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MuhammedZamroodhMuhammedZamroodh
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Release: v6.0
Highlights: - HW timer for Sys timer made configurable - arch swap and isr code cleaned up - Added board documentation Fixes: - Wrong RAM size for 128k device - Busywait implementation fixed - Fix register pollution bug - Fix for Configs breaking other board builds - Other minor fixes Signed-off-by: Muhammed Zamroodh <muhammed.zamroodh@ignitarium.com>
1 parent c227f3a commit 26d472b

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33 files changed

+777
-767
lines changed

33 files changed

+777
-767
lines changed

‎arch/dspic/core/CMakeLists.txt‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@ zephyr_library_sources(
77
isr_wrapper.S
88
prep_c.c
99
thread.c
10-
swap.c
10+
swap.S
1111
tls.c
1212
reset0.S
1313
init.S

‎arch/dspic/core/isr_wrapper.S‎

Lines changed: 32 additions & 251 deletions
Original file line numberDiff line numberDiff line change
@@ -4,15 +4,9 @@
44
*/
55
#include <zephyr/devicetree.h>
66
#include <offsets.h>
7+
#include <kernel_arch_swap_macro.S>
78
#define OFFSET DT_PROP(DT_NODELABEL(intc0), if_offset)
89

9-
#if defined(CONFIG_BOARD_DSPIC33A_CURIOSITY_P33AK512MPS512)
10-
#define RAM_END 0x00013FFC
11-
#elif defined(CONFIG_BOARD_DSPIC33A_CURIOSITY_P33AK128MC106)
12-
#define RAM_END 0x00007FFC
13-
#endif
14-
15-
1610
.equ IF_OFFSET, OFFSET
1711

1812
.section .text,code
@@ -23,301 +17,88 @@
2317
__COMMONInterrupt:
2418
.section .isr.text._COMMONInterrupt,keep,code,keep
2519
lnk #0x4
20+
/* Handle ISR calls and clear handles IRQ
21+
*/
2622
mov.l w8, [w15++]
27-
mov.sl #__kernel,w8
23+
mov.sl #__kernel + ___cpu_t_nested_OFFSET,w8
2824
add.l [w8],#1,[w8]
2925
mov.w _INTTREGbits,w0
30-
and.l #(0x1ff&0xFFFF),w0
26+
and.l #0x1ff,w0
3127
sub.l w0,#9,w0
3228
mov.sl #__sw_isr_table,w1
3329
sl.l w0,#3,w0
3430
add.l w0,w1,w2
3531
mov.l [w2+4],w1
3632
mov.l [w2],w0
3733

38-
3934
call w1
4035
mov.w _INTTREGbits,w0
41-
and.l #(0x1ff&0xFFFF),w0
36+
and.l #0x1ff,w0
4237
sub.l w0,#9,w0
4338
call _arch_dspic_irq_clear
4439

45-
40+
/* Check and perform context switch
41+
*/
4642
sub.l [w8],#1,w0
4743
mov.l w0,[w8]
44+
mov.l [--w15], w8
4845
cp.l w0,#0
4946
bra nz,.L2
50-
mov.sl #__kernel+20,w1
47+
mov.sl #__kernel + ___kernel_t_ready_q_OFFSET,w1
5148
mov.l [w1],w1
52-
mov.sl #__kernel+8,w0
49+
mov.sl #__kernel + ___cpu_t_current_OFFSET,w0
5350
mov.l [w0],w0
5451
cp.l w1,w0
5552
bra z,.L2
5653
cp0.b _z_sys_post_kernel
5754
bra z,.L2
58-
mov.l [--w15], w8
5955
ulnk
6056
CTXTSWP #0x0
6157
mov.l w0, [w15++]
6258
mov.l #RAM_END, w0
6359
mov.l w0, SPLIM
64-
mov.l sr, w0
65-
and #0xe0, w0
66-
bra nz, 1f
67-
mov.l [--w15], w0
68-
ulnk
69-
mov.l w2, [w15++]
70-
mov.l w1, [w15++]
71-
mov.l w0, [w15++]
72-
mov.l #_swap_working_set, w0
73-
mov.l [--w15], [w0++]
74-
mov.l [--w15], [w0++]
75-
mov.l [--w15], [w0]
76-
mov.l [--w15], w1
77-
mov.l sr, [w15++]
78-
mov.l w1, [w15++]
79-
mov.l [w0--], w2
80-
mov.l [w0--], w1
81-
mov.l [w0], w0
82-
mov.l w0, [w15++]
83-
1:
8460
mov.l [--w15], w0
85-
push RCOUNT
86-
push.l fsr
87-
push.l fcr
88-
mov.l w0, [w15++]
89-
mov.l w1, [w15++]
90-
mov.l w2, [w15++]
91-
mov.l w3, [w15++]
92-
mov.l w4, [w15++]
93-
mov.l w5, [w15++]
94-
mov.l w6, [w15++]
95-
mov.l w7, [w15++]
96-
push.l f0
97-
push.l f1
98-
push.l f2
99-
push.l f3
100-
push.l f4
101-
push.l f5
102-
push.l f6
103-
push.l f7
104-
lnk #0x4
105-
106-
mov.l #__kernel, w0
107-
mov.l #___cpu_t_current_OFFSET, w1
108-
add w0, w1, w1
109-
mov.l [w1], w2
110-
mov.l #___thread_t_callee_saved_OFFSET, w1
111-
add w2, w1, w1
61+
z_dspic_save_caller_saved
62+
z_dspic_save_callee_saved
11263

113-
mov.l w8, [w1++]
114-
mov.l w9, [w1++]
115-
mov.l w10, [w1++]
116-
mov.l w11, [w1++]
117-
mov.l w12, [w1++]
118-
mov.l w13, [w1++]
119-
mov.l w14, [w1++]
120-
mov.l f8, [w1++]
121-
mov.l f9, [w1++]
122-
mov.l f10, [w1++]
123-
mov.l f11, [w1++]
124-
mov.l f12, [w1++]
125-
mov.l f13, [w1++]
126-
mov.l f14, [w1++]
127-
mov.l f15, [w1++]
128-
mov.l f16, [w1++]
129-
mov.l f17, [w1++]
130-
mov.l f18, [w1++]
131-
mov.l f19, [w1++]
132-
mov.l f20, [w1++]
133-
mov.l f21, [w1++]
134-
mov.l f22, [w1++]
135-
mov.l f23, [w1++]
136-
mov.l f24, [w1++]
137-
mov.l f25, [w1++]
138-
mov.l f26, [w1++]
139-
mov.l f27, [w1++]
140-
mov.l f28, [w1++]
141-
mov.l f29, [w1++]
142-
mov.l f30, [w1++]
143-
mov.l f31, [w1++]
144-
mov.l #RCOUNT, w2
145-
mov.l [w2], [w1++]
146-
mov.l #CORCON, w2
147-
mov.l [w2], [w1++]
148-
mov.l #MODCON, w2
149-
mov.l [w2], [w1++]
150-
mov.l #XMODSRT, w2
151-
mov.l [w2], [w1++]
152-
mov.l #XMODEND, w2
153-
mov.l [w2], [w1++]
154-
mov.l #YMODSRT, w2
155-
mov.l [w2], [w1++]
156-
mov.l #YMODEND, w2
157-
mov.l [w2], [w1++]
158-
mov.l #XBREV, w2
159-
mov.l [w2], [w1++]
160-
slac.l A, [W1++]
161-
sac.l A, [W1++]
162-
suac.l A, [W1++]
163-
slac.l B, [W1++]
164-
sac.l B, [W1++]
165-
suac.l B, [W1++]
166-
mov.l w15, [w1++]
167-
mov.l w14, [w1++]
168-
mov.l #SPLIM, w2
169-
mov.l [w2], [w1++]
64+
mov.l #__kernel_ready_q_cache_OFFSET, w2
65+
mov.l [w2], w2
66+
mov.l #__kernel_current_OFFSET, w1
67+
mov.l w2, [w1]
17068

171-
mov.sl #__kernel+20,w0
172-
mov.l [w0],w0
173-
mov.sl #__kernel,w1
174-
mov.l w0,[w1 + ___cpu_t_current_OFFSET]
175-
mov.l [w0 + ___thread_t_tls_OFFSET],w0
176-
rcall __set_tls
177-
178-
mov.l #__kernel, w0
179-
mov.l #___cpu_t_current_OFFSET, w1
180-
add w0, w1, w1
181-
mov.l [w1], w2
182-
mov.l #___thread_t_callee_saved_OFFSET, w1
183-
add w2, w1, w1
69+
#ifdef CONFIG_CURRENT_THREAD_USE_TLS
70+
mov.l [w2 + ___thread_t_tls_OFFSET], w0
71+
rcall __set_tls
72+
#endif
18473

185-
mov.l [w1++], w8
186-
mov.l [w1++], w9
187-
mov.l [w1++], w10
188-
mov.l [w1++], w11
189-
mov.l [w1++], w12
190-
mov.l [w1++], w13
191-
mov.l [w1++], w14
192-
mov.l [w1++], f8
193-
mov.l [w1++], f9
194-
mov.l [w1++], f10
195-
mov.l [w1++], f11
196-
mov.l [w1++], f12
197-
mov.l [w1++], f13
198-
mov.l [w1++], f14
199-
mov.l [w1++], f15
200-
mov.l [w1++], f16
201-
mov.l [w1++], f17
202-
mov.l [w1++], f18
203-
mov.l [w1++], f19
204-
mov.l [w1++], f20
205-
mov.l [w1++], f21
206-
mov.l [w1++], f22
207-
mov.l [w1++], f23
208-
mov.l [w1++], f24
209-
mov.l [w1++], f25
210-
mov.l [w1++], f26
211-
mov.l [w1++], f27
212-
mov.l [w1++], f28
213-
mov.l [w1++], f29
214-
mov.l [w1++], f30
215-
mov.l [w1++], f31
216-
mov.l #RCOUNT, w2
217-
mov.l [w1++], [w2]
218-
mov.l #CORCON, w2
219-
mov.l [w1++], [w2]
220-
mov.l #MODCON, w2
221-
mov.l [w1++], [w2]
222-
mov.l #XMODSRT, w2
223-
mov.l [w1++], [w2]
224-
mov.l #XMODEND, w2
225-
mov.l [w1++], [w2]
226-
mov.l #YMODSRT, w2
227-
mov.l [w1++], [w2]
228-
mov.l #YMODEND, w2
229-
mov.l [w1++], [w2]
230-
mov.l #XBREV, w2
231-
mov.l [w1++], [w2]
232-
clr A
233-
clr B
234-
llac.l [w1++], A
235-
lac.l [w1++], A
236-
luac.l [w1++], A
237-
llac.l [w1++], B
238-
lac.l [w1++], B
239-
luac.l [w1++], B
240-
mov.l [w1++], w15
241-
mov.l [w1++], w14
242-
mov.l #SPLIM, w2
243-
mov.l [w1++], [w2]
74+
z_dspic_restore_callee_saved
75+
z_dspic_restore_caller_saved
24476

245-
ulnk
246-
pop.l f7
247-
pop.l f6
248-
pop.l f5
249-
pop.l f4
250-
pop.l f3
251-
pop.l f2
252-
pop.l f1
253-
pop.l f0
254-
mov.l [--w15], w7
255-
mov.l [--w15], w6
256-
mov.l [--w15], w5
257-
mov.l [--w15], w4
258-
mov.l [--w15], w3
259-
mov.l [--w15], w2
260-
mov.l [--w15], w1
261-
mov.l [--w15], w0
262-
pop.l fcr
263-
pop.l fsr
264-
pop RCOUNT
265-
mov.l w0, [w15++]
266-
mov.l sr, w0
267-
and #0xe0, w0
268-
mov.l [--w15], w0
269-
bra nz, 1f
27077
mov.l w2, [w15++]
27178
mov.l w1, [w15++]
27279
mov.l w0, [w15++]
273-
mov.l #_swap_working_set, w0
274-
mov.l [--w15], [w0++]
275-
mov.l [--w15], [w0++]
276-
mov.l [--w15], [w0]
277-
mov.l [--w15], w1
278-
mov.l [--w15], w2
279-
mov.l w2, sr
280-
mov.l w1, [w15++]
281-
mov.l [w0--], w2
282-
mov.l [w0--], w1
283-
mov.l [w0], w0
284-
lnk #0x4
285-
1:
286-
mov.l w2, [w15++]
287-
mov.l w1, [w15++]
288-
mov.l w0, [w15++]
289-
mov.sl #__kernel, w0
290-
mov.l [w0 + ___cpu_t_current_OFFSET], w1
291-
mov.l #___thread_t_arch_OFFSET, w2
292-
add.l w2, w1, w1
293-
mov.l [w1 + ___thread_arch_t_swapped_from_thread_OFFSET], w0
80+
mov.sl #__kernel_current_OFFSET, w0
81+
mov.l [w0], w1
82+
mov.l [w1 + __thread_t_arch_swapped_from_thread_OFFSET], w0
29483
mov.l #0, w2
29584
cp.l w2, w0
29685
mov.l [--w15], w0
297-
bra z, 1f
298-
mov.l [w1 + ___thread_arch_t_swap_return_value_OFFSET], w0
299-
mov.l w2, [w1 + ___thread_arch_t_swapped_from_thread_OFFSET]
300-
1:
86+
bra z, 2f
87+
mov.l [w1 + __thread_t_arch_swap_return_value_OFFSET], w0
88+
mov.l w2, [w1 + __thread_t_arch_swapped_from_thread_OFFSET]
89+
2:
30190
mov.l [--w15], w1
30291
mov.l [--w15], w2
30392
nop
30493
retfie
30594

306-
307-
30895
.L2:
309-
mov.l [--w15], w8
31096
ulnk
311-
.L1:
31297
retfie
31398

31499

315-
.section .text._arch_dspic_irq_clear,code
316-
.align 4
317-
.global _arch_dspic_irq_clear ; export
318-
.type _arch_dspic_irq_clear,@function
319-
_arch_dspic_irq_clear:
320-
100+
GTEXT(arch_dspic_irq_clear)
101+
SECTION_FUNC(TEXT, arch_dspic_irq_clear)
321102
lnk #0
322103
lsr.l w0,#5,w1
323104
sl.l w1,#2,w1

‎arch/dspic/core/offsets/offsets.c‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -7,6 +7,7 @@
77
#include <zephyr/kernel.h>
88
#include <kernel_offsets.h>
99

10+
GEN_OFFSET_SYM(_thread_arch_t, cpu_level);
1011
GEN_OFFSET_SYM(_thread_arch_t, swap_return_value);
1112
GEN_OFFSET_SYM(_thread_arch_t, swapped_from_thread);
1213

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