mirror of
https://github.com/openmv/openmv.git
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ports/all: Refactor PendSV code.
All ports use common PendSV code now, with port-specific PendSV entries defined in pendsv.h files.
This commit is contained in:
parent
6d7b784379
commit
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@ -1 +1 @@
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Subproject commit 9fceba6be6add8874fc409c93a23b4653b756205
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Subproject commit caa6cf3811694ca30bd77abb54ab6a5e5655494d
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@ -22,6 +22,7 @@ SRCS += $(addprefix common/, \
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trace.c \
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mutex.c \
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vospi.c \
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pendsv.c \
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usbdbg.c \
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tinyusb_debug.c \
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file_utils.c \
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198
src/omv/common/pendsv.c
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198
src/omv/common/pendsv.c
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/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2013, 2024 Damien P. George
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include <stdlib.h>
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#include "py/mphal.h"
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#include "py/runtime.h"
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#include "shared/runtime/interrupt_char.h"
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#include "pendsv.h"
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// This variable is used to save the exception object between a ctrl-C and the
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// PENDSV call that actually raises the exception. It must be non-static
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// otherwise gcc-5 optimises it away. It can point to the heap but is not
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// traced by GC. This is okay because we only ever set it to
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// mp_kbd_exception which is in the root-pointer set.
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void *pendsv_object;
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static int pendsv_lock;
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#if defined(PENDSV_DISPATCH_NUM_SLOTS)
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uint32_t pendsv_dispatch_active;
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pendsv_dispatch_t pendsv_dispatch_table[PENDSV_DISPATCH_NUM_SLOTS];
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#endif
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void pendsv_init(void) {
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pendsv_object = NULL;
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MP_STATE_MAIN_THREAD(mp_pending_exception) = MP_OBJ_NULL;
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#if defined(PENDSV_DISPATCH_NUM_SLOTS)
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pendsv_dispatch_active = false;
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#endif
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// Set PendSV to lowest priority.
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NVIC_SetPriority(PendSV_IRQn, IRQ_PRI_PENDSV);
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}
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// Call this function to raise a pending exception during an interrupt.
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// It will first try to raise the exception "softly" by setting the
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// mp_pending_exception variable and hoping that the VM will notice it.
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// If this function is called a second time (ie with the mp_pending_exception
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// variable already set) then it will force the exception by using the hardware
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// PENDSV feature. This will wait until all interrupts are finished then raise
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// the given exception object using nlr_jump in the context of the top-level
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// thread.
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void pendsv_kbd_intr(void) {
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if (MP_STATE_MAIN_THREAD(mp_pending_exception) == MP_OBJ_NULL) {
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mp_sched_keyboard_interrupt();
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} else {
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MP_STATE_MAIN_THREAD(mp_pending_exception) = MP_OBJ_NULL;
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pendsv_object = &MP_STATE_VM(mp_kbd_exception);
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SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
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}
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}
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void pendsv_suspend(void) {
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pendsv_lock++;
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}
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void pendsv_resume(void) {
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pendsv_lock--;
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assert(pendsv_lock >= 0);
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// Run pendsv if needed. Find an entry with a dispatch and call pendsv dispatch
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// with it. If pendsv runs it will service all slots.
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int count = PENDSV_DISPATCH_NUM_SLOTS;
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while (count--) {
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if (pendsv_dispatch_table[count]) {
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pendsv_schedule_dispatch(count, pendsv_dispatch_table[count]);
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break;
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}
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}
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}
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// This will always force the exception by using the hardware PENDSV
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void pendsv_nlr_jump(void *o) {
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MP_STATE_MAIN_THREAD(mp_pending_exception) = MP_OBJ_NULL;
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pendsv_dispatch_active = false;
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pendsv_object = o;
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SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
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}
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#if defined(PENDSV_DISPATCH_NUM_SLOTS)
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void pendsv_schedule_dispatch(size_t slot, pendsv_dispatch_t f) {
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pendsv_dispatch_table[slot] = f;
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pendsv_dispatch_active = true;
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SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
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}
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void pendsv_dispatch_handler(void) {
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for (size_t i = 0; i < PENDSV_DISPATCH_NUM_SLOTS; ++i) {
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if (pendsv_dispatch_table[i] != NULL) {
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pendsv_dispatch_t f = pendsv_dispatch_table[i];
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pendsv_dispatch_table[i] = NULL;
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f();
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}
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}
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}
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#endif
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__attribute__((naked)) void PendSV_Handler(void) {
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// Handle a PendSV interrupt
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//
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// For the case of an asynchronous exception, re-jig the
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// stack so that when we return from this interrupt handler
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// it returns instead to nlr_jump with argument pendsv_object
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//
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// on entry to this (naked) function, stack has the following layout:
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// sp[6]: pc=r15
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// sp[5]: lr=r14
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// sp[4]: r12
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// sp[3]: r3
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// sp[2]: r2
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// sp[1]: r1
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// sp[0]: r0
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__asm volatile (
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#if defined(PENDSV_DISPATCH_NUM_SLOTS)
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// Check if there are any pending calls to dispatch to
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"ldr r1, pendsv_dispatch_active_ptr\n"
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"ldr r0, [r1]\n"
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"cmp r0, #0\n"
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"beq .no_dispatch\n"
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"mov r2, #0\n"
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"str r2, [r1]\n" // clear pendsv_dispatch_active
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"b pendsv_dispatch_handler\n" // jump to the handler
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".no_dispatch:\n"
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#endif
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// Check if there is an active object to throw via nlr_jump
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"ldr r1, pendsv_object_ptr\n"
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"ldr r0, [r1]\n"
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"cmp r0, #0\n"
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"beq .no_obj\n"
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// Modify stacked XPSR to make sure
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// possible LDM/STM progress is cleared.
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#if __ARM_ARCH >= 7
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"mov r2, #0x01000000 \n"
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#else
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"mov r2, #1 \n"
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"lsl r2, #24\n"
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#endif
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"str r2, [sp, #28] \n"
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"str r0, [sp, #0]\n" // store to r0 on stack
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"mov r0, #0\n"
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"str r0, [r1]\n" // clear pendsv_object
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"ldr r0, nlr_jump_ptr\n"
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"str r0, [sp, #24]\n" // store to pc on stack
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"bx lr\n" // return from interrupt; will return to nlr_jump
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".no_obj:\n" // pendsv_object==NULL
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#if MICROPY_PY_THREAD && __ARM_ARCH >= 7
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// Do a thread context switch
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"push {r4-r11, lr}\n"
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"vpush {s16-s31}\n"
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"mrs r5, primask\n" // save PRIMASK in r5
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"cpsid i\n" // disable interrupts while we change stacks
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"mov r0, sp\n" // pass sp to save
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"mov r4, lr\n" // save lr because we are making a call
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"bl pyb_thread_next\n" // get next thread to execute
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"mov lr, r4\n" // restore lr
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"mov sp, r0\n" // switch stacks
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"msr primask, r5\n" // re-enable interrupts
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"vpop {s16-s31}\n"
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"pop {r4-r11, lr}\n"
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"bx lr\n" // return from interrupt; will return to new thread
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#else
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// Spurious pendsv, just return
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"bx lr\n"
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#endif
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// Data
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".align 2\n"
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#if defined(PENDSV_DISPATCH_NUM_SLOTS)
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"pendsv_dispatch_active_ptr: .word pendsv_dispatch_active\n"
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#endif
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"pendsv_object_ptr: .word pendsv_object\n"
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"nlr_jump_ptr: .word nlr_jump\n"
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);
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}
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@ -135,6 +135,7 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/common/, \
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trace.o \
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mutex.o \
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vospi.o \
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pendsv.o \
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usbdbg.o \
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tinyusb_debug.o \
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file_utils.o \
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@ -249,7 +250,6 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/,\
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msc_disk.o \
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network_lan.o \
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mphalport.o \
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pendsv.o \
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pin.o \
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pins_gen.o \
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sdcard.o \
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@ -106,6 +106,7 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/common/, \
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ringbuf.o \
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trace.o \
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mutex.o \
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pendsv.o \
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usbdbg.o \
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tinyusb_debug.o \
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file_utils.o \
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@ -195,7 +196,6 @@ FIRM_OBJ += $(wildcard $(BUILD)/$(MICROPY_DIR)/boards/$(TARGET)/*.o)
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/,\
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mphalport.o \
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pendsv.o \
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help.o \
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gccollect.o \
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pins_gen.o \
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@ -102,6 +102,7 @@ target_sources(${MICROPY_TARGET} PRIVATE
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${TOP_DIR}/${OMV_DIR}/common/ringbuf.c
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${TOP_DIR}/${OMV_DIR}/common/trace.c
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${TOP_DIR}/${OMV_DIR}/common/mutex.c
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${TOP_DIR}/${OMV_DIR}/common/pendsv.c
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${TOP_DIR}/${OMV_DIR}/common/usbdbg.c
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${TOP_DIR}/${OMV_DIR}/common/tinyusb_debug.c
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${TOP_DIR}/${OMV_DIR}/common/file_utils.c
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@ -151,6 +151,7 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/common/, \
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trace.o \
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mutex.o \
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vospi.o \
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pendsv.o \
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usbdbg.o \
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file_utils.o \
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boot_utils.o \
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@ -248,7 +249,6 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/,\
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usbd_cdc_interface.o \
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usbd_hid_interface.o \
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usbd_msc_interface.o \
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pendsv.o \
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bufhelper.o \
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usb.o \
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usrsw.o \
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