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6.9.5rc5

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MMS 2022-02-05 10:52:20 -05:00
parent f751177ac8
commit 00ad7bb79c
1 changed files with 35 additions and 45 deletions
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80
ports/arm-cm/qxk/arm/qxk_port.c
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@ -1,40 +1,30 @@
/** /*============================================================================
* @file * QP/C Real-Time Embedded Framework (RTEF)
* @brief QXK/C port to ARM Cortex-M, ARM-KEIL toolset
* @cond
******************************************************************************
* Last updated for version 6.9.1
* Last updated on 2020-10-11
*
* Q u a n t u m L e a P s
* ------------------------
* Modern Embedded Software
*
* Copyright (C) 2005 Quantum Leaps, LLC. All rights reserved. * Copyright (C) 2005 Quantum Leaps, LLC. All rights reserved.
* *
* This program is open source software: you can redistribute it and/or * SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-QL-commercial
* modify it under the terms of the GNU General Public License as published
* by the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
* *
* Alternatively, this program may be distributed and modified under the * This software is dual-licensed under the terms of the open source GNU
* terms of Quantum Leaps commercial licenses, which expressly supersede * General Public License version 3 (or any later version), or alternatively,
* the GNU General Public License and are specifically designed for * under the terms of one of the closed source Quantum Leaps commercial
* licensees interested in retaining the proprietary status of their code. * licenses.
* *
* This program is distributed in the hope that it will be useful, * The terms of the open source GNU General Public License version 3
* but WITHOUT ANY WARRANTY; without even the implied warranty of * can be found at: <www.gnu.org/licenses/gpl-3.0>
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * The terms of the closed source Quantum Leaps commercial licenses
* along with this program. If not, see <www.gnu.org/licenses/>. * can be found at: <www.state-machine.com/licensing>
*
* Redistributions in source code must retain this top-level comment block.
* Plagiarizing this software to sidestep the license obligations is illegal.
* *
* Contact information: * Contact information:
* <www.state-machine.com/licensing> * <www.state-machine.com>
* <info@state-machine.com> * <info@state-machine.com>
****************************************************************************** ============================================================================*/
* @endcond /*!
* @file
* @brief QXK/C port to ARM Cortex-M, ARM-KEIL toolset
*/ */
/* This QXK port is part of the interanl QP implementation */ /* This QXK port is part of the interanl QP implementation */
#define QP_IMPL 1U #define QP_IMPL 1U
@ -97,8 +87,8 @@ void QXK_init(void) {
SCB_SYSPRI[3] |= (0xFFU << 16); SCB_SYSPRI[3] |= (0xFFU << 16);
} }
/***************************************************************************** /*==========================================================================*/
* Initialize the private stack of an extended QXK thread. /* Initialize the private stack of an extended QXK thread.
* *
* NOTE: the function aligns the stack to the 8-byte boundary for compatibility * NOTE: the function aligns the stack to the 8-byte boundary for compatibility
* with the AAPCS. Additionally, the function pre-fills the stack with the * with the AAPCS. Additionally, the function pre-fills the stack with the
@ -107,7 +97,7 @@ void QXK_init(void) {
* NOTE: QXK_stackInit_() must be called before the QXK kernel is made aware * NOTE: QXK_stackInit_() must be called before the QXK kernel is made aware
* of this thread. In that case the kernel cannot use the thread yet, so no * of this thread. In that case the kernel cannot use the thread yet, so no
* critical section is needed. * critical section is needed.
*****************************************************************************/ */
void QXK_stackInit_(void *thr, QXThreadHandler const handler, void QXK_stackInit_(void *thr, QXThreadHandler const handler,
void * const stkSto, uint_fast16_t const stkSize) void * const stkSto, uint_fast16_t const stkSize)
{ {
@ -170,8 +160,8 @@ void QXK_stackInit_(void *thr, QXThreadHandler const handler,
/*Q_ASSERT_COMPILE(QACTIVE_OSOBJ == offsetof(QActive, osObject));*/ /*Q_ASSERT_COMPILE(QACTIVE_OSOBJ == offsetof(QActive, osObject));*/
/*Q_ASSERT_COMPILE(QACTIVE_DYN_PRIO == offsetof(QActive, dynPrio));*/ /*Q_ASSERT_COMPILE(QACTIVE_DYN_PRIO == offsetof(QActive, dynPrio));*/
/***************************************************************************** /*==========================================================================*/
* The PendSV_Handler exception handler is used for handling context switch /* The PendSV_Handler exception handler is used for handling context switch
* and asynchronous preemption in QXK. The use of the PendSV exception is * and asynchronous preemption in QXK. The use of the PendSV exception is
* the recommended and most efficient method for performing context switches * the recommended and most efficient method for performing context switches
* with ARM Cortex-M. * with ARM Cortex-M.
@ -191,7 +181,7 @@ void QXK_stackInit_(void *thr, QXThreadHandler const handler,
* entered immediately after the exit from the *last* nested interrupt (or * entered immediately after the exit from the *last* nested interrupt (or
* exception). In QXK, this is exactly the time when the QXK activator needs to * exception). In QXK, this is exactly the time when the QXK activator needs to
* handle the asynchronous preemption. * handle the asynchronous preemption.
*****************************************************************************/ */
__asm void PendSV_Handler(void) { __asm void PendSV_Handler(void) {
IMPORT QXK_attr_ /* extern variable */ IMPORT QXK_attr_ /* extern variable */
IMPORT QXK_activate_ /* extern function */ IMPORT QXK_activate_ /* extern function */
@ -273,7 +263,7 @@ PendSV_activate
#endif /* NOT (v6-M, v6S-M) */ #endif /* NOT (v6-M, v6S-M) */
BX r0 /* exception-return to the QXK activator */ BX r0 /* exception-return to the QXK activator */
/*========================================================================= /*------------------------------------------------------------------------
* Saving AO-thread before crossing to eXtended-thread * Saving AO-thread before crossing to eXtended-thread
* expected register contents: * expected register contents:
* r0 -> QXK_attr_.next * r0 -> QXK_attr_.next
@ -287,7 +277,7 @@ PendSV_save_ao
SUB sp,sp,#(8*4) /* make room for 8 registers r4-r11 */ SUB sp,sp,#(8*4) /* make room for 8 registers r4-r11 */
MOV r0,sp /* r0 := temporary stack pointer */ MOV r0,sp /* r0 := temporary stack pointer */
STMIA r0!,{r4-r7} /* save the low registers */ STMIA r0!,{r4-r7} /* save the low registers */
MOV r4,r8 /* move the high registers to low registers... */ MOV r4,r8 /* move the high registers to low registers...*/
MOV r5,r9 MOV r5,r9
MOV r6,r10 MOV r6,r10
MOV r7,r11 MOV r7,r11
@ -308,7 +298,7 @@ PendSV_save_ao
BNE PendSV_restore_ex /* branch if (QXK_attr_.next->osObject != 0) */ BNE PendSV_restore_ex /* branch if (QXK_attr_.next->osObject != 0) */
/* otherwise continue to restoring next AO-thread... */ /* otherwise continue to restoring next AO-thread... */
/*------------------------------------------------------------------------- /*------------------------------------------------------------------------
* Restoring AO-thread after crossing from eXtended-thread * Restoring AO-thread after crossing from eXtended-thread
* expected register contents: * expected register contents:
* r1 -> QXK_attr_.curr * r1 -> QXK_attr_.curr
@ -499,12 +489,12 @@ PendSV_onContextSw2
ALIGN /* align the code to 4-byte boundary */ ALIGN /* align the code to 4-byte boundary */
} }
/***************************************************************************** /*==========================================================================*/
* QXK_thread_ret is a helper function executed when the QXK activator returns. /* QXK_thread_ret is a helper function executed when the QXK activator returns.
* *
* NOTE: QXK_thread_ret does not execute in the PendSV context! * NOTE: QXK_thread_ret does not execute in the PendSV context!
* NOTE: QXK_thread_ret executes entirely with interrupts DISABLED. * NOTE: QXK_thread_ret executes entirely with interrupts DISABLED.
*****************************************************************************/ */
__asm void QXK_thread_ret(void) { __asm void QXK_thread_ret(void) {
/* After the QXK activator returns, we need to resume the preempted /* After the QXK activator returns, we need to resume the preempted
* thread. However, this must be accomplished by a return-from-exception, * thread. However, this must be accomplished by a return-from-exception,
@ -538,15 +528,15 @@ __asm void QXK_thread_ret(void) {
ALIGN /* align the code to 4-byte boundary */ ALIGN /* align the code to 4-byte boundary */
} }
/***************************************************************************** /*==========================================================================*/
* The NMI_Handler exception handler is used for returning back to the /* The NMI_Handler exception handler is used for returning back to the
* interrupted task. The NMI exception simply removes its own interrupt * interrupted task. The NMI exception simply removes its own interrupt
* stack frame from the stack and returns to the preempted task using the * stack frame from the stack and returns to the preempted task using the
* interrupt stack frame that must be at the top of the stack. * interrupt stack frame that must be at the top of the stack.
* *
* NOTE: The NMI exception is entered with interrupts DISABLED, so it needs * NOTE: The NMI exception is entered with interrupts DISABLED, so it needs
* to re-enable interrupts before it returns to the preempted task. * to re-enable interrupts before it returns to the preempted task.
*****************************************************************************/ */
__asm void NMI_Handler(void) { __asm void NMI_Handler(void) {
PRESERVE8 /* preserve the 8-byte stack alignment */ PRESERVE8 /* preserve the 8-byte stack alignment */
@ -569,7 +559,7 @@ __asm void NMI_Handler(void) {
ALIGN /* align the code to 4-byte boundary */ ALIGN /* align the code to 4-byte boundary */
} }
/****************************************************************************/ /*==========================================================================*/
#if (__TARGET_ARCH_THUMB == 3) /* Cortex-M0/M0+/M1(v6-M, v6S-M) */ #if (__TARGET_ARCH_THUMB == 3) /* Cortex-M0/M0+/M1(v6-M, v6S-M) */
/* hand-optimized quick LOG2 in assembly (M0/M0+ have no CLZ instruction) */ /* hand-optimized quick LOG2 in assembly (M0/M0+ have no CLZ instruction) */