mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Thomas Watson
b68348e5d4
Necessary to work around a bug in newlib. This applies to all hardfloat targets, including Cortex-M4. The jmp_buf is now 12 bytes larger, totaling 104 bytes. Info from newlib commit 15ad816dddf836def06cd0330ec0efa9ce50e5bf.
30 lines
1.1 KiB
C
30 lines
1.1 KiB
C
#include <AP_HAL/ap_setjmp.h>
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#if AP_SETJMP_CORTEX_ENABLE
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int __attribute__((naked, noinline)) ap_setjmp(ap_jmp_buf env) {
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__asm__(
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"mov ip, sp\n\t" // ip must be free on a function call; can't store sp
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"stmia r0!, {r4-r10, fp, ip, lr}\n\t" // store 10 regular registers
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"vstm r0, {d8-d15}\n\t" // store 16 FP registers. use 8 byte store for
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// speed as our buffer is 8 byte aligned
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"movs r0, #0\n\t" // return 0
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"bx lr\n\t" // do return
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);
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}
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void __attribute__((noreturn, naked, noinline)) ap_longjmp(ap_jmp_buf env, int val) {
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__asm__(
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"ldmia r0!, {r4-r10, fp, ip, lr}\n\t" // load 10 regular registers
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"mov sp, ip\n\t" // restore stack pointer from scratch register
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"vldm r0, {d8-d15}\n\t" // load 16 FP registers. use 8 byte load for
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// speed as our buffer is 8 byte aligned
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"movs r0, r1\n\t" // prepare return of value
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"it eq\n\t" // but if value is zero
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"moveq r0, #1\n\t" // return one
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"bx lr\n\t" // do return
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);
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}
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#endif
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