kopia lustrzana https://github.com/micropython/micropython
147 wiersze
4.6 KiB
C
147 wiersze
4.6 KiB
C
/*
|
|
* This file is part of the MicroPython project, http://micropython.org/
|
|
*
|
|
* The MIT License (MIT)
|
|
*
|
|
* Copyright (c) 2022 Damien P. George
|
|
* Copyright (c) 2024 NXP
|
|
*
|
|
* 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 "MCXN947_cm33_core0.h"
|
|
|
|
#include "py/runtime.h"
|
|
|
|
#include "pendsv.h"
|
|
|
|
volatile void *pendsv_object;
|
|
|
|
#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) {
|
|
#if defined(PENDSV_DISPATCH_NUM_SLOTS)
|
|
pendsv_dispatch_active = false;
|
|
#endif
|
|
|
|
NVIC_SetPriority(PendSV_IRQn, 7);
|
|
}
|
|
|
|
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;
|
|
}
|
|
}
|
|
|
|
#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
|
|
// note that stack has a different layout if DEBUG is enabled
|
|
//
|
|
// For the case of a thread switch, swap stacks.
|
|
//
|
|
// on entry to this (naked) function, stack has the following layout:
|
|
//
|
|
// stack layout with DEBUG disabled:
|
|
// 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=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]: ?
|
|
|
|
__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"
|
|
"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
|
|
|
|
// 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"
|
|
);
|
|
}
|