121 lines
3.9 KiB
C
121 lines
3.9 KiB
C
/*
|
|
* This file is part of the Micro Python project, http://micropython.org/
|
|
*
|
|
* The MIT License (MIT)
|
|
*
|
|
* Copyright (c) 2013, 2014 Damien P. George
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
* of this software and associated documentation files (the "Software"), to deal
|
|
* in the Software without restriction, including without limitation the rights
|
|
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
* copies of the Software, and to permit persons to whom the Software is
|
|
* furnished to do so, subject to the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be included in
|
|
* all copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
|
* THE SOFTWARE.
|
|
*/
|
|
|
|
#include <stdlib.h>
|
|
#include <stm32f4xx_hal.h>
|
|
|
|
#include "mpconfig.h"
|
|
#include "misc.h"
|
|
#include "qstr.h"
|
|
#include "obj.h"
|
|
#include "runtime.h"
|
|
#include "pendsv.h"
|
|
|
|
static void *pendsv_object = NULL;
|
|
|
|
void pendsv_init(void) {
|
|
// set PendSV interrupt at lowest priority
|
|
HAL_NVIC_SetPriority(PendSV_IRQn, 0xf, 0xf);
|
|
}
|
|
|
|
// Call this function to raise a pending exception during an interrupt.
|
|
// It will first try to raise the exception "softly" by setting the
|
|
// mp_pending_exception variable and hoping that the VM will notice it.
|
|
// If this function is called a second time (ie with the mp_pending_exception
|
|
// variable already set) then it will force the exception by using the hardware
|
|
// PENDSV feature. This will wait until all interrupts are finished then raise
|
|
// the given exception object using nlr_jump in the context of the top-level
|
|
// thread.
|
|
void pendsv_nlr_jump(void *o) {
|
|
if (mp_pending_exception == MP_OBJ_NULL) {
|
|
mp_pending_exception = o;
|
|
} else {
|
|
mp_pending_exception = MP_OBJ_NULL;
|
|
pendsv_object = o;
|
|
SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
|
|
}
|
|
}
|
|
|
|
// since we play tricks with the stack, the compiler must not generate a
|
|
// prelude for this function
|
|
void pendsv_isr_handler(void) __attribute__((naked));
|
|
|
|
void pendsv_isr_handler(void) {
|
|
// re-jig the stack so that when we return from this interrupt handler
|
|
// it returns instead to nlr_jump with argument pendsv_object
|
|
// note that stack has a different layout if DEBUG is enabled
|
|
//
|
|
// on entry to this (naked) function, stack has the following layout:
|
|
//
|
|
// stack layout with DEBUG disabled:
|
|
// sp[6]: pc
|
|
// sp[5]: ?
|
|
// sp[4]: ?
|
|
// sp[3]: ?
|
|
// sp[2]: ?
|
|
// sp[1]: ?
|
|
// sp[0]: r0
|
|
//
|
|
// stack layout with DEBUG enabled:
|
|
// sp[8]: pc
|
|
// sp[7]: lr
|
|
// sp[6]: ?
|
|
// sp[5]: ?
|
|
// sp[4]: ?
|
|
// sp[3]: ?
|
|
// sp[2]: r0
|
|
// sp[1]: 0xfffffff9
|
|
// sp[0]: ?
|
|
|
|
__asm volatile (
|
|
"ldr r0, pendsv_object_ptr\n"
|
|
"ldr r0, [r0]\n"
|
|
#if defined(PENDSV_DEBUG)
|
|
"str r0, [sp, #8]\n"
|
|
#else
|
|
"str r0, [sp, #0]\n"
|
|
#endif
|
|
"ldr r0, nlr_jump_ptr\n"
|
|
#if defined(PENDSV_DEBUG)
|
|
"str r0, [sp, #32]\n"
|
|
#else
|
|
"str r0, [sp, #24]\n"
|
|
#endif
|
|
"bx lr\n"
|
|
".align 2\n"
|
|
"pendsv_object_ptr: .word pendsv_object\n"
|
|
"nlr_jump_ptr: .word nlr_jump\n"
|
|
);
|
|
|
|
/*
|
|
uint32_t x[2] = {0x424242, 0xdeaddead};
|
|
printf("PendSV: %p\n", x);
|
|
for (uint32_t *p = (uint32_t*)(((uint32_t)x - 15) & 0xfffffff0), i = 64; i > 0; p += 4, i -= 4) {
|
|
printf(" %p: %08x %08x %08x %08x\n", p, (uint)p[0], (uint)p[1], (uint)p[2], (uint)p[3]);
|
|
}
|
|
*/
|
|
}
|