From 87851f4e6c4aebd65e28ef16823ada7b197e2edc Mon Sep 17 00:00:00 2001
From: Clyne Sullivan <clyne@bitgloo.com>
Date: Wed, 3 Feb 2021 20:39:15 -0500
Subject: more stack space; expose trig to algorithms
---
source/main.cpp | 57 ++++++++++++++++++++++++++++++++++++++++-----------------
1 file changed, 40 insertions(+), 17 deletions(-)
(limited to 'source/main.cpp')
diff --git a/source/main.cpp b/source/main.cpp
index 1a89c93..d94f694 100644
--- a/source/main.cpp
+++ b/source/main.cpp
@@ -50,16 +50,19 @@ static msg_t conversionMBBuffer[2];
static MAILBOX_DECL(conversionMB, conversionMBBuffer, 2);
// Thread for LED status and wakeup hold
-static THD_WORKING_AREA(monitorThreadWA, 128);
+__attribute__((section(".stacks")))
+static THD_WORKING_AREA(monitorThreadWA, 1024);
static THD_FUNCTION(monitorThread, arg);
// Thread for managing the conversion task
-static THD_WORKING_AREA(conversionThreadMonitorWA, 128);
+__attribute__((section(".stacks")))
+static THD_WORKING_AREA(conversionThreadMonitorWA, 1024);
static THD_FUNCTION(conversionThreadMonitor, arg);
// Thread for unprivileged algorithm execution
-static THD_WORKING_AREA(conversionThreadWA, 128);
+__attribute__((section(".stacks")))
+static THD_WORKING_AREA(conversionThreadWA, 1024);
static THD_FUNCTION(conversionThread, arg);
__attribute__((section(".convdata")))
-static THD_WORKING_AREA(conversionThreadUPWA, 256);
+static THD_WORKING_AREA(conversionThreadUPWA, 62 * 1024);
static thread_t *conversionThreadHandle = nullptr;
__attribute__((section(".convdata")))
@@ -98,13 +101,13 @@ int main()
mpuConfigureRegion(MPU_REGION_2,
0x20000000,
MPU_RASR_ATTR_AP_RW_RW | MPU_RASR_ATTR_NON_CACHEABLE |
- MPU_RASR_SIZE_4K |
+ MPU_RASR_SIZE_64K |
MPU_RASR_ENABLE);
// Region 3: Code for algorithm manager thread
mpuConfigureRegion(MPU_REGION_3,
- 0x08080000,
+ 0x0807F800,
MPU_RASR_ATTR_AP_RO_RO | MPU_RASR_ATTR_NON_CACHEABLE |
- MPU_RASR_SIZE_4K |
+ MPU_RASR_SIZE_2K |
MPU_RASR_ENABLE);
// Region 4: Algorithm code
mpuConfigureRegion(MPU_REGION_4,
@@ -408,10 +411,12 @@ THD_FUNCTION(monitorThread, arg)
if (run_status == RunStatus::Idle && palReadLine(LINE_BUTTON)) {
palSetLine(LINE_LED_RED);
palSetLine(LINE_LED_YELLOW);
- asm("cpsid i");
+ chSysLock();
+ while (palReadLine(LINE_BUTTON))
+ asm("nop");
while (!palReadLine(LINE_BUTTON))
asm("nop");
- asm("cpsie i");
+ chSysUnlock();
palClearLine(LINE_LED_RED);
palClearLine(LINE_LED_YELLOW);
chThdSleepMilliseconds(500);
@@ -433,15 +438,33 @@ __attribute__((naked))
void port_syscall(struct port_extctx *ctxp, uint32_t n)
{
switch (n) {
- case 0: {
- chSysLock();
- chMsgWaitS();
- auto msg = chMsgGet(conversionThreadMonitorHandle);
- chMsgReleaseS(conversionThreadMonitorHandle, MSG_OK);
- //chSchDoYieldS();
- chSysUnlock();
- ctxp->r0 = msg;
+ case 0:
+ {
+ chSysLock();
+ chMsgWaitS();
+ auto msg = chMsgGet(conversionThreadMonitorHandle);
+ chMsgReleaseS(conversionThreadMonitorHandle, MSG_OK);
+ chSysUnlock();
+ ctxp->r0 = msg;
+ }
+ break;
+ case 1:
+ {
+ using mathcall = void (*)();
+ static mathcall funcs[4] = {
+ reinterpret_cast<mathcall>(math::sin),
+ reinterpret_cast<mathcall>(math::cos),
+ reinterpret_cast<mathcall>(math::tan),
+ reinterpret_cast<mathcall>(math::sqrt),
+ };
+ asm("vmov.f64 d0, %0, %1" :: "r" (ctxp->r1), "r" (ctxp->r2));
+ if (ctxp->r0 < 4) {
+ funcs[ctxp->r0]();
+ asm("vmov.f64 %0, %1, d0" : "=r" (ctxp->r1), "=r" (ctxp->r2));
+ } else {
+ asm("eor r0, r0; vmov.f64 d0, r0, r0");
}
+ }
break;
default:
while (1);
--
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