129 lines
3.7 KiB
C
129 lines
3.7 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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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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ChibiOS/RT 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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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "stm32lib/stm32f10x_map.h"
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#include <ch.h>
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/*
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* System idle thread loop.
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*/
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void _IdleThread(void *p) {
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while (TRUE) {
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}
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}
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/*
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* System console message (not implemented).
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*/
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void chSysPuts(char *msg) {
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}
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/*
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* Context switch.
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*/
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void chSysSwitchI(Thread *otp, Thread *ntp) {
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register struct intctx * volatile sp asm("sp"); /* Don't ask... */
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#ifdef CH_CURRP_REGISTER_CACHE
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asm ("" : : : "r4", "r5", "r6", "r8", "r9", "r10", "r11", "lr");
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#else
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asm ("" : : : "r4", "r5", "r6", "r7", "r8", "r9", "r10", "r11", "lr");
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#endif
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otp->p_ctx.r13 = sp;
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sp = ntp->p_ctx.r13;
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}
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/*
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* System halt.
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*/
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__attribute__((naked, weak))
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void chSysHalt(void) {
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while (TRUE) {
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}
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}
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__attribute__((naked, weak))
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void threadstart(void) {
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chSysUnlock();
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asm volatile ("mov r0, r5 \n\t" \
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"blx r4 \n\t" \
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"bl chThdExit ");
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}
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void *retaddr;
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/*
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* System Timer vector.
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*/
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void SysTickVector(void) {
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chSysIRQEnterI();
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chSysTimerHandlerI();
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chSysIRQExitI();
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}
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/*
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* To be invoked at the end of any interrupt handler that can trigger a
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* reschedule.
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*/
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void chSysIRQExitI(void) {
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chSysLock();
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if (SCB->ICSR & (1 << 11)) { /* RETTOBASE */
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if (chSchRescRequiredI()) {
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asm volatile ("mrs r0, PSP \n\t" \
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"ldr r1, =retaddr \n\t" \
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"ldr r2, [r0, #18] \n\t" \
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"str r2, [r1] \n\t" \
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"ldr r1, =threadswitch \n\t" \
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"str r1, [r0, #18] ");
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return; /* Note, returns *without* re-enabling interrupts.*/
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}
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}
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chSysUnlock();
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}
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/*
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* This code is execute in thread mode when exiting from an ISR routine that
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* requires rescheduling.
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*/
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__attribute__((naked, weak))
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void threadswitch(void) {
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asm volatile ("sub sp, sp, #4 \n\t" \
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"push {r0-r3, r12, lr} \n\t" \
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"mrs r0, XPSR \n\t" \
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"push {r0} \n\t" \
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"ldr r0, =retaddr \n\t" \
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"str r0, [sp, #28] \n\t" \
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"b chSchDoRescheduleI \n\t" \
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"pop {r0} \n\t" \
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"msr XPSR, r0 \n\t" \
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"pop {r0-r3, r12, lr} \n\t" \
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"cpsie i \n\t" \
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"pop {pc} ");
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}
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