RTX_CM_lib.h

00001 /*----------------------------------------------------------------------------
00002  *      RL-ARM - RTX
00003  *----------------------------------------------------------------------------
00004  *      Name:    RTX_CM_LIB.H
00005  *      Purpose: RTX Kernel System Configuration
00006  *      Rev.:    V4.60
00007  *----------------------------------------------------------------------------
00008  *
00009  * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
00010  * All rights reserved.
00011  * Redistribution and use in source and binary forms, with or without
00012  * modification, are permitted provided that the following conditions are met:
00013  *  - Redistributions of source code must retain the above copyright
00014  *    notice, this list of conditions and the following disclaimer.
00015  *  - Redistributions in binary form must reproduce the above copyright
00016  *    notice, this list of conditions and the following disclaimer in the
00017  *    documentation and/or other materials provided with the distribution.
00018  *  - Neither the name of ARM  nor the names of its contributors may be used 
00019  *    to endorse or promote products derived from this software without 
00020  *    specific prior written permission.
00021  *
00022  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
00023  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
00024  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00025  * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
00026  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00027  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
00028  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
00029  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
00030  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
00031  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  * POSSIBILITY OF SUCH DAMAGE.
00033  *---------------------------------------------------------------------------*/
00034 #include "capi/error.h"
00035 
00036 #if   defined (__CC_ARM)
00037 #pragma O3
00038 #define __USED __attribute__((used))
00039 #elif defined (__GNUC__)
00040 #pragma GCC optimize ("O3")
00041 #define __USED __attribute__((used))
00042 #elif defined (__ICCARM__)
00043 #define __USED __root
00044 #endif
00045 
00046 
00047 /*----------------------------------------------------------------------------
00048  *      Definitions
00049  *---------------------------------------------------------------------------*/
00050 
00051 #define _declare_box(pool,size,cnt)  uint32_t pool[(((size)+3)/4)*(cnt) + 3]
00052 #define _declare_box8(pool,size,cnt) uint64_t pool[(((size)+7)/8)*(cnt) + 2]
00053 
00054 #define OS_TCB_SIZE     48
00055 #define OS_TMR_SIZE     8
00056 
00057 #if defined (__CC_ARM) && !defined (__MICROLIB)
00058 
00059 typedef void    *OS_ID;
00060 typedef uint32_t OS_TID;
00061 typedef uint32_t OS_MUT[3];
00062 typedef uint32_t OS_RESULT;
00063 
00064 #define runtask_id()    rt_tsk_self()
00065 #define mutex_init(m)   rt_mut_init(m)
00066 #define mutex_wait(m)   os_mut_wait(m,0xFFFF)
00067 #define mutex_rel(m)    os_mut_release(m)
00068 
00069 extern OS_TID    rt_tsk_self    (void);
00070 extern void      rt_mut_init    (OS_ID mutex);
00071 extern OS_RESULT rt_mut_release (OS_ID mutex);
00072 extern OS_RESULT rt_mut_wait    (OS_ID mutex, uint16_t timeout);
00073 
00074 #define os_mut_wait(mutex,timeout) _os_mut_wait((uint32_t)rt_mut_wait,mutex,timeout)
00075 #define os_mut_release(mutex)      _os_mut_release((uint32_t)rt_mut_release,mutex)
00076 
00077 OS_RESULT _os_mut_release (uint32_t p, OS_ID mutex)                   __svc_indirect(0);
00078 OS_RESULT _os_mut_wait    (uint32_t p, OS_ID mutex, uint16_t timeout) __svc_indirect(0);
00079 
00080 #endif
00081 
00082 
00083 /*----------------------------------------------------------------------------
00084  *      Global Variables
00085  *---------------------------------------------------------------------------*/
00086 
00087 #if (OS_TIMERS != 0)
00088 #define OS_TASK_CNT (OS_TASKCNT + 1)
00089 #else
00090 #define OS_TASK_CNT  OS_TASKCNT
00091 #endif
00092 
00093 uint16_t const os_maxtaskrun = OS_TASK_CNT;
00094 uint32_t const os_rrobin     = (OS_ROBIN << 16) | OS_ROBINTOUT;
00095 uint32_t const os_trv        = OS_TRV;
00096 uint8_t  const os_flags      = OS_RUNPRIV;
00097 
00098 /* Export following defines to uVision debugger. */
00099 __USED uint32_t const os_clockrate = OS_TICK;
00100 __USED uint32_t const os_timernum  = 0;
00101 
00102 /* Stack for the os_idle_demon */
00103 unsigned int idle_task_stack[OS_IDLESTKSIZE];
00104 unsigned short const idle_task_stack_size = OS_IDLESTKSIZE;
00105 
00106 #ifndef OS_FIFOSZ
00107  #define OS_FIFOSZ      16
00108 #endif
00109 
00110 /* Fifo Queue buffer for ISR requests.*/
00111 uint32_t       os_fifo[OS_FIFOSZ*2+1];
00112 uint8_t  const os_fifo_size = OS_FIFOSZ;
00113 
00114 /* An array of Active task pointers. */
00115 void *os_active_TCB[OS_TASK_CNT];
00116 
00117 /* User Timers Resources */
00118 #if (OS_TIMERS != 0)
00119 extern void osTimerThread (void const *argument);
00120 osThreadDef(osTimerThread, (osPriority)(OS_TIMERPRIO-3), 4*OS_TIMERSTKSZ);
00121 osThreadId osThreadId_osTimerThread;
00122 osMessageQDef(osTimerMessageQ, OS_TIMERCBQS, void *);
00123 osMessageQId osMessageQId_osTimerMessageQ;
00124 #else
00125 osThreadDef_t os_thread_def_osTimerThread = { NULL };
00126 osThreadId osThreadId_osTimerThread;
00127 osMessageQDef(osTimerMessageQ, 0, void *);
00128 osMessageQId osMessageQId_osTimerMessageQ;
00129 #endif
00130 
00131 
00132 /*----------------------------------------------------------------------------
00133  *      RTX Optimizations (empty functions)
00134  *---------------------------------------------------------------------------*/
00135 
00136 #if OS_ROBIN == 0
00137  void rt_init_robin (void) {;}
00138  void rt_chk_robin  (void) {;}
00139 #endif
00140 
00141 #if OS_STKCHECK == 0
00142  void rt_stk_check  (void) {;}
00143 #endif
00144 
00145 
00146 /*----------------------------------------------------------------------------
00147  *      Standard Library multithreading interface
00148  *---------------------------------------------------------------------------*/
00149 
00150 #if defined (__CC_ARM) && !defined (__MICROLIB)
00151  static OS_MUT   std_libmutex[OS_MUTEXCNT];
00152  static uint32_t nr_mutex;
00153 
00154  /*--------------------------- _mutex_initialize -----------------------------*/
00155  
00156 int _mutex_initialize (OS_ID *mutex) {
00157   /* Allocate and initialize a system mutex. */
00158 
00159   if (nr_mutex >= OS_MUTEXCNT) {
00160     /* If you are here, you need to increase the number OS_MUTEXCNT. */
00161     error("Not enough stdlib mutexes\n");
00162   }
00163   *mutex = &std_libmutex[nr_mutex++];
00164   mutex_init (*mutex);
00165   return (1);
00166 }
00167 
00168 
00169 /*--------------------------- _mutex_acquire --------------------------------*/
00170 
00171 __attribute__((used)) void _mutex_acquire (OS_ID *mutex) {
00172   /* Acquire a system mutex, lock stdlib resources. */
00173   if (runtask_id ()) {
00174     /* RTX running, acquire a mutex. */
00175     mutex_wait (*mutex);
00176   }
00177 }
00178 
00179 
00180 /*--------------------------- _mutex_release --------------------------------*/
00181 
00182 __attribute__((used)) void _mutex_release (OS_ID *mutex) {
00183   /* Release a system mutex, unlock stdlib resources. */
00184   if (runtask_id ()) {
00185     /* RTX running, release a mutex. */
00186     mutex_rel (*mutex);
00187   }
00188 }
00189 
00190 #endif
00191 
00192 
00193 /*----------------------------------------------------------------------------
00194  *      RTX Startup
00195  *---------------------------------------------------------------------------*/
00196 
00197 /* Main Thread definition */
00198 extern int main (void);
00199 osThreadDef_t os_thread_def_main = {(os_pthread)main, osPriorityNormal, 0, NULL};
00200 
00201 #if defined (__CC_ARM)
00202 
00203 // This define should be probably moved to the CMSIS layer
00204 #ifdef TARGET_LPC1768
00205 #define INITIAL_SP            (0x10008000UL)
00206 
00207 #elif TARGET_LPC11U24
00208 #define INITIAL_SP            (0x10001000UL)
00209 
00210 #elif TARGET_KL25Z
00211 #define INITIAL_SP            (0x20003000UL)
00212 
00213 #endif
00214 
00215 extern unsigned char Image$$RW_IRAM1$$ZI$$Limit[];
00216 
00217 void set_main_stack(void) {
00218     // Leave OS_SCHEDULERSTKSIZE words for the scheduler and interrupts
00219     os_thread_def_main.stack_pointer = Image$$RW_IRAM1$$ZI$$Limit;
00220     os_thread_def_main.stacksize = (INITIAL_SP - (unsigned int)Image$$RW_IRAM1$$ZI$$Limit) - (OS_SCHEDULERSTKSIZE * 4);
00221 }
00222 
00223 #ifdef __MICROLIB
00224 void _main_init (void) __attribute__((section(".ARM.Collect$$$$000000FF")));
00225 void _main_init (void) {
00226   osKernelInitialize();
00227   set_main_stack();
00228   osThreadCreate(&os_thread_def_main, NULL);
00229   osKernelStart();
00230   for (;;);
00231 }
00232 #else
00233 
00234 /* The single memory model is checking for stack collision at run time, verifing
00235    that the heap pointer is underneath the stack pointer.
00236    
00237    With the RTOS there is not only one stack above the heap, there are multiple
00238    stacks and some of them are underneath the heap pointer.
00239 */
00240 #pragma import(__use_two_region_memory)
00241 
00242 __asm void __rt_entry (void) {
00243 
00244   IMPORT  __user_setup_stackheap
00245   IMPORT  __rt_lib_init
00246   IMPORT  os_thread_def_main
00247   IMPORT  osKernelInitialize
00248   IMPORT  set_main_stack
00249   IMPORT  osKernelStart
00250   IMPORT  osThreadCreate
00251   IMPORT  exit
00252 
00253   BL      __user_setup_stackheap
00254   MOV     R1,R2
00255   BL      __rt_lib_init
00256   BL      osKernelInitialize
00257   BL      set_main_stack
00258   LDR     R0,=os_thread_def_main
00259   MOVS    R1,#0
00260   BL      osThreadCreate
00261   BL      osKernelStart
00262   BL      exit
00263 
00264   ALIGN
00265 }
00266 #endif
00267 
00268 #elif defined (__GNUC__)
00269 
00270 #ifdef __CS3__
00271 
00272 /* CS3 start_c routine.
00273  *
00274  * Copyright (c) 2006, 2007 CodeSourcery Inc
00275  *
00276  * The authors hereby grant permission to use, copy, modify, distribute,
00277  * and license this software and its documentation for any purpose, provided
00278  * that existing copyright notices are retained in all copies and that this
00279  * notice is included verbatim in any distributions. No written agreement,
00280  * license, or royalty fee is required for any of the authorized uses.
00281  * Modifications to this software may be copyrighted by their authors
00282  * and need not follow the licensing terms described here, provided that
00283  * the new terms are clearly indicated on the first page of each file where
00284  * they apply.
00285  */
00286 
00287 #include "cs3.h"
00288 
00289 extern void __libc_init_array (void);
00290 
00291 __attribute ((noreturn)) void __cs3_start_c (void){
00292   unsigned regions = __cs3_region_num;
00293   const struct __cs3_region *rptr = __cs3_regions;
00294 
00295   /* Initialize memory */
00296   for (regions = __cs3_region_num, rptr = __cs3_regions; regions--; rptr++) {
00297     long long *src = (long long *)rptr->init;
00298     long long *dst = (long long *)rptr->data;
00299     unsigned limit = rptr->init_size;
00300     unsigned count;
00301 
00302     if (src != dst)
00303       for (count = 0; count != limit; count += sizeof (long long))
00304         *dst++ = *src++;
00305     else 
00306       dst = (long long *)((char *)dst + limit);
00307     limit = rptr->zero_size;
00308     for (count = 0; count != limit; count += sizeof (long long))
00309       *dst++ = 0;
00310   }
00311 
00312   /* Run initializers.  */
00313   __libc_init_array ();
00314 
00315   osKernelInitialize();
00316   osThreadCreate(&os_thread_def_main, NULL);
00317   osKernelStart();
00318   for (;;);
00319 }
00320 
00321 #else
00322 
00323 __attribute__((naked)) void software_init_hook (void) {
00324   __asm (
00325     ".syntax unified\n"
00326     ".thumb\n"
00327     "movs r0,#0\n"
00328     "movs r1,#0\n"
00329     "mov  r4,r0\n"
00330     "mov  r5,r1\n"
00331     "ldr  r0,= __libc_fini_array\n"
00332     "bl   atexit\n"
00333     "bl   __libc_init_array\n"
00334     "mov  r0,r4\n"
00335     "mov  r1,r5\n"
00336     "bl   osKernelInitialize\n"
00337     "ldr  r0,=os_thread_def_main\n"
00338     "movs r1,#0\n"
00339     "bl   osThreadCreate\n"
00340     "bl   osKernelStart\n"
00341     "bl   exit\n"
00342   );
00343 }
00344 
00345 #endif
00346 
00347 #elif defined (__ICCARM__)
00348 
00349 extern int  __low_level_init(void);
00350 extern void __iar_data_init3(void);
00351 extern void exit(int arg);
00352 
00353 __noreturn __stackless void __cmain(void) {
00354   int a;
00355   
00356   if (__low_level_init() != 0) {
00357     __iar_data_init3();
00358   }
00359   osKernelInitialize();
00360   osThreadCreate(&os_thread_def_main, NULL);
00361   a = osKernelStart();
00362   exit(a);
00363 }
00364 
00365 #endif
00366 
00367 
00368 /*----------------------------------------------------------------------------
00369  * end of file
00370  *---------------------------------------------------------------------------*/
00371