252 lines
7.7 KiB
C
252 lines
7.7 KiB
C
/*----------------------------------------------------------------------------
|
|
* RL-ARM - RTX
|
|
*----------------------------------------------------------------------------
|
|
* Name: HAL_CM0.C
|
|
* Purpose: Hardware Abstraction Layer for Cortex-M0
|
|
* Rev.: V4.60
|
|
*----------------------------------------------------------------------------
|
|
*
|
|
* Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
|
|
* All rights reserved.
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions are met:
|
|
* - Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* - Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in the
|
|
* documentation and/or other materials provided with the distribution.
|
|
* - Neither the name of ARM nor the names of its contributors may be used
|
|
* to endorse or promote products derived from this software without
|
|
* specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
* ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
|
|
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*---------------------------------------------------------------------------*/
|
|
|
|
#include "RTX_Conf.h"
|
|
#include "rt_HAL_CM.h"
|
|
#include "rt_MemBox.h"
|
|
#include "rt_System.h"
|
|
#include "rt_Task.h"
|
|
#include "rt_TypeDef.h"
|
|
|
|
/*----------------------------------------------------------------------------
|
|
* Functions
|
|
*---------------------------------------------------------------------------*/
|
|
|
|
/*--------------------------- rt_set_PSP ------------------------------------*/
|
|
|
|
__asm void rt_set_PSP(U32 stack) { MSR PSP, R0 BX LR }
|
|
|
|
/*--------------------------- rt_get_PSP ------------------------------------*/
|
|
|
|
__asm U32 rt_get_PSP(void) { MRS R0, PSP BX LR }
|
|
|
|
/*--------------------------- os_set_env ------------------------------------*/
|
|
|
|
__asm void os_set_env(void) {
|
|
/* Switch to Unprivileged/Privileged Thread mode, use PSP. */
|
|
MOV R0, SP;
|
|
PSP = MSP MSR PSP, R0 LDR R0, = __cpp(&os_flags) LDRB R0, [R0] LSLS R0,
|
|
# 31 BNE PrivilegedE MOVS R0, #0x03;
|
|
Unprivileged Thread mode, use PSP MSR CONTROL, R0 BX LR PrivilegedE MOVS R0,
|
|
# 0x02;
|
|
Privileged Thread mode, use PSP MSR CONTROL,
|
|
R0 BX LR
|
|
|
|
ALIGN
|
|
}
|
|
|
|
/*--------------------------- _alloc_box ------------------------------------*/
|
|
|
|
__asm void *_alloc_box(void *box_mem) {
|
|
/* Function wrapper for Unprivileged/Privileged mode. */
|
|
LDR R3, = __cpp(rt_alloc_box) MOV R12, R3 MRS R3, IPSR LSLS R3,
|
|
# 24 BNE PrivilegedA MRS R3, CONTROL LSLS R3,
|
|
# 31 BEQ PrivilegedA SVC 0 BX LR PrivilegedA BX R12
|
|
|
|
ALIGN
|
|
}
|
|
|
|
/*--------------------------- _free_box -------------------------------------*/
|
|
|
|
__asm int _free_box(void *box_mem, void *box) {
|
|
/* Function wrapper for Unprivileged/Privileged mode. */
|
|
LDR R3, = __cpp(rt_free_box) MOV R12, R3 MRS R3, IPSR LSLS R3,
|
|
# 24 BNE PrivilegedF MRS R3, CONTROL LSLS R3,
|
|
# 31 BEQ PrivilegedF SVC 0 BX LR PrivilegedF BX R12
|
|
|
|
ALIGN
|
|
}
|
|
|
|
/*-------------------------- SVC_Handler ------------------------------------*/
|
|
|
|
__asm void SVC_Handler(void) {
|
|
PRESERVE8
|
|
|
|
IMPORT SVC_Count IMPORT SVC_Table IMPORT rt_stk_check
|
|
|
|
MRS R0,
|
|
PSP;
|
|
Read PSP LDR R1, [ R0, #24 ];
|
|
Read Saved PC from Stack SUBS R1, R1, #2;
|
|
Point to SVC Instruction LDRB R1, [R1];
|
|
Load SVC Number CMP R1, #0 BNE SVC_User;
|
|
User SVC Number > 0
|
|
|
|
MOV LR,
|
|
R4 LDMIA R0, {R0 - R3, R4};
|
|
Read R0 - R3, R12 from stack MOV R12, R4 MOV R4, LR BLX R12;
|
|
Call SVC Function
|
|
|
|
MRS R3,
|
|
PSP;
|
|
Read PSP STMIA R3 !, {R0 - R2};
|
|
Store return values
|
|
|
|
LDR R3,
|
|
= __cpp(&os_tsk) LDMIA R3 !, {R1, R2};
|
|
os_tsk.run, os_tsk.new CMP R1, R2 BEQ SVC_Exit;
|
|
no task switch
|
|
|
|
SUBS R3,
|
|
# 8 CMP R1, #0;
|
|
Runtask deleted ? BEQ SVC_Next
|
|
|
|
MRS R0,
|
|
PSP;
|
|
Read PSP SUBS R0, R0, #32;
|
|
Adjust Start Address STR R0, [ R1, #TCB_TSTACK ];
|
|
Update os_tsk.run->tsk_stack STMIA R0 !, {R4 - R7};
|
|
Save old context(R4 - R7) MOV R4, R8 MOV R5, R9 MOV R6, R10 MOV R7,
|
|
R11 STMIA R0 !, {R4 - R7};
|
|
Save old context(R8 - R11)
|
|
|
|
PUSH{R2, R3} BL rt_stk_check; Check for Stack overflow
|
|
POP {R2,R3}
|
|
|
|
SVC_Next
|
|
STR R2,[R3] ;
|
|
os_tsk.run = os_tsk.new
|
|
|
|
LDR R0,
|
|
[ R2, #TCB_TSTACK ];
|
|
os_tsk.new->tsk_stack ADDS R0, R0, #16;
|
|
Adjust Start Address LDMIA R0 !, {R4 - R7};
|
|
Restore new Context(R8 - R11) MOV R8, R4 MOV R9, R5 MOV R10, R6 MOV R11,
|
|
R7 MSR PSP, R0;
|
|
Write PSP SUBS R0, R0, #32;
|
|
Adjust Start Address LDMIA R0 !, {R4 - R7};
|
|
Restore new Context(R4 - R7)
|
|
|
|
SVC_Exit MOVS R0,
|
|
# : NOT : 0xFFFFFFFD;
|
|
Set EXC_RETURN value MVNS R0, R0 BX R0;
|
|
RETI to Thread Mode,
|
|
use PSP
|
|
|
|
/*------------------- User SVC ------------------------------*/
|
|
|
|
SVC_User PUSH{R4, LR};
|
|
Save Registers LDR R2, = SVC_Count LDR R2, [R2] CMP R1, R2 BHI SVC_Done;
|
|
Overflow
|
|
|
|
LDR R4,
|
|
= SVC_Table - 4 LSLS R1, R1, #2 LDR R4, [ R4, R1 ];
|
|
Load SVC Function Address MOV LR,
|
|
R4
|
|
|
|
LDMIA R0,
|
|
{R0 - R3, R4};
|
|
Read R0 - R3, R12 from stack MOV R12, R4 BLX LR;
|
|
Call SVC Function
|
|
|
|
MRS R4,
|
|
PSP;
|
|
Read PSP STMIA R4 !, {R0 - R3};
|
|
Function return values SVC_Done POP{R4, PC};
|
|
RETI
|
|
|
|
ALIGN
|
|
}
|
|
|
|
/*-------------------------- PendSV_Handler ---------------------------------*/
|
|
|
|
__asm void PendSV_Handler(void) {
|
|
PRESERVE8
|
|
|
|
BL __cpp(rt_pop_req)
|
|
|
|
Sys_Switch LDR R3,
|
|
= __cpp(&os_tsk) LDMIA R3 !, {R1, R2};
|
|
os_tsk.run, os_tsk.new CMP R1, R2 BEQ Sys_Exit;
|
|
no task switch
|
|
|
|
SUBS R3,
|
|
# 8
|
|
|
|
MRS R0, PSP;
|
|
Read PSP SUBS R0, R0, #32;
|
|
Adjust Start Address STR R0, [ R1, #TCB_TSTACK ];
|
|
Update os_tsk.run->tsk_stack STMIA R0 !, {R4 - R7};
|
|
Save old context(R4 - R7) MOV R4, R8 MOV R5, R9 MOV R6, R10 MOV R7,
|
|
R11 STMIA R0 !, {R4 - R7};
|
|
Save old context(R8 - R11)
|
|
|
|
PUSH{R2, R3} BL rt_stk_check; Check for Stack overflow
|
|
POP {R2,R3}
|
|
|
|
STR R2,[R3] ;
|
|
os_tsk.run = os_tsk.new
|
|
|
|
LDR R0,
|
|
[ R2, #TCB_TSTACK ];
|
|
os_tsk.new->tsk_stack ADDS R0, R0, #16;
|
|
Adjust Start Address LDMIA R0 !, {R4 - R7};
|
|
Restore new Context(R8 - R11) MOV R8, R4 MOV R9, R5 MOV R10, R6 MOV R11,
|
|
R7 MSR PSP, R0;
|
|
Write PSP SUBS R0, R0, #32;
|
|
Adjust Start Address LDMIA R0 !, {R4 - R7};
|
|
Restore new Context(R4 - R7)
|
|
|
|
Sys_Exit MOVS R0,
|
|
# : NOT : 0xFFFFFFFD;
|
|
Set EXC_RETURN value MVNS R0, R0 BX R0;
|
|
RETI to Thread Mode, use PSP
|
|
|
|
ALIGN
|
|
}
|
|
|
|
/*-------------------------- SysTick_Handler --------------------------------*/
|
|
|
|
__asm void SysTick_Handler(void) {
|
|
PRESERVE8
|
|
|
|
BL __cpp(rt_systick) B Sys_Switch
|
|
|
|
ALIGN
|
|
}
|
|
|
|
/*-------------------------- OS_Tick_Handler --------------------------------*/
|
|
|
|
__asm void OS_Tick_Handler(void) {
|
|
PRESERVE8
|
|
|
|
BL __cpp(os_tick_irqack) BL __cpp(rt_systick) B Sys_Switch
|
|
|
|
ALIGN
|
|
}
|
|
|
|
/*----------------------------------------------------------------------------
|
|
* end of file
|
|
*---------------------------------------------------------------------------*/
|