Skip to content

Commit e46a8b7

Browse files
paulbartellpaulbartell
committed
Enable building the GCC Cortex-R5 port without an FPU
1 parent cd1f51c commit e46a8b7

File tree

3 files changed

+117
-91
lines changed

3 files changed

+117
-91
lines changed

‎portable/GCC/ARM_CR5/port.c‎

Lines changed: 60 additions & 48 deletions
Original file line numberDiff line numberDiff line change
@@ -149,6 +149,8 @@
149149
#define portTASK_RETURN_ADDRESS prvTaskExitError
150150
#endif
151151

152+
#if ( configUSE_TASK_FPU_SUPPORT != 0 )
153+
152154
/*
153155
* The space on the stack required to hold the FPU registers.
154156
*
@@ -160,7 +162,8 @@
160162
* the size of the bank remains the same. The FPU has also a 32-bit
161163
* status register.
162164
*/
163-
#define portFPU_REGISTER_WORDS ( ( 16 * 2 ) + 1 )
165+
#define portFPU_REGISTER_WORDS ( ( 16 * 2 ) + 1 )
166+
#endif /* configUSE_TASK_FPU_SUPPORT != 0 */
164167

165168
/*-----------------------------------------------------------*/
166169

@@ -175,6 +178,8 @@ extern void vPortRestoreTaskContext( void );
175178
*/
176179
static void prvTaskExitError( void );
177180

181+
#if ( configUSE_TASK_FPU_SUPPORT != 0 )
182+
178183
/*
179184
* If the application provides an implementation of vApplicationIRQHandler(),
180185
* then it will get called directly without saving the FPU registers on
@@ -194,7 +199,8 @@ static void prvTaskExitError( void );
194199
* FPU registers to be saved on interrupt entry their IRQ handler must be
195200
* called vApplicationIRQHandler().
196201
*/
197-
void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR ) __attribute__((weak) );
202+
void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR ) __attribute__( ( weak ) );
203+
#endif /* configUSE_TASK_FPU_SUPPORT != 0 */
198204

199205
/*-----------------------------------------------------------*/
200206

@@ -205,9 +211,12 @@ void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR ) __attribute__((weak) );
205211
* automatically be set to 0 when the first task is started. */
206212
volatile uint32_t ulCriticalNesting = 9999UL;
207213

214+
#if ( configUSE_TASK_FPU_SUPPORT != 0 )
215+
208216
/* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero then
209217
* a floating point context must be saved and restored for the task. */
210-
uint32_t ulPortTaskHasFPUContext = pdFALSE;
218+
uint32_t ulPortTaskHasFPUContext = pdFALSE;
219+
#endif /* configUSE_TASK_FPU_SUPPORT != 0 */
211220

212221
/* Set to 1 to pend a context switch from an ISR. */
213222
uint32_t ulPortYieldRequired = pdFALSE;
@@ -291,28 +300,28 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
291300
* enabled. */
292301
*pxTopOfStack = portNO_CRITICAL_NESTING;
293302

294-
#if( configUSE_TASK_FPU_SUPPORT == 1 )
303+
#if ( configUSE_TASK_FPU_SUPPORT == 1 )
295304
{
296305
/* The task will start without a floating point context. A task that
297-
uses the floating point hardware must call vPortTaskUsesFPU() before
298-
executing any floating point instructions. */
306+
* uses the floating point hardware must call vPortTaskUsesFPU() before
307+
* executing any floating point instructions. */
299308
pxTopOfStack--;
300309
*pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;
301310
}
302-
#elif( configUSE_TASK_FPU_SUPPORT == 2 )
311+
#elif ( configUSE_TASK_FPU_SUPPORT == 2 )
303312
{
304313
/* The task will start with a floating point context. Leave enough
305-
space for the registers - and ensure they are initialized to 0. */
314+
* space for the registers - and ensure they are initialized to 0. */
306315
pxTopOfStack -= portFPU_REGISTER_WORDS;
307316
memset( pxTopOfStack, 0x00, portFPU_REGISTER_WORDS * sizeof( StackType_t ) );
308317

309318
pxTopOfStack--;
310319
*pxTopOfStack = pdTRUE;
311320
ulPortTaskHasFPUContext = pdTRUE;
312321
}
313-
#else
322+
#elif ( configUSE_TASK_FPU_SUPPORT != 0 )
314323
{
315-
#error Invalid configUSE_TASK_FPU_SUPPORT setting - configUSE_TASK_FPU_SUPPORT must be set to 1, 2, or left undefined.
324+
#error Invalid configUSE_TASK_FPU_SUPPORT setting - configUSE_TASK_FPU_SUPPORT must be set to 0, 1, or 2.
316325
}
317326
#endif /* configUSE_TASK_FPU_SUPPORT */
318327

@@ -337,58 +346,60 @@ static void prvTaskExitError( void )
337346
}
338347
/*-----------------------------------------------------------*/
339348

340-
void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR )
341-
{
342-
( void ) ulICCIAR;
343-
configASSERT( ( volatile void * ) NULL );
344-
}
349+
#if ( configUSE_TASK_FPU_SUPPORT != 0 )
350+
void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR )
351+
{
352+
( void ) ulICCIAR;
353+
configASSERT( ( volatile void * ) NULL );
354+
}
355+
#endif /* configUSE_TASK_FPU_SUPPORT != 0 */
345356
/*-----------------------------------------------------------*/
346357

347358
BaseType_t xPortStartScheduler( void )
348359
{
349360
uint32_t ulAPSR, ulCycles = 8; /* 8 bits per byte. */
350361

351362
#if ( configASSERT_DEFINED == 1 )
352-
{
353-
volatile uint32_t ulOriginalPriority;
354-
volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET );
355-
volatile uint8_t ucMaxPriorityValue;
363+
{
364+
volatile uint32_t ulOriginalPriority;
365+
volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET );
366+
volatile uint8_t ucMaxPriorityValue;
356367

357-
/* Determine how many priority bits are implemented in the GIC.
358-
*
359-
* Save the interrupt priority value that is about to be clobbered. */
360-
ulOriginalPriority = *pucFirstUserPriorityRegister;
368+
/* Determine how many priority bits are implemented in the GIC.
369+
*
370+
* Save the interrupt priority value that is about to be clobbered. */
371+
ulOriginalPriority = *pucFirstUserPriorityRegister;
361372

362-
/* Determine the number of priority bits available. First write to
363-
* all possible bits. */
364-
*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
373+
/* Determine the number of priority bits available. First write to
374+
* all possible bits. */
375+
*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
365376

366-
/* Read the value back to see how many bits stuck. */
367-
ucMaxPriorityValue = *pucFirstUserPriorityRegister;
377+
/* Read the value back to see how many bits stuck. */
378+
ucMaxPriorityValue = *pucFirstUserPriorityRegister;
368379

369-
/* Shift to the least significant bits. */
370-
while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET )
371-
{
372-
ucMaxPriorityValue >>= ( uint8_t ) 0x01;
380+
/* Shift to the least significant bits. */
381+
while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET )
382+
{
383+
ucMaxPriorityValue >>= ( uint8_t ) 0x01;
373384

374-
/* If ulCycles reaches 0 then ucMaxPriorityValue must have been
375-
* read as 0, indicating a misconfiguration. */
376-
ulCycles--;
385+
/* If ulCycles reaches 0 then ucMaxPriorityValue must have been
386+
* read as 0, indicating a misconfiguration. */
387+
ulCycles--;
377388

378-
if( ulCycles == 0 )
379-
{
380-
break;
381-
}
389+
if( ulCycles == 0 )
390+
{
391+
break;
382392
}
393+
}
383394

384-
/* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read
385-
* value. */
386-
configASSERT( ucMaxPriorityValue == portLOWEST_INTERRUPT_PRIORITY );
395+
/* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read
396+
* value. */
397+
configASSERT( ucMaxPriorityValue == portLOWEST_INTERRUPT_PRIORITY );
387398

388-
/* Restore the clobbered interrupt priority register to its original
389-
* value. */
390-
*pucFirstUserPriorityRegister = ulOriginalPriority;
391-
}
399+
/* Restore the clobbered interrupt priority register to its original
400+
* value. */
401+
*pucFirstUserPriorityRegister = ulOriginalPriority;
402+
}
392403
#endif /* configASSERT_DEFINED */
393404

394405
/* Only continue if the CPU is not in User mode. The CPU must be in a
@@ -426,6 +437,7 @@ BaseType_t xPortStartScheduler( void )
426437
* warning about it being defined but not referenced in the case that the user
427438
* defines their own exit address. */
428439
( void ) prvTaskExitError;
440+
429441
return 0;
430442
}
431443
/*-----------------------------------------------------------*/
@@ -505,7 +517,7 @@ void FreeRTOS_Tick_Handler( void )
505517
}
506518
/*-----------------------------------------------------------*/
507519

508-
#if( configUSE_TASK_FPU_SUPPORT != 2 )
520+
#if ( configUSE_TASK_FPU_SUPPORT == 1 )
509521

510522
void vPortTaskUsesFPU( void )
511523
{
@@ -519,7 +531,7 @@ void FreeRTOS_Tick_Handler( void )
519531
__asm volatile ( "FMXR FPSCR, %0" ::"r" ( ulInitialFPSCR ) : "memory" );
520532
}
521533

522-
#endif /* configUSE_TASK_FPU_SUPPORT */
534+
#endif /* configUSE_TASK_FPU_SUPPORT == 1 */
523535
/*-----------------------------------------------------------*/
524536

525537
void vPortClearInterruptMask( uint32_t ulNewMaskValue )

‎portable/GCC/ARM_CR5/portASM.S‎

Lines changed: 38 additions & 29 deletions
Original file line numberDiff line numberDiff line change
@@ -45,7 +45,10 @@
4545
.extern vTaskSwitchContext
4646
.extern vApplicationIRQHandler
4747
.extern ulPortInterruptNesting
48+
49+
#if( configUSE_TASK_FPU_SUPPORT != 0 )
4850
.extern ulPortTaskHasFPUContext
51+
#endif /* configUSE_TASK_FPU_SUPPORT != 0 */
4952

5053
.global FreeRTOS_IRQ_Handler
5154
.global FreeRTOS_SWI_Handler
@@ -64,20 +67,21 @@
6467
LDR R1, [R2]
6568
PUSH {R1}
6669

67-
/* Does the task have a floating point context that needs saving? If
68-
ulPortTaskHasFPUContext is 0 then no. */
69-
LDR R2, ulPortTaskHasFPUContextConst
70-
LDR R3, [R2]
71-
CMP R3, #0
70+
#if( configUSE_TASK_FPU_SUPPORT != 0 )
71+
/* Does the task have a floating point context that needs saving? If
72+
ulPortTaskHasFPUContext is 0 then no. */
73+
LDR R2, ulPortTaskHasFPUContextConst
74+
LDR R3, [R2]
75+
CMP R3, #0
7276

73-
/* Save the floating point context, if any. */
74-
FMRXNE R1, FPSCR
75-
VPUSHNE {D0-D15}
76-
/*VPUSHNE {D16-D31}*/
77-
PUSHNE {R1}
77+
/* Save the floating point context, if any. */
78+
FMRXNE R1, FPSCR
79+
VPUSHNE {D0-D15}
80+
PUSHNE {R1}
7881

79-
/* Save ulPortTaskHasFPUContext itself. */
80-
PUSH {R3}
82+
/* Save ulPortTaskHasFPUContext itself. */
83+
PUSH {R3}
84+
#endif /* configUSE_TASK_FPU_SUPPORT != 0 */
8185

8286
/* Save the stack pointer in the TCB. */
8387
LDR R0, pxCurrentTCBConst
@@ -95,18 +99,19 @@
9599
LDR R1, [R0]
96100
LDR SP, [R1]
97101

98-
/* Is there a floating point context to restore? If the restored
99-
ulPortTaskHasFPUContext is zero then no. */
100-
LDR R0, ulPortTaskHasFPUContextConst
101-
POP {R1}
102-
STR R1, [R0]
103-
CMP R1, #0
102+
#if( configUSE_TASK_FPU_SUPPORT != 0 )
103+
/* Is there a floating point context to restore? If the restored
104+
ulPortTaskHasFPUContext is zero then no. */
105+
LDR R0, ulPortTaskHasFPUContextConst
106+
POP {R1}
107+
STR R1, [R0]
108+
CMP R1, #0
104109

105-
/* Restore the floating point context, if any. */
106-
POPNE {R0}
107-
/*VPOPNE {D16-D31}*/
108-
VPOPNE {D0-D15}
109-
VMSRNE FPSCR, R0
110+
/* Restore the floating point context, if any. */
111+
POPNE {R0}
112+
VPOPNE {D0-D15}
113+
VMSRNE FPSCR, R0
114+
#endif /* configUSE_TASK_FPU_SUPPORT != 0 */
110115

111116
/* Restore the critical section nesting depth. */
112117
LDR R0, ulCriticalNestingConst
@@ -132,8 +137,6 @@
132137
.endm
133138

134139

135-
136-
137140
/******************************************************************************
138141
* SVC handler is used to start the scheduler.
139142
*****************************************************************************/
@@ -289,8 +292,10 @@ vApplicationIRQHandler:
289292
VPUSH {D0-D15}
290293
PUSH {R1}
291294

292-
LDR r1, vApplicationFPUSafeIRQHandlerConst
293-
BLX r1
295+
#if( configUSE_TASK_FPU_SUPPORT != 0 )
296+
LDR r1, vApplicationFPUSafeIRQHandlerConst
297+
BLX r1
298+
#endif /* configUSE_TASK_FPU_SUPPORT != 0 */
294299

295300
POP {R0}
296301
VPOP {D0-D15}
@@ -303,12 +308,16 @@ ulICCEOIRConst: .word ulICCEOIR
303308
ulICCPMRConst: .word ulICCPMR
304309
pxCurrentTCBConst: .word pxCurrentTCB
305310
ulCriticalNestingConst: .word ulCriticalNesting
306-
ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext
311+
312+
#if( configUSE_TASK_FPU_SUPPORT != 0 )
313+
ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext
314+
vApplicationFPUSafeIRQHandlerConst: .word vApplicationFPUSafeIRQHandler
315+
#endif /* configUSE_TASK_FPU_SUPPORT != 0 */
316+
307317
ulMaxAPIPriorityMaskConst: .word ulMaxAPIPriorityMask
308318
vTaskSwitchContextConst: .word vTaskSwitchContext
309319
vApplicationIRQHandlerConst: .word vApplicationIRQHandler
310320
ulPortInterruptNestingConst: .word ulPortInterruptNesting
311-
vApplicationFPUSafeIRQHandlerConst: .word vApplicationFPUSafeIRQHandler
312321

313322
.end
314323

‎portable/GCC/ARM_CR5/portmacro.h‎

Lines changed: 19 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -30,7 +30,7 @@
3030
#define PORTMACRO_H
3131

3232
#ifdef __cplusplus
33-
extern "C" {
33+
extern "C" {
3434
#endif
3535

3636
/*-----------------------------------------------------------
@@ -116,18 +116,23 @@
116116
* handler for whichever peripheral is used to generate the RTOS tick. */
117117
void FreeRTOS_Tick_Handler( void );
118118

119-
/* If configUSE_TASK_FPU_SUPPORT is set to 1 (or left undefined) then tasks are
120-
created without an FPU context and must call vPortTaskUsesFPU() to give
121-
themselves an FPU context before using any FPU instructions. If
122-
configUSE_TASK_FPU_SUPPORT is set to 2 then all tasks will have an FPU context
123-
by default. */
124-
#if( configUSE_TASK_FPU_SUPPORT != 2 )
125-
void vPortTaskUsesFPU( void );
126-
#else
127-
/* Each task has an FPU context already, so define this function away to
128-
nothing to prevent it being called accidentally. */
129-
#define vPortTaskUsesFPU()
130-
#endif /* configUSE_TASK_FPU_SUPPORT */
119+
/*
120+
* If configUSE_TASK_FPU_SUPPORT is set to 1 then tasks are
121+
* created without an FPU context and must call vPortTaskUsesFPU() to give
122+
* themselves an FPU context before using any FPU instructions. If
123+
* configUSE_TASK_FPU_SUPPORT is set to 2 then all tasks will have an FPU context
124+
* by default.
125+
*/
126+
#if ( configUSE_TASK_FPU_SUPPORT == 1 )
127+
void vPortTaskUsesFPU( void );
128+
#else
129+
130+
/*
131+
* Each task has an FPU context already, so define this function away to
132+
* nothing to prevent it being called accidentally.
133+
*/
134+
#define vPortTaskUsesFPU()
135+
#endif /* configUSE_TASK_FPU_SUPPORT */
131136
#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU()
132137

133138
#define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL )
@@ -159,7 +164,7 @@ by default. */
159164

160165

161166
#ifdef __cplusplus
162-
} /* extern C */
167+
} /* extern C */
163168
#endif
164169

165170

0 commit comments

Comments
 (0)