Daoyu_Sofiane Yao_Belouka / mbed-rtos

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Dependents:   Mecatro_Gyro_Programme_Codeur_HC06

rtx/TARGET_ARM7/HAL_CM.c@0:a8ed743bc1e1, 2021-04-16 (annotated)

Committer:
daoyu_sofiane
Date:
Fri Apr 16 09:25:33 2021 +0000
Revision:
0:a8ed743bc1e1
Projet Gyropode

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daoyu_sofiane 0:a8ed743bc1e1 1 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 2 * RL-ARM - RTX
daoyu_sofiane 0:a8ed743bc1e1 3 *----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 4 * Name: HAL_CM.C
daoyu_sofiane 0:a8ed743bc1e1 5 * Purpose: Hardware Abstraction Layer for ARM7TDMI
daoyu_sofiane 0:a8ed743bc1e1 6 * Rev.: V1.0
daoyu_sofiane 0:a8ed743bc1e1 7 *----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 8 *
daoyu_sofiane 0:a8ed743bc1e1 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
daoyu_sofiane 0:a8ed743bc1e1 10 * All rights reserved.
daoyu_sofiane 0:a8ed743bc1e1 11 * Redistribution and use in source and binary forms, with or without
daoyu_sofiane 0:a8ed743bc1e1 12 * modification, are permitted provided that the following conditions are met:
daoyu_sofiane 0:a8ed743bc1e1 13 * - Redistributions of source code must retain the above copyright
daoyu_sofiane 0:a8ed743bc1e1 14 * notice, this list of conditions and the following disclaimer.
daoyu_sofiane 0:a8ed743bc1e1 15 * - Redistributions in binary form must reproduce the above copyright
daoyu_sofiane 0:a8ed743bc1e1 16 * notice, this list of conditions and the following disclaimer in the
daoyu_sofiane 0:a8ed743bc1e1 17 * documentation and/or other materials provided with the distribution.
daoyu_sofiane 0:a8ed743bc1e1 18 * - Neither the name of ARM nor the names of its contributors may be used
daoyu_sofiane 0:a8ed743bc1e1 19 * to endorse or promote products derived from this software without
daoyu_sofiane 0:a8ed743bc1e1 20 * specific prior written permission.
daoyu_sofiane 0:a8ed743bc1e1 21 *
daoyu_sofiane 0:a8ed743bc1e1 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
daoyu_sofiane 0:a8ed743bc1e1 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
daoyu_sofiane 0:a8ed743bc1e1 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
daoyu_sofiane 0:a8ed743bc1e1 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
daoyu_sofiane 0:a8ed743bc1e1 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
daoyu_sofiane 0:a8ed743bc1e1 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
daoyu_sofiane 0:a8ed743bc1e1 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
daoyu_sofiane 0:a8ed743bc1e1 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
daoyu_sofiane 0:a8ed743bc1e1 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
daoyu_sofiane 0:a8ed743bc1e1 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
daoyu_sofiane 0:a8ed743bc1e1 32 * POSSIBILITY OF SUCH DAMAGE.
daoyu_sofiane 0:a8ed743bc1e1 33 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 34
daoyu_sofiane 0:a8ed743bc1e1 35 #include "rt_TypeDef.h"
daoyu_sofiane 0:a8ed743bc1e1 36 #include "RTX_Conf.h"
daoyu_sofiane 0:a8ed743bc1e1 37 #include "rt_HAL_CM.h"
daoyu_sofiane 0:a8ed743bc1e1 38
daoyu_sofiane 0:a8ed743bc1e1 39
daoyu_sofiane 0:a8ed743bc1e1 40 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 41 * Global Variables
daoyu_sofiane 0:a8ed743bc1e1 42 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 43
daoyu_sofiane 0:a8ed743bc1e1 44 #ifdef DBG_MSG
daoyu_sofiane 0:a8ed743bc1e1 45 BIT dbg_msg;
daoyu_sofiane 0:a8ed743bc1e1 46 #endif
daoyu_sofiane 0:a8ed743bc1e1 47
daoyu_sofiane 0:a8ed743bc1e1 48 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 49 * Functions
daoyu_sofiane 0:a8ed743bc1e1 50 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 51
daoyu_sofiane 0:a8ed743bc1e1 52
daoyu_sofiane 0:a8ed743bc1e1 53 /*--------------------------- rt_init_stack ---------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 54
daoyu_sofiane 0:a8ed743bc1e1 55 void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
daoyu_sofiane 0:a8ed743bc1e1 56 /* Prepare TCB and saved context for a first time start of a task. */
daoyu_sofiane 0:a8ed743bc1e1 57 U32 *stk,i,size;
daoyu_sofiane 0:a8ed743bc1e1 58
daoyu_sofiane 0:a8ed743bc1e1 59 /* Prepare a complete interrupt frame for first task start */
daoyu_sofiane 0:a8ed743bc1e1 60 size = p_TCB->priv_stack >> 2;
daoyu_sofiane 0:a8ed743bc1e1 61
daoyu_sofiane 0:a8ed743bc1e1 62 /* Write to the top of stack. */
daoyu_sofiane 0:a8ed743bc1e1 63 stk = &p_TCB->stack[size];
daoyu_sofiane 0:a8ed743bc1e1 64
daoyu_sofiane 0:a8ed743bc1e1 65 /* Auto correct to 8-byte ARM stack alignment. */
daoyu_sofiane 0:a8ed743bc1e1 66 if ((U32)stk & 0x04) {
daoyu_sofiane 0:a8ed743bc1e1 67 stk--;
daoyu_sofiane 0:a8ed743bc1e1 68 }
daoyu_sofiane 0:a8ed743bc1e1 69
daoyu_sofiane 0:a8ed743bc1e1 70 stk -= 16;
daoyu_sofiane 0:a8ed743bc1e1 71
daoyu_sofiane 0:a8ed743bc1e1 72 /* Default xPSR and initial PC */
daoyu_sofiane 0:a8ed743bc1e1 73 stk[15] = (U32)task_body + 4; /* add 4 byte offset because SUB PC, LR - 4 */
daoyu_sofiane 0:a8ed743bc1e1 74 stk[0] = INITIAL_xPSR;
daoyu_sofiane 0:a8ed743bc1e1 75
daoyu_sofiane 0:a8ed743bc1e1 76 /* Clear R0-R13/LR registers. */
daoyu_sofiane 0:a8ed743bc1e1 77 for (i = 1; i < 14; i++) {
daoyu_sofiane 0:a8ed743bc1e1 78 stk[i] = 0;
daoyu_sofiane 0:a8ed743bc1e1 79 }
daoyu_sofiane 0:a8ed743bc1e1 80
daoyu_sofiane 0:a8ed743bc1e1 81 /* Assign a void pointer to R0. */
daoyu_sofiane 0:a8ed743bc1e1 82 stk[TCB_STACK_R0_OFFSET_DWORDS] = (U32)p_TCB->msg;
daoyu_sofiane 0:a8ed743bc1e1 83
daoyu_sofiane 0:a8ed743bc1e1 84 /* Initial Task stack pointer. */
daoyu_sofiane 0:a8ed743bc1e1 85 p_TCB->tsk_stack = (U32)stk;
daoyu_sofiane 0:a8ed743bc1e1 86
daoyu_sofiane 0:a8ed743bc1e1 87 /* Task entry point. */
daoyu_sofiane 0:a8ed743bc1e1 88 p_TCB->ptask = task_body;
daoyu_sofiane 0:a8ed743bc1e1 89
daoyu_sofiane 0:a8ed743bc1e1 90 /* Set a magic word for checking of stack overflow.
daoyu_sofiane 0:a8ed743bc1e1 91 For the main thread (ID: 0x01) the stack is in a memory area shared with the
daoyu_sofiane 0:a8ed743bc1e1 92 heap, therefore the last word of the stack is a moving target.
daoyu_sofiane 0:a8ed743bc1e1 93 We want to do stack/heap collision detection instead.
daoyu_sofiane 0:a8ed743bc1e1 94 */
daoyu_sofiane 0:a8ed743bc1e1 95 if (p_TCB->task_id != 0x01)
daoyu_sofiane 0:a8ed743bc1e1 96 p_TCB->stack[0] = MAGIC_WORD;
daoyu_sofiane 0:a8ed743bc1e1 97 }
daoyu_sofiane 0:a8ed743bc1e1 98
daoyu_sofiane 0:a8ed743bc1e1 99
daoyu_sofiane 0:a8ed743bc1e1 100 /*--------------------------- rt_ret_val ----------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 101
daoyu_sofiane 0:a8ed743bc1e1 102 static __inline U32 *rt_ret_regs (P_TCB p_TCB) {
daoyu_sofiane 0:a8ed743bc1e1 103 /* Get pointer to task return value registers (R0..R3) in Stack */
daoyu_sofiane 0:a8ed743bc1e1 104
daoyu_sofiane 0:a8ed743bc1e1 105 /* Stack Frame: CPSR,R0-R13,PC */
daoyu_sofiane 0:a8ed743bc1e1 106 return (U32 *)(p_TCB->tsk_stack + TCB_STACK_R0_OFFSET_BYTES);
daoyu_sofiane 0:a8ed743bc1e1 107 }
daoyu_sofiane 0:a8ed743bc1e1 108
daoyu_sofiane 0:a8ed743bc1e1 109 void rt_ret_val (P_TCB p_TCB, U32 v0) {
daoyu_sofiane 0:a8ed743bc1e1 110 U32 *ret;
daoyu_sofiane 0:a8ed743bc1e1 111
daoyu_sofiane 0:a8ed743bc1e1 112 ret = rt_ret_regs(p_TCB);
daoyu_sofiane 0:a8ed743bc1e1 113 ret[0] = v0;
daoyu_sofiane 0:a8ed743bc1e1 114 }
daoyu_sofiane 0:a8ed743bc1e1 115
daoyu_sofiane 0:a8ed743bc1e1 116 void rt_ret_val2(P_TCB p_TCB, U32 v0, U32 v1) {
daoyu_sofiane 0:a8ed743bc1e1 117 U32 *ret;
daoyu_sofiane 0:a8ed743bc1e1 118
daoyu_sofiane 0:a8ed743bc1e1 119 ret = rt_ret_regs(p_TCB);
daoyu_sofiane 0:a8ed743bc1e1 120 ret[0] = v0;
daoyu_sofiane 0:a8ed743bc1e1 121 ret[1] = v1;
daoyu_sofiane 0:a8ed743bc1e1 122 }
daoyu_sofiane 0:a8ed743bc1e1 123
daoyu_sofiane 0:a8ed743bc1e1 124
daoyu_sofiane 0:a8ed743bc1e1 125 /*--------------------------- dbg_init --------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 126
daoyu_sofiane 0:a8ed743bc1e1 127 #ifdef DBG_MSG
daoyu_sofiane 0:a8ed743bc1e1 128 void dbg_init (void) {
daoyu_sofiane 0:a8ed743bc1e1 129 if ((DEMCR & DEMCR_TRCENA) &&
daoyu_sofiane 0:a8ed743bc1e1 130 (ITM_CONTROL & ITM_ITMENA) &&
daoyu_sofiane 0:a8ed743bc1e1 131 (ITM_ENABLE & (1UL << 31))) {
daoyu_sofiane 0:a8ed743bc1e1 132 dbg_msg = __TRUE;
daoyu_sofiane 0:a8ed743bc1e1 133 }
daoyu_sofiane 0:a8ed743bc1e1 134 }
daoyu_sofiane 0:a8ed743bc1e1 135 #endif
daoyu_sofiane 0:a8ed743bc1e1 136
daoyu_sofiane 0:a8ed743bc1e1 137 /*--------------------------- dbg_task_notify -------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 138
daoyu_sofiane 0:a8ed743bc1e1 139 #ifdef DBG_MSG
daoyu_sofiane 0:a8ed743bc1e1 140 void dbg_task_notify (P_TCB p_tcb, BOOL create) {
daoyu_sofiane 0:a8ed743bc1e1 141 while (ITM_PORT31_U32 == 0);
daoyu_sofiane 0:a8ed743bc1e1 142 ITM_PORT31_U32 = (U32)p_tcb->ptask;
daoyu_sofiane 0:a8ed743bc1e1 143 while (ITM_PORT31_U32 == 0);
daoyu_sofiane 0:a8ed743bc1e1 144 ITM_PORT31_U16 = (create << 8) | p_tcb->task_id;
daoyu_sofiane 0:a8ed743bc1e1 145 }
daoyu_sofiane 0:a8ed743bc1e1 146 #endif
daoyu_sofiane 0:a8ed743bc1e1 147
daoyu_sofiane 0:a8ed743bc1e1 148 /*--------------------------- dbg_task_switch -------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 149
daoyu_sofiane 0:a8ed743bc1e1 150 #ifdef DBG_MSG
daoyu_sofiane 0:a8ed743bc1e1 151 void dbg_task_switch (U32 task_id) {
daoyu_sofiane 0:a8ed743bc1e1 152 while (ITM_PORT31_U32 == 0);
daoyu_sofiane 0:a8ed743bc1e1 153 ITM_PORT31_U8 = task_id;
daoyu_sofiane 0:a8ed743bc1e1 154 }
daoyu_sofiane 0:a8ed743bc1e1 155 #endif
daoyu_sofiane 0:a8ed743bc1e1 156
daoyu_sofiane 0:a8ed743bc1e1 157
daoyu_sofiane 0:a8ed743bc1e1 158 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 159 * end of file
daoyu_sofiane 0:a8ed743bc1e1 160 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 161