diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/stm-demo/Makefile | 9 | ||||
| -rw-r--r-- | src/stm/ao_arch.h | 51 |
2 files changed, 45 insertions, 15 deletions
diff --git a/src/stm-demo/Makefile b/src/stm-demo/Makefile index b2413a2c..9e4f9e38 100644 --- a/src/stm-demo/Makefile +++ b/src/stm-demo/Makefile @@ -3,8 +3,8 @@ # # vpath % ..:../core:../product:../drivers:../stm -vpath make-altitude .. -vpath make-kalman .. +vpath make-altitude ../util +vpath make-kalman ../util vpath kalman.5c ../kalman vpath kalman_filter.5c ../kalman vpath load_csv.5c ../kalman @@ -24,6 +24,7 @@ endif INC = \ ao.h \ + ao_arch.h \ ao_pins.h \ altitude.h \ ao_kalman.h @@ -48,7 +49,7 @@ PRODUCT_DEF=-DSTM_DEMO IDPRODUCT=0x000a CPU=cortex-m3 CFLAGS = $(PRODUCT_DEF) -I. -I../stm -I../core -I.. -CFLAGS += -g -std=gnu99 -O0 -mlittle-endian -mcpu=cortex-m3 -mthumb -ffreestanding -nostdlib -I../stm $(CINC) +CFLAGS += -g -std=gnu99 -Os -mlittle-endian -mcpu=cortex-m3 -mthumb -ffreestanding -nostdlib -I../stm $(CINC) NICKLE=nickle @@ -77,6 +78,8 @@ $(PROG): Makefile $(OBJ) ../altitude.h: make-altitude nickle $< > $@ +$(OBJ): $(INC) + ao_product.h: ao-make-product.5c ../Version $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h index 205f95d7..c4b98c7a 100644 --- a/src/stm/ao_arch.h +++ b/src/stm/ao_arch.h @@ -70,31 +70,44 @@ extern const uint16_t ao_serial_number; uint32_t a = (uint32_t) start; \ int i; \ \ + /* APSR */ \ + ARM_PUSH32(sp, 0); \ + \ + /* PRIMASK with interrupts enabled */ \ + ARM_PUSH32(sp, 0); \ + \ /* Return address (goes into LR) */ \ ARM_PUSH32(sp, a); \ \ - /* Clear register values */ \ + /* Clear register values r0-r12 */ \ i = 13; \ while (i--) \ ARM_PUSH32(sp, 0); \ \ - /* APSR */ \ - ARM_PUSH32(sp, 0); \ task->sp = sp; \ } while (0); -#define ao_arch_save_regs() do { \ +#define ao_arch_save_regs() do { \ + uint32_t apsr; \ + uint32_t primask; \ + \ + /* Save APSR */ \ + asm("mrs %0,apsr" : "=&r" (apsr)); \ + asm("push {%0}" : : "r" (apsr)); \ + \ + /* Save PRIMASK */ \ + asm("mrs %0,primask" : "=&r" (primask)); \ + asm("push {%0}" : : "r" (primask)); \ + \ + /* Save general registers */ \ asm("push {r0-r12,lr}\n"); \ - cli(); \ - asm("mrs r0,apsr" "\n\t" "push {r0}"); \ - sei(); \ } while (0) #define ao_arch_save_stack() do { \ - uint32_t sp; \ + uint32_t *sp; \ asm("mov %0,sp" : "=&r" (sp) ); \ - ao_cur_task->sp = (uint32_t *) (sp); \ - if ((uint8_t *) ao_cur_task->sp < ao_cur_task->stack) \ + ao_cur_task->sp = (sp); \ + if ((uint8_t *) sp < ao_cur_task->stack) \ ao_panic (AO_PANIC_STACK); \ } while (0) @@ -106,11 +119,25 @@ extern const uint16_t ao_serial_number; #define ao_arch_restore_stack() do { \ uint32_t sp; \ + uint32_t primask; \ + uint32_t apsr; \ sp = (uint32_t) ao_cur_task->sp; \ - cli(); \ + \ + /* Switch stacks */ \ asm("mov sp, %0" : : "r" (sp) ); \ - asm("pop {r0}" "\n\t" "msr apsr,r0"); \ + \ + /* Restore general registers */ \ asm("pop {r0-r12,lr}\n"); \ + \ + /* Restore PRIMASK */ \ + asm("pop {%0}" : "=&r" (primask) ); \ + asm("msr primask,%0" : : "r" (primask) ); \ + \ + /* Restore APSR */ \ + asm("pop {%0}" : "=&r" (apsr) ); \ + asm("msr apsr,%0" : : "r" (apsr) ); \ + \ + /* Return to calling function */ \ asm("bx lr"); \ } while(0) |