Merge branch 'cortex-reg-saved'

TrampolineRTOS · Sep 17, 2018 · 72a6749 · 72a6749
2 parents 390f441 + 13aa97a
commit 72a6749
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Showing 2 changed files with 11 additions and 3 deletions.
diff --git a/goil/templates/build/build_py.goilTemplate b/goil/templates/build/build_py.goilTemplate
@@ -291,8 +291,8 @@ if "gcc" in compiler:
     libcPath = os.path.dirname(procLibc.stdout.readline().strip())
     libgccPath = os.path.dirname(procLibgcc.stdout.readline().strip())
     #--- Add both to linker flags
-    ldflags += ['-L' + str(libcPath), '-lc']
-    ldflags += ['-L' + str(libgccPath), '-lgcc']
+    ldflags += ['-L' + bytesdecode(libcPath), '-lc']
+    ldflags += ['-L' + bytesdecode(libgccPath), '-lgcc']
 %
 end if
 

diff --git a/machines/cortex/tpl_sc_handler.S b/machines/cortex/tpl_sc_handler.S
@@ -120,6 +120,14 @@ tpl_sc_handler:
      * So SP is MSP, not PSP                                                 *
      *-----------------------------------------------------------------------*/
 
+    /*-------------------------------------------------------------------------
+     * 0 - registers R0-R3 have to be restored from the stack. First the PSP
+     *     (process stack pointer) is copied in R0. Second registers R0-R3 are 
+     * loaded from the process stack
+     */
+    mrs   r0,psp
+    ldmia r0,{r0, r1, r2, r3}
+
     /*-------------------------------------------------------------------------
      * 1 - The service identifier is checked to prevent crashes if it has
      *     a wrong value
@@ -129,7 +137,7 @@ tpl_sc_handler:
 
     /*-------------------------------------------------------------------------
      * 1a - The service identifier is checked again for xxxInterrupt services
-     *      that are callable by ISR1. If the service  is callable by ISR1,
+     *      that are callable by ISR1. If the service is callable by ISR1,
      *      interrupts are disabled before calling the service so that it
      *      can't be interrupted by an ISR1.
      */