Merge branch 'main' into 'main'

🐛 fix immature context switch optimization on ARMv6/ARMv7 See merge request library/M5P01_Prokaron!22
EDI-Systems · Jul 13, 2024 · c4931af · c4931af
2 parents 8c93b87 + 121cd3d
commit c4931af
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Showing 8 changed files with 89 additions and 75 deletions.
diff --git a/Include/Platform/A6M/rmp_platform_a6m.h b/Include/Platform/A6M/rmp_platform_a6m.h
@@ -85,15 +85,9 @@ typedef rmp_s32_t rmp_ret_t;
 #define RMP_INT_MASK()                  RMP_Int_Disable()
 #define RMP_INT_UNMASK()                RMP_Int_Enable()
 /* Yield operation */
-#define RMP_YIELD()                     (RMP_A6M_NVIC_INT_CTRL=RMP_A6M_NVIC_PENDSVSET)
+#define RMP_YIELD()                     _RMP_A6M_Yield()
 #define RMP_YIELD_ISR()                 RMP_YIELD()
 /* End System Macro **********************************************************/
-
-/* ARMv6-M Macro *************************************************************/
-/* PendSV trigger */
-#define RMP_A6M_NVIC_INT_CTRL           (*((volatile rmp_ptr_t*)0xE000ED04U))
-#define RMP_A6M_NVIC_PENDSVSET          (0x10000000U)
-/* End ARMv6-M Macro *********************************************************/
 /*****************************************************************************/
 /* __RMP_PLATFORM_A6M_DEF__ */
 #endif
@@ -189,6 +183,8 @@ RMP_EXTERN void RMP_Int_Enable(void);
 RMP_EXTERN void _RMP_Start(rmp_ptr_t Entry,
                            rmp_ptr_t Stack);
 
+RMP_EXTERN void _RMP_A6M_Yield(void);
+
 /* Initialization */
 __RMP_EXTERN__ rmp_ptr_t _RMP_Stack_Init(rmp_ptr_t Stack,
                                          rmp_ptr_t Size,

diff --git a/Include/Platform/A7M/rmp_platform_a7m.h b/Include/Platform/A7M/rmp_platform_a7m.h
@@ -85,7 +85,7 @@ typedef rmp_s32_t rmp_ret_t;
 #define RMP_INT_MASK()                  RMP_Int_Mask(RMP_A7M_INT_MASK_LVL)
 #define RMP_INT_UNMASK()                RMP_Int_Mask(0x00U)
 /* Yield operation */
-#define RMP_YIELD()                     (RMP_A7M_NVIC_INT_CTRL=RMP_A7M_NVIC_PENDSVSET)
+#define RMP_YIELD()                     _RMP_A7M_Yield()
 #define RMP_YIELD_ISR()                 RMP_YIELD()
 /* End System Macro **********************************************************/
 
@@ -104,10 +104,6 @@ typedef rmp_s32_t rmp_ret_t;
 #define RMP_A7M_NVIC_GROUPING_P2S6      (5U)
 #define RMP_A7M_NVIC_GROUPING_P1S7      (6U)
 #define RMP_A7M_NVIC_GROUPING_P0S8      (7U)
-
-/* PendSV trigger */
-#define RMP_A7M_NVIC_INT_CTRL           (*((volatile rmp_ptr_t*)0xE000ED04U))
-#define RMP_A7M_NVIC_PENDSVSET          (0x10000000U)
 /* End ARMv7-M Macro *********************************************************/
 /*****************************************************************************/
 /* __RMP_PLATFORM_A7M_DEF__ */
@@ -203,7 +199,9 @@ RMP_EXTERN void RMP_Int_Mask(rmp_ptr_t Level);
 
 RMP_EXTERN rmp_ptr_t _RMP_A7M_MSB_Get(rmp_ptr_t Value);
 RMP_EXTERN rmp_ptr_t _RMP_A7M_LSB_Get(rmp_ptr_t Value);
-RMP_EXTERN void _RMP_Start(rmp_ptr_t Entry, rmp_ptr_t Stack);
+RMP_EXTERN void _RMP_Start(rmp_ptr_t Entry,
+                           rmp_ptr_t Stack);
+RMP_EXTERN void _RMP_A7M_Yield(void);
 
 /* Initialization */
 __RMP_EXTERN__ rmp_ptr_t _RMP_Stack_Init(rmp_ptr_t Stack,

diff --git a/Project/RVMDK-STM32F767IGT6/RMP.uvprojx b/Project/RVMDK-STM32F767IGT6/RMP.uvprojx
@@ -10,13 +10,13 @@
       <TargetName>RMP</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>6180000::V6.18::ARMCLANG</pCCUsed>
+      <pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
       <uAC6>1</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F767IGTx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F7xx_DFP.2.16.0</PackID>
+          <PackID>Keil.STM32F7xx_DFP.2.15.2</PackID>
           <PackURL>https://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20020000,0x60000) IRAM2(0x20000000,0x20000) IROM(0x08000000,0x100000) IROM2(0x00200000,0x100000) CPUTYPE("Cortex-M7") FPU3(DFPU) CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -173,7 +173,7 @@
             <AdsLven>1</AdsLven>
             <AdsLsxf>1</AdsLsxf>
             <RvctClst>1</RvctClst>
-            <GenPPlst>0</GenPPlst>
+            <GenPPlst>1</GenPPlst>
             <AdsCpuType>"Cortex-M7"</AdsCpuType>
             <RvctDeviceName></RvctDeviceName>
             <mOS>0</mOS>

diff --git a/Project/RVMDK-STM32L071CBT6/RMP.uvprojx b/Project/RVMDK-STM32L071CBT6/RMP.uvprojx
@@ -10,14 +10,14 @@
       <TargetName>RMP</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>6180000::V6.18::ARMCLANG</pCCUsed>
+      <pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
       <uAC6>1</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32L071CBTx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32L0xx_DFP.2.3.0</PackID>
-          <PackURL>https://www.keil.com/pack/</PackURL>
+          <PackID>Keil.STM32L0xx_DFP.2.2.0</PackID>
+          <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000,0x00005000) IROM(0x08000000,0x00020000) CPUTYPE("Cortex-M0+") CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>

diff --git a/Source/Platform/A6M/rmp_platform_a6m_armcc.s b/Source/Platform/A6M/rmp_platform_a6m_armcc.s
@@ -35,6 +35,8 @@
     EXPORT              RMP_Int_Enable
     ;Start the first thread
     EXPORT              _RMP_Start
+    ;Yield to another thread
+    EXPORT              _RMP_A6M_Yield
     ;The system pending service routine              
     EXPORT              PendSV_Handler 
     ;The systick timer routine              
@@ -87,14 +89,23 @@ _RMP_Start              PROC
     ENDP
 ;/* End Function:_RMP_Start **************************************************/
 
+;/* Function:_RMP_A6M_Yield ***************************************************
+;Description : Trigger a yield to another thread.
+;Input       : None.
+;Output      : None.
+;Return      : None.
+;*****************************************************************************/
+_RMP_A6M_Yield          PROC
+    LDR                 R0,=0xE000ED04      ;The NVIC_INT_CTRL register
+    LDR                 R1,=0x10000000      ;Trigger the PendSV
+    STR                 R1,[R0]
+    DSB
+    BX                  LR
+    ENDP
+;/* End Function:_RMP_A6M_Yield **********************************************/
+
 ;/* Function:PendSV_Handler ***************************************************
-;Description : The PendSV interrupt routine. In fact, it will call a C function
-;              directly. The reason why the interrupt routine must be an assembly
-;              function is that the compiler may deal with the stack in a different 
-;              way when different optimization level is chosen. An assembly function
-;              can make way around this problem.
-;              However, if your compiler support inline assembly functions, this
-;              can also be written in C.
+;Description : The PendSV interrupt handler.
 ;              ARMv6-M only have STMIA, will have to live with it.
 ;Input       : None.
 ;Output      : None.
@@ -134,13 +145,7 @@ PendSV_Handler          PROC
 ;/* End Function:PendSV_Handler **********************************************/
 
 ;/* Function:SysTick_Handler **************************************************
-;Description : The SysTick interrupt routine. In fact, it will call a C function
-;              directly. The reason why the interrupt routine must be an assembly
-;              function is that the compiler may deal with the stack in a different 
-;              way when different optimization level is chosen. An assembly function
-;              can make way around this problem.
-;              However, if your compiler support inline assembly functions, this
-;              can also be written in C.
+;Description : The SysTick interrupt handler.
 ;Input       : None.
 ;Output      : None.
 ;Return      : None.

diff --git a/Source/Platform/A6M/rmp_platform_a6m_gcc.s b/Source/Platform/A6M/rmp_platform_a6m_gcc.s
@@ -37,6 +37,8 @@ The above 3 registers are saved into the stack in combination(xPSR).
     .global             RMP_Int_Mask
     /* Start the first thread */
     .global             _RMP_Start
+    /* Yield to another thread */
+    .global             _RMP_A6M_Yield
     /* The system pending service routine */
     .global             PendSV_Handler
     /* The systick timer routine */
@@ -89,14 +91,23 @@ _RMP_Start:
     BLX                 R0                  /* Branch to our target */
 /* End Function:_RMP_Start ***************************************************/
 
+/* Function:_RMP_A6M_Yield ****************************************************
+Description : Trigger a yield to another thread.
+Input       : None.
+Output      : None.
+Return      : None.
+******************************************************************************/
+    .thumb_func
+_RMP_A6M_Yield:
+    LDR                 R0,=0xE000ED04      /* The NVIC_INT_CTRL register */
+    LDR                 R1,=0x10000000      /* Trigger the PendSV */
+    STR                 R1,[R0]
+    DSB
+    BX                  LR
+/* End Function:_RMP_A6M_Yield ***********************************************/
+
 /* Function:PendSV_Handler ****************************************************
-Description : The PendSV interrupt routine. In fact, it will call a C function
-              directly. The reason why the interrupt routine must be an assembly
-              function is that the compiler may deal with the stack in a different
-              way when different optimization level is chosen. An assembly function
-              can make way around this problem.
-              However, if your compiler support inline assembly functions, this
-              can also be written in C.
+Description : The PendSV interrupt handler.
               ARMv6-M only have STMIA, will have to live with it.
 Input       : None.
 Output      : None.
@@ -136,13 +147,7 @@ PendSV_Handler:
 /* End Function:PendSV_Handler ***********************************************/
 
 /* Function:SysTick_Handler ***************************************************
-Description : The SysTick interrupt routine. In fact, it will call a C function
-              directly. The reason why the interrupt routine must be an assembly
-              function is that the compiler may deal with the stack in a different
-              way when different optimization level is chosen. An assembly function
-              can make way around this problem.
-              However, if your compiler support inline assembly functions, this
-              can also be written in C.
+Description : The SysTick interrupt handler.
 Input       : None.
 Output      : None.
 Return      : None.

diff --git a/Source/Platform/A7M/rmp_platform_a7m_armcc.s b/Source/Platform/A7M/rmp_platform_a7m_armcc.s
@@ -42,6 +42,8 @@
     EXPORT              _RMP_A7M_LSB_Get
     ;Start the first thread
     EXPORT              _RMP_Start
+    ;Yield to another thread
+    EXPORT              _RMP_A7M_Yield
     ;The system pending service routine              
     EXPORT              PendSV_Handler 
     ;The systick timer routine              
@@ -135,14 +137,23 @@ _RMP_Start              PROC
     ENDP
 ;/* End Function:_RMP_Start **************************************************/
 
+;/* Function:_RMP_A7M_Yield ***************************************************
+;Description : Trigger a yield to another thread.
+;Input       : None.
+;Output      : None.
+;Return      : None.
+;*****************************************************************************/
+_RMP_A7M_Yield          PROC
+    LDR                 R0,=0xE000ED04      ;The NVIC_INT_CTRL register
+    LDR                 R1,=0x10000000      ;Trigger the PendSV
+    STR                 R1,[R0]
+    DSB
+    BX                  LR
+    ENDP
+;/* End Function:_RMP_A7M_Yield **********************************************/
+
 ;/* Function:PendSV_Handler ***************************************************
-;Description : The PendSV interrupt routine. In fact, it will call a C function
-;              directly. The reason why the interrupt routine must be an assembly
-;              function is that the compiler may deal with the stack in a different 
-;              way when different optimization level is chosen. An assembly function
-;              can make way around this problem.
-;              However, if your compiler support inline assembly functions, this
-;              can also be written in C.
+;Description : The PendSV interrupt handler.
 ;Input       : None.
 ;Output      : None.
 ;Return      : None.
@@ -175,13 +186,7 @@ PendSV_Handler          PROC
 ;/* End Function:PendSV_Handler **********************************************/
 
 ;/* Function:SysTick_Handler **************************************************
-;Description : The SysTick interrupt routine. In fact, it will call a C function
-;              directly. The reason why the interrupt routine must be an assembly
-;              function is that the compiler may deal with the stack in a different 
-;              way when different optimization level is chosen. An assembly function
-;              can make way around this problem.
-;              However, if your compiler support inline assembly functions, this
-;              can also be written in C.
+;Description : The SysTick interrupt handler.
 ;Input       : None.
 ;Output      : None.
 ;Return      : None.

diff --git a/Source/Platform/A7M/rmp_platform_a7m_gcc.s b/Source/Platform/A7M/rmp_platform_a7m_gcc.s
@@ -42,6 +42,8 @@ The ARM Cortex-M4/7 also include a FPU.
     .global             _RMP_A7M_LSB_Get
     /* Start the first thread */
     .global             _RMP_Start
+    /* Yield to another thread */
+    .global             _RMP_A7M_Yield
     /* The system pending service routine */
     .global             PendSV_Handler
     /* The systick timer routine */
@@ -135,14 +137,23 @@ _RMP_Start:
     BLX                 R0                  /* Branch to our target */
 /* End Function:_RMP_Start ***************************************************/
 
+/* Function:_RMP_A7M_Yield ****************************************************
+Description : Trigger a yield to another thread.
+Input       : None.
+Output      : None.
+Return      : None.
+******************************************************************************/
+    .thumb_func
+_RMP_A7M_Yield:
+    LDR                 R0,=0xE000ED04      /* The NVIC_INT_CTRL register */
+    LDR                 R1,=0x10000000      /* Trigger the PendSV */
+    STR                 R1,[R0]
+    DSB
+    BX                  LR
+/* End Function:_RMP_A7M_Yield ***********************************************/
+
 /* Function:PendSV_Handler ****************************************************
-Description : The PendSV interrupt routine. In fact, it will call a C function
-              directly. The reason why the interrupt routine must be an assembly
-              function is that the compiler may deal with the stack in a different
-              way when different optimization level is chosen. An assembly function
-              can make way around this problem.
-              However, if your compiler support inline assembly functions, this
-              can also be written in C.
+Description : The PendSV interrupt handler.
 Input       : None.
 Output      : None.
 Return      : None.
@@ -175,13 +186,7 @@ PendSV_Handler:
 /* End Function:PendSV_Handler ***********************************************/
 
 /* Function:SysTick_Handler ***************************************************
-Description : The SysTick interrupt routine. In fact, it will call a C function
-              directly. The reason why the interrupt routine must be an assembly
-              function is that the compiler may deal with the stack in a different
-              way when different optimization level is chosen. An assembly function
-              can make way around this problem.
-              However, if your compiler support inline assembly functions, this
-              can also be written in C.
+Description : The SysTick interrupt handler.
 Input       : None.
 Output      : None.
 Return      : None.