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#include <stdlib.h>
#include <stm32f4xx.h>
#include "misc.h"
#include "mpconfig.h"
#include "qstr.h"
#include "obj.h"
#include "pendsv.h"
static mp_obj_t pendsv_object = MP_OBJ_NULL;
void pendsv_init(void) {
// set PendSV interrupt at lowest priority
NVIC_SetPriority(PendSV_IRQn, 0xff);
}
// call this function to raise a pending exception during an interrupt
// it will wait until all interrupts are finished then raise the given
// exception object using nlr_jump in the context of the top-level thread
void pendsv_nlr_jump(mp_obj_t o) {
pendsv_object = o;
SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
}
// since we play tricks with the stack, the compiler must not generate a
// prelude for this function
void pendsv_isr_handler(void) __attribute__((naked));
void pendsv_isr_handler(void) {
// re-jig the stack so that when we return from this interrupt handler
// it returns instead to nlr_jump with argument pendsv_object
// note that stack has a different layout if DEBUG is enabled
//
// on entry to this (naked) function, stack has the following layout:
//
// stack layout with DEBUG disabled:
// sp[6]: pc
// sp[5]: ?
// sp[4]: ?
// sp[3]: ?
// sp[2]: ?
// sp[1]: ?
// sp[0]: r0
//
// stack layout with DEBUG enabled:
// sp[8]: pc
// sp[7]: lr
// sp[6]: ?
// sp[5]: ?
// sp[4]: ?
// sp[3]: ?
// sp[2]: r0
// sp[1]: 0xfffffff9
// sp[0]: ?
__asm volatile (
"ldr r0, pendsv_object_ptr\n"
"ldr r0, [r0]\n"
#if defined(PENDSV_DEBUG)
"str r0, [sp, #8]\n"
#else
"str r0, [sp, #0]\n"
#endif
"ldr r0, nlr_jump_ptr\n"
#if defined(PENDSV_DEBUG)
"str r0, [sp, #32]\n"
#else
"str r0, [sp, #24]\n"
#endif
"bx lr\n"
".align 2\n"
"pendsv_object_ptr: .word pendsv_object\n"
"nlr_jump_ptr: .word nlr_jump\n"
);
/*
uint32_t x[2] = {0x424242, 0xdeaddead};
printf("PendSV: %p\n", x);
for (uint32_t *p = (uint32_t*)(((uint32_t)x - 15) & 0xfffffff0), i = 64; i > 0; p += 4, i -= 4) {
printf(" %p: %08x %08x %08x %08x\n", p, (uint)p[0], (uint)p[1], (uint)p[2], (uint)p[3]);
}
*/
}
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