Jonathon Fletcher / rtx

in OS_TSK, rename run as tsk_run and new as tsk_new.

HAL_CM.c@0:5f46ebd8588e, 2012-09-02 (annotated)

Committer:
jonathonfletcher
Date:
Sun Sep 02 03:24:20 2012 +0000
Revision:
0:5f46ebd8588e
in OS_TSK, rename run as tsk_run and new as tsk_new.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jonathonfletcher 0:5f46ebd8588e 1 /*----------------------------------------------------------------------------
jonathonfletcher 0:5f46ebd8588e 2 * RL-ARM - RTX
jonathonfletcher 0:5f46ebd8588e 3 *----------------------------------------------------------------------------
jonathonfletcher 0:5f46ebd8588e 4 * Name: HAL_CM.C
jonathonfletcher 0:5f46ebd8588e 5 * Purpose: Hardware Abstraction Layer for Cortex-M
jonathonfletcher 0:5f46ebd8588e 6 * Rev.: V4.50
jonathonfletcher 0:5f46ebd8588e 7 *----------------------------------------------------------------------------
jonathonfletcher 0:5f46ebd8588e 8 *
jonathonfletcher 0:5f46ebd8588e 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
jonathonfletcher 0:5f46ebd8588e 10 * All rights reserved.
jonathonfletcher 0:5f46ebd8588e 11 * Redistribution and use in source and binary forms, with or without
jonathonfletcher 0:5f46ebd8588e 12 * modification, are permitted provided that the following conditions are met:
jonathonfletcher 0:5f46ebd8588e 13 * - Redistributions of source code must retain the above copyright
jonathonfletcher 0:5f46ebd8588e 14 * notice, this list of conditions and the following disclaimer.
jonathonfletcher 0:5f46ebd8588e 15 * - Redistributions in binary form must reproduce the above copyright
jonathonfletcher 0:5f46ebd8588e 16 * notice, this list of conditions and the following disclaimer in the
jonathonfletcher 0:5f46ebd8588e 17 * documentation and/or other materials provided with the distribution.
jonathonfletcher 0:5f46ebd8588e 18 * - Neither the name of ARM nor the names of its contributors may be used
jonathonfletcher 0:5f46ebd8588e 19 * to endorse or promote products derived from this software without
jonathonfletcher 0:5f46ebd8588e 20 * specific prior written permission.
jonathonfletcher 0:5f46ebd8588e 21 *
jonathonfletcher 0:5f46ebd8588e 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
jonathonfletcher 0:5f46ebd8588e 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
jonathonfletcher 0:5f46ebd8588e 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
jonathonfletcher 0:5f46ebd8588e 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
jonathonfletcher 0:5f46ebd8588e 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
jonathonfletcher 0:5f46ebd8588e 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
jonathonfletcher 0:5f46ebd8588e 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
jonathonfletcher 0:5f46ebd8588e 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
jonathonfletcher 0:5f46ebd8588e 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
jonathonfletcher 0:5f46ebd8588e 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
jonathonfletcher 0:5f46ebd8588e 32 * POSSIBILITY OF SUCH DAMAGE.
jonathonfletcher 0:5f46ebd8588e 33 *---------------------------------------------------------------------------*/
jonathonfletcher 0:5f46ebd8588e 34
jonathonfletcher 0:5f46ebd8588e 35 #include "rt_TypeDef.h"
jonathonfletcher 0:5f46ebd8588e 36 #include "RTX_Config.h"
jonathonfletcher 0:5f46ebd8588e 37 #include "rt_HAL_CM.h"
jonathonfletcher 0:5f46ebd8588e 38
jonathonfletcher 0:5f46ebd8588e 39
jonathonfletcher 0:5f46ebd8588e 40 /*----------------------------------------------------------------------------
jonathonfletcher 0:5f46ebd8588e 41 * Global Variables
jonathonfletcher 0:5f46ebd8588e 42 *---------------------------------------------------------------------------*/
jonathonfletcher 0:5f46ebd8588e 43
jonathonfletcher 0:5f46ebd8588e 44 #ifdef DBG_MSG
jonathonfletcher 0:5f46ebd8588e 45 BIT dbg_msg;
jonathonfletcher 0:5f46ebd8588e 46 #endif
jonathonfletcher 0:5f46ebd8588e 47
jonathonfletcher 0:5f46ebd8588e 48 /*----------------------------------------------------------------------------
jonathonfletcher 0:5f46ebd8588e 49 * Functions
jonathonfletcher 0:5f46ebd8588e 50 *---------------------------------------------------------------------------*/
jonathonfletcher 0:5f46ebd8588e 51
jonathonfletcher 0:5f46ebd8588e 52
jonathonfletcher 0:5f46ebd8588e 53 /*--------------------------- rt_init_stack ---------------------------------*/
jonathonfletcher 0:5f46ebd8588e 54
jonathonfletcher 0:5f46ebd8588e 55 void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
jonathonfletcher 0:5f46ebd8588e 56 /* Prepare TCB and saved context for a first time start of a task. */
jonathonfletcher 0:5f46ebd8588e 57 U32 *stk,i,size;
jonathonfletcher 0:5f46ebd8588e 58
jonathonfletcher 0:5f46ebd8588e 59 /* Prepare a complete interrupt frame for first task start */
jonathonfletcher 0:5f46ebd8588e 60 size = p_TCB->priv_stack >> 2;
jonathonfletcher 0:5f46ebd8588e 61
jonathonfletcher 0:5f46ebd8588e 62 /* Write to the top of stack. */
jonathonfletcher 0:5f46ebd8588e 63 stk = &p_TCB->stack[size];
jonathonfletcher 0:5f46ebd8588e 64
jonathonfletcher 0:5f46ebd8588e 65 /* Auto correct to 8-byte ARM stack alignment. */
jonathonfletcher 0:5f46ebd8588e 66 if ((U32)stk & 0x04) {
jonathonfletcher 0:5f46ebd8588e 67 stk--;
jonathonfletcher 0:5f46ebd8588e 68 }
jonathonfletcher 0:5f46ebd8588e 69
jonathonfletcher 0:5f46ebd8588e 70 stk -= 16;
jonathonfletcher 0:5f46ebd8588e 71
jonathonfletcher 0:5f46ebd8588e 72 /* Default xPSR and initial PC */
jonathonfletcher 0:5f46ebd8588e 73 stk[15] = INITIAL_xPSR;
jonathonfletcher 0:5f46ebd8588e 74 stk[14] = (U32)task_body;
jonathonfletcher 0:5f46ebd8588e 75
jonathonfletcher 0:5f46ebd8588e 76 /* Clear R4-R11,R0-R3,R12,LR registers. */
jonathonfletcher 0:5f46ebd8588e 77 for (i = 0; i < 14; i++) {
jonathonfletcher 0:5f46ebd8588e 78 stk[i] = 0;
jonathonfletcher 0:5f46ebd8588e 79 }
jonathonfletcher 0:5f46ebd8588e 80
jonathonfletcher 0:5f46ebd8588e 81 /* Assign a void pointer to R0. */
jonathonfletcher 0:5f46ebd8588e 82 stk[8] = (U32)p_TCB->msg;
jonathonfletcher 0:5f46ebd8588e 83
jonathonfletcher 0:5f46ebd8588e 84 /* Initial Task stack pointer. */
jonathonfletcher 0:5f46ebd8588e 85 p_TCB->tsk_stack = (U32)stk;
jonathonfletcher 0:5f46ebd8588e 86
jonathonfletcher 0:5f46ebd8588e 87 /* Task entry point. */
jonathonfletcher 0:5f46ebd8588e 88 p_TCB->ptask = task_body;
jonathonfletcher 0:5f46ebd8588e 89
jonathonfletcher 0:5f46ebd8588e 90 /* Set a magic word for checking of stack overflow.
jonathonfletcher 0:5f46ebd8588e 91 For the main thread (ID: 0x01) the stack is in a memory area shared with the
jonathonfletcher 0:5f46ebd8588e 92 heap, therefore the last word of the stack is a moving target.
jonathonfletcher 0:5f46ebd8588e 93 We want to do stack/heap collision detection instead.
jonathonfletcher 0:5f46ebd8588e 94 */
jonathonfletcher 0:5f46ebd8588e 95 if (p_TCB->task_id != 0x01)
jonathonfletcher 0:5f46ebd8588e 96 p_TCB->stack[0] = MAGIC_WORD;
jonathonfletcher 0:5f46ebd8588e 97 }
jonathonfletcher 0:5f46ebd8588e 98
jonathonfletcher 0:5f46ebd8588e 99
jonathonfletcher 0:5f46ebd8588e 100 /*--------------------------- rt_ret_val ----------------------------------*/
jonathonfletcher 0:5f46ebd8588e 101
jonathonfletcher 0:5f46ebd8588e 102 static __inline U32 *rt_ret_regs (P_TCB p_TCB) {
jonathonfletcher 0:5f46ebd8588e 103 /* Get pointer to task return value registers (R0..R3) in Stack */
jonathonfletcher 0:5f46ebd8588e 104 #if (__TARGET_FPU_VFP)
jonathonfletcher 0:5f46ebd8588e 105 if (p_TCB->stack_frame) {
jonathonfletcher 0:5f46ebd8588e 106 /* Extended Stack Frame: R4-R11,S16-S31,R0-R3,R12,LR,PC,xPSR,S0-S15,FPSCR */
jonathonfletcher 0:5f46ebd8588e 107 return (U32 *)(p_TCB->tsk_stack + 8*4 + 16*4);
jonathonfletcher 0:5f46ebd8588e 108 } else {
jonathonfletcher 0:5f46ebd8588e 109 /* Basic Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
jonathonfletcher 0:5f46ebd8588e 110 return (U32 *)(p_TCB->tsk_stack + 8*4);
jonathonfletcher 0:5f46ebd8588e 111 }
jonathonfletcher 0:5f46ebd8588e 112 #else
jonathonfletcher 0:5f46ebd8588e 113 /* Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
jonathonfletcher 0:5f46ebd8588e 114 return (U32 *)(p_TCB->tsk_stack + 8*4);
jonathonfletcher 0:5f46ebd8588e 115 #endif
jonathonfletcher 0:5f46ebd8588e 116 }
jonathonfletcher 0:5f46ebd8588e 117
jonathonfletcher 0:5f46ebd8588e 118 void rt_ret_val (P_TCB p_TCB, U32 v0) {
jonathonfletcher 0:5f46ebd8588e 119 U32 *ret;
jonathonfletcher 0:5f46ebd8588e 120
jonathonfletcher 0:5f46ebd8588e 121 ret = rt_ret_regs(p_TCB);
jonathonfletcher 0:5f46ebd8588e 122 ret[0] = v0;
jonathonfletcher 0:5f46ebd8588e 123 }
jonathonfletcher 0:5f46ebd8588e 124
jonathonfletcher 0:5f46ebd8588e 125 void rt_ret_val2(P_TCB p_TCB, U32 v0, U32 v1) {
jonathonfletcher 0:5f46ebd8588e 126 U32 *ret;
jonathonfletcher 0:5f46ebd8588e 127
jonathonfletcher 0:5f46ebd8588e 128 ret = rt_ret_regs(p_TCB);
jonathonfletcher 0:5f46ebd8588e 129 ret[0] = v0;
jonathonfletcher 0:5f46ebd8588e 130 ret[1] = v1;
jonathonfletcher 0:5f46ebd8588e 131 }
jonathonfletcher 0:5f46ebd8588e 132
jonathonfletcher 0:5f46ebd8588e 133
jonathonfletcher 0:5f46ebd8588e 134 /*--------------------------- dbg_init --------------------------------------*/
jonathonfletcher 0:5f46ebd8588e 135
jonathonfletcher 0:5f46ebd8588e 136 #ifdef DBG_MSG
jonathonfletcher 0:5f46ebd8588e 137 void dbg_init (void) {
jonathonfletcher 0:5f46ebd8588e 138 if ((DEMCR & DEMCR_TRCENA) &&
jonathonfletcher 0:5f46ebd8588e 139 (ITM_CONTROL & ITM_ITMENA) &&
jonathonfletcher 0:5f46ebd8588e 140 (ITM_ENABLE & (1UL << 31))) {
jonathonfletcher 0:5f46ebd8588e 141 dbg_msg = __TRUE;
jonathonfletcher 0:5f46ebd8588e 142 }
jonathonfletcher 0:5f46ebd8588e 143 }
jonathonfletcher 0:5f46ebd8588e 144 #endif
jonathonfletcher 0:5f46ebd8588e 145
jonathonfletcher 0:5f46ebd8588e 146 /*--------------------------- dbg_task_notify -------------------------------*/
jonathonfletcher 0:5f46ebd8588e 147
jonathonfletcher 0:5f46ebd8588e 148 #ifdef DBG_MSG
jonathonfletcher 0:5f46ebd8588e 149 void dbg_task_notify (P_TCB p_tcb, BOOL create) {
jonathonfletcher 0:5f46ebd8588e 150 while (ITM_PORT31_U32 == 0);
jonathonfletcher 0:5f46ebd8588e 151 ITM_PORT31_U32 = (U32)p_tcb->ptask;
jonathonfletcher 0:5f46ebd8588e 152 while (ITM_PORT31_U32 == 0);
jonathonfletcher 0:5f46ebd8588e 153 ITM_PORT31_U16 = (create << 8) | p_tcb->task_id;
jonathonfletcher 0:5f46ebd8588e 154 }
jonathonfletcher 0:5f46ebd8588e 155 #endif
jonathonfletcher 0:5f46ebd8588e 156
jonathonfletcher 0:5f46ebd8588e 157 /*--------------------------- dbg_task_switch -------------------------------*/
jonathonfletcher 0:5f46ebd8588e 158
jonathonfletcher 0:5f46ebd8588e 159 #ifdef DBG_MSG
jonathonfletcher 0:5f46ebd8588e 160 void dbg_task_switch (U32 task_id) {
jonathonfletcher 0:5f46ebd8588e 161 while (ITM_PORT31_U32 == 0);
jonathonfletcher 0:5f46ebd8588e 162 ITM_PORT31_U8 = task_id;
jonathonfletcher 0:5f46ebd8588e 163 }
jonathonfletcher 0:5f46ebd8588e 164 #endif
jonathonfletcher 0:5f46ebd8588e 165
jonathonfletcher 0:5f46ebd8588e 166
jonathonfletcher 0:5f46ebd8588e 167 /*----------------------------------------------------------------------------
jonathonfletcher 0:5f46ebd8588e 168 * end of file
jonathonfletcher 0:5f46ebd8588e 169 *---------------------------------------------------------------------------*/
jonathonfletcher 0:5f46ebd8588e 170