A S / mbed-rtos

mbed rtos - modified for the final project of the course "Advanced Operating Systems"

Dependents:   aos_mbed

Fork of mbed-rtos by mbed official

rtx/LPC1768/ARM/HAL_CM3.c@6:350b53afb889, 2012-11-23 (annotated)

Committer:
emilmont
Date:
Fri Nov 23 09:57:31 2012 +0000
Revision:
6:350b53afb889
Child:
11:db1fc233faa9
Merge RTOS C++ API and RTX under the same library; Update RTX to version 4.60; Add proper Thread destructor;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 6:350b53afb889 1 /*----------------------------------------------------------------------------
emilmont 6:350b53afb889 2 * RL-ARM - RTX
emilmont 6:350b53afb889 3 *----------------------------------------------------------------------------
emilmont 6:350b53afb889 4 * Name: HAL_CM3.C
emilmont 6:350b53afb889 5 * Purpose: Hardware Abstraction Layer for Cortex-M3
emilmont 6:350b53afb889 6 * Rev.: V4.60
emilmont 6:350b53afb889 7 *----------------------------------------------------------------------------
emilmont 6:350b53afb889 8 *
emilmont 6:350b53afb889 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
emilmont 6:350b53afb889 10 * All rights reserved.
emilmont 6:350b53afb889 11 * Redistribution and use in source and binary forms, with or without
emilmont 6:350b53afb889 12 * modification, are permitted provided that the following conditions are met:
emilmont 6:350b53afb889 13 * - Redistributions of source code must retain the above copyright
emilmont 6:350b53afb889 14 * notice, this list of conditions and the following disclaimer.
emilmont 6:350b53afb889 15 * - Redistributions in binary form must reproduce the above copyright
emilmont 6:350b53afb889 16 * notice, this list of conditions and the following disclaimer in the
emilmont 6:350b53afb889 17 * documentation and/or other materials provided with the distribution.
emilmont 6:350b53afb889 18 * - Neither the name of ARM nor the names of its contributors may be used
emilmont 6:350b53afb889 19 * to endorse or promote products derived from this software without
emilmont 6:350b53afb889 20 * specific prior written permission.
emilmont 6:350b53afb889 21 *
emilmont 6:350b53afb889 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
emilmont 6:350b53afb889 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
emilmont 6:350b53afb889 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
emilmont 6:350b53afb889 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
emilmont 6:350b53afb889 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
emilmont 6:350b53afb889 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
emilmont 6:350b53afb889 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
emilmont 6:350b53afb889 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
emilmont 6:350b53afb889 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
emilmont 6:350b53afb889 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
emilmont 6:350b53afb889 32 * POSSIBILITY OF SUCH DAMAGE.
emilmont 6:350b53afb889 33 *---------------------------------------------------------------------------*/
emilmont 6:350b53afb889 34
emilmont 6:350b53afb889 35 #include "rt_TypeDef.h"
emilmont 6:350b53afb889 36 #include "RTX_Config.h"
emilmont 6:350b53afb889 37 #include "rt_System.h"
emilmont 6:350b53afb889 38 #include "rt_HAL_CM.h"
emilmont 6:350b53afb889 39 #include "rt_Task.h"
emilmont 6:350b53afb889 40 #include "rt_MemBox.h"
emilmont 6:350b53afb889 41
emilmont 6:350b53afb889 42
emilmont 6:350b53afb889 43 /*----------------------------------------------------------------------------
emilmont 6:350b53afb889 44 * Functions
emilmont 6:350b53afb889 45 *---------------------------------------------------------------------------*/
emilmont 6:350b53afb889 46
emilmont 6:350b53afb889 47
emilmont 6:350b53afb889 48 /*--------------------------- rt_set_PSP ------------------------------------*/
emilmont 6:350b53afb889 49
emilmont 6:350b53afb889 50 __asm void rt_set_PSP (U32 stack) {
emilmont 6:350b53afb889 51 MSR PSP,R0
emilmont 6:350b53afb889 52 BX LR
emilmont 6:350b53afb889 53 }
emilmont 6:350b53afb889 54
emilmont 6:350b53afb889 55
emilmont 6:350b53afb889 56 /*--------------------------- rt_get_PSP ------------------------------------*/
emilmont 6:350b53afb889 57
emilmont 6:350b53afb889 58 __asm U32 rt_get_PSP (void) {
emilmont 6:350b53afb889 59 MRS R0,PSP
emilmont 6:350b53afb889 60 BX LR
emilmont 6:350b53afb889 61 }
emilmont 6:350b53afb889 62
emilmont 6:350b53afb889 63
emilmont 6:350b53afb889 64 /*--------------------------- os_set_env ------------------------------------*/
emilmont 6:350b53afb889 65
emilmont 6:350b53afb889 66 __asm void os_set_env (void) {
emilmont 6:350b53afb889 67 /* Switch to Unprivileged/Privileged Thread mode, use PSP. */
emilmont 6:350b53afb889 68 MOV R0,SP ; PSP = MSP
emilmont 6:350b53afb889 69 MSR PSP,R0
emilmont 6:350b53afb889 70 LDR R0,=__cpp(&os_flags)
emilmont 6:350b53afb889 71 LDRB R0,[R0]
emilmont 6:350b53afb889 72 LSLS R0,#31
emilmont 6:350b53afb889 73 MOVNE R0,#0x02 ; Privileged Thread mode, use PSP
emilmont 6:350b53afb889 74 MOVEQ R0,#0x03 ; Unprivileged Thread mode, use PSP
emilmont 6:350b53afb889 75 MSR CONTROL,R0
emilmont 6:350b53afb889 76 BX LR
emilmont 6:350b53afb889 77
emilmont 6:350b53afb889 78 ALIGN
emilmont 6:350b53afb889 79 }
emilmont 6:350b53afb889 80
emilmont 6:350b53afb889 81
emilmont 6:350b53afb889 82 /*--------------------------- _alloc_box ------------------------------------*/
emilmont 6:350b53afb889 83
emilmont 6:350b53afb889 84 __asm void *_alloc_box (void *box_mem) {
emilmont 6:350b53afb889 85 /* Function wrapper for Unprivileged/Privileged mode. */
emilmont 6:350b53afb889 86 LDR R12,=__cpp(rt_alloc_box)
emilmont 6:350b53afb889 87 MRS R3,IPSR
emilmont 6:350b53afb889 88 LSLS R3,#24
emilmont 6:350b53afb889 89 BXNE R12
emilmont 6:350b53afb889 90 MRS R3,CONTROL
emilmont 6:350b53afb889 91 LSLS R3,#31
emilmont 6:350b53afb889 92 BXEQ R12
emilmont 6:350b53afb889 93 SVC 0
emilmont 6:350b53afb889 94 BX LR
emilmont 6:350b53afb889 95
emilmont 6:350b53afb889 96 ALIGN
emilmont 6:350b53afb889 97 }
emilmont 6:350b53afb889 98
emilmont 6:350b53afb889 99
emilmont 6:350b53afb889 100 /*--------------------------- _free_box -------------------------------------*/
emilmont 6:350b53afb889 101
emilmont 6:350b53afb889 102 __asm int _free_box (void *box_mem, void *box) {
emilmont 6:350b53afb889 103 /* Function wrapper for Unprivileged/Privileged mode. */
emilmont 6:350b53afb889 104 LDR R12,=__cpp(rt_free_box)
emilmont 6:350b53afb889 105 MRS R3,IPSR
emilmont 6:350b53afb889 106 LSLS R3,#24
emilmont 6:350b53afb889 107 BXNE R12
emilmont 6:350b53afb889 108 MRS R3,CONTROL
emilmont 6:350b53afb889 109 LSLS R3,#31
emilmont 6:350b53afb889 110 BXEQ R12
emilmont 6:350b53afb889 111 SVC 0
emilmont 6:350b53afb889 112 BX LR
emilmont 6:350b53afb889 113
emilmont 6:350b53afb889 114 ALIGN
emilmont 6:350b53afb889 115 }
emilmont 6:350b53afb889 116
emilmont 6:350b53afb889 117
emilmont 6:350b53afb889 118 /*-------------------------- SVC_Handler ------------------------------------*/
emilmont 6:350b53afb889 119
emilmont 6:350b53afb889 120 __asm void SVC_Handler (void) {
emilmont 6:350b53afb889 121 PRESERVE8
emilmont 6:350b53afb889 122
emilmont 6:350b53afb889 123 IMPORT SVC_Count
emilmont 6:350b53afb889 124 IMPORT SVC_Table
emilmont 6:350b53afb889 125 IMPORT rt_stk_check
emilmont 6:350b53afb889 126
emilmont 6:350b53afb889 127 MRS R0,PSP ; Read PSP
emilmont 6:350b53afb889 128 LDR R1,[R0,#24] ; Read Saved PC from Stack
emilmont 6:350b53afb889 129 LDRB R1,[R1,#-2] ; Load SVC Number
emilmont 6:350b53afb889 130 CBNZ R1,SVC_User
emilmont 6:350b53afb889 131
emilmont 6:350b53afb889 132 LDM R0,{R0-R3,R12} ; Read R0-R3,R12 from stack
emilmont 6:350b53afb889 133 BLX R12 ; Call SVC Function
emilmont 6:350b53afb889 134
emilmont 6:350b53afb889 135 MRS R12,PSP ; Read PSP
emilmont 6:350b53afb889 136 STM R12,{R0-R2} ; Store return values
emilmont 6:350b53afb889 137
emilmont 6:350b53afb889 138 LDR R3,=__cpp(&os_tsk)
emilmont 6:350b53afb889 139 LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
emilmont 6:350b53afb889 140 CMP R1,R2
emilmont 6:350b53afb889 141 BEQ SVC_Exit ; no task switch
emilmont 6:350b53afb889 142
emilmont 6:350b53afb889 143 CBZ R1,SVC_Next ; Runtask deleted?
emilmont 6:350b53afb889 144 STMDB R12!,{R4-R11} ; Save Old context
emilmont 6:350b53afb889 145 STR R12,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
emilmont 6:350b53afb889 146
emilmont 6:350b53afb889 147 PUSH {R2,R3}
emilmont 6:350b53afb889 148 BL rt_stk_check ; Check for Stack overflow
emilmont 6:350b53afb889 149 POP {R2,R3}
emilmont 6:350b53afb889 150
emilmont 6:350b53afb889 151 SVC_Next
emilmont 6:350b53afb889 152 STR R2,[R3] ; os_tsk.run = os_tsk.new
emilmont 6:350b53afb889 153
emilmont 6:350b53afb889 154 LDR R12,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
emilmont 6:350b53afb889 155 LDMIA R12!,{R4-R11} ; Restore New Context
emilmont 6:350b53afb889 156 MSR PSP,R12 ; Write PSP
emilmont 6:350b53afb889 157
emilmont 6:350b53afb889 158 SVC_Exit
emilmont 6:350b53afb889 159 MVN LR,#:NOT:0xFFFFFFFD ; set EXC_RETURN value
emilmont 6:350b53afb889 160 BX LR
emilmont 6:350b53afb889 161
emilmont 6:350b53afb889 162 /*------------------- User SVC ------------------------------*/
emilmont 6:350b53afb889 163
emilmont 6:350b53afb889 164 SVC_User
emilmont 6:350b53afb889 165 PUSH {R4,LR} ; Save Registers
emilmont 6:350b53afb889 166 LDR R2,=SVC_Count
emilmont 6:350b53afb889 167 LDR R2,[R2]
emilmont 6:350b53afb889 168 CMP R1,R2
emilmont 6:350b53afb889 169 BHI SVC_Done ; Overflow
emilmont 6:350b53afb889 170
emilmont 6:350b53afb889 171 LDR R4,=SVC_Table-4
emilmont 6:350b53afb889 172 LDR R4,[R4,R1,LSL #2] ; Load SVC Function Address
emilmont 6:350b53afb889 173
emilmont 6:350b53afb889 174 LDM R0,{R0-R3,R12} ; Read R0-R3,R12 from stack
emilmont 6:350b53afb889 175 BLX R4 ; Call SVC Function
emilmont 6:350b53afb889 176
emilmont 6:350b53afb889 177 MRS R12,PSP
emilmont 6:350b53afb889 178 STM R12,{R0-R3} ; Function return values
emilmont 6:350b53afb889 179 SVC_Done
emilmont 6:350b53afb889 180 POP {R4,PC} ; RETI
emilmont 6:350b53afb889 181
emilmont 6:350b53afb889 182 ALIGN
emilmont 6:350b53afb889 183 }
emilmont 6:350b53afb889 184
emilmont 6:350b53afb889 185
emilmont 6:350b53afb889 186 /*-------------------------- PendSV_Handler ---------------------------------*/
emilmont 6:350b53afb889 187
emilmont 6:350b53afb889 188 __asm void PendSV_Handler (void) {
emilmont 6:350b53afb889 189 PRESERVE8
emilmont 6:350b53afb889 190
emilmont 6:350b53afb889 191 BL __cpp(rt_pop_req)
emilmont 6:350b53afb889 192
emilmont 6:350b53afb889 193 Sys_Switch
emilmont 6:350b53afb889 194 LDR R3,=__cpp(&os_tsk)
emilmont 6:350b53afb889 195 LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
emilmont 6:350b53afb889 196 CMP R1,R2
emilmont 6:350b53afb889 197 BEQ Sys_Exit
emilmont 6:350b53afb889 198
emilmont 6:350b53afb889 199 MRS R12,PSP ; Read PSP
emilmont 6:350b53afb889 200 STMDB R12!,{R4-R11} ; Save Old context
emilmont 6:350b53afb889 201 STR R12,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
emilmont 6:350b53afb889 202
emilmont 6:350b53afb889 203 PUSH {R2,R3}
emilmont 6:350b53afb889 204 BL rt_stk_check ; Check for Stack overflow
emilmont 6:350b53afb889 205 POP {R2,R3}
emilmont 6:350b53afb889 206
emilmont 6:350b53afb889 207 STR R2,[R3] ; os_tsk.run = os_tsk.new
emilmont 6:350b53afb889 208
emilmont 6:350b53afb889 209 LDR R12,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
emilmont 6:350b53afb889 210 LDMIA R12!,{R4-R11} ; Restore New Context
emilmont 6:350b53afb889 211 MSR PSP,R12 ; Write PSP
emilmont 6:350b53afb889 212
emilmont 6:350b53afb889 213 Sys_Exit
emilmont 6:350b53afb889 214 MVN LR,#:NOT:0xFFFFFFFD ; set EXC_RETURN value
emilmont 6:350b53afb889 215 BX LR ; Return to Thread Mode
emilmont 6:350b53afb889 216
emilmont 6:350b53afb889 217 ALIGN
emilmont 6:350b53afb889 218 }
emilmont 6:350b53afb889 219
emilmont 6:350b53afb889 220
emilmont 6:350b53afb889 221 /*-------------------------- SysTick_Handler --------------------------------*/
emilmont 6:350b53afb889 222
emilmont 6:350b53afb889 223 __asm void SysTick_Handler (void) {
emilmont 6:350b53afb889 224 PRESERVE8
emilmont 6:350b53afb889 225
emilmont 6:350b53afb889 226 BL __cpp(rt_systick)
emilmont 6:350b53afb889 227 B Sys_Switch
emilmont 6:350b53afb889 228
emilmont 6:350b53afb889 229 ALIGN
emilmont 6:350b53afb889 230 }
emilmont 6:350b53afb889 231
emilmont 6:350b53afb889 232
emilmont 6:350b53afb889 233 /*-------------------------- OS_Tick_Handler --------------------------------*/
emilmont 6:350b53afb889 234
emilmont 6:350b53afb889 235 __asm void OS_Tick_Handler (void) {
emilmont 6:350b53afb889 236 PRESERVE8
emilmont 6:350b53afb889 237
emilmont 6:350b53afb889 238 BL __cpp(os_tick_irqack)
emilmont 6:350b53afb889 239 BL __cpp(rt_systick)
emilmont 6:350b53afb889 240 B Sys_Switch
emilmont 6:350b53afb889 241
emilmont 6:350b53afb889 242 ALIGN
emilmont 6:350b53afb889 243 }
emilmont 6:350b53afb889 244
emilmont 6:350b53afb889 245
emilmont 6:350b53afb889 246 /*----------------------------------------------------------------------------
emilmont 6:350b53afb889 247 * end of file
emilmont 6:350b53afb889 248 *---------------------------------------------------------------------------*/
emilmont 6:350b53afb889 249