Eric Patterson / mbed-rtos

Fork of official mbed Real Time Operating System based on the RTX implementation of the CMSIS-RTOS API open standard.

Dependents:   Final_Coffee_Roaster

Fork of mbed-rtos by mbed official

rtx/HAL_CM.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_CM.C
emilmont 6:350b53afb889 5 * Purpose: Hardware Abstraction Layer for Cortex-M
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_HAL_CM.h"
emilmont 6:350b53afb889 38
emilmont 6:350b53afb889 39
emilmont 6:350b53afb889 40 /*----------------------------------------------------------------------------
emilmont 6:350b53afb889 41 * Global Variables
emilmont 6:350b53afb889 42 *---------------------------------------------------------------------------*/
emilmont 6:350b53afb889 43
emilmont 6:350b53afb889 44 #ifdef DBG_MSG
emilmont 6:350b53afb889 45 BIT dbg_msg;
emilmont 6:350b53afb889 46 #endif
emilmont 6:350b53afb889 47
emilmont 6:350b53afb889 48 /*----------------------------------------------------------------------------
emilmont 6:350b53afb889 49 * Functions
emilmont 6:350b53afb889 50 *---------------------------------------------------------------------------*/
emilmont 6:350b53afb889 51
emilmont 6:350b53afb889 52
emilmont 6:350b53afb889 53 /*--------------------------- rt_init_stack ---------------------------------*/
emilmont 6:350b53afb889 54
emilmont 6:350b53afb889 55 void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
emilmont 6:350b53afb889 56 /* Prepare TCB and saved context for a first time start of a task. */
emilmont 6:350b53afb889 57 U32 *stk,i,size;
emilmont 6:350b53afb889 58
emilmont 6:350b53afb889 59 /* Prepare a complete interrupt frame for first task start */
emilmont 6:350b53afb889 60 size = p_TCB->priv_stack >> 2;
emilmont 6:350b53afb889 61
emilmont 6:350b53afb889 62 /* Write to the top of stack. */
emilmont 6:350b53afb889 63 stk = &p_TCB->stack[size];
emilmont 6:350b53afb889 64
emilmont 6:350b53afb889 65 /* Auto correct to 8-byte ARM stack alignment. */
emilmont 6:350b53afb889 66 if ((U32)stk & 0x04) {
emilmont 6:350b53afb889 67 stk--;
emilmont 6:350b53afb889 68 }
emilmont 6:350b53afb889 69
emilmont 6:350b53afb889 70 stk -= 16;
emilmont 6:350b53afb889 71
emilmont 6:350b53afb889 72 /* Default xPSR and initial PC */
emilmont 6:350b53afb889 73 stk[15] = INITIAL_xPSR;
emilmont 6:350b53afb889 74 stk[14] = (U32)task_body;
emilmont 6:350b53afb889 75
emilmont 6:350b53afb889 76 /* Clear R4-R11,R0-R3,R12,LR registers. */
emilmont 6:350b53afb889 77 for (i = 0; i < 14; i++) {
emilmont 6:350b53afb889 78 stk[i] = 0;
emilmont 6:350b53afb889 79 }
emilmont 6:350b53afb889 80
emilmont 6:350b53afb889 81 /* Assign a void pointer to R0. */
emilmont 6:350b53afb889 82 stk[8] = (U32)p_TCB->msg;
emilmont 6:350b53afb889 83
emilmont 6:350b53afb889 84 /* Initial Task stack pointer. */
emilmont 6:350b53afb889 85 p_TCB->tsk_stack = (U32)stk;
emilmont 6:350b53afb889 86
emilmont 6:350b53afb889 87 /* Task entry point. */
emilmont 6:350b53afb889 88 p_TCB->ptask = task_body;
emilmont 6:350b53afb889 89
emilmont 6:350b53afb889 90 /* Set a magic word for checking of stack overflow.
emilmont 6:350b53afb889 91 For the main thread (ID: 0x01) the stack is in a memory area shared with the
emilmont 6:350b53afb889 92 heap, therefore the last word of the stack is a moving target.
emilmont 6:350b53afb889 93 We want to do stack/heap collision detection instead.
emilmont 6:350b53afb889 94 */
emilmont 6:350b53afb889 95 if (p_TCB->task_id != 0x01)
emilmont 6:350b53afb889 96 p_TCB->stack[0] = MAGIC_WORD;
emilmont 6:350b53afb889 97 }
emilmont 6:350b53afb889 98
emilmont 6:350b53afb889 99
emilmont 6:350b53afb889 100 /*--------------------------- rt_ret_val ----------------------------------*/
emilmont 6:350b53afb889 101
emilmont 6:350b53afb889 102 static __inline U32 *rt_ret_regs (P_TCB p_TCB) {
emilmont 6:350b53afb889 103 /* Get pointer to task return value registers (R0..R3) in Stack */
emilmont 6:350b53afb889 104 #if (__TARGET_FPU_VFP)
emilmont 6:350b53afb889 105 if (p_TCB->stack_frame) {
emilmont 6:350b53afb889 106 /* Extended Stack Frame: R4-R11,S16-S31,R0-R3,R12,LR,PC,xPSR,S0-S15,FPSCR */
emilmont 6:350b53afb889 107 return (U32 *)(p_TCB->tsk_stack + 8*4 + 16*4);
emilmont 6:350b53afb889 108 } else {
emilmont 6:350b53afb889 109 /* Basic Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
emilmont 6:350b53afb889 110 return (U32 *)(p_TCB->tsk_stack + 8*4);
emilmont 6:350b53afb889 111 }
emilmont 6:350b53afb889 112 #else
emilmont 6:350b53afb889 113 /* Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
emilmont 6:350b53afb889 114 return (U32 *)(p_TCB->tsk_stack + 8*4);
emilmont 6:350b53afb889 115 #endif
emilmont 6:350b53afb889 116 }
emilmont 6:350b53afb889 117
emilmont 6:350b53afb889 118 void rt_ret_val (P_TCB p_TCB, U32 v0) {
emilmont 6:350b53afb889 119 U32 *ret;
emilmont 6:350b53afb889 120
emilmont 6:350b53afb889 121 ret = rt_ret_regs(p_TCB);
emilmont 6:350b53afb889 122 ret[0] = v0;
emilmont 6:350b53afb889 123 }
emilmont 6:350b53afb889 124
emilmont 6:350b53afb889 125 void rt_ret_val2(P_TCB p_TCB, U32 v0, U32 v1) {
emilmont 6:350b53afb889 126 U32 *ret;
emilmont 6:350b53afb889 127
emilmont 6:350b53afb889 128 ret = rt_ret_regs(p_TCB);
emilmont 6:350b53afb889 129 ret[0] = v0;
emilmont 6:350b53afb889 130 ret[1] = v1;
emilmont 6:350b53afb889 131 }
emilmont 6:350b53afb889 132
emilmont 6:350b53afb889 133
emilmont 6:350b53afb889 134 /*--------------------------- dbg_init --------------------------------------*/
emilmont 6:350b53afb889 135
emilmont 6:350b53afb889 136 #ifdef DBG_MSG
emilmont 6:350b53afb889 137 void dbg_init (void) {
emilmont 6:350b53afb889 138 if ((DEMCR & DEMCR_TRCENA) &&
emilmont 6:350b53afb889 139 (ITM_CONTROL & ITM_ITMENA) &&
emilmont 6:350b53afb889 140 (ITM_ENABLE & (1UL << 31))) {
emilmont 6:350b53afb889 141 dbg_msg = __TRUE;
emilmont 6:350b53afb889 142 }
emilmont 6:350b53afb889 143 }
emilmont 6:350b53afb889 144 #endif
emilmont 6:350b53afb889 145
emilmont 6:350b53afb889 146 /*--------------------------- dbg_task_notify -------------------------------*/
emilmont 6:350b53afb889 147
emilmont 6:350b53afb889 148 #ifdef DBG_MSG
emilmont 6:350b53afb889 149 void dbg_task_notify (P_TCB p_tcb, BOOL create) {
emilmont 6:350b53afb889 150 while (ITM_PORT31_U32 == 0);
emilmont 6:350b53afb889 151 ITM_PORT31_U32 = (U32)p_tcb->ptask;
emilmont 6:350b53afb889 152 while (ITM_PORT31_U32 == 0);
emilmont 6:350b53afb889 153 ITM_PORT31_U16 = (create << 8) | p_tcb->task_id;
emilmont 6:350b53afb889 154 }
emilmont 6:350b53afb889 155 #endif
emilmont 6:350b53afb889 156
emilmont 6:350b53afb889 157 /*--------------------------- dbg_task_switch -------------------------------*/
emilmont 6:350b53afb889 158
emilmont 6:350b53afb889 159 #ifdef DBG_MSG
emilmont 6:350b53afb889 160 void dbg_task_switch (U32 task_id) {
emilmont 6:350b53afb889 161 while (ITM_PORT31_U32 == 0);
emilmont 6:350b53afb889 162 ITM_PORT31_U8 = task_id;
emilmont 6:350b53afb889 163 }
emilmont 6:350b53afb889 164 #endif
emilmont 6:350b53afb889 165
emilmont 6:350b53afb889 166
emilmont 6:350b53afb889 167 /*----------------------------------------------------------------------------
emilmont 6:350b53afb889 168 * end of file
emilmont 6:350b53afb889 169 *---------------------------------------------------------------------------*/
emilmont 6:350b53afb889 170