From 7eb7630d937ea87275bafee866e9fd6aaea61902 Mon Sep 17 00:00:00 2001
From: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>
Date: Tue, 18 Mar 2008 16:31:24 +0000
Subject: [PATCH] git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@241
 35acf78f-673a-0410-8e92-d51de3d6d3f4

---
 ports/ARMCM3/chcore.c | 34 +++++++++++++++++++++++++++++-----
 readme.txt            |  7 ++++---
 2 files changed, 33 insertions(+), 8 deletions(-)

diff --git a/ports/ARMCM3/chcore.c b/ports/ARMCM3/chcore.c
index 7ef8f8daf..e54d52542 100644
--- a/ports/ARMCM3/chcore.c
+++ b/ports/ARMCM3/chcore.c
@@ -70,6 +70,32 @@ void threadstart(void) {
 
 void *retaddr;
 
+/*
+ * Software-generated interrupt, it must have the lowest possible priority so
+ * it is executed last in the interrupts tail-chain.
+ */
+void PendSVVector(void) {
+
+  chSysLock();
+
+  if (!chSchRescRequiredI()) {
+
+    chSysUnlock();
+    return;
+  }
+
+  asm volatile ("mrs     r0, PSP                                \n\t" \
+                "ldr     r1, =retaddr                           \n\t" \
+                "ldr     r2, [r0, #18]                          \n\t" \
+                "str     r2, [r1]                               \n\t" \
+                "ldr     r1, =threadswitch                      \n\t" \
+                "str     r1, [r0, #18]                          ");
+}
+
+/*
+ * This code is execute in thread mode when exiting from an ISR routine that
+ * requires rescheduling.
+ */
 __attribute__((naked, weak))
 void threadswitch(void) {
 
@@ -78,11 +104,9 @@ void threadswitch(void) {
                 "mrs     r0, XPSR                               \n\t" \
                 "push    {r0}                                   \n\t" \
                 "ldr     r0, =retaddr                           \n\t" \
-                "str     r0, [sp, #28]                          ");
-
-  chSchDoRescheduleI();
-
-  asm volatile ("pop     {r0}                                   \n\t" \
+                "str     r0, [sp, #28]                          \n\t" \
+                "b       chSchDoRescheduleI                     \n\t" \
+                "pop     {r0}                                   \n\t" \
                 "msr     XPSR, r0                               \n\t" \
                 "pop     {r0-r3, r12, lr}                       \n\t" \
                 "cpsie   i                                      \n\t" \
diff --git a/readme.txt b/readme.txt
index e8c068bab..b748143bc 100644
--- a/readme.txt
+++ b/readme.txt
@@ -61,9 +61,10 @@ Win32-MinGW            - ChibiOS/RT simulator and demo into a WIN32 process,
 *****************************************************************************
 
 *** 0.6.2 ***
-- Fixed a minor problem in the ARM7 port, the structure extctx definition was
-  missing one field, the effect was to allocate stacks 4 bytes shorter. This
-  was not a problem in most scenarios.
+- Fixed a minor problem in the ARM7 port, the extctx structure definition was
+  missing one field, the effect was to allocate stacks 4 bytes shorter than
+  the declared size.
+- More work on the ARM-CM3 port but it is still not complete.
 
 *** 0.6.1 ***
 - Removed some redundant checks from the scheduler code: improved threads