Arlindo Montagnoli / Mbed 2 deprecated ProjetoBB

ProjetoBB

Dependencies:   F7_Ethernet WebSocketClient mbed mcp3008

Fork of Nucleo_F746ZG_Ethernet by Dieter Graef

mbed-rtos/rtx/TARGET_CORTEX_A/TOOLCHAIN_GCC/HAL_CA9.S@0:f9b6112278fe, 2016-06-18 (annotated)

Committer:
DieterGraef
Date:
Sat Jun 18 10:49:12 2016 +0000
Revision:
0:f9b6112278fe
Ethernet for the NUCLEO STM32F746 Board Testprogram uses DHCP and NTP to set the clock

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DieterGraef 0:f9b6112278fe 1 /*----------------------------------------------------------------------------
DieterGraef 0:f9b6112278fe 2 * RL-ARM - RTX
DieterGraef 0:f9b6112278fe 3 *----------------------------------------------------------------------------
DieterGraef 0:f9b6112278fe 4 * Name: HAL_CA9.c
DieterGraef 0:f9b6112278fe 5 * Purpose: Hardware Abstraction Layer for Cortex-A9
DieterGraef 0:f9b6112278fe 6 * Rev.: 8 April 2015
DieterGraef 0:f9b6112278fe 7 *----------------------------------------------------------------------------
DieterGraef 0:f9b6112278fe 8 *
DieterGraef 0:f9b6112278fe 9 * Copyright (c) 2012 - 2015 ARM Limited
DieterGraef 0:f9b6112278fe 10 * All rights reserved.
DieterGraef 0:f9b6112278fe 11 * Redistribution and use in source and binary forms, with or without
DieterGraef 0:f9b6112278fe 12 * modification, are permitted provided that the following conditions are met:
DieterGraef 0:f9b6112278fe 13 * - Redistributions of source code must retain the above copyright
DieterGraef 0:f9b6112278fe 14 * notice, this list of conditions and the following disclaimer.
DieterGraef 0:f9b6112278fe 15 * - Redistributions in binary form must reproduce the above copyright
DieterGraef 0:f9b6112278fe 16 * notice, this list of conditions and the following disclaimer in the
DieterGraef 0:f9b6112278fe 17 * documentation and/or other materials provided with the distribution.
DieterGraef 0:f9b6112278fe 18 * - Neither the name of ARM nor the names of its contributors may be used
DieterGraef 0:f9b6112278fe 19 * to endorse or promote products derived from this software without
DieterGraef 0:f9b6112278fe 20 * specific prior written permission.
DieterGraef 0:f9b6112278fe 21 *
DieterGraef 0:f9b6112278fe 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
DieterGraef 0:f9b6112278fe 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
DieterGraef 0:f9b6112278fe 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
DieterGraef 0:f9b6112278fe 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
DieterGraef 0:f9b6112278fe 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
DieterGraef 0:f9b6112278fe 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
DieterGraef 0:f9b6112278fe 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
DieterGraef 0:f9b6112278fe 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
DieterGraef 0:f9b6112278fe 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
DieterGraef 0:f9b6112278fe 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
DieterGraef 0:f9b6112278fe 32 * POSSIBILITY OF SUCH DAMAGE.
DieterGraef 0:f9b6112278fe 33 *---------------------------------------------------------------------------*/
DieterGraef 0:f9b6112278fe 34
DieterGraef 0:f9b6112278fe 35 .global rt_set_PSP
DieterGraef 0:f9b6112278fe 36 .global rt_get_PSP
DieterGraef 0:f9b6112278fe 37 .global _alloc_box
DieterGraef 0:f9b6112278fe 38 .global _free_box
DieterGraef 0:f9b6112278fe 39 .global SVC_Handler
DieterGraef 0:f9b6112278fe 40 .global PendSV_Handler
DieterGraef 0:f9b6112278fe 41 .global OS_Tick_Handler
DieterGraef 0:f9b6112278fe 42
DieterGraef 0:f9b6112278fe 43 /* macro defines form rt_HAL_CA.h */
DieterGraef 0:f9b6112278fe 44 .EQU CPSR_T_BIT, 0x20
DieterGraef 0:f9b6112278fe 45 .EQU CPSR_I_BIT, 0x80
DieterGraef 0:f9b6112278fe 46 .EQU CPSR_F_BIT, 0x40
DieterGraef 0:f9b6112278fe 47
DieterGraef 0:f9b6112278fe 48 .EQU MODE_USR, 0x10
DieterGraef 0:f9b6112278fe 49 .EQU MODE_FIQ, 0x11
DieterGraef 0:f9b6112278fe 50 .EQU MODE_IRQ, 0x12
DieterGraef 0:f9b6112278fe 51 .EQU MODE_SVC, 0x13
DieterGraef 0:f9b6112278fe 52 .EQU MODE_ABT, 0x17
DieterGraef 0:f9b6112278fe 53 .EQU MODE_UND, 0x1B
DieterGraef 0:f9b6112278fe 54 .EQU MODE_SYS, 0x1F
DieterGraef 0:f9b6112278fe 55
DieterGraef 0:f9b6112278fe 56 /* macro defines form rt_TypeDef.h */
DieterGraef 0:f9b6112278fe 57 .EQU TCB_TID, 3 /* 'task id' offset */
DieterGraef 0:f9b6112278fe 58 .EQU TCB_STACKF, 37 /* 'stack_frame' offset */
DieterGraef 0:f9b6112278fe 59 .EQU TCB_TSTACK, 44 /* 'tsk_stack' offset for LARGE_STACK */
DieterGraef 0:f9b6112278fe 60
DieterGraef 0:f9b6112278fe 61
DieterGraef 0:f9b6112278fe 62 .extern rt_alloc_box
DieterGraef 0:f9b6112278fe 63 .extern os_tsk
DieterGraef 0:f9b6112278fe 64 .extern GICInterface_BASE
DieterGraef 0:f9b6112278fe 65 .extern rt_pop_req
DieterGraef 0:f9b6112278fe 66 .extern os_tick_irqack
DieterGraef 0:f9b6112278fe 67 .extern rt_systick
DieterGraef 0:f9b6112278fe 68
DieterGraef 0:f9b6112278fe 69 .text
DieterGraef 0:f9b6112278fe 70
DieterGraef 0:f9b6112278fe 71 /*----------------------------------------------------------------------------
DieterGraef 0:f9b6112278fe 72 * Functions
DieterGraef 0:f9b6112278fe 73 *---------------------------------------------------------------------------*/
DieterGraef 0:f9b6112278fe 74
DieterGraef 0:f9b6112278fe 75 @ For A-class, set USR/SYS stack
DieterGraef 0:f9b6112278fe 76 @ __asm void rt_set_PSP (U32 stack) {
DieterGraef 0:f9b6112278fe 77 rt_set_PSP:
DieterGraef 0:f9b6112278fe 78 .ARM
DieterGraef 0:f9b6112278fe 79
DieterGraef 0:f9b6112278fe 80 MRS R1, CPSR
DieterGraef 0:f9b6112278fe 81 CPS #MODE_SYS @no effect in USR mode
DieterGraef 0:f9b6112278fe 82 ISB
DieterGraef 0:f9b6112278fe 83 MOV SP, R0
DieterGraef 0:f9b6112278fe 84 MSR CPSR_c, R1 @no effect in USR mode
DieterGraef 0:f9b6112278fe 85 ISB
DieterGraef 0:f9b6112278fe 86 BX LR
DieterGraef 0:f9b6112278fe 87
DieterGraef 0:f9b6112278fe 88 @ }
DieterGraef 0:f9b6112278fe 89
DieterGraef 0:f9b6112278fe 90 @ For A-class, get USR/SYS stack
DieterGraef 0:f9b6112278fe 91 @ __asm U32 rt_get_PSP (void) {
DieterGraef 0:f9b6112278fe 92 rt_get_PSP:
DieterGraef 0:f9b6112278fe 93 .ARM
DieterGraef 0:f9b6112278fe 94
DieterGraef 0:f9b6112278fe 95 MRS R1, CPSR
DieterGraef 0:f9b6112278fe 96 CPS #MODE_SYS @no effect in USR mode
DieterGraef 0:f9b6112278fe 97 ISB
DieterGraef 0:f9b6112278fe 98 MOV R0, SP
DieterGraef 0:f9b6112278fe 99 MSR CPSR_c, R1 @no effect in USR mode
DieterGraef 0:f9b6112278fe 100 ISB
DieterGraef 0:f9b6112278fe 101 BX LR
DieterGraef 0:f9b6112278fe 102 @ }
DieterGraef 0:f9b6112278fe 103
DieterGraef 0:f9b6112278fe 104 /*--------------------------- _alloc_box ------------------------------------*/
DieterGraef 0:f9b6112278fe 105 @ __asm void *_alloc_box (void *box_mem) {
DieterGraef 0:f9b6112278fe 106 _alloc_box:
DieterGraef 0:f9b6112278fe 107 /* Function wrapper for Unprivileged/Privileged mode. */
DieterGraef 0:f9b6112278fe 108 .ARM
DieterGraef 0:f9b6112278fe 109
DieterGraef 0:f9b6112278fe 110 LDR R12,=rt_alloc_box
DieterGraef 0:f9b6112278fe 111 MRS R2, CPSR
DieterGraef 0:f9b6112278fe 112 LSLS R2, #28
DieterGraef 0:f9b6112278fe 113 BXNE R12
DieterGraef 0:f9b6112278fe 114 SVC 0
DieterGraef 0:f9b6112278fe 115 BX LR
DieterGraef 0:f9b6112278fe 116 @ }
DieterGraef 0:f9b6112278fe 117
DieterGraef 0:f9b6112278fe 118
DieterGraef 0:f9b6112278fe 119 /*--------------------------- _free_box -------------------------------------*/
DieterGraef 0:f9b6112278fe 120 @ __asm int _free_box (void *box_mem, void *box) {
DieterGraef 0:f9b6112278fe 121 _free_box:
DieterGraef 0:f9b6112278fe 122 /* Function wrapper for Unprivileged/Privileged mode. */
DieterGraef 0:f9b6112278fe 123 .ARM
DieterGraef 0:f9b6112278fe 124
DieterGraef 0:f9b6112278fe 125 LDR R12,=rt_free_box
DieterGraef 0:f9b6112278fe 126 MRS R2, CPSR
DieterGraef 0:f9b6112278fe 127 LSLS R2, #28
DieterGraef 0:f9b6112278fe 128 BXNE R12
DieterGraef 0:f9b6112278fe 129 SVC 0
DieterGraef 0:f9b6112278fe 130 BX LR
DieterGraef 0:f9b6112278fe 131
DieterGraef 0:f9b6112278fe 132 @ }
DieterGraef 0:f9b6112278fe 133
DieterGraef 0:f9b6112278fe 134 /*-------------------------- SVC_Handler -----------------------------------*/
DieterGraef 0:f9b6112278fe 135
DieterGraef 0:f9b6112278fe 136 @ #pragma push
DieterGraef 0:f9b6112278fe 137 @ #pragma arm
DieterGraef 0:f9b6112278fe 138 @ __asm void SVC_Handler (void) {
DieterGraef 0:f9b6112278fe 139 SVC_Handler:
DieterGraef 0:f9b6112278fe 140 .eabi_attribute Tag_ABI_align8_preserved,1
DieterGraef 0:f9b6112278fe 141 .ARM
DieterGraef 0:f9b6112278fe 142
DieterGraef 0:f9b6112278fe 143 .extern rt_tsk_lock
DieterGraef 0:f9b6112278fe 144 .extern rt_tsk_unlock
DieterGraef 0:f9b6112278fe 145 .extern SVC_Count
DieterGraef 0:f9b6112278fe 146 .extern SVC_Table
DieterGraef 0:f9b6112278fe 147 .extern rt_stk_check
DieterGraef 0:f9b6112278fe 148 .extern FPUEnable
DieterGraef 0:f9b6112278fe 149 .extern scheduler_suspended @ flag set by rt_suspend, cleared by rt_resume, read by SVC_Handler
DieterGraef 0:f9b6112278fe 150
DieterGraef 0:f9b6112278fe 151 .EQU Mode_SVC, 0x13
DieterGraef 0:f9b6112278fe 152
DieterGraef 0:f9b6112278fe 153 SRSDB SP!, #Mode_SVC @ Push LR_SVC and SPRS_SVC onto SVC mode stack @ Use SRSDB because SRSFD isn't supported by GCC-ARM.
DieterGraef 0:f9b6112278fe 154 PUSH {R4} @ Push R4 so we can use it as a temp
DieterGraef 0:f9b6112278fe 155
DieterGraef 0:f9b6112278fe 156 MRS R4,SPSR @ Get SPSR
DieterGraef 0:f9b6112278fe 157 TST R4,#CPSR_T_BIT @ Check Thumb Bit
DieterGraef 0:f9b6112278fe 158 LDRNEH R4,[LR,#-2] @ Thumb: Load Halfword
DieterGraef 0:f9b6112278fe 159 BICNE R4,R4,#0xFF00 @ Extract SVC Number
DieterGraef 0:f9b6112278fe 160 LDREQ R4,[LR,#-4] @ ARM: Load Word
DieterGraef 0:f9b6112278fe 161 BICEQ R4,R4,#0xFF000000 @ Extract SVC Number
DieterGraef 0:f9b6112278fe 162
DieterGraef 0:f9b6112278fe 163 /* Lock out systick and re-enable interrupts */
DieterGraef 0:f9b6112278fe 164 PUSH {R0-R3,R12,LR}
DieterGraef 0:f9b6112278fe 165
DieterGraef 0:f9b6112278fe 166 AND R12, SP, #4 @ Ensure stack is 8-byte aligned
DieterGraef 0:f9b6112278fe 167 SUB SP, SP, R12 @ Adjust stack
DieterGraef 0:f9b6112278fe 168 PUSH {R12, LR} @ Store stack adjustment and dummy LR to SVC stack
DieterGraef 0:f9b6112278fe 169
DieterGraef 0:f9b6112278fe 170 BLX rt_tsk_lock
DieterGraef 0:f9b6112278fe 171 CPSIE i
DieterGraef 0:f9b6112278fe 172
DieterGraef 0:f9b6112278fe 173 POP {R12, LR} @ Get stack adjustment & discard dummy LR
DieterGraef 0:f9b6112278fe 174 ADD SP, SP, R12 @ Unadjust stack
DieterGraef 0:f9b6112278fe 175
DieterGraef 0:f9b6112278fe 176 POP {R0-R3,R12,LR}
DieterGraef 0:f9b6112278fe 177
DieterGraef 0:f9b6112278fe 178 CMP R4,#0
DieterGraef 0:f9b6112278fe 179 BNE SVC_User
DieterGraef 0:f9b6112278fe 180
DieterGraef 0:f9b6112278fe 181 MRS R4,SPSR
DieterGraef 0:f9b6112278fe 182 PUSH {R4} @ Push R4 so we can use it as a temp
DieterGraef 0:f9b6112278fe 183 AND R4, SP, #4 @ Ensure stack is 8-byte aligned
DieterGraef 0:f9b6112278fe 184 SUB SP, SP, R4 @ Adjust stack
DieterGraef 0:f9b6112278fe 185 PUSH {R4, LR} @ Store stack adjustment and dummy LR
DieterGraef 0:f9b6112278fe 186 BLX R12
DieterGraef 0:f9b6112278fe 187 POP {R4, LR} @ Get stack adjustment & discard dummy LR
DieterGraef 0:f9b6112278fe 188 ADD SP, SP, R4 @ Unadjust stack
DieterGraef 0:f9b6112278fe 189 POP {R4} @ Restore R4
DieterGraef 0:f9b6112278fe 190 MSR SPSR_cxsf,R4
DieterGraef 0:f9b6112278fe 191
DieterGraef 0:f9b6112278fe 192 /* Here we will be in SVC mode (even if coming in from PendSV_Handler or OS_Tick_Handler) */
DieterGraef 0:f9b6112278fe 193 Sys_Switch:
DieterGraef 0:f9b6112278fe 194 LDR LR,=os_tsk
DieterGraef 0:f9b6112278fe 195 LDM LR,{R4,LR} @ os_tsk.run, os_tsk.new_tsk
DieterGraef 0:f9b6112278fe 196 CMP R4,LR
DieterGraef 0:f9b6112278fe 197 BNE switching
DieterGraef 0:f9b6112278fe 198
DieterGraef 0:f9b6112278fe 199 PUSH {R0-R3,R12,LR}
DieterGraef 0:f9b6112278fe 200
DieterGraef 0:f9b6112278fe 201 AND R12, SP, #4 @ Ensure stack is 8-byte aligned
DieterGraef 0:f9b6112278fe 202 SUB SP, SP, R12 @ Adjust stack
DieterGraef 0:f9b6112278fe 203 PUSH {R12, LR} @ Store stack adjustment and dummy LR to SVC stack
DieterGraef 0:f9b6112278fe 204
DieterGraef 0:f9b6112278fe 205 CPSID i
DieterGraef 0:f9b6112278fe 206 @ Do not unlock scheduler if it has just been suspended by rt_suspend()
DieterGraef 0:f9b6112278fe 207 LDR R1,=scheduler_suspended
DieterGraef 0:f9b6112278fe 208 LDRB R0, [R1]
DieterGraef 0:f9b6112278fe 209 CMP R0, #1
DieterGraef 0:f9b6112278fe 210 BEQ dont_unlock
DieterGraef 0:f9b6112278fe 211 BLX rt_tsk_unlock
DieterGraef 0:f9b6112278fe 212 dont_unlock:
DieterGraef 0:f9b6112278fe 213
DieterGraef 0:f9b6112278fe 214 POP {R12, LR} @ Get stack adjustment & discard dummy LR
DieterGraef 0:f9b6112278fe 215 ADD SP, SP, R12 @ Unadjust stack
DieterGraef 0:f9b6112278fe 216
DieterGraef 0:f9b6112278fe 217 POP {R0-R3,R12,LR}
DieterGraef 0:f9b6112278fe 218 POP {R4}
DieterGraef 0:f9b6112278fe 219 RFEFD SP! @ Return from exception, no task switch
DieterGraef 0:f9b6112278fe 220
DieterGraef 0:f9b6112278fe 221 switching:
DieterGraef 0:f9b6112278fe 222 CLREX
DieterGraef 0:f9b6112278fe 223 CMP R4,#0
DieterGraef 0:f9b6112278fe 224 ADDEQ SP,SP,#12 @ Original R4, LR & SPSR do not need to be popped when we are paging in a different task
DieterGraef 0:f9b6112278fe 225 BEQ SVC_Next @ Runtask deleted?
DieterGraef 0:f9b6112278fe 226
DieterGraef 0:f9b6112278fe 227
DieterGraef 0:f9b6112278fe 228 PUSH {R8-R11} @ R4 and LR already stacked
DieterGraef 0:f9b6112278fe 229 MOV R10,R4 @ Preserve os_tsk.run
DieterGraef 0:f9b6112278fe 230 MOV R11,LR @ Preserve os_tsk.new_tsk
DieterGraef 0:f9b6112278fe 231
DieterGraef 0:f9b6112278fe 232 ADD R8,SP,#16 @ Unstack R4,LR
DieterGraef 0:f9b6112278fe 233 LDMIA R8,{R4,LR}
DieterGraef 0:f9b6112278fe 234
DieterGraef 0:f9b6112278fe 235 SUB SP,SP,#4 @ Make space on the stack for the next instn
DieterGraef 0:f9b6112278fe 236 STMIA SP,{SP}^ @ Put User SP onto stack
DieterGraef 0:f9b6112278fe 237 POP {R8} @ Pop User SP into R8
DieterGraef 0:f9b6112278fe 238
DieterGraef 0:f9b6112278fe 239 MRS R9,SPSR
DieterGraef 0:f9b6112278fe 240 STMDB R8!,{R9} @ User CPSR
DieterGraef 0:f9b6112278fe 241 STMDB R8!,{LR} @ User PC
DieterGraef 0:f9b6112278fe 242 STMDB R8,{LR}^ @ User LR
DieterGraef 0:f9b6112278fe 243 SUB R8,R8,#4 @ No writeback for store of User LR
DieterGraef 0:f9b6112278fe 244 STMDB R8!,{R0-R3,R12} @ User R0-R3,R12
DieterGraef 0:f9b6112278fe 245 MOV R3,R10 @ os_tsk.run
DieterGraef 0:f9b6112278fe 246 MOV LR,R11 @ os_tsk.new_tsk
DieterGraef 0:f9b6112278fe 247 POP {R9-R12}
DieterGraef 0:f9b6112278fe 248 ADD SP,SP,#12 @ Fix up SP for unstack of R4, LR & SPSR
DieterGraef 0:f9b6112278fe 249 STMDB R8!,{R4-R7,R9-R12} @ User R4-R11
DieterGraef 0:f9b6112278fe 250
DieterGraef 0:f9b6112278fe 251 @ If applicable, stack VFP/NEON state
DieterGraef 0:f9b6112278fe 252 MRC p15,0,R1,c1,c0,2 @ VFP/NEON access enabled? (CPACR)
DieterGraef 0:f9b6112278fe 253 AND R2,R1,#0x00F00000
DieterGraef 0:f9b6112278fe 254 CMP R2,#0x00F00000
DieterGraef 0:f9b6112278fe 255 BNE no_outgoing_vfp
DieterGraef 0:f9b6112278fe 256 VMRS R2,FPSCR
DieterGraef 0:f9b6112278fe 257 STMDB R8!,{R2,R4} @ Push FPSCR, maintain 8-byte alignment
DieterGraef 0:f9b6112278fe 258 VSTMDB R8!,{D0-D15}
DieterGraef 0:f9b6112278fe 259 VSTMDB R8!,{D16-D31}
DieterGraef 0:f9b6112278fe 260 LDRB R2,[R3,#TCB_STACKF] @ Record in TCB that NEON/D32 state is stacked
DieterGraef 0:f9b6112278fe 261 ORR R2,#4
DieterGraef 0:f9b6112278fe 262 STRB R2,[R3,#TCB_STACKF]
DieterGraef 0:f9b6112278fe 263
DieterGraef 0:f9b6112278fe 264 no_outgoing_vfp:
DieterGraef 0:f9b6112278fe 265 STR R8,[R3,#TCB_TSTACK]
DieterGraef 0:f9b6112278fe 266 MOV R4,LR
DieterGraef 0:f9b6112278fe 267
DieterGraef 0:f9b6112278fe 268 PUSH {R4} @ Push R4 so we can use it as a temp
DieterGraef 0:f9b6112278fe 269 AND R4, SP, #4 @ Ensure stack is 8-byte aligned
DieterGraef 0:f9b6112278fe 270 SUB SP, SP, R4 @ Adjust stack
DieterGraef 0:f9b6112278fe 271 PUSH {R4, LR} @ Store stack adjustment and dummy LR to SVC stack
DieterGraef 0:f9b6112278fe 272
DieterGraef 0:f9b6112278fe 273 BLX rt_stk_check
DieterGraef 0:f9b6112278fe 274
DieterGraef 0:f9b6112278fe 275 POP {R4, LR} @ Get stack adjustment & discard dummy LR
DieterGraef 0:f9b6112278fe 276 ADD SP, SP, R4 @ Unadjust stack
DieterGraef 0:f9b6112278fe 277 POP {R4} @ Restore R4
DieterGraef 0:f9b6112278fe 278
DieterGraef 0:f9b6112278fe 279 MOV LR,R4
DieterGraef 0:f9b6112278fe 280
DieterGraef 0:f9b6112278fe 281 SVC_Next: @ R4 == os_tsk.run, LR == os_tsk.new_tsk, R0-R3, R5-R12 corruptible
DieterGraef 0:f9b6112278fe 282 LDR R1,=os_tsk @ os_tsk.run = os_tsk.new_tsk
DieterGraef 0:f9b6112278fe 283 STR LR,[R1]
DieterGraef 0:f9b6112278fe 284 LDRB R1,[LR,#TCB_TID] @ os_tsk.run->task_id
DieterGraef 0:f9b6112278fe 285 LSL R1,#8 @ Store PROCID
DieterGraef 0:f9b6112278fe 286 MCR p15,0,R1,c13,c0,1 @ Write CONTEXTIDR
DieterGraef 0:f9b6112278fe 287
DieterGraef 0:f9b6112278fe 288 LDR R0,[LR,#TCB_TSTACK] @ os_tsk.run->tsk_stack
DieterGraef 0:f9b6112278fe 289
DieterGraef 0:f9b6112278fe 290 @ Does incoming task have VFP/NEON state in stack?
DieterGraef 0:f9b6112278fe 291 LDRB R3,[LR,#TCB_STACKF]
DieterGraef 0:f9b6112278fe 292 ANDS R3, R3, #0x6
DieterGraef 0:f9b6112278fe 293 MRC p15,0,R1,c1,c0,2 @ Read CPACR
DieterGraef 0:f9b6112278fe 294 ANDEQ R1,R1,#0xFF0FFFFF @ Disable VFP/NEON access if incoming task does not have stacked VFP/NEON state
DieterGraef 0:f9b6112278fe 295 ORRNE R1,R1,#0x00F00000 @ Enable VFP/NEON access if incoming task does have stacked VFP/NEON state
DieterGraef 0:f9b6112278fe 296 MCR p15,0,R1,c1,c0,2 @ Write CPACR
DieterGraef 0:f9b6112278fe 297 BEQ no_incoming_vfp
DieterGraef 0:f9b6112278fe 298 ISB @ We only need the sync if we enabled, otherwise we will context switch before next VFP/NEON instruction anyway
DieterGraef 0:f9b6112278fe 299 VLDMIA R0!,{D16-D31}
DieterGraef 0:f9b6112278fe 300 VLDMIA R0!,{D0-D15}
DieterGraef 0:f9b6112278fe 301 LDR R2,[R0]
DieterGraef 0:f9b6112278fe 302 VMSR FPSCR,R2
DieterGraef 0:f9b6112278fe 303 ADD R0,R0,#8
DieterGraef 0:f9b6112278fe 304
DieterGraef 0:f9b6112278fe 305 no_incoming_vfp:
DieterGraef 0:f9b6112278fe 306 LDR R1,[R0,#60] @ Restore User CPSR
DieterGraef 0:f9b6112278fe 307 MSR SPSR_cxsf,R1
DieterGraef 0:f9b6112278fe 308 LDMIA R0!,{R4-R11} @ Restore User R4-R11
DieterGraef 0:f9b6112278fe 309 ADD R0,R0,#4 @ Restore User R1-R3,R12
DieterGraef 0:f9b6112278fe 310 LDMIA R0!,{R1-R3,R12}
DieterGraef 0:f9b6112278fe 311 LDMIA R0,{LR}^ @ Restore User LR
DieterGraef 0:f9b6112278fe 312 ADD R0,R0,#4 @ No writeback for load to user LR
DieterGraef 0:f9b6112278fe 313 LDMIA R0!,{LR} @ Restore User PC
DieterGraef 0:f9b6112278fe 314 ADD R0,R0,#4 @ Correct User SP for unstacked user CPSR
DieterGraef 0:f9b6112278fe 315
DieterGraef 0:f9b6112278fe 316 PUSH {R0} @ Push R0 onto stack
DieterGraef 0:f9b6112278fe 317 LDMIA SP,{SP}^ @ Get R0 off stack into User SP
DieterGraef 0:f9b6112278fe 318 ADD SP,SP,#4 @ Put SP back
DieterGraef 0:f9b6112278fe 319
DieterGraef 0:f9b6112278fe 320 LDR R0,[R0,#-32] @ Restore R0
DieterGraef 0:f9b6112278fe 321
DieterGraef 0:f9b6112278fe 322 PUSH {R0-R3,R12,LR}
DieterGraef 0:f9b6112278fe 323
DieterGraef 0:f9b6112278fe 324 AND R12, SP, #4 @ Ensure stack is 8-byte aligned
DieterGraef 0:f9b6112278fe 325 SUB SP, SP, R12 @ Adjust stack
DieterGraef 0:f9b6112278fe 326 PUSH {R12, LR} @ Store stack adjustment and dummy LR to SVC stack
DieterGraef 0:f9b6112278fe 327
DieterGraef 0:f9b6112278fe 328 CPSID i
DieterGraef 0:f9b6112278fe 329 BLX rt_tsk_unlock
DieterGraef 0:f9b6112278fe 330
DieterGraef 0:f9b6112278fe 331 POP {R12, LR} @ Get stack adjustment & discard dummy LR
DieterGraef 0:f9b6112278fe 332 ADD SP, SP, R12 @ Unadjust stack
DieterGraef 0:f9b6112278fe 333
DieterGraef 0:f9b6112278fe 334 POP {R0-R3,R12,LR}
DieterGraef 0:f9b6112278fe 335
DieterGraef 0:f9b6112278fe 336 MOVS PC,LR @ Return from exception
DieterGraef 0:f9b6112278fe 337
DieterGraef 0:f9b6112278fe 338
DieterGraef 0:f9b6112278fe 339 /*------------------- User SVC -------------------------------*/
DieterGraef 0:f9b6112278fe 340
DieterGraef 0:f9b6112278fe 341 SVC_User:
DieterGraef 0:f9b6112278fe 342 LDR R12,=SVC_Count
DieterGraef 0:f9b6112278fe 343 LDR R12,[R12]
DieterGraef 0:f9b6112278fe 344 CMP R4,R12 @ Check for overflow
DieterGraef 0:f9b6112278fe 345 BHI SVC_Done
DieterGraef 0:f9b6112278fe 346
DieterGraef 0:f9b6112278fe 347 LDR R12,=SVC_Table-4
DieterGraef 0:f9b6112278fe 348 LDR R12,[R12,R4,LSL #2] @ Load SVC Function Address
DieterGraef 0:f9b6112278fe 349 MRS R4,SPSR @ Save SPSR
DieterGraef 0:f9b6112278fe 350 PUSH {R4} @ Push R4 so we can use it as a temp
DieterGraef 0:f9b6112278fe 351 AND R4, SP, #4 @ Ensure stack is 8-byte aligned
DieterGraef 0:f9b6112278fe 352 SUB SP, SP, R4 @ Adjust stack
DieterGraef 0:f9b6112278fe 353 PUSH {R4, LR} @ Store stack adjustment and dummy LR
DieterGraef 0:f9b6112278fe 354 BLX R12 @ Call SVC Function
DieterGraef 0:f9b6112278fe 355 POP {R4, LR} @ Get stack adjustment & discard dummy LR
DieterGraef 0:f9b6112278fe 356 ADD SP, SP, R4 @ Unadjust stack
DieterGraef 0:f9b6112278fe 357 POP {R4} @ Restore R4
DieterGraef 0:f9b6112278fe 358 MSR SPSR_cxsf,R4 @ Restore SPSR
DieterGraef 0:f9b6112278fe 359
DieterGraef 0:f9b6112278fe 360 SVC_Done:
DieterGraef 0:f9b6112278fe 361 PUSH {R0-R3,R12,LR}
DieterGraef 0:f9b6112278fe 362
DieterGraef 0:f9b6112278fe 363 PUSH {R4} @ Push R4 so we can use it as a temp
DieterGraef 0:f9b6112278fe 364 AND R4, SP, #4 @ Ensure stack is 8-byte aligned
DieterGraef 0:f9b6112278fe 365 SUB SP, SP, R4 @ Adjust stack
DieterGraef 0:f9b6112278fe 366 PUSH {R4, LR} @ Store stack adjustment and dummy LR
DieterGraef 0:f9b6112278fe 367
DieterGraef 0:f9b6112278fe 368 CPSID i
DieterGraef 0:f9b6112278fe 369 BLX rt_tsk_unlock
DieterGraef 0:f9b6112278fe 370
DieterGraef 0:f9b6112278fe 371 POP {R4, LR} @ Get stack adjustment & discard dummy LR
DieterGraef 0:f9b6112278fe 372 ADD SP, SP, R4 @ Unadjust stack
DieterGraef 0:f9b6112278fe 373 POP {R4} @ Restore R4
DieterGraef 0:f9b6112278fe 374
DieterGraef 0:f9b6112278fe 375 POP {R0-R3,R12,LR}
DieterGraef 0:f9b6112278fe 376 POP {R4}
DieterGraef 0:f9b6112278fe 377 RFEFD SP! @ Return from exception
DieterGraef 0:f9b6112278fe 378 @ }
DieterGraef 0:f9b6112278fe 379 @ #pragma pop
DieterGraef 0:f9b6112278fe 380
DieterGraef 0:f9b6112278fe 381 @ #pragma push
DieterGraef 0:f9b6112278fe 382 @ #pragma arm
DieterGraef 0:f9b6112278fe 383 @ __asm void PendSV_Handler (U32 IRQn) {
DieterGraef 0:f9b6112278fe 384 PendSV_Handler:
DieterGraef 0:f9b6112278fe 385 .ARM
DieterGraef 0:f9b6112278fe 386
DieterGraef 0:f9b6112278fe 387 .extern rt_tsk_lock
DieterGraef 0:f9b6112278fe 388 .extern IRQNestLevel @ Flag indicates whether inside an ISR, and the depth of nesting. 0 = not in ISR.
DieterGraef 0:f9b6112278fe 389 .extern seen_id0_active @ Flag used to workaround GIC 390 errata 733075 - set in startup_Renesas_RZ_A1.s
DieterGraef 0:f9b6112278fe 390
DieterGraef 0:f9b6112278fe 391 ADD SP,SP,#8 @ fix up stack pointer (R0 has been pushed and will never be popped, R1 was pushed for stack alignment)
DieterGraef 0:f9b6112278fe 392
DieterGraef 0:f9b6112278fe 393 @ Disable systick interrupts, then write EOIR. We want interrupts disabled before we enter the context switcher.
DieterGraef 0:f9b6112278fe 394 PUSH {R0, R1}
DieterGraef 0:f9b6112278fe 395 BLX rt_tsk_lock
DieterGraef 0:f9b6112278fe 396 POP {R0, R1}
DieterGraef 0:f9b6112278fe 397 LDR R1, =GICInterface_BASE
DieterGraef 0:f9b6112278fe 398 LDR R1, [R1, #0]
DieterGraef 0:f9b6112278fe 399 STR R0, [R1, #0x10]
DieterGraef 0:f9b6112278fe 400
DieterGraef 0:f9b6112278fe 401 @ If it was interrupt ID0, clear the seen flag, otherwise return as normal
DieterGraef 0:f9b6112278fe 402 CMP R0, #0
DieterGraef 0:f9b6112278fe 403 LDREQ R1, =seen_id0_active
DieterGraef 0:f9b6112278fe 404 STREQB R0, [R1] @ Clear the seen flag, using R0 (which is 0), to save loading another register
DieterGraef 0:f9b6112278fe 405
DieterGraef 0:f9b6112278fe 406 LDR R0, =IRQNestLevel @ Get address of nesting counter
DieterGraef 0:f9b6112278fe 407 LDR R1, [R0]
DieterGraef 0:f9b6112278fe 408 SUB R1, R1, #1 @ Decrement nesting counter
DieterGraef 0:f9b6112278fe 409 STR R1, [R0]
DieterGraef 0:f9b6112278fe 410
DieterGraef 0:f9b6112278fe 411 BLX rt_pop_req
DieterGraef 0:f9b6112278fe 412
DieterGraef 0:f9b6112278fe 413 POP {R1, LR} @ Get stack adjustment & discard dummy LR
DieterGraef 0:f9b6112278fe 414 ADD SP, SP, R1 @ Unadjust stack
DieterGraef 0:f9b6112278fe 415
DieterGraef 0:f9b6112278fe 416 LDR R0,[SP,#24]
DieterGraef 0:f9b6112278fe 417 MSR SPSR_cxsf,R0
DieterGraef 0:f9b6112278fe 418 POP {R0-R3,R12} @ Leave SPSR & LR on the stack
DieterGraef 0:f9b6112278fe 419 PUSH {R4}
DieterGraef 0:f9b6112278fe 420 B Sys_Switch
DieterGraef 0:f9b6112278fe 421 @ }
DieterGraef 0:f9b6112278fe 422 @ #pragma pop
DieterGraef 0:f9b6112278fe 423
DieterGraef 0:f9b6112278fe 424
DieterGraef 0:f9b6112278fe 425 @ #pragma push
DieterGraef 0:f9b6112278fe 426 @ #pragma arm
DieterGraef 0:f9b6112278fe 427 @ __asm void OS_Tick_Handler (U32 IRQn) {
DieterGraef 0:f9b6112278fe 428 OS_Tick_Handler:
DieterGraef 0:f9b6112278fe 429 .ARM
DieterGraef 0:f9b6112278fe 430
DieterGraef 0:f9b6112278fe 431 .extern rt_tsk_lock
DieterGraef 0:f9b6112278fe 432 .extern IRQNestLevel @ Flag indicates whether inside an ISR, and the depth of nesting. 0 = not in ISR.
DieterGraef 0:f9b6112278fe 433 .extern seen_id0_active @ Flag used to workaround GIC 390 errata 733075 - set in startup_Renesas_RZ_A1.s
DieterGraef 0:f9b6112278fe 434
DieterGraef 0:f9b6112278fe 435 ADD SP,SP,#8 @ fix up stack pointer (R0 has been pushed and will never be popped, R1 was pushed for stack alignment)
DieterGraef 0:f9b6112278fe 436
DieterGraef 0:f9b6112278fe 437 PUSH {R0, R1}
DieterGraef 0:f9b6112278fe 438 BLX rt_tsk_lock
DieterGraef 0:f9b6112278fe 439 POP {R0, R1}
DieterGraef 0:f9b6112278fe 440 LDR R1, =GICInterface_BASE
DieterGraef 0:f9b6112278fe 441 LDR R1, [R1, #0]
DieterGraef 0:f9b6112278fe 442 STR R0, [R1, #0x10]
DieterGraef 0:f9b6112278fe 443
DieterGraef 0:f9b6112278fe 444 @ If it was interrupt ID0, clear the seen flag, otherwise return as normal
DieterGraef 0:f9b6112278fe 445 CMP R0, #0
DieterGraef 0:f9b6112278fe 446 LDREQ R1, =seen_id0_active
DieterGraef 0:f9b6112278fe 447 STREQB R0, [R1] @ Clear the seen flag, using R0 (which is 0), to save loading another register
DieterGraef 0:f9b6112278fe 448
DieterGraef 0:f9b6112278fe 449 LDR R0, =IRQNestLevel @ Get address of nesting counter
DieterGraef 0:f9b6112278fe 450 LDR R1, [R0]
DieterGraef 0:f9b6112278fe 451 SUB R1, R1, #1 @ Decrement nesting counter
DieterGraef 0:f9b6112278fe 452 STR R1, [R0]
DieterGraef 0:f9b6112278fe 453
DieterGraef 0:f9b6112278fe 454 BLX os_tick_irqack
DieterGraef 0:f9b6112278fe 455 BLX rt_systick
DieterGraef 0:f9b6112278fe 456
DieterGraef 0:f9b6112278fe 457 POP {R1, LR} @ Get stack adjustment & discard dummy LR
DieterGraef 0:f9b6112278fe 458 ADD SP, SP, R1 @ Unadjust stack
DieterGraef 0:f9b6112278fe 459
DieterGraef 0:f9b6112278fe 460 LDR R0,[SP,#24]
DieterGraef 0:f9b6112278fe 461 MSR SPSR_cxsf,R0
DieterGraef 0:f9b6112278fe 462 POP {R0-R3,R12} @ Leave SPSR & LR on the stack
DieterGraef 0:f9b6112278fe 463 PUSH {R4}
DieterGraef 0:f9b6112278fe 464 B Sys_Switch
DieterGraef 0:f9b6112278fe 465 @ }
DieterGraef 0:f9b6112278fe 466 @ #pragma pop
DieterGraef 0:f9b6112278fe 467
DieterGraef 0:f9b6112278fe 468
DieterGraef 0:f9b6112278fe 469 .END
DieterGraef 0:f9b6112278fe 470 /*----------------------------------------------------------------------------
DieterGraef 0:f9b6112278fe 471 * end of file
DieterGraef 0:f9b6112278fe 472 *---------------------------------------------------------------------------*/