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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,40 +1,30 @@ | ||
| /** | ||
| * @file | ||
| * @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 | ||
| * | ||
| /*============================================================================ | ||
| * QP/C Real-Time Embedded Framework (RTEF) | ||
| * Copyright (C) 2005 Quantum Leaps, LLC. All rights reserved. | ||
| * | ||
| * This program is open source software: you can redistribute it and/or | ||
| * 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. | ||
| * SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-QL-commercial | ||
| * | ||
| * Alternatively, this program may be distributed and modified under the | ||
| * terms of Quantum Leaps commercial licenses, which expressly supersede | ||
| * the GNU General Public License and are specifically designed for | ||
| * licensees interested in retaining the proprietary status of their code. | ||
| * This software is dual-licensed under the terms of the open source GNU | ||
| * General Public License version 3 (or any later version), or alternatively, | ||
| * under the terms of one of the closed source Quantum Leaps commercial | ||
| * licenses. | ||
| * | ||
| * This program is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * The terms of the open source GNU General Public License version 3 | ||
| * can be found at: <www.gnu.org/licenses/gpl-3.0> | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with this program. If not, see <www.gnu.org/licenses/>. | ||
| * The terms of the closed source Quantum Leaps commercial 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: | ||
| * <www.state-machine.com/licensing> | ||
| * <www.state-machine.com> | ||
| * <[email protected]> | ||
| ****************************************************************************** | ||
| * @endcond | ||
| ============================================================================*/ | ||
| /*! | ||
| * @file | ||
| * @brief QXK/C port to ARM Cortex-M, ARM-KEIL toolset | ||
| */ | ||
| /* This QXK port is part of the interanl QP implementation */ | ||
| #define QP_IMPL 1U | ||
|
|
@@ -97,8 +87,8 @@ void QXK_init(void) { | |
| 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 | ||
| * 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 | ||
| * of this thread. In that case the kernel cannot use the thread yet, so no | ||
| * critical section is needed. | ||
| *****************************************************************************/ | ||
| */ | ||
| void QXK_stackInit_(void *thr, QXThreadHandler const handler, | ||
| 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_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 | ||
| * the recommended and most efficient method for performing context switches | ||
| * 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 | ||
| * exception). In QXK, this is exactly the time when the QXK activator needs to | ||
| * handle the asynchronous preemption. | ||
| *****************************************************************************/ | ||
| */ | ||
| __asm void PendSV_Handler(void) { | ||
| IMPORT QXK_attr_ /* extern variable */ | ||
| IMPORT QXK_activate_ /* extern function */ | ||
|
|
@@ -273,7 +263,7 @@ PendSV_activate | |
| #endif /* NOT (v6-M, v6S-M) */ | ||
| BX r0 /* exception-return to the QXK activator */ | ||
|
|
||
| /*========================================================================= | ||
| /*------------------------------------------------------------------------ | ||
| * Saving AO-thread before crossing to eXtended-thread | ||
| * expected register contents: | ||
| * r0 -> QXK_attr_.next | ||
|
|
@@ -287,7 +277,7 @@ PendSV_save_ao | |
| SUB sp,sp,#(8*4) /* make room for 8 registers r4-r11 */ | ||
| MOV r0,sp /* r0 := temporary stack pointer */ | ||
| 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 r6,r10 | ||
| MOV r7,r11 | ||
|
|
@@ -308,7 +298,7 @@ PendSV_save_ao | |
| BNE PendSV_restore_ex /* branch if (QXK_attr_.next->osObject != 0) */ | ||
| /* otherwise continue to restoring next AO-thread... */ | ||
|
|
||
| /*------------------------------------------------------------------------- | ||
| /*------------------------------------------------------------------------ | ||
| * Restoring AO-thread after crossing from eXtended-thread | ||
| * expected register contents: | ||
| * r1 -> QXK_attr_.curr | ||
|
|
@@ -499,12 +489,12 @@ PendSV_onContextSw2 | |
| 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 executes entirely with interrupts DISABLED. | ||
| *****************************************************************************/ | ||
| */ | ||
| __asm void QXK_thread_ret(void) { | ||
| /* After the QXK activator returns, we need to resume the preempted | ||
| * 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 */ | ||
| } | ||
|
|
||
| /***************************************************************************** | ||
| * 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 | ||
| * 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. | ||
| * | ||
| * NOTE: The NMI exception is entered with interrupts DISABLED, so it needs | ||
| * to re-enable interrupts before it returns to the preempted task. | ||
| *****************************************************************************/ | ||
| */ | ||
| __asm void NMI_Handler(void) { | ||
|
|
||
| PRESERVE8 /* preserve the 8-byte stack alignment */ | ||
|
|
@@ -569,7 +559,7 @@ __asm void NMI_Handler(void) { | |
| ALIGN /* align the code to 4-byte boundary */ | ||
| } | ||
|
|
||
| /****************************************************************************/ | ||
| /*==========================================================================*/ | ||
| #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) */ | ||
|
|
||