forked from epagris/FreeRTOS-Kernel
Add support for the configUSE_TASK_FPU_SUPPORT constant in the GCC/ARM_CR5 port (#584)
* Add support for the configUSE_TASK_FPU_SUPPORT in the GCC/ARM_CR5 port This is done almost identically as in the GCC/ARM_CA9 port * Adjust task stack initialitation of the GCC/ARM_CR5 port Ensure that the task stack initialization is done correctly for the different options of configUSE_TASK_FPU_SUPPORT. This is very similar to the GCC/ARM_CA9 port. The only meaningful difference is, that the FPU of the Cortex-R5 has just sixteen 64-bit floating point registers as it implements the VFPv3-D16 architecture. You may also refer to the ARM documentation * Add support for FPU safe interrupts to the GCC/ARM_CR5 port Similar to GCC/ARM_CA9 port * Clarify comment about the size of the FPU registers of Cortex R5
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ChristosZosi
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@ -28,6 +28,7 @@
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/* Standard includes. */
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#include <stdlib.h>
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#include <string.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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@ -148,6 +149,19 @@
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#define portTASK_RETURN_ADDRESS prvTaskExitError
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#endif
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/*
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* The space on the stack required to hold the FPU registers.
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*
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* The ARM Cortex R5 processor implements the VFPv3-D16 FPU
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* architecture. This includes only 16 double-precision registers,
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* instead of 32 as is in VFPv3. The register bank can be viewed
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* either as sixteen 64-bit double-word registers (D0-D15) or
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* thirty-two 32-bit single-word registers (S0-S31), in both cases
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* the size of the bank remains the same. The FPU has also a 32-bit
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* status register.
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*/
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#define portFPU_REGISTER_WORDS ( ( 16 * 2 ) + 1 )
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/*-----------------------------------------------------------*/
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/*
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@ -161,6 +175,27 @@ extern void vPortRestoreTaskContext( void );
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*/
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static void prvTaskExitError( void );
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/*
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* If the application provides an implementation of vApplicationIRQHandler(),
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* then it will get called directly without saving the FPU registers on
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* interrupt entry, and this weak implementation of
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* vApplicationFPUSafeIRQHandler() is just provided to remove linkage errors -
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* it should never actually get called so its implementation contains a
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* call to configASSERT() that will always fail.
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*
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* If the application provides its own implementation of
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* vApplicationFPUSafeIRQHandler() then the implementation of
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* vApplicationIRQHandler() provided in portASM.S will save the FPU registers
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* before calling it.
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*
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* Therefore, if the application writer wants FPU registers to be saved on
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* interrupt entry their IRQ handler must be called
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* vApplicationFPUSafeIRQHandler(), and if the application writer does not want
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* FPU registers to be saved on interrupt entry their IRQ handler must be
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* called vApplicationIRQHandler().
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*/
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void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR ) __attribute__((weak) );
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/*-----------------------------------------------------------*/
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/* A variable is used to keep track of the critical section nesting. This
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@ -255,12 +290,31 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
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/* The task will start with a critical nesting count of 0 as interrupts are
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* enabled. */
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*pxTopOfStack = portNO_CRITICAL_NESTING;
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pxTopOfStack--;
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/* The task will start without a floating point context. A task that uses
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* the floating point hardware must call vPortTaskUsesFPU() before executing
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* any floating point instructions. */
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*pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;
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#if( configUSE_TASK_FPU_SUPPORT == 1 )
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{
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/* The task will start without a floating point context. A task that
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uses the floating point hardware must call vPortTaskUsesFPU() before
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executing any floating point instructions. */
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pxTopOfStack--;
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*pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;
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}
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#elif( configUSE_TASK_FPU_SUPPORT == 2 )
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{
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/* The task will start with a floating point context. Leave enough
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space for the registers - and ensure they are initialized to 0. */
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pxTopOfStack -= portFPU_REGISTER_WORDS;
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memset( pxTopOfStack, 0x00, portFPU_REGISTER_WORDS * sizeof( StackType_t ) );
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pxTopOfStack--;
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*pxTopOfStack = pdTRUE;
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ulPortTaskHasFPUContext = pdTRUE;
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}
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#else
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{
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#error Invalid configUSE_TASK_FPU_SUPPORT setting - configUSE_TASK_FPU_SUPPORT must be set to 1, 2, or left undefined.
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}
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#endif /* configUSE_TASK_FPU_SUPPORT */
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return pxTopOfStack;
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}
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@ -283,6 +337,13 @@ static void prvTaskExitError( void )
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}
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/*-----------------------------------------------------------*/
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void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR )
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{
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( void ) ulICCIAR;
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configASSERT( ( volatile void * ) NULL );
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}
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/*-----------------------------------------------------------*/
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BaseType_t xPortStartScheduler( void )
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{
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uint32_t ulAPSR, ulCycles = 8; /* 8 bits per byte. */
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@ -444,17 +505,21 @@ void FreeRTOS_Tick_Handler( void )
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}
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/*-----------------------------------------------------------*/
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void vPortTaskUsesFPU( void )
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{
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uint32_t ulInitialFPSCR = 0;
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#if( configUSE_TASK_FPU_SUPPORT != 2 )
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/* A task is registering the fact that it needs an FPU context. Set the
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* FPU flag (which is saved as part of the task context). */
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ulPortTaskHasFPUContext = pdTRUE;
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void vPortTaskUsesFPU( void )
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{
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uint32_t ulInitialFPSCR = 0;
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/* Initialise the floating point status register. */
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__asm volatile ( "FMXR FPSCR, %0" ::"r" ( ulInitialFPSCR ) : "memory" );
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}
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/* A task is registering the fact that it needs an FPU context. Set the
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* FPU flag (which is saved as part of the task context). */
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ulPortTaskHasFPUContext = pdTRUE;
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/* Initialise the floating point status register. */
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__asm volatile ( "FMXR FPSCR, %0" ::"r" ( ulInitialFPSCR ) : "memory" );
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}
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#endif /* configUSE_TASK_FPU_SUPPORT */
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/*-----------------------------------------------------------*/
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void vPortClearInterruptMask( uint32_t ulNewMaskValue )
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@ -262,6 +262,42 @@ switch_before_exit:
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next. */
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portRESTORE_CONTEXT
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/******************************************************************************
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* If the application provides an implementation of vApplicationIRQHandler(),
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* then it will get called directly without saving the FPU registers on
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* interrupt entry, and this weak implementation of
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* vApplicationIRQHandler() will not get called.
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*
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* If the application provides its own implementation of
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* vApplicationFPUSafeIRQHandler() then this implementation of
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* vApplicationIRQHandler() will be called, save the FPU registers, and then
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* call vApplicationFPUSafeIRQHandler().
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*
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* Therefore, if the application writer wants FPU registers to be saved on
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* interrupt entry their IRQ handler must be called
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* vApplicationFPUSafeIRQHandler(), and if the application writer does not want
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* FPU registers to be saved on interrupt entry their IRQ handler must be
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* called vApplicationIRQHandler().
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*****************************************************************************/
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.align 4
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.weak vApplicationIRQHandler
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.type vApplicationIRQHandler, %function
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vApplicationIRQHandler:
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PUSH {LR}
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FMRX R1, FPSCR
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VPUSH {D0-D15}
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PUSH {R1}
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LDR r1, vApplicationFPUSafeIRQHandlerConst
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BLX r1
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POP {R0}
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VPOP {D0-D15}
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VMSR FPSCR, R0
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POP {PC}
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ulICCIARConst: .word ulICCIAR
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ulICCEOIRConst: .word ulICCEOIR
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ulICCPMRConst: .word ulICCPMR
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@ -272,6 +308,7 @@ ulMaxAPIPriorityMaskConst: .word ulMaxAPIPriorityMask
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vTaskSwitchContextConst: .word vTaskSwitchContext
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vApplicationIRQHandlerConst: .word vApplicationIRQHandler
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ulPortInterruptNestingConst: .word ulPortInterruptNesting
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vApplicationFPUSafeIRQHandlerConst: .word vApplicationFPUSafeIRQHandler
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.end
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@ -116,9 +116,18 @@
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* handler for whichever peripheral is used to generate the RTOS tick. */
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void FreeRTOS_Tick_Handler( void );
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/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU()
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* before any floating point instructions are executed. */
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/* If configUSE_TASK_FPU_SUPPORT is set to 1 (or left undefined) then tasks are
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created without an FPU context and must call vPortTaskUsesFPU() to give
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themselves an FPU context before using any FPU instructions. If
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configUSE_TASK_FPU_SUPPORT is set to 2 then all tasks will have an FPU context
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by default. */
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#if( configUSE_TASK_FPU_SUPPORT != 2 )
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void vPortTaskUsesFPU( void );
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#else
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/* Each task has an FPU context already, so define this function away to
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nothing to prevent it being called accidentally. */
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#define vPortTaskUsesFPU()
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#endif /* configUSE_TASK_FPU_SUPPORT */
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#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU()
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#define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL )
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