4 files changed, 42 insertions, 0 deletions
diff --git a/nuttx/arch/arm/include/arm/irq.h b/nuttx/arch/arm/include/arm/irq.h
index 11c2bb046..98335c23f 100644
--- a/nuttx/arch/arm/include/arm/irq.h
+++ b/nuttx/arch/arm/include/arm/irq.h
@@ -103,6 +103,12 @@
 #define REG_LR              REG_R14
 #define REG_PC              REG_R15
 
+/* The PIC register is usually R10. It can be R9 is stack checking is enabled
+ * or if the user changes it with -mpic-register on the GCC command line.
+ */
+
+#define REG_PIC             REG_R10
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/
diff --git a/nuttx/arch/arm/include/cortexm3/irq.h b/nuttx/arch/arm/include/cortexm3/irq.h
index ce126748a..b439ec42f 100644
--- a/nuttx/arch/arm/include/cortexm3/irq.h
+++ b/nuttx/arch/arm/include/cortexm3/irq.h
@@ -109,6 +109,12 @@
 #define REG_LR              REG_R14
 #define REG_PC              REG_R15
 
+/* The PIC register is usually R10. It can be R9 is stack checking is enabled
+ * or if the user changes it with -mpic-register on the GCC command line.
+ */
+
+#define REG_PIC             REG_R10
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/
diff --git a/nuttx/arch/arm/src/arm/up_initialstate.c b/nuttx/arch/arm/src/arm/up_initialstate.c
index 2ba683445..c3a5f8a83 100644
--- a/nuttx/arch/arm/src/arm/up_initialstate.c
+++ b/nuttx/arch/arm/src/arm/up_initialstate.c
@@ -93,6 +93,21 @@ void up_initial_state(_TCB *tcb)
 
   xcp->regs[REG_PC]      = (uint32)tcb->start;
 
+  /* If this task is running PIC, then set the PIC base register to the
+   * address of the allocated D-Space region.
+   */
+
+#ifdef CONFIG_PIC
+  if (tcb->dspace != NULL)
+    {
+      /* Set the PIC base register (probably R10) to the address of the
+       * alloacated D-Space region.
+       */
+
+      xcp->regs[REG_PIC] = (uint32)tcb->dspace->region;
+    }
+#endif
+
   /* Enable or disable interrupts, based on user configuration */
 
 # ifdef CONFIG_SUPPRESS_INTERRUPTS
diff --git a/nuttx/arch/arm/src/cortexm3/up_initialstate.c b/nuttx/arch/arm/src/cortexm3/up_initialstate.c
index c529064d4..9bf65bf57 100644
--- a/nuttx/arch/arm/src/cortexm3/up_initialstate.c
+++ b/nuttx/arch/arm/src/cortexm3/up_initialstate.c
@@ -97,6 +97,21 @@ void up_initial_state(_TCB *tcb)
 
   xcp->regs[REG_XPSR]    = CORTEXM3_XPSR_T;
 
+  /* If this task is running PIC, then set the PIC base register to the
+   * address of the allocated D-Space region.
+   */
+
+#ifdef CONFIG_PIC
+  if (tcb->dspace != NULL)
+    {
+      /* Set the PIC base register (probably R10) to the address of the
+       * alloacated D-Space region.
+       */
+
+      xcp->regs[REG_PIC] = (uint32)tcb->dspace->region;
+    }
+#endif
+
   /* Enable or disable interrupts, based on user configuration */
 
 # ifdef CONFIG_SUPPRESS_INTERRUPTS