Diff: source/rtos/cm4/HAL_CM4.c

Revision:

0:01f31e923fe2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/source/rtos/cm4/HAL_CM4.c	Tue Apr 07 12:55:42 2020 +0200
@@ -0,0 +1,385 @@
+/**
+ * @file    HAL_CM3.c
+ * @brief   HAL for Cortex-M4
+ *
+ * DAPLink Interface Firmware
+ * Copyright (c) 2009-2016, ARM Limited, All Rights Reserved
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_System.h"
+#include "rt_HAL_CM.h"
+#include "rt_Task.h"
+#include "rt_List.h"
+#include "rt_MemBox.h"
+
+
+/*----------------------------------------------------------------------------
+ *      Global Variables
+ *---------------------------------------------------------------------------*/
+
+BIT dbg_msg;
+
+/*----------------------------------------------------------------------------
+ *      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
+        MOVNE   R0,#0x02                ; Privileged Thread mode, use PSP
+        MOVEQ   R0,#0x03                ; Unprivileged 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     R12,=__cpp(rt_alloc_box)
+        MRS     R3,IPSR
+        LSLS    R3,#24
+        BXNE    R12
+        MRS     R3,CONTROL
+        LSLS    R3,#31
+        BXEQ    R12
+        SVC     0
+        BX      LR
+
+        ALIGN
+}
+
+
+/*--------------------------- _free_box -------------------------------------*/
+
+__asm int _free_box (void *box_mem, void *box) {
+   /* Function wrapper for Unprivileged/Privileged mode. */
+        LDR     R12,=__cpp(rt_free_box)
+        MRS     R3,IPSR
+        LSLS    R3,#24
+        BXNE    R12
+        MRS     R3,CONTROL
+        LSLS    R3,#31
+        BXEQ    R12
+        SVC     0
+        BX      LR
+
+        ALIGN
+}
+
+
+/*-------------------------- SVC_Handler ------------------------------------*/
+
+__asm void SVC_Handler (void) {
+        PRESERVE8
+
+#ifdef  IFX_XMC4XXX
+        EXPORT  SVC_Handler_Veneer
+SVC_Handler_Veneer
+#endif
+
+        IMPORT  SVC_Count
+        IMPORT  SVC_Table
+        IMPORT  rt_stk_check
+
+        MRS     R0,PSP                  ; Read PSP
+        LDR     R1,[R0,#24]             ; Read Saved PC from Stack
+        LDRB    R1,[R1,#-2]             ; Load SVC Number
+        CBNZ    R1,SVC_User
+
+        PUSH    {R4,LR}                 ; Save EXC_RETURN
+        LDM     R0,{R0-R3,R12}          ; Read R0-R3,R12 from stack
+        BLX     R12                     ; Call SVC Function
+        POP     {R4,LR}                 ; Restore EXC_RETURN
+
+        MRS     R12,PSP                 ; Read PSP
+        LDR     R3,=__cpp(&os_tsk)
+        LDM     R3,{R1,R2}              ; os_tsk.run, os_tsk.new
+        CMP     R1,R2
+        BEQ     SVC_Exit                ; no task switch
+
+        CBZ     R1,SVC_Restore          ; Runtask deleted?
+
+        PUSH    {R2,R3}
+        TST     LR,#0x10                ; is it extended frame?
+        VSTMDBEQ R12!,{S16-S31}         ; yes, stack also VFP hi-regs
+        MOVEQ   R3,#0x03                ; os_tsk->ret_upd val
+        MOVNE   R3,#0x01
+
+        STRB    R3,[R1,#TCB_RETUPD]     ; os_tsk.run->ret_upd = val
+        STMDB   R12!,{R4-R11}           ; Save Old context
+        STR     R12,[R1,#TCB_TSTACK]    ; Update os_tsk.run->tsk_stack
+        BL      rt_stk_check            ; Check for Stack overflow
+        POP     {R2,R3}
+
+SVC_Restore
+        STR     R2,[R3]                 ; os_tsk.run = os_tsk.new
+
+        LDR     R12,[R2,#TCB_TSTACK]    ; os_tsk.new->tsk_stack
+        LDMIA   R12!,{R4-R11}           ; Restore New Context
+        LDRB    R3,[R2,#TCB_RETUPD]     ; Update ret_val?
+
+        TST     R3,#0x02                ; VFP Active?
+        VLDMIANE R12!,{S16-S31}         ; restore VFP hi-registers
+        MVNNE   LR,#:NOT:0xFFFFFFED     ; set EXC_RETURN value
+        MVNEQ   LR,#:NOT:0xFFFFFFFD
+        MSR     PSP,R12                 ; Write PSP
+
+        TST     R3,#0x01
+#ifdef  IFX_XMC4XXX
+        PUSHEQ  {LR}
+        POPEQ   {PC}
+#else
+        BXEQ    LR                      ; RETI
+#endif
+
+        LDRB    R0,[R2,#TCB_RETVAL]     ; Write os_tsk.new->ret_val
+SVC_Exit
+        STR     R0,[R12]                ; Function return value
+#ifdef  IFX_XMC4XXX
+        PUSH    {LR}
+        POP     {PC}
+#else
+        BX      LR
+#endif
+
+        /*------------------- 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
+        LDR     R4,[R4,R1,LSL #2]       ; Load SVC Function Address
+
+        LDM     R0,{R0-R3,R12}          ; Read R0-R3,R12 from stack
+        BLX     R4                      ; Call SVC Function
+
+        MRS     R12,PSP
+        STM     R12,{R0-R3}             ; Function return values
+SVC_Done
+        POP     {R4,PC}                 ; RETI
+
+        ALIGN
+}
+
+
+/*-------------------------- PendSV_Handler ---------------------------------*/
+
+__asm void PendSV_Handler (void) {
+        PRESERVE8
+
+#ifdef  IFX_XMC4XXX
+        EXPORT  PendSV_Handler_Veneer
+PendSV_Handler_Veneer
+#endif
+
+        PUSH    {R4,LR}                 ; Save EXC_RETURN
+        BL      __cpp(rt_pop_req)
+
+Sys_Switch
+        POP     {R4,LR}                 ; Restore EXC_RETURN
+
+        LDR     R3,=__cpp(&os_tsk)
+        LDM     R3,{R1,R2}              ; os_tsk.run, os_tsk.new
+        CMP     R1,R2
+#ifdef  IFX_XMC4XXX
+        PUSHEQ  {LR}
+        POPEQ   {PC}
+#else
+        BXEQ    LR                      ; RETI, no task switch
+#endif
+
+        PUSH    {R2,R3}
+        MRS     R12,PSP                 ; Read PSP
+        TST     LR,#0x10                ; is it extended frame?
+        VSTMDBEQ R12!,{S16-S31}         ; yes, stack also VFP hi-regs
+        MOVEQ   R3,#0x02                ; os_tsk->ret_upd val
+        MOVNE   R3,#0x00
+
+        STRB    R3,[R1,#TCB_RETUPD]     ; os_tsk.run->ret_upd = 0
+        STMDB   R12!,{R4-R11}           ; Save Old context
+        STR     R12,[R1,#TCB_TSTACK]    ; Update os_tsk.run->tsk_stack
+        BL      rt_stk_check            ; Check for Stack overflow
+
+        POP     {R2,R3}
+        STR     R2,[R3]                 ; os_tsk.run = os_tsk.new
+
+        LDR     R12,[R2,#TCB_TSTACK]    ; os_tsk.new->tsk_stack
+        LDMIA   R12!,{R4-R11}           ; Restore New Context
+        LDRB    R3,[R2,#TCB_RETUPD]     ; Update ret_val?
+
+        TST     R3,#0x02                ; VFP Active?
+        VLDMIANE R12!,{S16-S31}         ; restore VFP hi-regs
+        MVNNE   LR,#:NOT:0xFFFFFFED     ; set EXC_RETURN value
+        MVNEQ   LR,#:NOT:0xFFFFFFFD
+        MSR     PSP,R12                 ; Write PSP
+
+        TST     R3,#0x01
+        LDRBNE  R3,[R2,#TCB_RETVAL]     ; Write os_tsk.new->ret_val
+        STRNE   R3,[R12]
+#ifdef  IFX_XMC4XXX
+        PUSH    {LR}
+        POP     {PC}
+#else
+        BX      LR                      ; Return to Thread Mode
+#endif
+
+        ALIGN
+}
+
+
+/*-------------------------- SysTick_Handler --------------------------------*/
+
+__asm void SysTick_Handler (void) {
+        PRESERVE8
+
+#ifdef  IFX_XMC4XXX
+        EXPORT  SysTick_Handler_Veneer
+SysTick_Handler_Veneer
+#endif
+
+        PUSH    {R4,LR}                 ; Save EXC_RETURN
+        BL      __cpp(rt_systick)
+        B       Sys_Switch
+
+        ALIGN
+}
+
+
+/*-------------------------- OS_Tick_Handler --------------------------------*/
+
+__asm void OS_Tick_Handler (void) {
+        PRESERVE8
+
+        PUSH    {R4,LR}                 ; Save EXC_RETURN
+        BL      __cpp(os_tick_irqack)
+        BL      __cpp(rt_systick)
+        B       Sys_Switch
+
+        ALIGN
+}
+
+
+/*--------------------------- rt_init_stack ---------------------------------*/
+
+void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
+  /* Prepare TCB and saved context for a first time start of a task. */
+  U32 *stk,i,size;
+
+  /* Prepare a complete interrupt frame for first task start */
+  size = p_TCB->priv_stack >> 2;
+  if (size == 0) {
+    size = (U16)os_stackinfo >> 2;
+  }
+
+  /* Write to the top of stack. */
+  stk = &p_TCB->stack[size];
+
+  /* Auto correct to 8-byte stack alignment. */
+  if ((U32)stk & 0x04) {
+    stk--;
+  }
+
+  stk -= 16;
+
+  /* Default xPSR and initial PC */
+  stk[15] = INITIAL_xPSR;
+  stk[14] = (U32)task_body;
+
+  /* Clear R1-R12,LR registers. */
+  for (i = 0; i < 14; i++) {
+    stk[i] = 0;
+  }
+
+  /* Assign a void pointer to R0. */
+  stk[8] = (U32)p_TCB->msg;
+
+  /* Initial Task stack pointer. */
+  p_TCB->tsk_stack = (U32)stk;
+
+  /* Task entry point. */
+  p_TCB->ptask = task_body;
+
+  /* Set a magic word for checking of stack overflow. */
+  p_TCB->stack[0] = MAGIC_WORD;
+}
+
+
+/*--------------------------- dbg_init --------------------------------------*/
+
+void dbg_init (void) {
+  if ((DEMCR & DEMCR_TRCENA)     &&
+      (ITM_CONTROL & ITM_ITMENA) &&
+      (ITM_ENABLE & (1UL << 31))) {
+    dbg_msg = __TRUE;
+  }
+}
+
+
+/*--------------------------- dbg_task_notify -------------------------------*/
+
+void dbg_task_notify (P_TCB p_tcb, BOOL create) {
+  while (ITM_PORT31_U32 == 0);
+  ITM_PORT31_U32 = (U32)p_tcb->ptask;
+  while (ITM_PORT31_U32 == 0);
+  ITM_PORT31_U16 = (create << 8) | p_tcb->task_id;
+}
+
+
+/*--------------------------- dbg_task_switch -------------------------------*/
+
+void dbg_task_switch (U32 task_id) {
+  while (ITM_PORT31_U32 == 0);
+  ITM_PORT31_U8 = task_id;
+}
+
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
+