Merge with default.

[arc.git] / system / kernel / isr.c

diff --git a/system/kernel/isr.c b/system/kernel/isr.c
index 68b9888bfd568c337dcac1ad81b34e991bc6f8c4..c0b18b77c1e62c89e07546e561ecf939cc373b5b 100644 (file)
--- a/system/kernel/isr.c
+++ b/system/kernel/isr.c
@@ -103,8 +103,80 @@ StatusType Os_IsrAddResource( TaskType isr, ResourceType resource ) {
 
 #if defined(CFG_ARM_CM3)
 extern void Irq_EOI2( void );
-#endif
 
+void TailChaining(void *stack)
+{
+       struct OsPcb *pPtr = NULL;
+
+       POSTTASKHOOK();
+
+       /* Save info for preempted pcb */
+       pPtr = get_curr_pcb();
+       pPtr->stack.curr = stack;
+       pPtr->state = ST_READY;
+       OS_DEBUG(D_TASK,"Preempted %s\n",pPtr->name);
+
+       Os_StackPerformCheck(pPtr);
+
+       /* We interrupted a task */
+       OsPcbType *new_pcb  = Os_TaskGetTop();
+
+       Os_StackPerformCheck(new_pcb);
+
+       if(     (new_pcb == os_sys.curr_pcb) ||
+                       (os_sys.curr_pcb->scheduling == NON) ||
+                       !Os_SchedulerResourceIsFree() )
+       {
+               /* Just bring the preempted task back to running */
+               Os_TaskSwapContextTo(NULL,os_sys.curr_pcb);
+       } else {
+               OS_DEBUG(D_TASK,"Found candidate %s\n",new_pcb->name);
+               Os_TaskSwapContextTo(NULL,new_pcb);
+       }
+}
+
+void Os_Isr_cm3( void *isr_p ) {
+
+       struct OsPcb *isrPtr;
+
+       os_sys.int_nest_cnt++;
+
+       /* Grab the ISR "pcb" */
+       isrPtr = (struct OsPcb *)isr_p;
+       isrPtr->state = ST_RUNNING;
+
+       if( isrPtr->proc_type & ( PROC_EXTENDED | PROC_BASIC ) ) {
+               assert(0);
+       }
+
+       Irq_Enable();
+       isrPtr->entry();
+       Irq_Disable();
+
+       /* Check so that ISR2 haven't disabled the interrupts */
+       /** @req OS368 */
+       if( Os_IrqAnyDisabled() ) {
+               Os_IrqClearAll();
+               ERRORHOOK(E_OS_DISABLEDINT);
+       }
+
+       /* Check so that the ISR2 have called ReleaseResource() for each GetResource() */
+       /** @req OS369 */
+       if( Os_TaskOccupiesResources(isrPtr) ) {
+               Os_ResourceFreeAll(isrPtr);
+               ERRORHOOK(E_OS_RESOURCE);
+       }
+
+       isrPtr->state = ST_SUSPENDED;
+
+       Irq_EOI();
+
+       --os_sys.int_nest_cnt;
+
+       /* Scheduling is done in PendSV handler for ARM CM3 */
+       *((uint32_t volatile *)0xE000ED04) = 0x10000000; // PendSV
+}
+#endif
 
 /**
  * Handle ISR type 2 interrupts from interrupt controller.
@@ -172,9 +244,12 @@ void *Os_Isr( void *stack, void *isr_p ) {
 
        --os_sys.int_nest_cnt;
 
+#if defined(CFG_ARM_CM3)
+               /* Scheduling is done in PendSV handler for ARM CM3 */
+               *((uint32_t volatile *)0xE000ED04) = 0x10000000; // PendSV
+#else
        // We have preempted a task
        if( (os_sys.int_nest_cnt == 0) ) {
-
                OsPcbType *new_pcb  = Os_TaskGetTop();
 
                Os_StackPerformCheck(new_pcb);
@@ -188,14 +263,12 @@ void *Os_Isr( void *stack, void *isr_p ) {
                        PRETASKHOOK();
                } else {
                        OS_DEBUG(D_TASK,"Found candidate %s\n",new_pcb->name);
-#if defined(CFG_ARM_CM3)
-                       Irq_EOI2();
-#endif
                        Os_TaskSwapContextTo(NULL,new_pcb);
                }
        } else {
                /* We have a nested interrupt, do nothing */
        }
+#endif
 
        return stack;
 }