* This program is open source software: you can redistribute it and/or
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* modify it under the terms of the GNU General Public License as published
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* by the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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* SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-QL-commercial
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*
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* Alternatively, this program may be distributed and modified under the
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* terms of Quantum Leaps commercial licenses, which expressly supersede
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* the GNU General Public License and are specifically designed for
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* licensees interested in retaining the proprietary status of their code.
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* This software is dual-licensed under the terms of the open source GNU
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* General Public License version 3 (or any later version), or alternatively,
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* under the terms of one of the closed source Quantum Leaps commercial
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* licenses.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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* The terms of the open source GNU General Public License version 3
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* can be found at: <www.gnu.org/licenses/gpl-3.0>
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <www.gnu.org/licenses/>.
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* The terms of the closed source Quantum Leaps commercial licenses
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* can be found at: <www.state-machine.com/licensing>
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*
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* Redistributions in source code must retain this top-level comment block.
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* Plagiarizing this software to sidestep the license obligations is illegal.
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*
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* Contact information:
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* <www.state-machine.com/licensing>
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* <www.state-machine.com>
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* <info@state-machine.com>
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******************************************************************************
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* @endcond
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============================================================================*/
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/*!
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* @file
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* @brief QXK/C port to ARM Cortex-M, ARM-KEIL toolset
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*/
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/* This QXK port is part of the interanl QP implementation */
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#define QP_IMPL 1U
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@ -97,8 +87,8 @@ void QXK_init(void) {
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SCB_SYSPRI[3] |= (0xFFU << 16);
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}
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/*****************************************************************************
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* Initialize the private stack of an extended QXK thread.
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/*==========================================================================*/
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/* Initialize the private stack of an extended QXK thread.
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*
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* NOTE: the function aligns the stack to the 8-byte boundary for compatibility
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* with the AAPCS. Additionally, the function pre-fills the stack with the
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@ -107,7 +97,7 @@ void QXK_init(void) {
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* NOTE: QXK_stackInit_() must be called before the QXK kernel is made aware
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* of this thread. In that case the kernel cannot use the thread yet, so no
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* critical section is needed.
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*****************************************************************************/
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*/
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void QXK_stackInit_(void *thr, QXThreadHandler const handler,
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void * const stkSto, uint_fast16_t const stkSize)
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{
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@ -170,8 +160,8 @@ void QXK_stackInit_(void *thr, QXThreadHandler const handler,
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/*Q_ASSERT_COMPILE(QACTIVE_OSOBJ == offsetof(QActive, osObject));*/
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/*Q_ASSERT_COMPILE(QACTIVE_DYN_PRIO == offsetof(QActive, dynPrio));*/
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/*****************************************************************************
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* The PendSV_Handler exception handler is used for handling context switch
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/*==========================================================================*/
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/* The PendSV_Handler exception handler is used for handling context switch
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* and asynchronous preemption in QXK. The use of the PendSV exception is
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* the recommended and most efficient method for performing context switches
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* with ARM Cortex-M.
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@ -191,7 +181,7 @@ void QXK_stackInit_(void *thr, QXThreadHandler const handler,
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* entered immediately after the exit from the *last* nested interrupt (or
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* exception). In QXK, this is exactly the time when the QXK activator needs to
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* handle the asynchronous preemption.
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*****************************************************************************/
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*/
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__asm void PendSV_Handler(void) {
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IMPORT QXK_attr_ /* extern variable */
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IMPORT QXK_activate_ /* extern function */
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@ -273,7 +263,7 @@ PendSV_activate
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#endif /* NOT (v6-M, v6S-M) */
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BX r0 /* exception-return to the QXK activator */
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/*=========================================================================
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/*------------------------------------------------------------------------
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* Saving AO-thread before crossing to eXtended-thread
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* expected register contents:
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* r0 -> QXK_attr_.next
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@ -287,7 +277,7 @@ PendSV_save_ao
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SUB sp,sp,#(8*4) /* make room for 8 registers r4-r11 */
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MOV r0,sp /* r0 := temporary stack pointer */
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STMIA r0!,{r4-r7} /* save the low registers */
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MOV r4,r8 /* move the high registers to low registers... */
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MOV r4,r8 /* move the high registers to low registers...*/
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MOV r5,r9
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MOV r6,r10
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MOV r7,r11
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@ -308,7 +298,7 @@ PendSV_save_ao
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BNE PendSV_restore_ex /* branch if (QXK_attr_.next->osObject != 0) */
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/* otherwise continue to restoring next AO-thread... */
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/*-------------------------------------------------------------------------
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/*------------------------------------------------------------------------
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* Restoring AO-thread after crossing from eXtended-thread
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* expected register contents:
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* r1 -> QXK_attr_.curr
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@ -499,12 +489,12 @@ PendSV_onContextSw2
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ALIGN /* align the code to 4-byte boundary */
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}
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/*****************************************************************************
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* QXK_thread_ret is a helper function executed when the QXK activator returns.
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/*==========================================================================*/
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/* QXK_thread_ret is a helper function executed when the QXK activator returns.
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*
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* NOTE: QXK_thread_ret does not execute in the PendSV context!
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* NOTE: QXK_thread_ret executes entirely with interrupts DISABLED.
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*****************************************************************************/
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*/
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__asm void QXK_thread_ret(void) {
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/* After the QXK activator returns, we need to resume the preempted
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* thread. However, this must be accomplished by a return-from-exception,
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@ -538,15 +528,15 @@ __asm void QXK_thread_ret(void) {
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ALIGN /* align the code to 4-byte boundary */
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}
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/*****************************************************************************
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* The NMI_Handler exception handler is used for returning back to the
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/*==========================================================================*/
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/* The NMI_Handler exception handler is used for returning back to the
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* interrupted task. The NMI exception simply removes its own interrupt
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* stack frame from the stack and returns to the preempted task using the
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* interrupt stack frame that must be at the top of the stack.
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*
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* NOTE: The NMI exception is entered with interrupts DISABLED, so it needs
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* to re-enable interrupts before it returns to the preempted task.
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*****************************************************************************/
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*/
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__asm void NMI_Handler(void) {
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PRESERVE8 /* preserve the 8-byte stack alignment */
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@ -569,7 +559,7 @@ __asm void NMI_Handler(void) {
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ALIGN /* align the code to 4-byte boundary */
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}
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/****************************************************************************/
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/*==========================================================================*/
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#if (__TARGET_ARCH_THUMB == 3) /* Cortex-M0/M0+/M1(v6-M, v6S-M) */
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/* hand-optimized quick LOG2 in assembly (M0/M0+ have no CLZ instruction) */
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