diff options
Diffstat (limited to 'stmhal/pendsv.c')
| -rw-r--r-- | stmhal/pendsv.c | 64 |
1 files changed, 49 insertions, 15 deletions
diff --git a/stmhal/pendsv.c b/stmhal/pendsv.c index ff4480eed..200d13a5a 100644 --- a/stmhal/pendsv.c +++ b/stmhal/pendsv.c @@ -29,6 +29,7 @@ #include "py/mpstate.h" #include "py/runtime.h" +#include "lib/utils/interrupt_char.h" #include "pendsv.h" #include "irq.h" @@ -52,12 +53,12 @@ void pendsv_init(void) { // 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) { +void pendsv_kbd_intr(void) { if (MP_STATE_VM(mp_pending_exception) == MP_OBJ_NULL) { - MP_STATE_VM(mp_pending_exception) = o; + mp_keyboard_interrupt(); } else { MP_STATE_VM(mp_pending_exception) = MP_OBJ_NULL; - pendsv_object = o; + pendsv_object = &MP_STATE_VM(mp_kbd_exception); SCB->ICSR = SCB_ICSR_PENDSVSET_Msk; } } @@ -70,25 +71,57 @@ void pendsv_isr_handler(void) { // 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[6]: pc=r15 + // sp[5]: lr=r14 + // sp[4]: r12 + // sp[3]: r3 + // sp[2]: r2 + // sp[1]: r1 // sp[0]: r0 // // stack layout with DEBUG enabled: - // sp[8]: pc - // sp[7]: lr - // sp[6]: ? - // sp[5]: ? - // sp[4]: ? - // sp[3]: ? + // sp[8]: pc=r15 + // sp[7]: lr=r14 + // sp[6]: r12 + // sp[5]: r3 + // sp[4]: r2 + // sp[3]: r1 // sp[2]: r0 // sp[1]: 0xfffffff9 // sp[0]: ? +#if MICROPY_PY_THREAD + __asm volatile ( + "ldr r1, pendsv_object_ptr\n" + "ldr r0, [r1]\n" + "cmp r0, 0\n" + "beq .no_obj\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 + "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" // reenable interrupts + "vpop {s16-s31}\n" + "pop {r4-r11, lr}\n" + "bx lr\n" // return from interrupt; will return to new thread + ".align 2\n" + "pendsv_object_ptr: .word pendsv_object\n" + "nlr_jump_ptr: .word nlr_jump\n" + ); +#else __asm volatile ( "ldr r0, pendsv_object_ptr\n" "ldr r0, [r0]\n" @@ -108,6 +141,7 @@ void pendsv_isr_handler(void) { "pendsv_object_ptr: .word pendsv_object\n" "nlr_jump_ptr: .word nlr_jump\n" ); +#endif /* uint32_t x[2] = {0x424242, 0xdeaddead}; |