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:
iabdalkader 2024-01-20 10:00:56 +02:00
parent 6d7b784379
commit 8da2436c05
7 changed files with 204 additions and 4 deletions

@ -1 +1 @@
Subproject commit 9fceba6be6add8874fc409c93a23b4653b756205 Subproject commit caa6cf3811694ca30bd77abb54ab6a5e5655494d

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@ -22,6 +22,7 @@ SRCS += $(addprefix common/, \
trace.c \ trace.c \
mutex.c \ mutex.c \
vospi.c \ vospi.c \
pendsv.c \
usbdbg.c \ usbdbg.c \
tinyusb_debug.c \ tinyusb_debug.c \
file_utils.c \ file_utils.c \

198
src/omv/common/pendsv.c Normal file
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@ -0,0 +1,198 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2013, 2024 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 "py/mphal.h"
#include "py/runtime.h"
#include "shared/runtime/interrupt_char.h"
#include "pendsv.h"
// This variable is used to save the exception object between a ctrl-C and the
// PENDSV call that actually raises the exception. It must be non-static
// otherwise gcc-5 optimises it away. It can point to the heap but is not
// traced by GC. This is okay because we only ever set it to
// mp_kbd_exception which is in the root-pointer set.
void *pendsv_object;
static int pendsv_lock;
#if defined(PENDSV_DISPATCH_NUM_SLOTS)
uint32_t pendsv_dispatch_active;
pendsv_dispatch_t pendsv_dispatch_table[PENDSV_DISPATCH_NUM_SLOTS];
#endif
void pendsv_init(void) {
pendsv_object = NULL;
MP_STATE_MAIN_THREAD(mp_pending_exception) = MP_OBJ_NULL;
#if defined(PENDSV_DISPATCH_NUM_SLOTS)
pendsv_dispatch_active = false;
#endif
// Set PendSV to lowest priority.
NVIC_SetPriority(PendSV_IRQn, IRQ_PRI_PENDSV);
}
// 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_kbd_intr(void) {
if (MP_STATE_MAIN_THREAD(mp_pending_exception) == MP_OBJ_NULL) {
mp_sched_keyboard_interrupt();
} else {
MP_STATE_MAIN_THREAD(mp_pending_exception) = MP_OBJ_NULL;
pendsv_object = &MP_STATE_VM(mp_kbd_exception);
SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
}
}
void pendsv_suspend(void) {
pendsv_lock++;
}
void pendsv_resume(void) {
pendsv_lock--;
assert(pendsv_lock >= 0);
// Run pendsv if needed. Find an entry with a dispatch and call pendsv dispatch
// with it. If pendsv runs it will service all slots.
int count = PENDSV_DISPATCH_NUM_SLOTS;
while (count--) {
if (pendsv_dispatch_table[count]) {
pendsv_schedule_dispatch(count, pendsv_dispatch_table[count]);
break;
}
}
}
// This will always force the exception by using the hardware PENDSV
void pendsv_nlr_jump(void *o) {
MP_STATE_MAIN_THREAD(mp_pending_exception) = MP_OBJ_NULL;
pendsv_dispatch_active = false;
pendsv_object = o;
SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
}
#if defined(PENDSV_DISPATCH_NUM_SLOTS)
void pendsv_schedule_dispatch(size_t slot, pendsv_dispatch_t f) {
pendsv_dispatch_table[slot] = f;
pendsv_dispatch_active = true;
SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
}
void pendsv_dispatch_handler(void) {
for (size_t i = 0; i < PENDSV_DISPATCH_NUM_SLOTS; ++i) {
if (pendsv_dispatch_table[i] != NULL) {
pendsv_dispatch_t f = pendsv_dispatch_table[i];
pendsv_dispatch_table[i] = NULL;
f();
}
}
}
#endif
__attribute__((naked)) void PendSV_Handler(void) {
// Handle a PendSV interrupt
//
// For the case of an asynchronous exception, re-jig the
// stack so that when we return from this interrupt handler
// it returns instead to nlr_jump with argument pendsv_object
//
// on entry to this (naked) function, stack has the following layout:
// sp[6]: pc=r15
// sp[5]: lr=r14
// sp[4]: r12
// sp[3]: r3
// sp[2]: r2
// sp[1]: r1
// sp[0]: r0
__asm volatile (
#if defined(PENDSV_DISPATCH_NUM_SLOTS)
// Check if there are any pending calls to dispatch to
"ldr r1, pendsv_dispatch_active_ptr\n"
"ldr r0, [r1]\n"
"cmp r0, #0\n"
"beq .no_dispatch\n"
"mov r2, #0\n"
"str r2, [r1]\n" // clear pendsv_dispatch_active
"b pendsv_dispatch_handler\n" // jump to the handler
".no_dispatch:\n"
#endif
// Check if there is an active object to throw via nlr_jump
"ldr r1, pendsv_object_ptr\n"
"ldr r0, [r1]\n"
"cmp r0, #0\n"
"beq .no_obj\n"
// Modify stacked XPSR to make sure
// possible LDM/STM progress is cleared.
#if __ARM_ARCH >= 7
"mov r2, #0x01000000 \n"
#else
"mov r2, #1 \n"
"lsl r2, #24\n"
#endif
"str r2, [sp, #28] \n"
"str r0, [sp, #0]\n" // store to r0 on stack
"mov r0, #0\n"
"str r0, [r1]\n" // clear pendsv_object
"ldr r0, nlr_jump_ptr\n"
"str r0, [sp, #24]\n" // store to pc on stack
"bx lr\n" // return from interrupt; will return to nlr_jump
".no_obj:\n" // pendsv_object==NULL
#if MICROPY_PY_THREAD && __ARM_ARCH >= 7
// Do a thread context switch
"push {r4-r11, lr}\n"
"vpush {s16-s31}\n"
"mrs r5, primask\n" // save PRIMASK in r5
"cpsid i\n" // disable interrupts while we change stacks
"mov r0, sp\n" // pass sp to save
"mov r4, lr\n" // save lr because we are making a call
"bl pyb_thread_next\n" // get next thread to execute
"mov lr, r4\n" // restore lr
"mov sp, r0\n" // switch stacks
"msr primask, r5\n" // re-enable interrupts
"vpop {s16-s31}\n"
"pop {r4-r11, lr}\n"
"bx lr\n" // return from interrupt; will return to new thread
#else
// Spurious pendsv, just return
"bx lr\n"
#endif
// Data
".align 2\n"
#if defined(PENDSV_DISPATCH_NUM_SLOTS)
"pendsv_dispatch_active_ptr: .word pendsv_dispatch_active\n"
#endif
"pendsv_object_ptr: .word pendsv_object\n"
"nlr_jump_ptr: .word nlr_jump\n"
);
}

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@ -135,6 +135,7 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/common/, \
trace.o \ trace.o \
mutex.o \ mutex.o \
vospi.o \ vospi.o \
pendsv.o \
usbdbg.o \ usbdbg.o \
tinyusb_debug.o \ tinyusb_debug.o \
file_utils.o \ file_utils.o \
@ -249,7 +250,6 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/,\
msc_disk.o \ msc_disk.o \
network_lan.o \ network_lan.o \
mphalport.o \ mphalport.o \
pendsv.o \
pin.o \ pin.o \
pins_gen.o \ pins_gen.o \
sdcard.o \ sdcard.o \

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@ -106,6 +106,7 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/common/, \
ringbuf.o \ ringbuf.o \
trace.o \ trace.o \
mutex.o \ mutex.o \
pendsv.o \
usbdbg.o \ usbdbg.o \
tinyusb_debug.o \ tinyusb_debug.o \
file_utils.o \ file_utils.o \
@ -195,7 +196,6 @@ FIRM_OBJ += $(wildcard $(BUILD)/$(MICROPY_DIR)/boards/$(TARGET)/*.o)
FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/,\ FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/,\
mphalport.o \ mphalport.o \
pendsv.o \
help.o \ help.o \
gccollect.o \ gccollect.o \
pins_gen.o \ pins_gen.o \

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@ -102,6 +102,7 @@ target_sources(${MICROPY_TARGET} PRIVATE
${TOP_DIR}/${OMV_DIR}/common/ringbuf.c ${TOP_DIR}/${OMV_DIR}/common/ringbuf.c
${TOP_DIR}/${OMV_DIR}/common/trace.c ${TOP_DIR}/${OMV_DIR}/common/trace.c
${TOP_DIR}/${OMV_DIR}/common/mutex.c ${TOP_DIR}/${OMV_DIR}/common/mutex.c
${TOP_DIR}/${OMV_DIR}/common/pendsv.c
${TOP_DIR}/${OMV_DIR}/common/usbdbg.c ${TOP_DIR}/${OMV_DIR}/common/usbdbg.c
${TOP_DIR}/${OMV_DIR}/common/tinyusb_debug.c ${TOP_DIR}/${OMV_DIR}/common/tinyusb_debug.c
${TOP_DIR}/${OMV_DIR}/common/file_utils.c ${TOP_DIR}/${OMV_DIR}/common/file_utils.c

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@ -151,6 +151,7 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/common/, \
trace.o \ trace.o \
mutex.o \ mutex.o \
vospi.o \ vospi.o \
pendsv.o \
usbdbg.o \ usbdbg.o \
file_utils.o \ file_utils.o \
boot_utils.o \ boot_utils.o \
@ -248,7 +249,6 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/,\
usbd_cdc_interface.o \ usbd_cdc_interface.o \
usbd_hid_interface.o \ usbd_hid_interface.o \
usbd_msc_interface.o \ usbd_msc_interface.o \
pendsv.o \
bufhelper.o \ bufhelper.o \
usb.o \ usb.o \
usrsw.o \ usrsw.o \