Official mbed Real Time Operating System based on the RTX implementation of the CMSIS-RTOS API open standard.
Dependents: LoRaWAN-lmic-app LoRaWAN-lmic-app LoRaWAN-test-10secs testes ... more
rtx_ca/ARM/HAL_CA9.c@48:e9a2c7cb57a4, 2014-11-06 (annotated)
- Committer:
- mbed_official
- Date:
- Thu Nov 06 11:00:33 2014 +0000
- Revision:
- 48:e9a2c7cb57a4
Synchronized with git revision 8724eb616b6e07a3bd111d3022652eb5bbefe9b7
Full URL: https://github.com/mbedmicro/mbed/commit/8724eb616b6e07a3bd111d3022652eb5bbefe9b7/
[RZ/A1H] mbed-RZ first release
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mbed_official | 48:e9a2c7cb57a4 | 1 | /*---------------------------------------------------------------------------- |
mbed_official | 48:e9a2c7cb57a4 | 2 | * RL-ARM - RTX |
mbed_official | 48:e9a2c7cb57a4 | 3 | *---------------------------------------------------------------------------- |
mbed_official | 48:e9a2c7cb57a4 | 4 | * Name: HAL_CA9.c |
mbed_official | 48:e9a2c7cb57a4 | 5 | * Purpose: Hardware Abstraction Layer for Cortex-A9 |
mbed_official | 48:e9a2c7cb57a4 | 6 | * Rev.: 3 Sept 2013 |
mbed_official | 48:e9a2c7cb57a4 | 7 | *---------------------------------------------------------------------------- |
mbed_official | 48:e9a2c7cb57a4 | 8 | * |
mbed_official | 48:e9a2c7cb57a4 | 9 | * Copyright (c) 2012 - 2013 ARM Limited |
mbed_official | 48:e9a2c7cb57a4 | 10 | * All rights reserved. |
mbed_official | 48:e9a2c7cb57a4 | 11 | * Redistribution and use in source and binary forms, with or without |
mbed_official | 48:e9a2c7cb57a4 | 12 | * modification, are permitted provided that the following conditions are met: |
mbed_official | 48:e9a2c7cb57a4 | 13 | * - Redistributions of source code must retain the above copyright |
mbed_official | 48:e9a2c7cb57a4 | 14 | * notice, this list of conditions and the following disclaimer. |
mbed_official | 48:e9a2c7cb57a4 | 15 | * - Redistributions in binary form must reproduce the above copyright |
mbed_official | 48:e9a2c7cb57a4 | 16 | * notice, this list of conditions and the following disclaimer in the |
mbed_official | 48:e9a2c7cb57a4 | 17 | * documentation and/or other materials provided with the distribution. |
mbed_official | 48:e9a2c7cb57a4 | 18 | * - Neither the name of ARM nor the names of its contributors may be used |
mbed_official | 48:e9a2c7cb57a4 | 19 | * to endorse or promote products derived from this software without |
mbed_official | 48:e9a2c7cb57a4 | 20 | * specific prior written permission. |
mbed_official | 48:e9a2c7cb57a4 | 21 | * |
mbed_official | 48:e9a2c7cb57a4 | 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
mbed_official | 48:e9a2c7cb57a4 | 23 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
mbed_official | 48:e9a2c7cb57a4 | 24 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
mbed_official | 48:e9a2c7cb57a4 | 25 | * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE |
mbed_official | 48:e9a2c7cb57a4 | 26 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
mbed_official | 48:e9a2c7cb57a4 | 27 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
mbed_official | 48:e9a2c7cb57a4 | 28 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
mbed_official | 48:e9a2c7cb57a4 | 29 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
mbed_official | 48:e9a2c7cb57a4 | 30 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
mbed_official | 48:e9a2c7cb57a4 | 31 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
mbed_official | 48:e9a2c7cb57a4 | 32 | * POSSIBILITY OF SUCH DAMAGE. |
mbed_official | 48:e9a2c7cb57a4 | 33 | *---------------------------------------------------------------------------*/ |
mbed_official | 48:e9a2c7cb57a4 | 34 | |
mbed_official | 48:e9a2c7cb57a4 | 35 | #include "rt_TypeDef.h" |
mbed_official | 48:e9a2c7cb57a4 | 36 | #include "RTX_Config.h" |
mbed_official | 48:e9a2c7cb57a4 | 37 | #include "rt_System.h" |
mbed_official | 48:e9a2c7cb57a4 | 38 | #include "rt_Task.h" |
mbed_official | 48:e9a2c7cb57a4 | 39 | #include "rt_List.h" |
mbed_official | 48:e9a2c7cb57a4 | 40 | #include "rt_MemBox.h" |
mbed_official | 48:e9a2c7cb57a4 | 41 | #include "rt_HAL_CA.h" |
mbed_official | 48:e9a2c7cb57a4 | 42 | |
mbed_official | 48:e9a2c7cb57a4 | 43 | |
mbed_official | 48:e9a2c7cb57a4 | 44 | /*---------------------------------------------------------------------------- |
mbed_official | 48:e9a2c7cb57a4 | 45 | * Functions |
mbed_official | 48:e9a2c7cb57a4 | 46 | *---------------------------------------------------------------------------*/ |
mbed_official | 48:e9a2c7cb57a4 | 47 | |
mbed_official | 48:e9a2c7cb57a4 | 48 | //For A-class, set USR/SYS stack |
mbed_official | 48:e9a2c7cb57a4 | 49 | __asm void rt_set_PSP (U32 stack) { |
mbed_official | 48:e9a2c7cb57a4 | 50 | ARM |
mbed_official | 48:e9a2c7cb57a4 | 51 | |
mbed_official | 48:e9a2c7cb57a4 | 52 | MRS R1, CPSR |
mbed_official | 48:e9a2c7cb57a4 | 53 | CPS #MODE_SYS ;no effect in USR mode |
mbed_official | 48:e9a2c7cb57a4 | 54 | ISB |
mbed_official | 48:e9a2c7cb57a4 | 55 | MOV SP, R0 |
mbed_official | 48:e9a2c7cb57a4 | 56 | MSR CPSR_c, R1 ;no effect in USR mode |
mbed_official | 48:e9a2c7cb57a4 | 57 | ISB |
mbed_official | 48:e9a2c7cb57a4 | 58 | BX LR |
mbed_official | 48:e9a2c7cb57a4 | 59 | |
mbed_official | 48:e9a2c7cb57a4 | 60 | } |
mbed_official | 48:e9a2c7cb57a4 | 61 | |
mbed_official | 48:e9a2c7cb57a4 | 62 | //For A-class, get USR/SYS stack |
mbed_official | 48:e9a2c7cb57a4 | 63 | __asm U32 rt_get_PSP (void) { |
mbed_official | 48:e9a2c7cb57a4 | 64 | ARM |
mbed_official | 48:e9a2c7cb57a4 | 65 | |
mbed_official | 48:e9a2c7cb57a4 | 66 | MRS R1, CPSR |
mbed_official | 48:e9a2c7cb57a4 | 67 | CPS #MODE_SYS ;no effect in USR mode |
mbed_official | 48:e9a2c7cb57a4 | 68 | ISB |
mbed_official | 48:e9a2c7cb57a4 | 69 | MOV R0, SP |
mbed_official | 48:e9a2c7cb57a4 | 70 | MSR CPSR_c, R1 ;no effect in USR mode |
mbed_official | 48:e9a2c7cb57a4 | 71 | ISB |
mbed_official | 48:e9a2c7cb57a4 | 72 | BX LR |
mbed_official | 48:e9a2c7cb57a4 | 73 | } |
mbed_official | 48:e9a2c7cb57a4 | 74 | |
mbed_official | 48:e9a2c7cb57a4 | 75 | /*--------------------------- _alloc_box ------------------------------------*/ |
mbed_official | 48:e9a2c7cb57a4 | 76 | __asm void *_alloc_box (void *box_mem) { |
mbed_official | 48:e9a2c7cb57a4 | 77 | /* Function wrapper for Unprivileged/Privileged mode. */ |
mbed_official | 48:e9a2c7cb57a4 | 78 | ARM |
mbed_official | 48:e9a2c7cb57a4 | 79 | |
mbed_official | 48:e9a2c7cb57a4 | 80 | LDR R12,=__cpp(rt_alloc_box) |
mbed_official | 48:e9a2c7cb57a4 | 81 | MRS R2, CPSR |
mbed_official | 48:e9a2c7cb57a4 | 82 | LSLS R2, #28 |
mbed_official | 48:e9a2c7cb57a4 | 83 | BXNE R12 |
mbed_official | 48:e9a2c7cb57a4 | 84 | SVC 0 |
mbed_official | 48:e9a2c7cb57a4 | 85 | BX LR |
mbed_official | 48:e9a2c7cb57a4 | 86 | } |
mbed_official | 48:e9a2c7cb57a4 | 87 | |
mbed_official | 48:e9a2c7cb57a4 | 88 | |
mbed_official | 48:e9a2c7cb57a4 | 89 | /*--------------------------- _free_box -------------------------------------*/ |
mbed_official | 48:e9a2c7cb57a4 | 90 | __asm int _free_box (void *box_mem, void *box) { |
mbed_official | 48:e9a2c7cb57a4 | 91 | /* Function wrapper for Unprivileged/Privileged mode. */ |
mbed_official | 48:e9a2c7cb57a4 | 92 | ARM |
mbed_official | 48:e9a2c7cb57a4 | 93 | |
mbed_official | 48:e9a2c7cb57a4 | 94 | LDR R12,=__cpp(rt_free_box) |
mbed_official | 48:e9a2c7cb57a4 | 95 | MRS R2, CPSR |
mbed_official | 48:e9a2c7cb57a4 | 96 | LSLS R2, #28 |
mbed_official | 48:e9a2c7cb57a4 | 97 | BXNE R12 |
mbed_official | 48:e9a2c7cb57a4 | 98 | SVC 0 |
mbed_official | 48:e9a2c7cb57a4 | 99 | BX LR |
mbed_official | 48:e9a2c7cb57a4 | 100 | |
mbed_official | 48:e9a2c7cb57a4 | 101 | } |
mbed_official | 48:e9a2c7cb57a4 | 102 | |
mbed_official | 48:e9a2c7cb57a4 | 103 | /*-------------------------- SVC_Handler -----------------------------------*/ |
mbed_official | 48:e9a2c7cb57a4 | 104 | |
mbed_official | 48:e9a2c7cb57a4 | 105 | #pragma push |
mbed_official | 48:e9a2c7cb57a4 | 106 | #pragma arm |
mbed_official | 48:e9a2c7cb57a4 | 107 | __asm void SVC_Handler (void) { |
mbed_official | 48:e9a2c7cb57a4 | 108 | PRESERVE8 |
mbed_official | 48:e9a2c7cb57a4 | 109 | ARM |
mbed_official | 48:e9a2c7cb57a4 | 110 | |
mbed_official | 48:e9a2c7cb57a4 | 111 | IMPORT rt_tsk_lock |
mbed_official | 48:e9a2c7cb57a4 | 112 | IMPORT rt_tsk_unlock |
mbed_official | 48:e9a2c7cb57a4 | 113 | IMPORT SVC_Count |
mbed_official | 48:e9a2c7cb57a4 | 114 | IMPORT SVC_Table |
mbed_official | 48:e9a2c7cb57a4 | 115 | IMPORT rt_stk_check |
mbed_official | 48:e9a2c7cb57a4 | 116 | IMPORT FPUEnable |
mbed_official | 48:e9a2c7cb57a4 | 117 | |
mbed_official | 48:e9a2c7cb57a4 | 118 | Mode_SVC EQU 0x13 |
mbed_official | 48:e9a2c7cb57a4 | 119 | |
mbed_official | 48:e9a2c7cb57a4 | 120 | SRSFD SP!, #Mode_SVC ; Push LR_SVC and SPRS_SVC onto SVC mode stack |
mbed_official | 48:e9a2c7cb57a4 | 121 | PUSH {R4} ; Push R4 so we can use it as a temp |
mbed_official | 48:e9a2c7cb57a4 | 122 | |
mbed_official | 48:e9a2c7cb57a4 | 123 | MRS R4,SPSR ; Get SPSR |
mbed_official | 48:e9a2c7cb57a4 | 124 | TST R4,#CPSR_T_BIT ; Check Thumb Bit |
mbed_official | 48:e9a2c7cb57a4 | 125 | LDRNEH R4,[LR,#-2] ; Thumb: Load Halfword |
mbed_official | 48:e9a2c7cb57a4 | 126 | BICNE R4,R4,#0xFF00 ; Extract SVC Number |
mbed_official | 48:e9a2c7cb57a4 | 127 | LDREQ R4,[LR,#-4] ; ARM: Load Word |
mbed_official | 48:e9a2c7cb57a4 | 128 | BICEQ R4,R4,#0xFF000000 ; Extract SVC Number |
mbed_official | 48:e9a2c7cb57a4 | 129 | |
mbed_official | 48:e9a2c7cb57a4 | 130 | /* Lock out systick and re-enable interrupts */ |
mbed_official | 48:e9a2c7cb57a4 | 131 | PUSH {R0-R3,R12,LR} |
mbed_official | 48:e9a2c7cb57a4 | 132 | |
mbed_official | 48:e9a2c7cb57a4 | 133 | AND R12, SP, #4 ; Ensure stack is 8-byte aligned |
mbed_official | 48:e9a2c7cb57a4 | 134 | SUB SP, SP, R12 ; Adjust stack |
mbed_official | 48:e9a2c7cb57a4 | 135 | PUSH {R12, LR} ; Store stack adjustment and dummy LR to SVC stack |
mbed_official | 48:e9a2c7cb57a4 | 136 | |
mbed_official | 48:e9a2c7cb57a4 | 137 | BLX rt_tsk_lock |
mbed_official | 48:e9a2c7cb57a4 | 138 | CPSIE i |
mbed_official | 48:e9a2c7cb57a4 | 139 | |
mbed_official | 48:e9a2c7cb57a4 | 140 | POP {R12, LR} ; Get stack adjustment & discard dummy LR |
mbed_official | 48:e9a2c7cb57a4 | 141 | ADD SP, SP, R12 ; Unadjust stack |
mbed_official | 48:e9a2c7cb57a4 | 142 | |
mbed_official | 48:e9a2c7cb57a4 | 143 | POP {R0-R3,R12,LR} |
mbed_official | 48:e9a2c7cb57a4 | 144 | |
mbed_official | 48:e9a2c7cb57a4 | 145 | CMP R4,#0 |
mbed_official | 48:e9a2c7cb57a4 | 146 | BNE SVC_User |
mbed_official | 48:e9a2c7cb57a4 | 147 | |
mbed_official | 48:e9a2c7cb57a4 | 148 | MRS R4,SPSR |
mbed_official | 48:e9a2c7cb57a4 | 149 | PUSH {R4} ; Push R4 so we can use it as a temp |
mbed_official | 48:e9a2c7cb57a4 | 150 | AND R4, SP, #4 ; Ensure stack is 8-byte aligned |
mbed_official | 48:e9a2c7cb57a4 | 151 | SUB SP, SP, R4 ; Adjust stack |
mbed_official | 48:e9a2c7cb57a4 | 152 | PUSH {R4, LR} ; Store stack adjustment and dummy LR |
mbed_official | 48:e9a2c7cb57a4 | 153 | BLX R12 |
mbed_official | 48:e9a2c7cb57a4 | 154 | POP {R4, LR} ; Get stack adjustment & discard dummy LR |
mbed_official | 48:e9a2c7cb57a4 | 155 | ADD SP, SP, R4 ; Unadjust stack |
mbed_official | 48:e9a2c7cb57a4 | 156 | POP {R4} ; Restore R4 |
mbed_official | 48:e9a2c7cb57a4 | 157 | MSR SPSR_CXSF,R4 |
mbed_official | 48:e9a2c7cb57a4 | 158 | |
mbed_official | 48:e9a2c7cb57a4 | 159 | /* Here we will be in SVC mode (even if coming in from PendSV_Handler or OS_Tick_Handler) */ |
mbed_official | 48:e9a2c7cb57a4 | 160 | Sys_Switch |
mbed_official | 48:e9a2c7cb57a4 | 161 | LDR LR,=__cpp(&os_tsk) |
mbed_official | 48:e9a2c7cb57a4 | 162 | LDM LR,{R4,LR} ; os_tsk.run, os_tsk.new |
mbed_official | 48:e9a2c7cb57a4 | 163 | CMP R4,LR |
mbed_official | 48:e9a2c7cb57a4 | 164 | BNE switching |
mbed_official | 48:e9a2c7cb57a4 | 165 | |
mbed_official | 48:e9a2c7cb57a4 | 166 | PUSH {R0-R3,R12,LR} |
mbed_official | 48:e9a2c7cb57a4 | 167 | |
mbed_official | 48:e9a2c7cb57a4 | 168 | AND R12, SP, #4 ; Ensure stack is 8-byte aligned |
mbed_official | 48:e9a2c7cb57a4 | 169 | SUB SP, SP, R12 ; Adjust stack |
mbed_official | 48:e9a2c7cb57a4 | 170 | PUSH {R12, LR} ; Store stack adjustment and dummy LR to SVC stack |
mbed_official | 48:e9a2c7cb57a4 | 171 | |
mbed_official | 48:e9a2c7cb57a4 | 172 | CPSID i |
mbed_official | 48:e9a2c7cb57a4 | 173 | BLX rt_tsk_unlock |
mbed_official | 48:e9a2c7cb57a4 | 174 | |
mbed_official | 48:e9a2c7cb57a4 | 175 | POP {R12, LR} ; Get stack adjustment & discard dummy LR |
mbed_official | 48:e9a2c7cb57a4 | 176 | ADD SP, SP, R12 ; Unadjust stack |
mbed_official | 48:e9a2c7cb57a4 | 177 | |
mbed_official | 48:e9a2c7cb57a4 | 178 | POP {R0-R3,R12,LR} |
mbed_official | 48:e9a2c7cb57a4 | 179 | POP {R4} |
mbed_official | 48:e9a2c7cb57a4 | 180 | RFEFD SP! ; Return from exception, no task switch |
mbed_official | 48:e9a2c7cb57a4 | 181 | |
mbed_official | 48:e9a2c7cb57a4 | 182 | switching |
mbed_official | 48:e9a2c7cb57a4 | 183 | CLREX |
mbed_official | 48:e9a2c7cb57a4 | 184 | CMP R4,#0 |
mbed_official | 48:e9a2c7cb57a4 | 185 | ADDEQ SP,SP,#12 ; Original R4, LR & SPSR do not need to be popped when we are paging in a different task |
mbed_official | 48:e9a2c7cb57a4 | 186 | BEQ SVC_Next ; Runtask deleted? |
mbed_official | 48:e9a2c7cb57a4 | 187 | |
mbed_official | 48:e9a2c7cb57a4 | 188 | |
mbed_official | 48:e9a2c7cb57a4 | 189 | PUSH {R8-R11} //R4 and LR already stacked |
mbed_official | 48:e9a2c7cb57a4 | 190 | MOV R10,R4 ; Preserve os_tsk.run |
mbed_official | 48:e9a2c7cb57a4 | 191 | MOV R11,LR ; Preserve os_tsk.new |
mbed_official | 48:e9a2c7cb57a4 | 192 | |
mbed_official | 48:e9a2c7cb57a4 | 193 | ADD R8,SP,#16 ; Unstack R4,LR |
mbed_official | 48:e9a2c7cb57a4 | 194 | LDMIA R8,{R4,LR} |
mbed_official | 48:e9a2c7cb57a4 | 195 | |
mbed_official | 48:e9a2c7cb57a4 | 196 | SUB SP,SP,#4 ; Make space on the stack for the next instn |
mbed_official | 48:e9a2c7cb57a4 | 197 | STMIA SP,{SP}^ ; Put User SP onto stack |
mbed_official | 48:e9a2c7cb57a4 | 198 | POP {R8} ; Pop User SP into R8 |
mbed_official | 48:e9a2c7cb57a4 | 199 | |
mbed_official | 48:e9a2c7cb57a4 | 200 | MRS R9,SPSR |
mbed_official | 48:e9a2c7cb57a4 | 201 | STMDB R8!,{R9} ; User CPSR |
mbed_official | 48:e9a2c7cb57a4 | 202 | STMDB R8!,{LR} ; User PC |
mbed_official | 48:e9a2c7cb57a4 | 203 | STMDB R8,{LR}^ ; User LR |
mbed_official | 48:e9a2c7cb57a4 | 204 | SUB R8,R8,#4 ; No writeback for store of User LR |
mbed_official | 48:e9a2c7cb57a4 | 205 | STMDB R8!,{R0-R3,R12} ; User R0-R3,R12 |
mbed_official | 48:e9a2c7cb57a4 | 206 | MOV R3,R10 ; os_tsk.run |
mbed_official | 48:e9a2c7cb57a4 | 207 | MOV LR,R11 ; os_tsk.new |
mbed_official | 48:e9a2c7cb57a4 | 208 | POP {R9-R12} |
mbed_official | 48:e9a2c7cb57a4 | 209 | ADD SP,SP,#12 ; Fix up SP for unstack of R4, LR & SPSR |
mbed_official | 48:e9a2c7cb57a4 | 210 | STMDB R8!,{R4-R7,R9-R12} ; User R4-R11 |
mbed_official | 48:e9a2c7cb57a4 | 211 | |
mbed_official | 48:e9a2c7cb57a4 | 212 | //If applicable, stack VFP state |
mbed_official | 48:e9a2c7cb57a4 | 213 | MRC p15,0,R1,c1,c0,2 ; VFP/NEON access enabled? (CPACR) |
mbed_official | 48:e9a2c7cb57a4 | 214 | AND R2,R1,#0x00F00000 |
mbed_official | 48:e9a2c7cb57a4 | 215 | CMP R2,#0x00F00000 |
mbed_official | 48:e9a2c7cb57a4 | 216 | BNE no_outgoing_vfp |
mbed_official | 48:e9a2c7cb57a4 | 217 | VMRS R2,FPSCR |
mbed_official | 48:e9a2c7cb57a4 | 218 | STMDB R8!,{R2,R4} ; Push FPSCR, maintain 8-byte alignment |
mbed_official | 48:e9a2c7cb57a4 | 219 | VSTMDB R8!,{S0-S31} |
mbed_official | 48:e9a2c7cb57a4 | 220 | LDRB R2,[R3,#TCB_STACKF] ; Record in TCB that VFP state is stacked |
mbed_official | 48:e9a2c7cb57a4 | 221 | ORR R2,#2 |
mbed_official | 48:e9a2c7cb57a4 | 222 | STRB R2,[R3,#TCB_STACKF] |
mbed_official | 48:e9a2c7cb57a4 | 223 | |
mbed_official | 48:e9a2c7cb57a4 | 224 | no_outgoing_vfp |
mbed_official | 48:e9a2c7cb57a4 | 225 | STR R8,[R3,#TCB_TSTACK] |
mbed_official | 48:e9a2c7cb57a4 | 226 | MOV R4,LR |
mbed_official | 48:e9a2c7cb57a4 | 227 | |
mbed_official | 48:e9a2c7cb57a4 | 228 | PUSH {R4} ; Push R4 so we can use it as a temp |
mbed_official | 48:e9a2c7cb57a4 | 229 | AND R4, SP, #4 ; Ensure stack is 8-byte aligned |
mbed_official | 48:e9a2c7cb57a4 | 230 | SUB SP, SP, R4 ; Adjust stack |
mbed_official | 48:e9a2c7cb57a4 | 231 | PUSH {R4, LR} ; Store stack adjustment and dummy LR to SVC stack |
mbed_official | 48:e9a2c7cb57a4 | 232 | |
mbed_official | 48:e9a2c7cb57a4 | 233 | BLX rt_stk_check |
mbed_official | 48:e9a2c7cb57a4 | 234 | |
mbed_official | 48:e9a2c7cb57a4 | 235 | POP {R4, LR} ; Get stack adjustment & discard dummy LR |
mbed_official | 48:e9a2c7cb57a4 | 236 | ADD SP, SP, R4 ; Unadjust stack |
mbed_official | 48:e9a2c7cb57a4 | 237 | POP {R4} ; Restore R4 |
mbed_official | 48:e9a2c7cb57a4 | 238 | |
mbed_official | 48:e9a2c7cb57a4 | 239 | MOV LR,R4 |
mbed_official | 48:e9a2c7cb57a4 | 240 | |
mbed_official | 48:e9a2c7cb57a4 | 241 | SVC_Next //R4 == os_tsk.run, LR == os_tsk.new, R0-R3, R5-R12 corruptible |
mbed_official | 48:e9a2c7cb57a4 | 242 | LDR R1,=__cpp(&os_tsk) ; os_tsk.run = os_tsk.new |
mbed_official | 48:e9a2c7cb57a4 | 243 | STR LR,[R1] |
mbed_official | 48:e9a2c7cb57a4 | 244 | LDRB R1,[LR,#TCB_TID] ; os_tsk.run->task_id |
mbed_official | 48:e9a2c7cb57a4 | 245 | LSL R1,#8 ; Store PROCID |
mbed_official | 48:e9a2c7cb57a4 | 246 | MCR p15,0,R1,c13,c0,1 ; Write CONTEXTIDR |
mbed_official | 48:e9a2c7cb57a4 | 247 | |
mbed_official | 48:e9a2c7cb57a4 | 248 | LDR R0,[LR,#TCB_TSTACK] ; os_tsk.run->tsk_stack |
mbed_official | 48:e9a2c7cb57a4 | 249 | |
mbed_official | 48:e9a2c7cb57a4 | 250 | //Does incoming task have VFP state in stack? |
mbed_official | 48:e9a2c7cb57a4 | 251 | LDRB R3,[LR,#TCB_STACKF] |
mbed_official | 48:e9a2c7cb57a4 | 252 | TST R3,#0x2 |
mbed_official | 48:e9a2c7cb57a4 | 253 | MRC p15,0,R1,c1,c0,2 ; Read CPACR |
mbed_official | 48:e9a2c7cb57a4 | 254 | ANDEQ R1,R1,#0xFF0FFFFF ; Disable VFP access if incoming task does not have stacked VFP state |
mbed_official | 48:e9a2c7cb57a4 | 255 | ORRNE R1,R1,#0x00F00000 ; Enable VFP access if incoming task does have stacked VFP state |
mbed_official | 48:e9a2c7cb57a4 | 256 | MCR p15,0,R1,c1,c0,2 ; Write CPACR |
mbed_official | 48:e9a2c7cb57a4 | 257 | BEQ no_incoming_vfp |
mbed_official | 48:e9a2c7cb57a4 | 258 | ISB ; We only need the sync if we enabled, otherwise we will context switch before next VFP instruction anyway |
mbed_official | 48:e9a2c7cb57a4 | 259 | VLDMIA R0!,{S0-S31} |
mbed_official | 48:e9a2c7cb57a4 | 260 | LDR R2,[R0] |
mbed_official | 48:e9a2c7cb57a4 | 261 | VMSR FPSCR,R2 |
mbed_official | 48:e9a2c7cb57a4 | 262 | ADD R0,R0,#8 |
mbed_official | 48:e9a2c7cb57a4 | 263 | |
mbed_official | 48:e9a2c7cb57a4 | 264 | no_incoming_vfp |
mbed_official | 48:e9a2c7cb57a4 | 265 | LDR R1,[R0,#60] ; Restore User CPSR |
mbed_official | 48:e9a2c7cb57a4 | 266 | MSR SPSR_CXSF,R1 |
mbed_official | 48:e9a2c7cb57a4 | 267 | LDMIA R0!,{R4-R11} ; Restore User R4-R11 |
mbed_official | 48:e9a2c7cb57a4 | 268 | ADD R0,R0,#4 ; Restore User R1-R3,R12 |
mbed_official | 48:e9a2c7cb57a4 | 269 | LDMIA R0!,{R1-R3,R12} |
mbed_official | 48:e9a2c7cb57a4 | 270 | LDMIA R0,{LR}^ ; Restore User LR |
mbed_official | 48:e9a2c7cb57a4 | 271 | ADD R0,R0,#4 ; No writeback for load to user LR |
mbed_official | 48:e9a2c7cb57a4 | 272 | LDMIA R0!,{LR} ; Restore User PC |
mbed_official | 48:e9a2c7cb57a4 | 273 | ADD R0,R0,#4 ; Correct User SP for unstacked user CPSR |
mbed_official | 48:e9a2c7cb57a4 | 274 | |
mbed_official | 48:e9a2c7cb57a4 | 275 | PUSH {R0} ; Push R0 onto stack |
mbed_official | 48:e9a2c7cb57a4 | 276 | LDMIA SP,{SP}^ ; Get R0 off stack into User SP |
mbed_official | 48:e9a2c7cb57a4 | 277 | ADD SP,SP,#4 ; Put SP back |
mbed_official | 48:e9a2c7cb57a4 | 278 | |
mbed_official | 48:e9a2c7cb57a4 | 279 | LDR R0,[R0,#-32] ; Restore R0 |
mbed_official | 48:e9a2c7cb57a4 | 280 | |
mbed_official | 48:e9a2c7cb57a4 | 281 | PUSH {R0-R3,R12,LR} |
mbed_official | 48:e9a2c7cb57a4 | 282 | |
mbed_official | 48:e9a2c7cb57a4 | 283 | AND R12, SP, #4 ; Ensure stack is 8-byte aligned |
mbed_official | 48:e9a2c7cb57a4 | 284 | SUB SP, SP, R12 ; Adjust stack |
mbed_official | 48:e9a2c7cb57a4 | 285 | PUSH {R12, LR} ; Store stack adjustment and dummy LR to SVC stack |
mbed_official | 48:e9a2c7cb57a4 | 286 | |
mbed_official | 48:e9a2c7cb57a4 | 287 | CPSID i |
mbed_official | 48:e9a2c7cb57a4 | 288 | BLX rt_tsk_unlock |
mbed_official | 48:e9a2c7cb57a4 | 289 | |
mbed_official | 48:e9a2c7cb57a4 | 290 | POP {R12, LR} ; Get stack adjustment & discard dummy LR |
mbed_official | 48:e9a2c7cb57a4 | 291 | ADD SP, SP, R12 ; Unadjust stack |
mbed_official | 48:e9a2c7cb57a4 | 292 | |
mbed_official | 48:e9a2c7cb57a4 | 293 | POP {R0-R3,R12,LR} |
mbed_official | 48:e9a2c7cb57a4 | 294 | |
mbed_official | 48:e9a2c7cb57a4 | 295 | MOVS PC,LR ; Return from exception |
mbed_official | 48:e9a2c7cb57a4 | 296 | |
mbed_official | 48:e9a2c7cb57a4 | 297 | |
mbed_official | 48:e9a2c7cb57a4 | 298 | /*------------------- User SVC -------------------------------*/ |
mbed_official | 48:e9a2c7cb57a4 | 299 | |
mbed_official | 48:e9a2c7cb57a4 | 300 | SVC_User |
mbed_official | 48:e9a2c7cb57a4 | 301 | LDR R12,=SVC_Count |
mbed_official | 48:e9a2c7cb57a4 | 302 | LDR R12,[R12] |
mbed_official | 48:e9a2c7cb57a4 | 303 | CMP R4,R12 ; Check for overflow |
mbed_official | 48:e9a2c7cb57a4 | 304 | BHI SVC_Done |
mbed_official | 48:e9a2c7cb57a4 | 305 | |
mbed_official | 48:e9a2c7cb57a4 | 306 | LDR R12,=SVC_Table-4 |
mbed_official | 48:e9a2c7cb57a4 | 307 | LDR R12,[R12,R4,LSL #2] ; Load SVC Function Address |
mbed_official | 48:e9a2c7cb57a4 | 308 | MRS R4,SPSR ; Save SPSR |
mbed_official | 48:e9a2c7cb57a4 | 309 | PUSH {R4} ; Push R4 so we can use it as a temp |
mbed_official | 48:e9a2c7cb57a4 | 310 | AND R4, SP, #4 ; Ensure stack is 8-byte aligned |
mbed_official | 48:e9a2c7cb57a4 | 311 | SUB SP, SP, R4 ; Adjust stack |
mbed_official | 48:e9a2c7cb57a4 | 312 | PUSH {R4, LR} ; Store stack adjustment and dummy LR |
mbed_official | 48:e9a2c7cb57a4 | 313 | BLX R12 ; Call SVC Function |
mbed_official | 48:e9a2c7cb57a4 | 314 | POP {R4, LR} ; Get stack adjustment & discard dummy LR |
mbed_official | 48:e9a2c7cb57a4 | 315 | ADD SP, SP, R4 ; Unadjust stack |
mbed_official | 48:e9a2c7cb57a4 | 316 | POP {R4} ; Restore R4 |
mbed_official | 48:e9a2c7cb57a4 | 317 | MSR SPSR_CXSF,R4 ; Restore SPSR |
mbed_official | 48:e9a2c7cb57a4 | 318 | |
mbed_official | 48:e9a2c7cb57a4 | 319 | SVC_Done |
mbed_official | 48:e9a2c7cb57a4 | 320 | PUSH {R0-R3,R12,LR} |
mbed_official | 48:e9a2c7cb57a4 | 321 | |
mbed_official | 48:e9a2c7cb57a4 | 322 | PUSH {R4} ; Push R4 so we can use it as a temp |
mbed_official | 48:e9a2c7cb57a4 | 323 | AND R4, SP, #4 ; Ensure stack is 8-byte aligned |
mbed_official | 48:e9a2c7cb57a4 | 324 | SUB SP, SP, R4 ; Adjust stack |
mbed_official | 48:e9a2c7cb57a4 | 325 | PUSH {R4, LR} ; Store stack adjustment and dummy LR |
mbed_official | 48:e9a2c7cb57a4 | 326 | |
mbed_official | 48:e9a2c7cb57a4 | 327 | CPSID i |
mbed_official | 48:e9a2c7cb57a4 | 328 | BLX rt_tsk_unlock |
mbed_official | 48:e9a2c7cb57a4 | 329 | |
mbed_official | 48:e9a2c7cb57a4 | 330 | POP {R4, LR} ; Get stack adjustment & discard dummy LR |
mbed_official | 48:e9a2c7cb57a4 | 331 | ADD SP, SP, R4 ; Unadjust stack |
mbed_official | 48:e9a2c7cb57a4 | 332 | POP {R4} ; Restore R4 |
mbed_official | 48:e9a2c7cb57a4 | 333 | |
mbed_official | 48:e9a2c7cb57a4 | 334 | POP {R0-R3,R12,LR} |
mbed_official | 48:e9a2c7cb57a4 | 335 | POP {R4} |
mbed_official | 48:e9a2c7cb57a4 | 336 | RFEFD SP! ; Return from exception |
mbed_official | 48:e9a2c7cb57a4 | 337 | } |
mbed_official | 48:e9a2c7cb57a4 | 338 | #pragma pop |
mbed_official | 48:e9a2c7cb57a4 | 339 | |
mbed_official | 48:e9a2c7cb57a4 | 340 | #pragma push |
mbed_official | 48:e9a2c7cb57a4 | 341 | #pragma arm |
mbed_official | 48:e9a2c7cb57a4 | 342 | __asm void PendSV_Handler (U32 IRQn) { |
mbed_official | 48:e9a2c7cb57a4 | 343 | ARM |
mbed_official | 48:e9a2c7cb57a4 | 344 | |
mbed_official | 48:e9a2c7cb57a4 | 345 | IMPORT rt_tsk_lock |
mbed_official | 48:e9a2c7cb57a4 | 346 | IMPORT IRQNestLevel |
mbed_official | 48:e9a2c7cb57a4 | 347 | |
mbed_official | 48:e9a2c7cb57a4 | 348 | ADD SP,SP,#8 //fix up stack pointer (R0 has been pushed and will never be popped, R1 was pushed for stack alignment) |
mbed_official | 48:e9a2c7cb57a4 | 349 | |
mbed_official | 48:e9a2c7cb57a4 | 350 | //Disable systick interrupts, then write EOIR. We want interrupts disabled before we enter the context switcher. |
mbed_official | 48:e9a2c7cb57a4 | 351 | PUSH {R0, R1} |
mbed_official | 48:e9a2c7cb57a4 | 352 | BLX rt_tsk_lock |
mbed_official | 48:e9a2c7cb57a4 | 353 | POP {R0, R1} |
mbed_official | 48:e9a2c7cb57a4 | 354 | LDR R1, =__cpp(&GICInterface_BASE) |
mbed_official | 48:e9a2c7cb57a4 | 355 | LDR R1, [R1, #0] |
mbed_official | 48:e9a2c7cb57a4 | 356 | STR R0, [R1, #0x10] |
mbed_official | 48:e9a2c7cb57a4 | 357 | |
mbed_official | 48:e9a2c7cb57a4 | 358 | LDR R0, =IRQNestLevel ; Get address of nesting counter |
mbed_official | 48:e9a2c7cb57a4 | 359 | LDR R1, [R0] |
mbed_official | 48:e9a2c7cb57a4 | 360 | SUB R1, R1, #1 ; Decrement nesting counter |
mbed_official | 48:e9a2c7cb57a4 | 361 | STR R1, [R0] |
mbed_official | 48:e9a2c7cb57a4 | 362 | |
mbed_official | 48:e9a2c7cb57a4 | 363 | BLX __cpp(rt_pop_req) |
mbed_official | 48:e9a2c7cb57a4 | 364 | |
mbed_official | 48:e9a2c7cb57a4 | 365 | POP {R1, LR} ; Get stack adjustment & discard dummy LR |
mbed_official | 48:e9a2c7cb57a4 | 366 | ADD SP, SP, R1 ; Unadjust stack |
mbed_official | 48:e9a2c7cb57a4 | 367 | |
mbed_official | 48:e9a2c7cb57a4 | 368 | LDR R0,[SP,#24] |
mbed_official | 48:e9a2c7cb57a4 | 369 | MSR SPSR_CXSF,R0 |
mbed_official | 48:e9a2c7cb57a4 | 370 | POP {R0-R3,R12} ; Leave SPSR & LR on the stack |
mbed_official | 48:e9a2c7cb57a4 | 371 | PUSH {R4} |
mbed_official | 48:e9a2c7cb57a4 | 372 | B Sys_Switch |
mbed_official | 48:e9a2c7cb57a4 | 373 | } |
mbed_official | 48:e9a2c7cb57a4 | 374 | #pragma pop |
mbed_official | 48:e9a2c7cb57a4 | 375 | |
mbed_official | 48:e9a2c7cb57a4 | 376 | |
mbed_official | 48:e9a2c7cb57a4 | 377 | #pragma push |
mbed_official | 48:e9a2c7cb57a4 | 378 | #pragma arm |
mbed_official | 48:e9a2c7cb57a4 | 379 | __asm void OS_Tick_Handler (U32 IRQn) { |
mbed_official | 48:e9a2c7cb57a4 | 380 | ARM |
mbed_official | 48:e9a2c7cb57a4 | 381 | |
mbed_official | 48:e9a2c7cb57a4 | 382 | IMPORT rt_tsk_lock |
mbed_official | 48:e9a2c7cb57a4 | 383 | IMPORT IRQNestLevel |
mbed_official | 48:e9a2c7cb57a4 | 384 | |
mbed_official | 48:e9a2c7cb57a4 | 385 | ADD SP,SP,#8 //fix up stack pointer (R0 has been pushed and will never be popped, R1 was pushed for stack alignment) |
mbed_official | 48:e9a2c7cb57a4 | 386 | |
mbed_official | 48:e9a2c7cb57a4 | 387 | PUSH {R0, R1} |
mbed_official | 48:e9a2c7cb57a4 | 388 | BLX rt_tsk_lock |
mbed_official | 48:e9a2c7cb57a4 | 389 | POP {R0, R1} |
mbed_official | 48:e9a2c7cb57a4 | 390 | LDR R1, =__cpp(&GICInterface_BASE) |
mbed_official | 48:e9a2c7cb57a4 | 391 | LDR R1, [R1, #0] |
mbed_official | 48:e9a2c7cb57a4 | 392 | STR R0, [R1, #0x10] |
mbed_official | 48:e9a2c7cb57a4 | 393 | |
mbed_official | 48:e9a2c7cb57a4 | 394 | LDR R0, =IRQNestLevel ; Get address of nesting counter |
mbed_official | 48:e9a2c7cb57a4 | 395 | LDR R1, [R0] |
mbed_official | 48:e9a2c7cb57a4 | 396 | SUB R1, R1, #1 ; Decrement nesting counter |
mbed_official | 48:e9a2c7cb57a4 | 397 | STR R1, [R0] |
mbed_official | 48:e9a2c7cb57a4 | 398 | |
mbed_official | 48:e9a2c7cb57a4 | 399 | BLX __cpp(os_tick_irqack) |
mbed_official | 48:e9a2c7cb57a4 | 400 | BLX __cpp(rt_systick) |
mbed_official | 48:e9a2c7cb57a4 | 401 | |
mbed_official | 48:e9a2c7cb57a4 | 402 | POP {R1, LR} ; Get stack adjustment & discard dummy LR |
mbed_official | 48:e9a2c7cb57a4 | 403 | ADD SP, SP, R1 ; Unadjust stack |
mbed_official | 48:e9a2c7cb57a4 | 404 | |
mbed_official | 48:e9a2c7cb57a4 | 405 | LDR R0,[SP,#24] |
mbed_official | 48:e9a2c7cb57a4 | 406 | MSR SPSR_CXSF,R0 |
mbed_official | 48:e9a2c7cb57a4 | 407 | POP {R0-R3,R12} ; Leave SPSR & LR on the stack |
mbed_official | 48:e9a2c7cb57a4 | 408 | PUSH {R4} |
mbed_official | 48:e9a2c7cb57a4 | 409 | B Sys_Switch |
mbed_official | 48:e9a2c7cb57a4 | 410 | } |
mbed_official | 48:e9a2c7cb57a4 | 411 | #pragma pop |
mbed_official | 48:e9a2c7cb57a4 | 412 | |
mbed_official | 48:e9a2c7cb57a4 | 413 | |
mbed_official | 48:e9a2c7cb57a4 | 414 | /*---------------------------------------------------------------------------- |
mbed_official | 48:e9a2c7cb57a4 | 415 | * end of file |
mbed_official | 48:e9a2c7cb57a4 | 416 | *---------------------------------------------------------------------------*/ |