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-rw-r--r--src/avr/ao_arch.h19
-rw-r--r--src/cc1111/ao_arch.h22
-rw-r--r--src/core/ao_ignite.c4
-rw-r--r--src/core/ao_list.h2
-rw-r--r--src/core/ao_task.c48
-rw-r--r--src/core/ao_task.h1
-rw-r--r--src/drivers/ao_cc1120.c12
-rw-r--r--src/drivers/ao_ms5607.c12
-rw-r--r--src/drivers/ao_radio_master.c8
-rw-r--r--src/stm/ao_arch.h112
-rw-r--r--src/stm/ao_arch_funcs.h101
-rw-r--r--src/stm/ao_i2c_stm.c16
-rw-r--r--src/stm/ao_lcd_stm.c4
-rw-r--r--src/stm/ao_serial_stm.c32
-rw-r--r--src/stm/ao_timer.c3
-rw-r--r--src/stm/ao_usb_stm.c12
-rw-r--r--src/stm/registers.ld2
-rw-r--r--src/stm/stm32l.h30
18 files changed, 236 insertions, 204 deletions
diff --git a/src/avr/ao_arch.h b/src/avr/ao_arch.h
index c82612a8..d626e830 100644
--- a/src/avr/ao_arch.h
+++ b/src/avr/ao_arch.h
@@ -112,7 +112,6 @@ extern uint8_t ao_cpu_sleep_disable;
asm("push r9" "\n\t" "push r8" "\n\t" "push r7" "\n\t" "push r6" "\n\t" "push r5"); \
asm("push r4" "\n\t" "push r3" "\n\t" "push r2" "\n\t" "push r1" "\n\t" "push r0"); \
asm("in r0, __SREG__" "\n\t" "push r0"); \
- sei(); \
} while (0)
#define ao_arch_save_stack() do { \
@@ -124,16 +123,28 @@ extern uint8_t ao_cpu_sleep_disable;
#define ao_arch_isr_stack() /* nothing */
-#define ao_arch_cpu_idle() do { \
- if (!ao_cpu_sleep_disable) \
+/* Idle the CPU (if possible) waiting for an interrupt. Enabling
+ * interrupts and sleeping the CPU must be adjacent to eliminate race
+ * conditions. In all cases, we execute a single nop with interrupts
+ * enabled
+ */
+#define ao_arch_wait_interrupt() do { \
+ if (!ao_cpu_sleep_disable) { \
+ sleep_enable(); \
+ sei(); \
sleep_cpu(); \
+ sleep_disable(); \
+ } else { \
+ sei(); \
+ } \
+ ao_arch_nop(); \
+ cli(); \
} while (0)
#define ao_arch_restore_stack() do { \
uint8_t sp_l, sp_h; \
sp_l = (uint16_t) ao_cur_task->sp; \
sp_h = ((uint16_t) ao_cur_task->sp) >> 8; \
- cli(); \
asm("out __SP_H__,%0" : : "r" (sp_h) ); \
asm("out __SP_L__,%0" : : "r" (sp_l) ); \
asm("pop r0" "\n\t" \
diff --git a/src/cc1111/ao_arch.h b/src/cc1111/ao_arch.h
index f2442eb6..9097557f 100644
--- a/src/cc1111/ao_arch.h
+++ b/src/cc1111/ao_arch.h
@@ -112,9 +112,7 @@ extern AO_ROMCONFIG_SYMBOL(0x00a6) uint32_t ao_radio_cal;
/* Push ACC first, as when restoring the context it must be restored \
* last (it is used to set the IE register). */ \
push ACC \
- /* Store the IE register then enable interrupts. */ \
push _IEN0 \
- setb _EA \
push DPL \
push DPH \
push b \
@@ -147,16 +145,18 @@ extern AO_ROMCONFIG_SYMBOL(0x00a6) uint32_t ao_radio_cal;
while (--stack_len); \
}
-#define ao_arch_isr_stack() \
- /* Empty the stack; might as well let interrupts have the whole thing */ \
- (SP = AO_STACK_START - 1)
+/* Empty the stack; might as well let interrupts have the whole thing */
+#define ao_arch_isr_stack() (SP = AO_STACK_START - 1)
-#define ao_arch_cpu_idle() (PCON = PCON_IDLE)
+#define ao_arch_block_interrupts() __asm clr _EA __endasm
+#define ao_arch_release_interrupts() __asm setb _EA __endasm
-#define ao_arch_block_interrupts() __asm clr ea __endasm
-#define ao_arch_release_interrupts() __asm setb ea __endasm
-#define cli() ao_arch_block_interrupts()
-#define sei() ao_arch_release_interrupts()
+/* Idle the CPU, waking when an interrupt occurs */
+#define ao_arch_wait_interrupt() do { \
+ ao_arch_release_interrupts(); \
+ (PCON = PCON_IDLE); \
+ ao_arch_block_interrupts(); \
+ } while (0)
#define ao_arch_restore_stack() { \
uint8_t stack_len; \
@@ -197,7 +197,7 @@ extern AO_ROMCONFIG_SYMBOL(0x00a6) uint32_t ao_radio_cal;
0098$: \
SETB _EA \
0099$: \
- /* Finally pop off the ACC, which was the first register saved. */ \
+ /* Finally restore ACC, which was the first register saved. */ \
pop ACC \
ret \
__endasm; \
diff --git a/src/core/ao_ignite.c b/src/core/ao_ignite.c
index 693b7c7a..74bd0c5a 100644
--- a/src/core/ao_ignite.c
+++ b/src/core/ao_ignite.c
@@ -23,10 +23,10 @@ __xdata struct ao_ignition ao_ignition[2];
void
ao_ignite(enum ao_igniter igniter)
{
- cli();
+ ao_arch_block_interrupts();
ao_ignition[igniter].request = 1;
ao_wakeup(&ao_ignition);
- sei();
+ ao_arch_release_interrupts();
}
#ifndef AO_SENSE_DROGUE
diff --git a/src/core/ao_list.h b/src/core/ao_list.h
index 23cf1841..8a6fa4d9 100644
--- a/src/core/ao_list.h
+++ b/src/core/ao_list.h
@@ -137,7 +137,7 @@ ao_list_is_empty(struct ao_list *head)
* @return A pointer to the data struct containing the list head.
*/
#define ao_container_of(ptr, type, member) \
- (type *)((char *)(ptr) - offsetof(type, member))
+ ((type *)((char *)(ptr) - offsetof(type, member)))
/**
* Alias of ao_container_of
diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index a11979f0..0411fbdd 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -114,6 +114,8 @@ ao_task_validate_alarm_queue(void)
#define ao_task_validate_alarm_queue()
#endif
+uint16_t ao_task_alarm_tick;
+
static void
ao_task_to_alarm_queue(struct ao_task *task)
{
@@ -126,6 +128,7 @@ ao_task_to_alarm_queue(struct ao_task *task)
}
}
ao_list_append(&task->alarm_queue, &alarm_queue);
+ ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
ao_task_validate_alarm_queue();
}
@@ -133,6 +136,10 @@ static void
ao_task_from_alarm_queue(struct ao_task *task)
{
ao_list_del(&task->alarm_queue);
+ if (ao_list_is_empty(&alarm_queue))
+ ao_task_alarm_tick = 0;
+ else
+ ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
ao_task_validate_alarm_queue();
}
@@ -154,10 +161,7 @@ void
ao_task_check_alarm(uint16_t tick)
{
struct ao_task *alarm, *next;
- int i;
- if (ao_num_tasks == 0)
- return;
ao_list_for_each_entry_safe(alarm, next, &alarm_queue, struct ao_task, alarm_queue) {
if ((int16_t) (tick - alarm->alarm) < 0)
break;
@@ -173,6 +177,7 @@ ao_task_init(void)
uint8_t i;
ao_list_init(&run_queue);
ao_list_init(&alarm_queue);
+ ao_task_alarm_tick = 0;
for (i = 0; i < SLEEP_HASH_SIZE; i++)
ao_list_init(&sleep_queue[i]);
}
@@ -264,14 +269,9 @@ ao_task_validate(void)
}
}
}
-#else
-#define ao_task_validate()
-#endif
+#endif /* DEBUG */
-#else
-#define ao_task_to_run_queue(task)
-#define ao_task_to_alarm_queue(task)
-#endif
+#endif /* HAS_TASK_QUEUE */
void
ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
@@ -331,6 +331,7 @@ ao_yield(void) ao_arch_naked_define
}
ao_arch_isr_stack();
+ ao_arch_block_interrupts();
#if AO_CHECK_STACK
in_yield = 1;
@@ -339,21 +340,19 @@ ao_yield(void) ao_arch_naked_define
* this loop will run forever, which is just fine
*/
#if HAS_TASK_QUEUE
- if (ao_cur_task->wchan == NULL) {
- uint32_t flags;
- flags = ao_arch_irqsave();
+ /* If the current task is running, move it to the
+ * end of the queue to allow other tasks a chance
+ */
+ if (ao_cur_task->wchan == NULL)
ao_task_to_run_queue(ao_cur_task);
- ao_arch_irqrestore(flags);
- }
ao_cur_task = NULL;
-
for (;;) {
ao_arch_memory_barrier();
if (!ao_list_is_empty(&run_queue))
break;
- ao_arch_cpu_idle();
+ /* Wait for interrupts when there's nothing ready */
+ ao_arch_wait_interrupt();
}
-
ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
#else
{
@@ -374,20 +373,19 @@ ao_yield(void) ao_arch_naked_define
(int16_t) (ao_time() - ao_cur_task->alarm) >= 0)
break;
- /* Enter lower power mode when there isn't anything to do */
+ /* Wait for interrupts when there's nothing ready */
if (ao_cur_task_index == ao_last_task_index)
- ao_arch_cpu_idle();
+ ao_arch_wait_interrupt();
}
-#if HAS_SAMPLE_PROFILE
- ao_cur_task->start = ao_sample_profile_timer_value();
-#endif
}
#endif
+#if HAS_SAMPLE_PROFILE
+ ao_cur_task->start = ao_sample_profile_timer_value();
+#endif
#if HAS_STACK_GUARD
ao_mpu_stack_guard(ao_cur_task->stack);
#endif
#if AO_CHECK_STACK
- ao_arch_block_interrupts();
in_yield = 0;
#endif
ao_arch_restore_stack();
@@ -519,7 +517,7 @@ ao_task_info(void)
task->name,
(int) task->wchan);
}
-#if HAS_TASK_QUEUE
+#if HAS_TASK_QUEUE && DEBUG
ao_task_validate();
#endif
}
diff --git a/src/core/ao_task.h b/src/core/ao_task.h
index b3f152a0..049f69a7 100644
--- a/src/core/ao_task.h
+++ b/src/core/ao_task.h
@@ -82,6 +82,7 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
#if HAS_TASK_QUEUE
/* Called on timer interrupt to check alarms */
+extern uint16_t ao_task_alarm_tick;
void
ao_task_check_alarm(uint16_t tick);
#endif
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c
index 7428bead..bad313eb 100644
--- a/src/drivers/ao_cc1120.c
+++ b/src/drivers/ao_cc1120.c
@@ -469,10 +469,10 @@ ao_rdf_run(void)
{
ao_radio_start_tx();
- cli();
+ ao_arch_block_interrupts();
while (!ao_radio_wake && !ao_radio_abort)
ao_sleep(&ao_radio_wake);
- sei();
+ ao_arch_release_interrupts();
if (!ao_radio_wake)
ao_radio_idle();
ao_radio_put();
@@ -603,10 +603,10 @@ ao_radio_send(const void *d, uint8_t size)
do {
ao_radio_wake = 0;
- cli();
+ ao_arch_block_interrupts();
while (!ao_radio_wake)
ao_sleep(&ao_radio_wake);
- sei();
+ ao_arch_release_interrupts();
if (!encode_len)
break;
fifo_space = ao_radio_tx_fifo_space();
@@ -660,14 +660,14 @@ ao_radio_rx_isr(void)
static uint16_t
ao_radio_rx_wait(void)
{
- cli();
+ ao_arch_block_interrupts();
rx_waiting = 1;
while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK &&
!ao_radio_abort) {
ao_sleep(&ao_radio_wake);
}
rx_waiting = 0;
- sei();
+ ao_arch_release_interrupts();
if (ao_radio_abort)
return 0;
rx_data_consumed += AO_FEC_DECODE_BLOCK;
diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index ce0bcf4b..55bea563 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -130,7 +130,6 @@ static uint32_t
ao_ms5607_get_sample(uint8_t cmd) {
uint8_t reply[3];
uint8_t read;
- uint32_t loops;
ao_ms5607_done = 0;
@@ -142,15 +141,10 @@ ao_ms5607_get_sample(uint8_t cmd) {
#if AO_MS5607_PRIVATE_PINS
ao_spi_put(AO_MS5607_SPI_INDEX);
#endif
-// loops = 0;
- cli();
- while (!ao_ms5607_done) {
-// loops++;
+ ao_arch_block_interrupts();
+ while (!ao_ms5607_done)
ao_sleep((void *) &ao_ms5607_done);
- }
- sei();
-// if (loops > 1)
-// printf ("ms5607 loops %d\n", loops);
+ ao_arch_release_interrupts();
#if AO_MS5607_PRIVATE_PINS
stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
#else
diff --git a/src/drivers/ao_radio_master.c b/src/drivers/ao_radio_master.c
index 4a37ace0..1e0050c8 100644
--- a/src/drivers/ao_radio_master.c
+++ b/src/drivers/ao_radio_master.c
@@ -75,7 +75,7 @@ ao_radio_master_send(void)
*/
PRINTD("Waiting radio ready\n");
- cli();
+ ao_arch_block_interrupts();
ao_radio_ready = ao_gpio_get(AO_RADIO_INT_PORT,
AO_RADIO_INT_PIN, AO_RADIO_INT);
ret = 0;
@@ -84,7 +84,7 @@ ao_radio_master_send(void)
if (ret)
break;
}
- sei();
+ ao_arch_release_interrupts();
if (ret)
return 0;
@@ -99,11 +99,11 @@ ao_radio_master_send(void)
AO_RADIO_SPI_BUS);
ao_radio_master_stop();
PRINTD("waiting for send done %d\n", ao_radio_done);
- cli();
+ ao_arch_block_interrupts();
while (!ao_radio_done)
if (ao_sleep((void *) &ao_radio_done))
break;
- sei();
+ ao_arch_release_interrupts();
PRINTD ("sent, radio done %d isr_0 %d isr_1 %d\n", ao_radio_done, isr_0_count, isr_1_count);
return ao_radio_done;
}
diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h
index 0c3cfc91..e270199e 100644
--- a/src/stm/ao_arch.h
+++ b/src/stm/ao_arch.h
@@ -46,9 +46,9 @@
#define __interrupt(n)
#define __at(n)
-#define CORTEX_M3_AIRCR ((uint32_t *) 0xe000ed0c)
-
-#define ao_arch_reboot() (*((uint32_t *) 0xe000ed0c) = 0x05fa0004)
+#define ao_arch_reboot() \
+ (stm_scb.aircr = ((STM_SCB_AIRCR_VECTKEY_KEY << STM_SCB_AIRCR_VECTKEY) | \
+ (1 << STM_SCB_AIRCR_SYSRESETREQ)))
#define ao_arch_nop() asm("nop")
@@ -77,118 +77,12 @@ extern const uint16_t ao_romconfig_check;
extern const uint16_t ao_serial_number;
extern const uint32_t ao_radio_cal;
-#define ARM_PUSH32(stack, val) (*(--(stack)) = (val))
-
#define ao_arch_task_members\
uint32_t *sp; /* saved stack pointer */
#define ao_arch_block_interrupts() asm("cpsid i")
#define ao_arch_release_interrupts() asm("cpsie i")
-#define cli() ao_arch_block_interrupts()
-#define sei() ao_arch_release_interrupts()
-
-static uint32_t
-ao_arch_irqsave(void) {
- uint32_t primask;
- asm("mrs %0,primask" : "=&r" (primask));
- ao_arch_block_interrupts();
- return primask;
-}
-
-static void
-ao_arch_irqrestore(uint32_t primask) {
- asm("msr primask,%0" : : "r" (primask));
-}
-
-static void
-ao_arch_memory_barrier() {
- asm volatile("" ::: "memory");
-}
-
-#define ao_arch_init_stack(task, start) do { \
- uint32_t *sp = (uint32_t *) (task->stack + AO_STACK_SIZE); \
- uint32_t a = (uint32_t) start; \
- int i; \
- \
- /* Return address (goes into LR) */ \
- ARM_PUSH32(sp, a); \
- \
- /* Clear register values r0-r12 */ \
- i = 13; \
- while (i--) \
- ARM_PUSH32(sp, 0); \
- \
- /* APSR */ \
- ARM_PUSH32(sp, 0); \
- \
- /* PRIMASK with interrupts enabled */ \
- ARM_PUSH32(sp, 0); \
- \
- task->sp = sp; \
-} while (0);
-
-#define ao_arch_save_regs() do { \
- /* Save general registers */ \
- asm("push {r0-r12,lr}\n"); \
- \
- /* Save APSR */ \
- asm("mrs r0,apsr"); \
- asm("push {r0}"); \
- \
- /* Save PRIMASK */ \
- asm("mrs r0,primask"); \
- asm("push {r0}"); \
- \
- /* Enable interrupts */ \
- sei(); \
- } while (0)
-
-#define ao_arch_save_stack() do { \
- uint32_t *sp; \
- asm("mov %0,sp" : "=&r" (sp) ); \
- ao_cur_task->sp = (sp); \
- if ((uint8_t *) sp < &ao_cur_task->stack[0]) \
- ao_panic (AO_PANIC_STACK); \
- } while (0)
-
-#if 0
-#define ao_arch_isr_stack() do { \
- uint32_t *sp = (uint32_t *) 0x20004000; \
- asm("mov %0,sp" : "=&r" (sp) ); \
- } while (0)
-#else
-#define ao_arch_isr_stack()
-#endif
-
-
-#define ao_arch_cpu_idle() do { \
- asm(".global ao_idle_loc\n\twfi\nao_idle_loc:"); \
- } while (0)
-
-#define ao_arch_restore_stack() do { \
- uint32_t sp; \
- sp = (uint32_t) ao_cur_task->sp; \
- \
- /* Switch stacks */ \
- asm("mov sp, %0" : : "r" (sp) ); \
- \
- /* Restore PRIMASK */ \
- asm("pop {r0}"); \
- asm("msr primask,r0"); \
- \
- /* Restore APSR */ \
- asm("pop {r0}"); \
- asm("msr apsr,r0"); \
- \
- /* Restore general registers */ \
- asm("pop {r0-r12,lr}\n"); \
- \
- /* Return to calling function */ \
- asm("bx lr"); \
- } while(0)
-
-#define ao_arch_critical(b) do { cli(); do { b } while (0); sei(); } while (0)
/*
* For now, we're running at a weird frequency
diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index e66d20d7..d6ab1465 100644
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -210,4 +210,105 @@ ao_i2c_recv(void *block, uint16_t len, uint8_t i2c_index, uint8_t stop);
void
ao_i2c_init(void);
+#define ARM_PUSH32(stack, val) (*(--(stack)) = (val))
+
+static inline uint32_t
+ao_arch_irqsave(void) {
+ uint32_t primask;
+ asm("mrs %0,primask" : "=&r" (primask));
+ ao_arch_block_interrupts();
+ return primask;
+}
+
+static inline void
+ao_arch_irqrestore(uint32_t primask) {
+ asm("msr primask,%0" : : "r" (primask));
+}
+
+static inline void
+ao_arch_memory_barrier() {
+ asm volatile("" ::: "memory");
+}
+
+static inline void
+ao_arch_init_stack(struct ao_task *task, void *start)
+{
+ uint32_t *sp = (uint32_t *) (task->stack + AO_STACK_SIZE);
+ uint32_t a = (uint32_t) start;
+ int i;
+
+ /* Return address (goes into LR) */
+ ARM_PUSH32(sp, a);
+
+ /* Clear register values r0-r12 */
+ i = 13;
+ while (i--)
+ ARM_PUSH32(sp, 0);
+
+ /* APSR */
+ ARM_PUSH32(sp, 0);
+
+ /* PRIMASK with interrupts enabled */
+ ARM_PUSH32(sp, 0);
+
+ task->sp = sp;
+}
+
+static inline void ao_arch_save_regs(void) {
+ /* Save general registers */
+ asm("push {r0-r12,lr}\n");
+
+ /* Save APSR */
+ asm("mrs r0,apsr");
+ asm("push {r0}");
+
+ /* Save PRIMASK */
+ asm("mrs r0,primask");
+ asm("push {r0}");
+}
+
+static inline void ao_arch_save_stack(void) {
+ uint32_t *sp;
+ asm("mov %0,sp" : "=&r" (sp) );
+ ao_cur_task->sp = (sp);
+ if ((uint8_t *) sp < &ao_cur_task->stack[0])
+ ao_panic (AO_PANIC_STACK);
+}
+
+static inline void ao_arch_restore_stack(void) {
+ uint32_t sp;
+ sp = (uint32_t) ao_cur_task->sp;
+
+ /* Switch stacks */
+ asm("mov sp, %0" : : "r" (sp) );
+
+ /* Restore PRIMASK */
+ asm("pop {r0}");
+ asm("msr primask,r0");
+
+ /* Restore APSR */
+ asm("pop {r0}");
+ asm("msr apsr,r0");
+
+ /* Restore general registers */
+ asm("pop {r0-r12,lr}\n");
+
+ /* Return to calling function */
+ asm("bx lr");
+}
+
+#define ao_arch_isr_stack()
+
+#define ao_arch_wait_interrupt() do { \
+ asm(".global ao_idle_loc\n\twfi\nao_idle_loc:"); \
+ ao_arch_release_interrupts(); \
+ ao_arch_block_interrupts(); \
+ } while (0)
+
+#define ao_arch_critical(b) do { \
+ ao_arch_block_interrupts(); \
+ do { b } while (0); \
+ ao_arch_release_interrupts(); \
+ } while (0)
+
#endif /* _AO_ARCH_FUNCS_H_ */
diff --git a/src/stm/ao_i2c_stm.c b/src/stm/ao_i2c_stm.c
index b6dd7056..779e2275 100644
--- a/src/stm/ao_i2c_stm.c
+++ b/src/stm/ao_i2c_stm.c
@@ -197,13 +197,13 @@ ao_i2c_start(uint8_t index, uint16_t addr)
break;
}
ao_alarm(AO_MS_TO_TICKS(250));
- cli();
+ ao_arch_block_interrupts();
stm_i2c->cr2 = AO_STM_I2C_CR2 | (1 << STM_I2C_CR2_ITEVTEN) | (1 << STM_I2C_CR2_ITERREN);
ao_i2c_ev_isr(index);
while (ao_i2c_state[index] == I2C_IDLE)
if (ao_sleep(&ao_i2c_state[index]))
break;
- sei();
+ ao_arch_release_interrupts();
ao_clear_alarm();
return ao_i2c_state[index] == I2C_RUNNING;
}
@@ -263,7 +263,7 @@ ao_i2c_send(void *block, uint16_t len, uint8_t index, uint8_t stop)
ao_dma_start(tx_dma_index);
ao_alarm(1 + len);
- cli();
+ ao_arch_block_interrupts();
while (!ao_dma_done[tx_dma_index])
if (ao_sleep(&ao_dma_done[tx_dma_index]))
break;
@@ -274,7 +274,7 @@ ao_i2c_send(void *block, uint16_t len, uint8_t index, uint8_t stop)
if (ao_sleep(&ao_i2c_state[index]))
break;
stm_i2c->cr2 = AO_STM_I2C_CR2;
- sei();
+ ao_arch_release_interrupts();
if (stop) {
stm_i2c->cr1 = AO_STM_I2C_CR1 | (1 << STM_I2C_CR1_STOP);
ao_i2c_wait_stop(index);
@@ -328,11 +328,11 @@ ao_i2c_recv(void *block, uint16_t len, uint8_t index, uint8_t stop)
stm_i2c->cr1 = AO_STM_I2C_CR1 | (1 << STM_I2C_CR1_STOP);
ao_alarm(1);
- cli();
+ ao_arch_block_interrupts();
while (ao_i2c_recv_len[index])
if (ao_sleep(&ao_i2c_recv_len[index]))
break;
- sei();
+ ao_arch_release_interrupts();
ret = ao_i2c_recv_len[index] == 0;
ao_clear_alarm();
} else {
@@ -358,11 +358,11 @@ ao_i2c_recv(void *block, uint16_t len, uint8_t index, uint8_t stop)
ao_dma_start(rx_dma_index);
ao_alarm(len);
- cli();
+ ao_arch_block_interrupts();
while (!ao_dma_done[rx_dma_index])
if (ao_sleep(&ao_dma_done[rx_dma_index]))
break;
- sei();
+ ao_arch_release_interrupts();
ao_clear_alarm();
ret = ao_dma_done[rx_dma_index];
ao_dma_done_transfer(rx_dma_index);
diff --git a/src/stm/ao_lcd_stm.c b/src/stm/ao_lcd_stm.c
index 0f9a8eb5..4f2a2242 100644
--- a/src/stm/ao_lcd_stm.c
+++ b/src/stm/ao_lcd_stm.c
@@ -253,12 +253,12 @@ ao_lcd_stm_fcr_sync(void)
void
ao_lcd_flush(void)
{
- cli();
+ ao_arch_block_interrupts();
ao_lcd_update_active = 1;
stm_lcd.sr = (1 << STM_LCD_SR_UDR);
while (ao_lcd_update_active)
ao_sleep(&ao_lcd_update_active);
- sei();
+ ao_arch_release_interrupts();
}
void
diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c
index 406da9fb..00409f4a 100644
--- a/src/stm/ao_serial_stm.c
+++ b/src/stm/ao_serial_stm.c
@@ -34,7 +34,7 @@ ao_debug_out(char c)
}
static void
-ao_usart_tx_start(struct ao_stm_usart *usart)
+_ao_usart_tx_start(struct ao_stm_usart *usart)
{
if (!ao_fifo_empty(usart->tx_fifo) && !usart->tx_started)
{
@@ -61,7 +61,7 @@ ao_usart_isr(struct ao_stm_usart *usart, int stdin)
}
if (sr & (1 << STM_USART_SR_TC)) {
usart->tx_started = 0;
- ao_usart_tx_start(usart);
+ _ao_usart_tx_start(usart);
ao_wakeup(&usart->tx_fifo);
}
}
@@ -70,11 +70,11 @@ char
ao_usart_getchar(struct ao_stm_usart *usart)
{
char c;
- cli();
+ ao_arch_block_interrupts();
while (ao_fifo_empty(usart->rx_fifo))
ao_sleep(&usart->rx_fifo);
ao_fifo_remove(usart->rx_fifo, c);
- sei();
+ ao_arch_release_interrupts();
return c;
}
@@ -82,34 +82,34 @@ char
ao_usart_pollchar(struct ao_stm_usart *usart)
{
char c;
- cli();
- if (ao_fifo_empty(usart->rx_fifo)) {
- sei();
- return AO_READ_AGAIN;
- }
- ao_fifo_remove(usart->rx_fifo,c);
- sei();
+
+ ao_arch_block_interrupts();
+ if (ao_fifo_empty(usart->rx_fifo))
+ c = AO_READ_AGAIN;
+ else
+ ao_fifo_remove(usart->rx_fifo,c);
+ ao_arch_release_interrupts();
return c;
}
void
ao_usart_putchar(struct ao_stm_usart *usart, char c)
{
- cli();
+ ao_arch_block_interrupts();
while (ao_fifo_full(usart->tx_fifo))
ao_sleep(&usart->tx_fifo);
ao_fifo_insert(usart->tx_fifo, c);
- ao_usart_tx_start(usart);
- sei();
+ _ao_usart_tx_start(usart);
+ ao_arch_release_interrupts();
}
void
ao_usart_drain(struct ao_stm_usart *usart)
{
- cli();
+ ao_arch_block_interrupts();
while (!ao_fifo_empty(usart->tx_fifo))
ao_sleep(&usart->tx_fifo);
- sei();
+ ao_arch_release_interrupts();
}
static const struct {
diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index d69035f8..e07625d8 100644
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -44,7 +44,8 @@ void stm_tim6_isr(void)
stm_tim6.sr = 0;
++ao_tick_count;
#if HAS_TASK_QUEUE
- ao_task_check_alarm((uint16_t) ao_tick_count);
+ if (ao_task_alarm_tick && (int16_t) (ao_tick_count - ao_task_alarm_tick) >= 0)
+ ao_task_check_alarm((uint16_t) ao_tick_count);
#endif
#if AO_DATA_ALL
if (++ao_data_count == ao_data_interval) {
diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c
index 8e7dacc5..d93a0c17 100644
--- a/src/stm/ao_usb_stm.c
+++ b/src/stm/ao_usb_stm.c
@@ -223,16 +223,16 @@ _ao_usb_set_stat_tx(int ep, uint32_t stat_tx)
static void
ao_usb_set_stat_tx(int ep, uint32_t stat_tx)
{
- cli();
+ ao_arch_block_interrupts();
_ao_usb_set_stat_tx(ep, stat_tx);
- sei();
+ ao_arch_release_interrupts();
}
static void
ao_usb_set_stat_rx(int ep, uint32_t stat_rx) {
uint32_t epr_write, epr_old;
- cli();
+ ao_arch_block_interrupts();
epr_write = epr_old = stm_usb.epr[ep];
epr_write &= STM_USB_EPR_PRESERVE_MASK;
epr_write |= STM_USB_EPR_INVARIANT;
@@ -240,7 +240,7 @@ ao_usb_set_stat_rx(int ep, uint32_t stat_rx) {
STM_USB_EPR_STAT_RX_MASK << STM_USB_EPR_STAT_RX,
stat_rx << STM_USB_EPR_STAT_RX);
stm_usb.epr[ep] = epr_write;
- sei();
+ ao_arch_release_interrupts();
}
/*
@@ -251,7 +251,7 @@ static void
ao_usb_init_ep(uint8_t ep, uint32_t addr, uint32_t type, uint32_t stat_rx, uint32_t stat_tx)
{
uint32_t epr;
- cli();
+ ao_arch_block_interrupts();
epr = stm_usb.epr[ep];
epr = ((0 << STM_USB_EPR_CTR_RX) |
(epr & (1 << STM_USB_EPR_DTOG_RX)) |
@@ -267,7 +267,7 @@ ao_usb_init_ep(uint8_t ep, uint32_t addr, uint32_t type, uint32_t stat_rx, uint3
(stat_tx << STM_USB_EPR_STAT_TX)) |
(addr << STM_USB_EPR_EA));
stm_usb.epr[ep] = epr;
- sei();
+ ao_arch_release_interrupts();
debug ("writing epr[%d] 0x%08x wrote 0x%08x\n",
ep, epr, stm_usb.epr[ep]);
}
diff --git a/src/stm/registers.ld b/src/stm/registers.ld
index f8b224a2..95a86e35 100644
--- a/src/stm/registers.ld
+++ b/src/stm/registers.ld
@@ -46,6 +46,8 @@ stm_tim2 = 0x40000000;
stm_nvic = 0xe000e100;
+stm_scb = 0xe000ed00;
+
stm_mpu = 0xe000ed90;
/* calibration data in system memory */
diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h
index d953aee4..0dbfae39 100644
--- a/src/stm/stm32l.h
+++ b/src/stm/stm32l.h
@@ -901,6 +901,36 @@ stm_nvic_get_priority(int irq) {
return (stm_nvic.ipr[IRQ_PRIO_REG(irq)] >> IRQ_PRIO_BIT(irq)) & IRQ_PRIO_MASK(0);
}
+struct stm_scb {
+ vuint32_t cpuid;
+ vuint32_t icsr;
+ vuint32_t vtor;
+ vuint32_t aircr;
+
+ vuint32_t scr;
+ vuint32_t ccr;
+ vuint32_t shpr1;
+ vuint32_t shpr2;
+
+ vuint32_t shpr3;
+ vuint32_t shcrs;
+ vuint32_t cfsr;
+ vuint32_t hfsr;
+
+ uint32_t unused_30;
+ vuint32_t mmfar;
+ vuint32_t bfar;
+};
+
+extern struct stm_scb stm_scb;
+
+#define STM_SCB_AIRCR_VECTKEY 16
+#define STM_SCB_AIRCR_VECTKEY_KEY 0x05fa
+#define STM_SCB_AIRCR_PRIGROUP 8
+#define STM_SCB_AIRCR_SYSRESETREQ 2
+#define STM_SCB_AIRCR_VECTCLRACTIVE 1
+#define STM_SCB_AIRCR_VECTRESET 0
+
struct stm_mpu {
vuint32_t typer;
vuint32_t cr;
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 08:55:39 +0000