Kev Mann / mbed-dev-OS5_10_4

RTC auf true

rtos/TARGET_CORTEX/TOOLCHAIN_ARM_STD/mbed_boot_arm_std.c@2:7aab896b1a3b, 2019-03-13 (annotated)

Committer:
kevman
Date:
Wed Mar 13 11:03:24 2019 +0000
Revision:
2:7aab896b1a3b
Parent:
0:38ceb79fef03 
2019-03-13

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kevman 0:38ceb79fef03 1 /* mbed Microcontroller Library
kevman 0:38ceb79fef03 2 * Copyright (c) 2018-2018 ARM Limited
kevman 0:38ceb79fef03 3 *
kevman 0:38ceb79fef03 4 * Licensed under the Apache License, Version 2.0 (the "License");
kevman 0:38ceb79fef03 5 * you may not use this file except in compliance with the License.
kevman 0:38ceb79fef03 6 * You may obtain a copy of the License at
kevman 0:38ceb79fef03 7 *
kevman 0:38ceb79fef03 8 * http://www.apache.org/licenses/LICENSE-2.0
kevman 0:38ceb79fef03 9 *
kevman 0:38ceb79fef03 10 * Unless required by applicable law or agreed to in writing, software
kevman 0:38ceb79fef03 11 * distributed under the License is distributed on an "AS IS" BASIS,
kevman 0:38ceb79fef03 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
kevman 0:38ceb79fef03 13 * See the License for the specific language governing permissions and
kevman 0:38ceb79fef03 14 * limitations under the License.
kevman 0:38ceb79fef03 15 */
kevman 0:38ceb79fef03 16 #include <stdlib.h>
kevman 0:38ceb79fef03 17 #include <string.h>
kevman 0:38ceb79fef03 18
kevman 0:38ceb79fef03 19 #include "cmsis.h"
kevman 0:38ceb79fef03 20 #include "mbed_critical.h"
kevman 0:38ceb79fef03 21 #include "mbed_boot.h"
kevman 0:38ceb79fef03 22 #include <rt_misc.h>
kevman 0:38ceb79fef03 23 #include "mbed_rtos_storage.h"
kevman 0:38ceb79fef03 24 #include "cmsis_os2.h"
kevman 0:38ceb79fef03 25
kevman 0:38ceb79fef03 26 __value_in_regs struct __argc_argv __rt_lib_init(unsigned heapbase, unsigned heaptop);
kevman 0:38ceb79fef03 27 void _platform_post_stackheap_init(void);
kevman 0:38ceb79fef03 28
kevman 0:38ceb79fef03 29 #if !defined(HEAP_START)
kevman 0:38ceb79fef03 30 /* Defined by linker script */
kevman 0:38ceb79fef03 31 extern uint32_t Image$$RW_IRAM1$$ZI$$Limit[];
kevman 0:38ceb79fef03 32 #define HEAP_START ((unsigned char*)Image$$RW_IRAM1$$ZI$$Limit)
kevman 0:38ceb79fef03 33 #define HEAP_SIZE ((uint32_t)((uint32_t)INITIAL_SP - (uint32_t)HEAP_START))
kevman 0:38ceb79fef03 34 #endif
kevman 0:38ceb79fef03 35
kevman 0:38ceb79fef03 36 /*
kevman 0:38ceb79fef03 37 * Note - Overriding the function __cpp_initialize__aeabi_ for the Arm
kevman 0:38ceb79fef03 38 * standard library causes a crash when there are no global constructors.
kevman 0:38ceb79fef03 39 * To avoid this do not override __cpp_initialize__aeabi_ with the super$$
kevman 0:38ceb79fef03 40 * sub$$ mechanism for the Arm standard library. The uARM library is not
kevman 0:38ceb79fef03 41 * effected by this problem.
kevman 0:38ceb79fef03 42 */
kevman 0:38ceb79fef03 43
kevman 0:38ceb79fef03 44 /*
kevman 0:38ceb79fef03 45 * mbed entry point for the ARM standard toolchain
kevman 0:38ceb79fef03 46 *
kevman 0:38ceb79fef03 47 * Override the ARM standard library function __rt_entry to run code earlier in
kevman 0:38ceb79fef03 48 * the boot sequence. This is after scatter loading has taken place but before
kevman 0:38ceb79fef03 49 * the C library has been initialized.
kevman 0:38ceb79fef03 50 */
kevman 0:38ceb79fef03 51 void __rt_entry(void)
kevman 0:38ceb79fef03 52 {
kevman 0:38ceb79fef03 53 unsigned char *free_start = HEAP_START;
kevman 0:38ceb79fef03 54 uint32_t free_size = HEAP_SIZE;
kevman 0:38ceb79fef03 55
kevman 0:38ceb79fef03 56 #ifdef ISR_STACK_START
kevman 0:38ceb79fef03 57 /* Interrupt stack explicitly specified */
kevman 0:38ceb79fef03 58 mbed_stack_isr_size = ISR_STACK_SIZE;
kevman 0:38ceb79fef03 59 mbed_stack_isr_start = ISR_STACK_START;
kevman 0:38ceb79fef03 60 #else
kevman 0:38ceb79fef03 61 /* Interrupt stack - reserve space at the end of the free block */
kevman 0:38ceb79fef03 62 mbed_stack_isr_size = ISR_STACK_SIZE < free_size ? ISR_STACK_SIZE : free_size;
kevman 0:38ceb79fef03 63 mbed_stack_isr_start = free_start + free_size - mbed_stack_isr_size;
kevman 0:38ceb79fef03 64 free_size -= mbed_stack_isr_size;
kevman 0:38ceb79fef03 65 #endif
kevman 0:38ceb79fef03 66
kevman 0:38ceb79fef03 67 /* Heap - everything else */
kevman 0:38ceb79fef03 68 mbed_heap_size = free_size;
kevman 0:38ceb79fef03 69 mbed_heap_start = free_start;
kevman 0:38ceb79fef03 70 mbed_init();
kevman 0:38ceb79fef03 71
kevman 0:38ceb79fef03 72 _platform_post_stackheap_init();
kevman 0:38ceb79fef03 73 mbed_rtos_start();
kevman 0:38ceb79fef03 74 }
kevman 0:38ceb79fef03 75
kevman 0:38ceb79fef03 76 void mbed_toolchain_init()
kevman 0:38ceb79fef03 77 {
kevman 0:38ceb79fef03 78 /* Run the C++ global object constructors */
kevman 0:38ceb79fef03 79 __rt_lib_init((unsigned)mbed_heap_start, (unsigned)(mbed_heap_start + mbed_heap_size));
kevman 0:38ceb79fef03 80 }
kevman 0:38ceb79fef03 81
kevman 0:38ceb79fef03 82 /* Move all code here from RTX code base (rtx_lib.c) and do some modifications:
kevman 0:38ceb79fef03 83 *
kevman 0:38ceb79fef03 84 * 1. _mutex_initialize/_mutex_free are re-implemented to meet Mbed.
kevman 0:38ceb79fef03 85 * 2. All _mutex_* functions are declared with '__USED' to avoid excluded by linker.
kevman 0:38ceb79fef03 86 */
kevman 0:38ceb79fef03 87 #if defined(RTX_NO_MULTITHREAD_CLIB)
kevman 0:38ceb79fef03 88
kevman 0:38ceb79fef03 89 /* The single memory model is checking for stack collision at run time, verifying
kevman 0:38ceb79fef03 90 that the heap pointer is underneath the stack pointer.
kevman 0:38ceb79fef03 91 With the RTOS there is not only one stack above the heap, there are multiple
kevman 0:38ceb79fef03 92 stacks and some of them are underneath the heap pointer.
kevman 0:38ceb79fef03 93 */
kevman 0:38ceb79fef03 94 #if defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
kevman 0:38ceb79fef03 95 __asm(".global __use_two_region_memory\n\t");
kevman 0:38ceb79fef03 96 __asm(".global __use_no_semihosting\n\t");
kevman 0:38ceb79fef03 97 #else
kevman 0:38ceb79fef03 98 #pragma import(__use_two_region_memory)
kevman 0:38ceb79fef03 99 #endif
kevman 0:38ceb79fef03 100
kevman 0:38ceb79fef03 101 #define LIBSPACE_SIZE 96
kevman 0:38ceb79fef03 102
kevman 0:38ceb79fef03 103 //lint -esym(714,__user_perthread_libspace,_mutex_*) "Referenced by C library"
kevman 0:38ceb79fef03 104 //lint -esym(765,__user_perthread_libspace,_mutex_*) "Global scope"
kevman 0:38ceb79fef03 105 //lint -esym(9003, os_libspace*) "variables 'os_libspace*' defined at module scope"
kevman 0:38ceb79fef03 106
kevman 0:38ceb79fef03 107 // Memory for libspace
kevman 0:38ceb79fef03 108 static uint32_t os_libspace[OS_THREAD_LIBSPACE_NUM+1][LIBSPACE_SIZE/4] \
kevman 0:38ceb79fef03 109 __attribute__((section(".bss.os.libspace")));
kevman 0:38ceb79fef03 110
kevman 0:38ceb79fef03 111 // Thread IDs for libspace
kevman 0:38ceb79fef03 112 static osThreadId_t os_libspace_id[OS_THREAD_LIBSPACE_NUM] \
kevman 0:38ceb79fef03 113 __attribute__((section(".bss.os.libspace")));
kevman 0:38ceb79fef03 114
kevman 0:38ceb79fef03 115 // Check if Kernel has been started
kevman 0:38ceb79fef03 116 static uint32_t os_kernel_is_active (void) {
kevman 0:38ceb79fef03 117 static uint8_t os_kernel_active = 0U;
kevman 0:38ceb79fef03 118
kevman 0:38ceb79fef03 119 if (os_kernel_active == 0U) {
kevman 0:38ceb79fef03 120 if (osKernelGetState() > osKernelReady) {
kevman 0:38ceb79fef03 121 os_kernel_active = 1U;
kevman 0:38ceb79fef03 122 }
kevman 0:38ceb79fef03 123 }
kevman 0:38ceb79fef03 124 return (uint32_t)os_kernel_active;
kevman 0:38ceb79fef03 125 }
kevman 0:38ceb79fef03 126
kevman 0:38ceb79fef03 127 // Provide libspace for current thread
kevman 0:38ceb79fef03 128 void *__user_perthread_libspace (void) {
kevman 0:38ceb79fef03 129 osThreadId_t id;
kevman 0:38ceb79fef03 130 uint32_t n;
kevman 0:38ceb79fef03 131
kevman 0:38ceb79fef03 132 if (os_kernel_is_active() != 0U) {
kevman 0:38ceb79fef03 133 id = osThreadGetId();
kevman 0:38ceb79fef03 134 for (n = 0U; n < (uint32_t)OS_THREAD_LIBSPACE_NUM; n++) {
kevman 0:38ceb79fef03 135 if (os_libspace_id[n] == NULL) {
kevman 0:38ceb79fef03 136 os_libspace_id[n] = id;
kevman 0:38ceb79fef03 137 }
kevman 0:38ceb79fef03 138 if (os_libspace_id[n] == id) {
kevman 0:38ceb79fef03 139 break;
kevman 0:38ceb79fef03 140 }
kevman 0:38ceb79fef03 141 }
kevman 0:38ceb79fef03 142 if (n == (uint32_t)OS_THREAD_LIBSPACE_NUM) {
kevman 0:38ceb79fef03 143 (void)osRtxErrorNotify(osRtxErrorClibSpace, id);
kevman 0:38ceb79fef03 144 }
kevman 0:38ceb79fef03 145 } else {
kevman 0:38ceb79fef03 146 n = OS_THREAD_LIBSPACE_NUM;
kevman 0:38ceb79fef03 147 }
kevman 0:38ceb79fef03 148
kevman 0:38ceb79fef03 149 //lint -e{9087} "cast between pointers to different object types"
kevman 0:38ceb79fef03 150 return (void *)&os_libspace[n][0];
kevman 0:38ceb79fef03 151 }
kevman 0:38ceb79fef03 152
kevman 0:38ceb79fef03 153 /* ARM toolchain requires dynamically created mutexes to enforce thread safety. There's
kevman 0:38ceb79fef03 154 up to 8 static mutexes, protecting atexit, signalinit, stdin, stdout, stderr, stream_list,
kevman 0:38ceb79fef03 155 fp_trap_init and the heap. Additionally for each call to fopen one extra mutex will be
kevman 0:38ceb79fef03 156 created.
kevman 0:38ceb79fef03 157 mbed OS provides a RTX pool for 8 mutexes, to satisfy the static requirements. All
kevman 0:38ceb79fef03 158 additional mutexes will be allocated on the heap. We can't use the heap allocation for
kevman 0:38ceb79fef03 159 all the required mutexes, as the heap operations also require a mutex. We don't need to
kevman 0:38ceb79fef03 160 worry about freeing the allocated memory as library mutexes are only freed when the
kevman 0:38ceb79fef03 161 application finishes executing.
kevman 0:38ceb79fef03 162 */
kevman 0:38ceb79fef03 163
kevman 0:38ceb79fef03 164 typedef void *mutex;
kevman 0:38ceb79fef03 165 #define OS_MUTEX_STATIC_NUM 8
kevman 0:38ceb79fef03 166 mutex _static_mutexes[OS_MUTEX_STATIC_NUM] = {NULL};
kevman 0:38ceb79fef03 167 mbed_rtos_storage_mutex_t _static_mutexes_mem[OS_MUTEX_STATIC_NUM] = {NULL};
kevman 0:38ceb79fef03 168
kevman 0:38ceb79fef03 169 //lint -save "Function prototypes defined in C library"
kevman 0:38ceb79fef03 170 //lint -e970 "Use of 'int' outside of a typedef"
kevman 0:38ceb79fef03 171 //lint -e818 "Pointer 'm' could be declared as pointing to const"
kevman 0:38ceb79fef03 172
kevman 0:38ceb79fef03 173 /* Initialize mutex */
kevman 0:38ceb79fef03 174 __USED int _mutex_initialize(mutex *m)
kevman 0:38ceb79fef03 175 {
kevman 0:38ceb79fef03 176 osMutexAttr_t attr;
kevman 0:38ceb79fef03 177 memset(&attr, 0, sizeof(attr));
kevman 0:38ceb79fef03 178 attr.name = "ARM toolchain mutex";
kevman 0:38ceb79fef03 179 attr.attr_bits = osMutexRecursive | osMutexPrioInherit | osMutexRobust;
kevman 0:38ceb79fef03 180
kevman 0:38ceb79fef03 181 mutex *slot = NULL;
kevman 0:38ceb79fef03 182 core_util_critical_section_enter();
kevman 0:38ceb79fef03 183 for (int i = 0; i < OS_MUTEX_STATIC_NUM; i++) {
kevman 0:38ceb79fef03 184 if (_static_mutexes[i] == NULL) {
kevman 0:38ceb79fef03 185 _static_mutexes[i] = (mutex)-1; // dummy value to reserve slot
kevman 0:38ceb79fef03 186 slot = &_static_mutexes[i];
kevman 0:38ceb79fef03 187 //Use the static attrs
kevman 0:38ceb79fef03 188 attr.cb_size = sizeof(mbed_rtos_storage_mutex_t);
kevman 0:38ceb79fef03 189 attr.cb_mem = &_static_mutexes_mem[i];
kevman 0:38ceb79fef03 190 break;
kevman 0:38ceb79fef03 191 }
kevman 0:38ceb79fef03 192 }
kevman 0:38ceb79fef03 193 core_util_critical_section_exit();
kevman 0:38ceb79fef03 194
kevman 0:38ceb79fef03 195 if (slot != NULL) {
kevman 0:38ceb79fef03 196 *m = osMutexNew(&attr);
kevman 0:38ceb79fef03 197 *slot = *m;
kevman 0:38ceb79fef03 198 if (*m != NULL) {
kevman 0:38ceb79fef03 199 return 1;
kevman 0:38ceb79fef03 200 }
kevman 0:38ceb79fef03 201 }
kevman 0:38ceb79fef03 202
kevman 0:38ceb79fef03 203 /* Mutex pool exhausted, try using HEAP */
kevman 0:38ceb79fef03 204 attr.cb_size = sizeof(mbed_rtos_storage_mutex_t);
kevman 0:38ceb79fef03 205 attr.cb_mem = (void*)malloc(attr.cb_size);
kevman 0:38ceb79fef03 206 if (attr.cb_mem == NULL) {
kevman 0:38ceb79fef03 207 osRtxErrorNotify(osRtxErrorClibSpace, m);
kevman 0:38ceb79fef03 208 return 0;
kevman 0:38ceb79fef03 209 }
kevman 0:38ceb79fef03 210
kevman 0:38ceb79fef03 211 *m = osMutexNew(&attr);
kevman 0:38ceb79fef03 212 if (*m == NULL) {
kevman 0:38ceb79fef03 213 osRtxErrorNotify(osRtxErrorClibMutex, m);
kevman 0:38ceb79fef03 214 return 0;
kevman 0:38ceb79fef03 215 }
kevman 0:38ceb79fef03 216
kevman 0:38ceb79fef03 217 return 1;
kevman 0:38ceb79fef03 218 }
kevman 0:38ceb79fef03 219
kevman 0:38ceb79fef03 220 /* Acquire mutex */
kevman 0:38ceb79fef03 221 __USED void _mutex_acquire(mutex *m) {
kevman 0:38ceb79fef03 222 if (os_kernel_is_active() != 0U) {
kevman 0:38ceb79fef03 223 (void)osMutexAcquire(*m, osWaitForever);
kevman 0:38ceb79fef03 224 }
kevman 0:38ceb79fef03 225 }
kevman 0:38ceb79fef03 226
kevman 0:38ceb79fef03 227 /* Release mutex */
kevman 0:38ceb79fef03 228 __USED void _mutex_release(mutex *m) {
kevman 0:38ceb79fef03 229 if (os_kernel_is_active() != 0U) {
kevman 0:38ceb79fef03 230 (void)osMutexRelease(*m);
kevman 0:38ceb79fef03 231 }
kevman 0:38ceb79fef03 232 }
kevman 0:38ceb79fef03 233
kevman 0:38ceb79fef03 234 /* Free mutex */
kevman 0:38ceb79fef03 235 __USED void _mutex_free(mutex *m) {
kevman 0:38ceb79fef03 236 mutex *slot = NULL;
kevman 0:38ceb79fef03 237 core_util_critical_section_enter();
kevman 0:38ceb79fef03 238 for (int i = 0; i < OS_MUTEX_STATIC_NUM; i++) {
kevman 0:38ceb79fef03 239 if (_static_mutexes[i] == *m) {
kevman 0:38ceb79fef03 240 slot = &_static_mutexes[i];
kevman 0:38ceb79fef03 241 break;
kevman 0:38ceb79fef03 242 }
kevman 0:38ceb79fef03 243 }
kevman 0:38ceb79fef03 244 core_util_critical_section_exit();
kevman 0:38ceb79fef03 245
kevman 0:38ceb79fef03 246 osMutexDelete(*m);
kevman 0:38ceb79fef03 247
kevman 0:38ceb79fef03 248 // if no slot reserved for mutex, must have been dynamically allocated
kevman 0:38ceb79fef03 249 if (!slot) {
kevman 0:38ceb79fef03 250 free(m);
kevman 0:38ceb79fef03 251 } else {
kevman 0:38ceb79fef03 252 *slot = NULL;
kevman 0:38ceb79fef03 253 }
kevman 0:38ceb79fef03 254
kevman 0:38ceb79fef03 255 }
kevman 0:38ceb79fef03 256
kevman 0:38ceb79fef03 257 #endif /* RTX_NO_MULTITHREAD_CLIB */