ports/all: Revert changes to pendsv.c.

openmv · Jan 20, 2024 · caa6cf3 · caa6cf3
1 parent 9fceba6
commit caa6cf3
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Showing 9 changed files with 58 additions and 351 deletions.
diff --git a/ports/mimxrt/pendsv.c b/ports/mimxrt/pendsv.c
@@ -25,42 +25,27 @@
  */
 
 #include <stdlib.h>
+
 #include "py/runtime.h"
 #include "pendsv.h"
 #include "irq.h"
 
-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) {
-    pendsv_object = NULL;
-    #if defined(PENDSV_DISPATCH_NUM_SLOTS)
-    pendsv_dispatch_active = false;
-    #endif
     // set PendSV interrupt at lowest priority
     NVIC_SetPriority(PendSV_IRQn, IRQ_PRI_PENDSV);
 }
 
-// This will always force the exception by using the hardware PENDSV
-void pendsv_nlr_jump(void *o) {
-    MP_STATE_MAIN_THREAD(mp_pending_exception) = MP_OBJ_NULL;
-    pendsv_dispatch_active = false;
-    pendsv_object = o;
-    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) {
+void PendSV_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];
@@ -70,77 +55,3 @@ void pendsv_dispatch_handler(void) {
     }
 }
 #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
-    //
-    // on entry to this (naked) function, stack has the following layout:
-    //   sp[6]: pc=r15
-    //   sp[5]: lr=r14
-    //   sp[4]: r12
-    //   sp[3]: r3
-    //   sp[2]: r2
-    //   sp[1]: r1
-    //   sp[0]: r0
-
-    __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"
-        "mov r2, #0x01000000 \n"        // Modify stacked XPSR to make sure
-        "str r2, [sp, #28] \n"          // possible LDM/STM progress is cleared.
-        "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
-
-        #if MICROPY_PY_THREAD
-        // Do a thread context switch
-        "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
-        #else
-        // Spurious pendsv, just return
-        "bx lr\n"
-        #endif
-
-        // 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"
-        );
-}
diff --git a/ports/nrf/Makefile b/ports/nrf/Makefile
@@ -222,7 +222,6 @@ SRC_NRFX += $(addprefix lib/nrfx/drivers/src/,\
 	)
 
 SRC_C += \
-	pendsv.c \
 	mphalport.c \
 	help.c \
 	gccollect.c \

diff --git a/ports/nrf/mphalport.h b/ports/nrf/mphalport.h
@@ -77,4 +77,7 @@ mp_uint_t mp_hal_ticks_ms(void);
 #define mp_hal_delay_us_fast(p)
 #define mp_hal_ticks_cpu() (0)
 
+#define NVIC_PRIORITYGROUP_4    ((uint32_t)0x00000003)
+#define IRQ_PRI_PENDSV          NVIC_EncodePriority(NVIC_PRIORITYGROUP_4, 15, 0)
+
 #endif
diff --git a/ports/nrf/pendsv.c b/ports/nrf/pendsv.c
diff --git a/ports/nrf/pendsv.h b/ports/nrf/pendsv.h
@@ -23,8 +23,8 @@
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  * THE SOFTWARE.
  */
-#ifndef MICROPY_INCLUDED_STM32_PENDSV_H
-#define MICROPY_INCLUDED_STM32_PENDSV_H
+#ifndef MICROPY_INCLUDED_NRF_PENDSV_H
+#define MICROPY_INCLUDED_NRF_PENDSV_H
 
 enum {
     MICROPY_BOARD_PENDSV_ENTRIES
@@ -39,4 +39,4 @@ void pendsv_init(void);
 void pendsv_nlr_jump(void *val);
 void pendsv_schedule_dispatch(size_t slot, pendsv_dispatch_t f);
 
-#endif // MICROPY_INCLUDED_STM32_PENDSV_H
+#endif // MICROPY_INCLUDED_NRF_PENDSV_H
diff --git a/ports/rp2/CMakeLists.txt b/ports/rp2/CMakeLists.txt
@@ -128,7 +128,6 @@ set(MICROPY_SOURCE_PORT
     mphalport.c
     mpnetworkport.c
     mpthreadport.c
-    pendsv.c
     rp2_flash.c
     rp2_pio.c
     rp2_dma.c

diff --git a/ports/rp2/mphalport.h b/ports/rp2/mphalport.h
@@ -43,6 +43,9 @@
 #define MICROPY_PY_PENDSV_ENTER   pendsv_suspend()
 #define MICROPY_PY_PENDSV_EXIT    pendsv_resume()
 
+#define NVIC_PRIORITYGROUP_0    ((uint32_t)0x00000000)
+#define IRQ_PRI_PENDSV          NVIC_EncodePriority(NVIC_PRIORITYGROUP_0, 15, 0)
+
 extern int mp_interrupt_char;
 extern ringbuf_t stdin_ringbuf;