diff options
| -rw-r--r-- | chip/stm32/gpio-stm32f0.c | 4 | ||||
| -rw-r--r-- | chip/stm32/gpio.c | 5 | ||||
| -rw-r--r-- | core/cortex-m0/cpu.c | 3 | ||||
| -rw-r--r-- | core/cortex-m0/cpu.h | 1 | ||||
| -rw-r--r-- | core/cortex-m0/irq_handler.h | 53 | ||||
| -rw-r--r-- | core/cortex-m0/task.c | 85 | ||||
| -rw-r--r-- | include/task.h | 1 |
7 files changed, 72 insertions, 80 deletions
diff --git a/chip/stm32/gpio-stm32f0.c b/chip/stm32/gpio-stm32f0.c index 5418399595..fcead72d4f 100644 --- a/chip/stm32/gpio-stm32f0.c +++ b/chip/stm32/gpio-stm32f0.c @@ -41,8 +41,4 @@ static void gpio_init(void) } DECLARE_HOOK(HOOK_INIT, gpio_init, HOOK_PRIO_DEFAULT); -DECLARE_IRQ(STM32_IRQ_EXTI0_1, gpio_interrupt, 1); -DECLARE_IRQ(STM32_IRQ_EXTI2_3, gpio_interrupt, 1); -DECLARE_IRQ(STM32_IRQ_EXTI4_15, gpio_interrupt, 1); - #include "gpio-f0-l.c" diff --git a/chip/stm32/gpio.c b/chip/stm32/gpio.c index 6715e540b0..ef7fc818ba 100644 --- a/chip/stm32/gpio.c +++ b/chip/stm32/gpio.c @@ -128,3 +128,8 @@ void gpio_interrupt(void) g->irq_handler(g - gpio_list); } } +#ifdef CHIP_FAMILY_STM32F0 +DECLARE_IRQ(STM32_IRQ_EXTI0_1, gpio_interrupt, 1); +DECLARE_IRQ(STM32_IRQ_EXTI2_3, gpio_interrupt, 1); +DECLARE_IRQ(STM32_IRQ_EXTI4_15, gpio_interrupt, 1); +#endif diff --git a/core/cortex-m0/cpu.c b/core/cortex-m0/cpu.c index 5dd758ac5f..540777d664 100644 --- a/core/cortex-m0/cpu.c +++ b/core/cortex-m0/cpu.c @@ -14,4 +14,7 @@ void cpu_init(void) /* Set supervisor call (SVC) to priority 0 */ CPU_NVIC_SHCSR2 = 0; + + /* Set lowest priority for PendSV */ + CPU_NVIC_SHCSR3 = (0xff << 16); } diff --git a/core/cortex-m0/cpu.h b/core/cortex-m0/cpu.h index 52e46551b0..18686dee1c 100644 --- a/core/cortex-m0/cpu.h +++ b/core/cortex-m0/cpu.h @@ -21,6 +21,7 @@ #define CPU_NVIC_PRI(x) CPUREG(0xe000e400 + 4 * (x)) /* System Control Block */ +#define CPU_SCB_ICSR CPUREG(0xe000ed04) /* SCB AIRCR : Application interrupt and reset control register */ #define CPU_NVIC_APINT CPUREG(0xe000ed0c) diff --git a/core/cortex-m0/irq_handler.h b/core/cortex-m0/irq_handler.h index 442c20ac00..f6742f5c82 100644 --- a/core/cortex-m0/irq_handler.h +++ b/core/cortex-m0/irq_handler.h @@ -8,60 +8,35 @@ #ifndef __IRQ_HANDLER_H #define __IRQ_HANDLER_H -#ifdef CONFIG_TASK_PROFILING -#define bl_task_start_irq_handler "bl task_start_irq_handler\n" -#else -#define bl_task_start_irq_handler "" -#endif +#include "cpu.h" /* Helper macros to build the IRQ handler and priority struct names */ #define IRQ_HANDLER(irqname) CONCAT3(irq_, irqname, _handler) #define IRQ_PRIORITY(irqname) CONCAT2(prio_, irqname) -/* re-scheduling flag */ -extern int need_resched_or_profiling; - /* * Macro to connect the interrupt handler "routine" to the irq number "irq" and * ensure it is enabled in the interrupt controller with the right priority. */ #define DECLARE_IRQ(irq, routine, priority) DECLARE_IRQ_(irq, routine, priority) +#ifdef CONFIG_TASK_PROFILING #define DECLARE_IRQ_(irq, routine, priority) \ - void IRQ_HANDLER(irq)(void) __attribute__((naked)); \ void IRQ_HANDLER(irq)(void) \ { \ - asm volatile("mov r0, lr\n" \ - /* Must push registers in pairs to keep 64-bit aligned*/\ - /* stack for ARM EABI. */ \ - "push {r0, %0}\n" \ - bl_task_start_irq_handler \ - "bl "#routine"\n" \ - "pop {r2, r3}\n" \ - /* read need_resched_or_profiling result after IRQ */ \ - "ldr r0, [r3]\n" \ - "mov r1, #8\n" \ - "cmp r0, #0\n" \ - /* if we need to go through the re-scheduling, go on */ \ - "bne 2f\n" \ - /* else return from exception */ \ - "1: bx r2\n" \ - /* check if that's a nested exception */ \ - "2: tst r1, r2\n" \ - /* if yes return immediatly */ \ - "beq 1b\n" \ - "push {r0, r2}\n" \ - "mov r0, #0\n" \ - "mov r1, #0\n" \ - /* ensure we have priority 0 during re-scheduling */ \ - "cpsid i\n isb\n" \ - /* re-schedule the highest priority task */ \ - "bl svc_handler\n" \ - /* enable interrupts and return from exception */ \ - "cpsie i\n" \ - "pop {r0,pc}\n" \ - : : "r"(&need_resched_or_profiling)); \ + void *ret = __builtin_return_address(0); \ + task_start_irq_handler(ret); \ + routine(); \ + task_end_irq_handler(ret); \ } \ const struct irq_priority IRQ_PRIORITY(irq) \ __attribute__((section(".rodata.irqprio"))) \ = {irq, priority} +#else /* CONFIG_TASK_PROFILING */ +/* No Profiling : connect directly the IRQ vector */ +#define DECLARE_IRQ_(irq, routine, priority) \ + void IRQ_HANDLER(irq)(void) __attribute__((alias(STRINGIFY(routine))));\ + const struct irq_priority IRQ_PRIORITY(irq) \ + __attribute__((section(".rodata.irqprio"))) \ + = {irq, priority} +#endif /* CONFIG_TASK_PROFILING */ #endif /* __IRQ_HANDLER_H */ diff --git a/core/cortex-m0/task.c b/core/cortex-m0/task.c index 4e9c66ee95..e51621b41e 100644 --- a/core/cortex-m0/task.c +++ b/core/cortex-m0/task.c @@ -123,19 +123,6 @@ uint32_t scratchpad[17]; static task_ *current_task = (task_ *)scratchpad; /* - * Should IRQs chain to svc_handler()? This should be set if either of the - * following is true: - * - * 1) Task scheduling has started, and task profiling is enabled. Task - * profiling does its tracking in svc_handler(). - * - * 2) An event was set by an interrupt; this could result in a higher-priority - * task unblocking. After checking for a task switch, svc_handler() will clear - * the flag (unless profiling is also enabled; then the flag remains set). - */ -int need_resched_or_profiling; - -/* * Bitmap of all tasks ready to be run. * * Currently all tasks are enabled at startup. @@ -209,7 +196,9 @@ task_ *__svc_handler(int desched, task_id_t resched) * start time explicitly. */ if (exc == 0xb) { - exc_start_time = get_time().val; + t = get_time().val; + current_task->runtime += (t - exc_end_time); + exc_end_time = t; svc_calls++; } #endif @@ -237,22 +226,11 @@ task_ *__svc_handler(int desched, task_id_t resched) next = __task_id_to_ptr(31 - __builtin_clz(tasks_ready)); #ifdef CONFIG_TASK_PROFILING - /* Track time in interrupts */ + /* Track additional time in re-sched exception context */ t = get_time().val; - exc_total_time += (t - exc_start_time); + exc_total_time += (t - exc_end_time); - /* - * Bill the current task for time between the end of the last interrupt - * and the start of this one. - */ - current->runtime += (exc_start_time - exc_end_time); exc_end_time = t; -#else - /* - * Don't chain here from interrupts until the next time an interrupt - * sets an event. - */ - need_resched_or_profiling = 0; #endif /* Switch to new task */ @@ -284,6 +262,18 @@ void __schedule(int desched, int resched) asm("svc 0" : : "r"(p0), "r"(p1)); } +void pendsv_handler(void) +{ + /* Clear pending flag */ + CPU_SCB_ICSR = (1 << 27); + + /* ensure we have priority 0 during re-scheduling */ + __asm__ __volatile__("cpsid i"); + /* re-schedule the highest priority task */ + svc_handler(0, 0); + __asm__ __volatile__("cpsie i"); +} + #ifdef CONFIG_TASK_PROFILING void task_start_irq_handler(void *excep_return) { @@ -302,14 +292,33 @@ void task_start_irq_handler(void *excep_return) irq_dist[irq]++; /* - * Continue iff a rescheduling event happened or profiling is active, - * and we are not called from another exception (this must match the - * logic for when we chain to svc_handler() below). + * Continue iff the tasks are ready and we are not called from another + * exception (as the time accouting is done in the outer irq). */ - if (!need_resched_or_profiling || (((uint32_t)excep_return & 0xf) == 1)) + if (!start_called || ((uint32_t)excep_return & 0xf) == 1) return; exc_start_time = t; + /* + * Bill the current task for time between the end of the last interrupt + * and the start of this one. + */ + current_task->runtime += (exc_start_time - exc_end_time); +} + +void task_end_irq_handler(void *excep_return) +{ + uint64_t t = get_time().val; + /* + * Continue iff the tasks are ready and we are not called from another + * exception (as the time accouting is done in the outer irq). + */ + if (!start_called || ((uint32_t)excep_return & 0xf) == 1) + return; + + /* Track time in interrupts */ + exc_total_time += (t - exc_start_time); + exc_end_time = t; } #endif @@ -357,10 +366,13 @@ uint32_t task_set_event(task_id_t tskid, uint32_t event, int wait) if (in_interrupt_context()) { /* The receiver might run again */ atomic_or(&tasks_ready, 1 << tskid); -#ifndef CONFIG_TASK_PROFILING - if (start_called) - need_resched_or_profiling = 1; -#endif + if (start_called) { + /* + * Trigger the scheduler when there's + * no other irqs happening. + */ + CPU_SCB_ICSR = (1 << 28); + } } else { if (wait) { return __wait_evt(-1, tskid); @@ -646,7 +658,6 @@ int task_start(void) #ifdef CONFIG_TASK_PROFILING task_start_time = exc_end_time = get_time().val; #endif - start_called = 1; - return __task_start(&need_resched_or_profiling); + return __task_start(&start_called); } diff --git a/include/task.h b/include/task.h index 0c71e804ba..06cef86946 100644 --- a/include/task.h +++ b/include/task.h @@ -141,6 +141,7 @@ const char *task_get_name(task_id_t tskid); * is called. */ void task_start_irq_handler(void *excep_return); +void task_end_irq_handler(void *excep_return); #else #define task_start_irq_handler(excep_return) #endif |