385 lines
12 KiB
C
385 lines
12 KiB
C
/*----------------------------------------------------------------------------
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* RL-ARM - RTX
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*----------------------------------------------------------------------------
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* Name: RTX_CM_LIB.H
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* Purpose: RTX Kernel System Configuration
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* Rev.: V4.60
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*----------------------------------------------------------------------------
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*
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* Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
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* All rights reserved.
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* - Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* - Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* - Neither the name of ARM nor the names of its contributors may be used
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* to endorse or promote products derived from this software without
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* specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*---------------------------------------------------------------------------*/
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#include "cmsis_os.h"
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#if defined (__CC_ARM)
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#pragma O3
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#define __USED __attribute__((used))
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#elif defined (__GNUC__)
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#pragma GCC optimize ("O3")
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#define __USED __attribute__((used))
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#elif defined (__ICCARM__)
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#define __USED __root
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#endif
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/*----------------------------------------------------------------------------
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* Definitions
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*---------------------------------------------------------------------------*/
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#define _declare_box(pool,size,cnt) uint32_t pool[(((size)+3)/4)*(cnt) + 3]
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#define _declare_box8(pool,size,cnt) uint64_t pool[(((size)+7)/8)*(cnt) + 2]
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#define OS_TCB_SIZE 48
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#define OS_TMR_SIZE 8
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#if defined (__CC_ARM) && !defined (__MICROLIB)
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typedef void *OS_ID;
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typedef uint32_t OS_TID;
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typedef uint32_t OS_MUT[3];
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typedef uint32_t OS_RESULT;
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#define runtask_id() rt_tsk_self()
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#define mutex_init(m) rt_mut_init(m)
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#define mutex_wait(m) os_mut_wait(m,0xFFFF)
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#define mutex_rel(m) os_mut_release(m)
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extern OS_TID rt_tsk_self (void);
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extern void rt_mut_init (OS_ID mutex);
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extern OS_RESULT rt_mut_release (OS_ID mutex);
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extern OS_RESULT rt_mut_wait (OS_ID mutex, uint16_t timeout);
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#define os_mut_wait(mutex,timeout) _os_mut_wait((uint32_t)rt_mut_wait,mutex,timeout)
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#define os_mut_release(mutex) _os_mut_release((uint32_t)rt_mut_release,mutex)
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OS_RESULT _os_mut_release (uint32_t p, OS_ID mutex) __svc_indirect(0);
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OS_RESULT _os_mut_wait (uint32_t p, OS_ID mutex, uint16_t timeout) __svc_indirect(0);
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#endif
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/*----------------------------------------------------------------------------
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* Global Variables
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*---------------------------------------------------------------------------*/
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#if (OS_TIMERS != 0)
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#define OS_TASK_CNT (OS_TASKCNT + 1)
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#else
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#define OS_TASK_CNT OS_TASKCNT
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#endif
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uint16_t const os_maxtaskrun = OS_TASK_CNT;
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uint32_t const os_rrobin = (OS_ROBIN << 16) | OS_ROBINTOUT;
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uint32_t const os_trv = OS_TRV;
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uint8_t const os_flags = OS_RUNPRIV;
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/* Export following defines to uVision debugger. */
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__USED uint32_t const os_clockrate = OS_TICK;
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__USED uint32_t const os_timernum = 0;
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/* Stack for the os_idle_demon */
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unsigned int idle_task_stack[OS_IDLESTKSIZE];
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unsigned short const idle_task_stack_size = OS_IDLESTKSIZE;
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#ifndef OS_FIFOSZ
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#define OS_FIFOSZ 16
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#endif
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/* Fifo Queue buffer for ISR requests.*/
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uint32_t os_fifo[OS_FIFOSZ*2+1];
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uint8_t const os_fifo_size = OS_FIFOSZ;
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/* An array of Active task pointers. */
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void *os_active_TCB[OS_TASK_CNT];
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/* User Timers Resources */
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#if (OS_TIMERS != 0)
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extern void osTimerThread (void const *argument);
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osThreadDef(osTimerThread, (osPriority)(OS_TIMERPRIO-3), 4*OS_TIMERSTKSZ);
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osThreadId osThreadId_osTimerThread;
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osMessageQDef(osTimerMessageQ, OS_TIMERCBQS, void *);
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osMessageQId osMessageQId_osTimerMessageQ;
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#else
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osThreadDef_t os_thread_def_osTimerThread = { NULL };
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osThreadId osThreadId_osTimerThread;
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osMessageQDef(osTimerMessageQ, 0, void *);
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osMessageQId osMessageQId_osTimerMessageQ;
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#endif
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/*----------------------------------------------------------------------------
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* RTX Optimizations (empty functions)
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*---------------------------------------------------------------------------*/
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#if OS_ROBIN == 0
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void rt_init_robin (void) {;}
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void rt_chk_robin (void) {;}
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#endif
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#if OS_STKCHECK == 0
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void rt_stk_check (void) {;}
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#endif
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/*----------------------------------------------------------------------------
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* Standard Library multithreading interface
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*---------------------------------------------------------------------------*/
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#if defined (__CC_ARM) && !defined (__MICROLIB)
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static OS_MUT std_libmutex[OS_MUTEXCNT];
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static uint32_t nr_mutex;
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/*--------------------------- _mutex_initialize -----------------------------*/
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int _mutex_initialize (OS_ID *mutex) {
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/* Allocate and initialize a system mutex. */
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if (nr_mutex >= OS_MUTEXCNT) {
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/* If you are here, you need to increase the number OS_MUTEXCNT. */
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os_error_str("Not enough stdlib mutexes\n");
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}
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*mutex = &std_libmutex[nr_mutex++];
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mutex_init (*mutex);
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return (1);
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}
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/*--------------------------- _mutex_acquire --------------------------------*/
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__attribute__((used)) void _mutex_acquire (OS_ID *mutex) {
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/* Acquire a system mutex, lock stdlib resources. */
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if (runtask_id ()) {
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/* RTX running, acquire a mutex. */
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mutex_wait (*mutex);
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}
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}
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/*--------------------------- _mutex_release --------------------------------*/
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__attribute__((used)) void _mutex_release (OS_ID *mutex) {
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/* Release a system mutex, unlock stdlib resources. */
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if (runtask_id ()) {
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/* RTX running, release a mutex. */
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mutex_rel (*mutex);
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}
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}
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#endif
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/*----------------------------------------------------------------------------
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* RTX Startup
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*---------------------------------------------------------------------------*/
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/* Main Thread definition */
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extern int main (void);
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osThreadDef_t os_thread_def_main = {(os_pthread)main, osPriorityNormal, 0, NULL};
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// This define should be probably moved to the CMSIS layer
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#if defined(TARGET_LPC2460)
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extern unsigned char __usr_stack_top__[];
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#define INITIAL_SP (__usr_stack_top__)
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#else
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#error "no target defined"
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#endif
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#ifdef __CC_ARM
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extern unsigned char Image$$RW_IRAM1$$ZI$$Limit[];
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#define HEAP_START (Image$$RW_IRAM1$$ZI$$Limit)
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#elif defined(__GNUC__)
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extern unsigned char __end__[];
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#define HEAP_START (__end__)
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#elif defined(__ICCARM__)
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#pragma section="HEAP"
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#define HEAP_START (void *)__section_begin("HEAP")
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#endif
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void set_main_stack(void) {
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// That is the bottom of the main stack block: no collision detection
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os_thread_def_main.stack_pointer = HEAP_START;
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// Leave OS_SCHEDULERSTKSIZE words for the scheduler and interrupts
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os_thread_def_main.stacksize = (INITIAL_SP - (unsigned int)HEAP_START) - (OS_SCHEDULERSTKSIZE * 4);
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}
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#if defined (__CC_ARM)
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#ifdef __MICROLIB
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void _main_init (void) __attribute__((section(".ARM.Collect$$$$000000FF")));
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void _main_init (void) {
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osKernelInitialize();
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set_main_stack();
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osThreadCreate(&os_thread_def_main, NULL);
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osKernelStart();
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for (;;);
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}
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#else
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/* The single memory model is checking for stack collision at run time, verifing
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that the heap pointer is underneath the stack pointer.
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With the RTOS there is not only one stack above the heap, there are multiple
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stacks and some of them are underneath the heap pointer.
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*/
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#pragma import(__use_two_region_memory)
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__asm void __rt_entry (void) {
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IMPORT __user_setup_stackheap
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IMPORT __rt_lib_init
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IMPORT os_thread_def_main
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IMPORT osKernelInitialize
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IMPORT set_main_stack
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IMPORT osKernelStart
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IMPORT osThreadCreate
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IMPORT exit
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BL __user_setup_stackheap
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MOV R1,R2
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BL __rt_lib_init
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BL osKernelInitialize
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BL set_main_stack
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LDR R0,=os_thread_def_main
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MOVS R1,#0
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BL osThreadCreate
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BL osKernelStart
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BL exit
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ALIGN
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}
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#endif
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#elif defined (__GNUC__)
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#ifdef __CS3__
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/* CS3 start_c routine.
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*
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* Copyright (c) 2006, 2007 CodeSourcery Inc
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*
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* The authors hereby grant permission to use, copy, modify, distribute,
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* and license this software and its documentation for any purpose, provided
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* that existing copyright notices are retained in all copies and that this
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* notice is included verbatim in any distributions. No written agreement,
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* license, or royalty fee is required for any of the authorized uses.
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* Modifications to this software may be copyrighted by their authors
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* and need not follow the licensing terms described here, provided that
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* the new terms are clearly indicated on the first page of each file where
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* they apply.
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*/
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#include "cs3.h"
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extern void __libc_init_array (void);
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__attribute ((noreturn)) void __cs3_start_c (void){
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unsigned regions = __cs3_region_num;
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const struct __cs3_region *rptr = __cs3_regions;
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/* Initialize memory */
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for (regions = __cs3_region_num, rptr = __cs3_regions; regions--; rptr++) {
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long long *src = (long long *)rptr->init;
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long long *dst = (long long *)rptr->data;
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unsigned limit = rptr->init_size;
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unsigned count;
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if (src != dst)
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for (count = 0; count != limit; count += sizeof (long long))
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*dst++ = *src++;
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else
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dst = (long long *)((char *)dst + limit);
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limit = rptr->zero_size;
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for (count = 0; count != limit; count += sizeof (long long))
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*dst++ = 0;
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}
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/* Run initializers. */
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__libc_init_array ();
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osKernelInitialize();
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set_main_stack();
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osThreadCreate(&os_thread_def_main, NULL);
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osKernelStart();
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for (;;);
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}
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#else
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__attribute__((naked)) void software_init_hook (void) {
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__asm (
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".syntax unified\n"
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".thumb\n"
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"movs r0,#0\n"
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"movs r1,#0\n"
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"mov r8,r0\n"
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"mov r9,r1\n"
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"ldr r0,= __libc_fini_array\n"
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"bl atexit\n"
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"bl __libc_init_array\n"
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"mov r0,r8\n"
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"mov r1,r9\n"
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"bl osKernelInitialize\n"
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"bl set_main_stack\n"
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"ldr r0,=os_thread_def_main\n"
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"movs r1,#0\n"
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"bl osThreadCreate\n"
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"bl osKernelStart\n"
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"bl exit\n"
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);
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}
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#endif
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#elif defined (__ICCARM__)
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extern int __low_level_init(void);
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extern void __iar_data_init3(void);
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extern void exit(int arg);
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__noreturn __stackless void __cmain(void) {
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int a;
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if (__low_level_init() != 0) {
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__iar_data_init3();
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}
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osKernelInitialize();
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set_main_stack();
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osThreadCreate(&os_thread_def_main, NULL);
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a = osKernelStart();
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exit(a);
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}
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#endif
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/*----------------------------------------------------------------------------
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* end of file
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*---------------------------------------------------------------------------*/
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