Merge nanoos

2022-09-06 08:30:16 +02:00
parent 5947cd60cc
commit f3b0eb4a59
16 changed files with 814 additions and 0 deletions
@@ -0,0 +1,129 @@
+/*
+ * Copyright 2022 Oleg Borodin  <borodin@unix7.org>
+ *
+ */
+
+#include <libopencm3/cm3/scb.h>
+
+#include <stdlib.h>
+#include <stdbool.h>
+#include <string.h>
+#include <stdint.h>
+
+#include "scheduler.h"
+
+
+static scheduler_t* m_scheduler;
+
+#define TASK_COUNT_REG  8
+
+typedef struct __attribute__((packed)) {
+    struct {
+        uint32_t registers[TASK_COUNT_REG];
+    } sw_frame;
+    struct {
+        uint32_t r0;
+        uint32_t r1;
+        uint32_t r2;
+        uint32_t r3;
+        uint32_t r12;
+        uint32_t lr;
+        uint32_t pc;
+        uint32_t psr;
+    } nvic_frame;
+} stack_frame_t;
+
+static void task_exit_func(void) {
+    while (true);
+}
+
+#define RETURN_PSR 0x21000000
+#define STACK_FILL 0xA5
+
+void scheduler_init(scheduler_t *scheduler) {
+    int i;
+    for (i = 0; i < SCHEDULER_NUM_TASKS; i++) {
+        task_t *task = &(scheduler->tasks[i]);
+        task->stack = NULL;
+        task->stack_size = 0;
+        task->sp = (uint32_t)NULL;
+        task->runnable = false;
+    }
+    scheduler->current_task = 0;
+    m_scheduler = scheduler;
+}
+
+void scheduler_task(scheduler_t *scheduler, int task_no, void (*entry)(void)) {
+
+    task_t *task = &(scheduler->tasks[task_no]);
+    task->stack = (void*)malloc(TASK_STACK_SIZE);
+    task->stack_size = TASK_STACK_SIZE;
+    memset(task->stack, STACK_FILL, task->stack_size);
+
+    task->sp = (uint32_t)(task->stack + task->stack_size);
+    task->sp -= sizeof(stack_frame_t);
+
+    stack_frame_t *frame = (stack_frame_t*)task->sp;
+    frame->nvic_frame.lr = (uint32_t)task_exit_func;
+    frame->nvic_frame.pc = (uint32_t)entry;
+    frame->nvic_frame.psr = RETURN_PSR;
+
+    task->runnable = true;
+}
+
+static void scheduler_switch(scheduler_t *scheduler) {
+    do {
+        scheduler->current_task = (scheduler->current_task + 1) % SCHEDULER_NUM_TASKS;
+    } while (!scheduler->tasks[scheduler->current_task].runnable);
+}
+
+#define EXC_RETURN_MODE_THREAD  0x00000004
+#define RETURN_ON_PSP_THREAD    0xFFFFFFFD
+
+void __attribute__((naked)) pend_sv_handler(void) {
+
+    const uint32_t RETURN_ON_PSP = RETURN_ON_PSP_THREAD;
+    uint32_t lr;
+
+    __asm__(
+            "cpsid  if      \n"
+            "mov    %0, lr  \n"
+            :"=r"(lr)
+    );
+
+    if (lr & EXC_RETURN_MODE_THREAD) {
+        uint32_t psp;
+        __asm__(
+            "mrs    %0, psp       \n"
+            "stmdb  %0!, {r4-r11} \n"
+            "msr    psp, %0       \n"
+            : "=r"(psp)
+        );
+        m_scheduler->tasks[m_scheduler->current_task].sp = psp;
+    } else {
+        __asm__(
+           "stmdb   sp!, {r4-r11} \n"
+        );
+    }
+
+    scheduler_switch(m_scheduler);
+
+    uint32_t psp = (uint32_t)m_scheduler->tasks[m_scheduler->current_task].sp;
+    __asm__ (
+            "ldmfd  %0!, {r4-r11} \n"
+            "msr    psp, %0       \n"
+            "cpsie  if            \n"
+            "bx     %1            \n"
+            :: "r"(psp), "r"(RETURN_ON_PSP)
+    );
+}
+
+void scheduler_yield(void) {
+    SCB_ICSR |= SCB_ICSR_PENDSVSET;
+    __asm__(
+        "nop        \n"
+        "nop        \n"
+        "nop        \n"
+        "nop        \n"
+    );
+}