Code for our FYDP -only one IMU works right now -RTOS is working
mbed/mbed-rtos/rtx/TARGET_M4/TOOLCHAIN_GCC/HAL_CM4.s@0:964eb6a2ef00, 2015-03-18 (annotated)
- Committer:
- majik
- Date:
- Wed Mar 18 22:23:48 2015 +0000
- Revision:
- 0:964eb6a2ef00
This is our FYDP code, but only one IMU works with the RTOS.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
majik | 0:964eb6a2ef00 | 1 | /*---------------------------------------------------------------------------- |
majik | 0:964eb6a2ef00 | 2 | * RL-ARM - RTX |
majik | 0:964eb6a2ef00 | 3 | *---------------------------------------------------------------------------- |
majik | 0:964eb6a2ef00 | 4 | * Name: HAL_CM4.S |
majik | 0:964eb6a2ef00 | 5 | * Purpose: Hardware Abstraction Layer for Cortex-M4 |
majik | 0:964eb6a2ef00 | 6 | * Rev.: V4.70 |
majik | 0:964eb6a2ef00 | 7 | *---------------------------------------------------------------------------- |
majik | 0:964eb6a2ef00 | 8 | * |
majik | 0:964eb6a2ef00 | 9 | * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH |
majik | 0:964eb6a2ef00 | 10 | * All rights reserved. |
majik | 0:964eb6a2ef00 | 11 | * Redistribution and use in source and binary forms, with or without |
majik | 0:964eb6a2ef00 | 12 | * modification, are permitted provided that the following conditions are met: |
majik | 0:964eb6a2ef00 | 13 | * - Redistributions of source code must retain the above copyright |
majik | 0:964eb6a2ef00 | 14 | * notice, this list of conditions and the following disclaimer. |
majik | 0:964eb6a2ef00 | 15 | * - Redistributions in binary form must reproduce the above copyright |
majik | 0:964eb6a2ef00 | 16 | * notice, this list of conditions and the following disclaimer in the |
majik | 0:964eb6a2ef00 | 17 | * documentation and/or other materials provided with the distribution. |
majik | 0:964eb6a2ef00 | 18 | * - Neither the name of ARM nor the names of its contributors may be used |
majik | 0:964eb6a2ef00 | 19 | * to endorse or promote products derived from this software without |
majik | 0:964eb6a2ef00 | 20 | * specific prior written permission. |
majik | 0:964eb6a2ef00 | 21 | * |
majik | 0:964eb6a2ef00 | 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
majik | 0:964eb6a2ef00 | 23 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
majik | 0:964eb6a2ef00 | 24 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
majik | 0:964eb6a2ef00 | 25 | * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE |
majik | 0:964eb6a2ef00 | 26 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
majik | 0:964eb6a2ef00 | 27 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
majik | 0:964eb6a2ef00 | 28 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
majik | 0:964eb6a2ef00 | 29 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
majik | 0:964eb6a2ef00 | 30 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
majik | 0:964eb6a2ef00 | 31 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
majik | 0:964eb6a2ef00 | 32 | * POSSIBILITY OF SUCH DAMAGE. |
majik | 0:964eb6a2ef00 | 33 | *---------------------------------------------------------------------------*/ |
majik | 0:964eb6a2ef00 | 34 | |
majik | 0:964eb6a2ef00 | 35 | .file "HAL_CM4.S" |
majik | 0:964eb6a2ef00 | 36 | .syntax unified |
majik | 0:964eb6a2ef00 | 37 | |
majik | 0:964eb6a2ef00 | 38 | .equ TCB_STACKF, 32 |
majik | 0:964eb6a2ef00 | 39 | .equ TCB_TSTACK, 36 |
majik | 0:964eb6a2ef00 | 40 | |
majik | 0:964eb6a2ef00 | 41 | |
majik | 0:964eb6a2ef00 | 42 | /*---------------------------------------------------------------------------- |
majik | 0:964eb6a2ef00 | 43 | * Functions |
majik | 0:964eb6a2ef00 | 44 | *---------------------------------------------------------------------------*/ |
majik | 0:964eb6a2ef00 | 45 | |
majik | 0:964eb6a2ef00 | 46 | .thumb |
majik | 0:964eb6a2ef00 | 47 | |
majik | 0:964eb6a2ef00 | 48 | .section ".text" |
majik | 0:964eb6a2ef00 | 49 | .align 2 |
majik | 0:964eb6a2ef00 | 50 | |
majik | 0:964eb6a2ef00 | 51 | |
majik | 0:964eb6a2ef00 | 52 | /*--------------------------- rt_set_PSP ------------------------------------*/ |
majik | 0:964eb6a2ef00 | 53 | |
majik | 0:964eb6a2ef00 | 54 | # void rt_set_PSP (U32 stack); |
majik | 0:964eb6a2ef00 | 55 | |
majik | 0:964eb6a2ef00 | 56 | .thumb_func |
majik | 0:964eb6a2ef00 | 57 | .type rt_set_PSP, %function |
majik | 0:964eb6a2ef00 | 58 | .global rt_set_PSP |
majik | 0:964eb6a2ef00 | 59 | rt_set_PSP: |
majik | 0:964eb6a2ef00 | 60 | .fnstart |
majik | 0:964eb6a2ef00 | 61 | .cantunwind |
majik | 0:964eb6a2ef00 | 62 | |
majik | 0:964eb6a2ef00 | 63 | MSR PSP,R0 |
majik | 0:964eb6a2ef00 | 64 | BX LR |
majik | 0:964eb6a2ef00 | 65 | |
majik | 0:964eb6a2ef00 | 66 | .fnend |
majik | 0:964eb6a2ef00 | 67 | .size rt_set_PSP, .-rt_set_PSP |
majik | 0:964eb6a2ef00 | 68 | |
majik | 0:964eb6a2ef00 | 69 | |
majik | 0:964eb6a2ef00 | 70 | /*--------------------------- rt_get_PSP ------------------------------------*/ |
majik | 0:964eb6a2ef00 | 71 | |
majik | 0:964eb6a2ef00 | 72 | # U32 rt_get_PSP (void); |
majik | 0:964eb6a2ef00 | 73 | |
majik | 0:964eb6a2ef00 | 74 | .thumb_func |
majik | 0:964eb6a2ef00 | 75 | .type rt_get_PSP, %function |
majik | 0:964eb6a2ef00 | 76 | .global rt_get_PSP |
majik | 0:964eb6a2ef00 | 77 | rt_get_PSP: |
majik | 0:964eb6a2ef00 | 78 | .fnstart |
majik | 0:964eb6a2ef00 | 79 | .cantunwind |
majik | 0:964eb6a2ef00 | 80 | |
majik | 0:964eb6a2ef00 | 81 | MRS R0,PSP |
majik | 0:964eb6a2ef00 | 82 | BX LR |
majik | 0:964eb6a2ef00 | 83 | |
majik | 0:964eb6a2ef00 | 84 | .fnend |
majik | 0:964eb6a2ef00 | 85 | .size rt_get_PSP, .-rt_get_PSP |
majik | 0:964eb6a2ef00 | 86 | |
majik | 0:964eb6a2ef00 | 87 | |
majik | 0:964eb6a2ef00 | 88 | /*--------------------------- os_set_env ------------------------------------*/ |
majik | 0:964eb6a2ef00 | 89 | |
majik | 0:964eb6a2ef00 | 90 | # void os_set_env (void); |
majik | 0:964eb6a2ef00 | 91 | /* Switch to Unprivileged/Privileged Thread mode, use PSP. */ |
majik | 0:964eb6a2ef00 | 92 | |
majik | 0:964eb6a2ef00 | 93 | .thumb_func |
majik | 0:964eb6a2ef00 | 94 | .type os_set_env, %function |
majik | 0:964eb6a2ef00 | 95 | .global os_set_env |
majik | 0:964eb6a2ef00 | 96 | os_set_env: |
majik | 0:964eb6a2ef00 | 97 | .fnstart |
majik | 0:964eb6a2ef00 | 98 | .cantunwind |
majik | 0:964eb6a2ef00 | 99 | |
majik | 0:964eb6a2ef00 | 100 | MOV R0,SP /* PSP = MSP */ |
majik | 0:964eb6a2ef00 | 101 | MSR PSP,R0 |
majik | 0:964eb6a2ef00 | 102 | LDR R0,=os_flags |
majik | 0:964eb6a2ef00 | 103 | LDRB R0,[R0] |
majik | 0:964eb6a2ef00 | 104 | LSLS R0,#31 |
majik | 0:964eb6a2ef00 | 105 | ITE NE |
majik | 0:964eb6a2ef00 | 106 | MOVNE R0,#0x02 /* Privileged Thread mode, use PSP */ |
majik | 0:964eb6a2ef00 | 107 | MOVEQ R0,#0x03 /* Unprivileged Thread mode, use PSP */ |
majik | 0:964eb6a2ef00 | 108 | MSR CONTROL,R0 |
majik | 0:964eb6a2ef00 | 109 | BX LR |
majik | 0:964eb6a2ef00 | 110 | |
majik | 0:964eb6a2ef00 | 111 | .fnend |
majik | 0:964eb6a2ef00 | 112 | .size os_set_env, .-os_set_env |
majik | 0:964eb6a2ef00 | 113 | |
majik | 0:964eb6a2ef00 | 114 | |
majik | 0:964eb6a2ef00 | 115 | /*--------------------------- _alloc_box ------------------------------------*/ |
majik | 0:964eb6a2ef00 | 116 | |
majik | 0:964eb6a2ef00 | 117 | # void *_alloc_box (void *box_mem); |
majik | 0:964eb6a2ef00 | 118 | /* Function wrapper for Unprivileged/Privileged mode. */ |
majik | 0:964eb6a2ef00 | 119 | |
majik | 0:964eb6a2ef00 | 120 | .thumb_func |
majik | 0:964eb6a2ef00 | 121 | .type _alloc_box, %function |
majik | 0:964eb6a2ef00 | 122 | .global _alloc_box |
majik | 0:964eb6a2ef00 | 123 | _alloc_box: |
majik | 0:964eb6a2ef00 | 124 | .fnstart |
majik | 0:964eb6a2ef00 | 125 | .cantunwind |
majik | 0:964eb6a2ef00 | 126 | |
majik | 0:964eb6a2ef00 | 127 | LDR R12,=rt_alloc_box |
majik | 0:964eb6a2ef00 | 128 | MRS R3,IPSR |
majik | 0:964eb6a2ef00 | 129 | LSLS R3,#24 |
majik | 0:964eb6a2ef00 | 130 | IT NE |
majik | 0:964eb6a2ef00 | 131 | BXNE R12 |
majik | 0:964eb6a2ef00 | 132 | MRS R3,CONTROL |
majik | 0:964eb6a2ef00 | 133 | LSLS R3,#31 |
majik | 0:964eb6a2ef00 | 134 | IT EQ |
majik | 0:964eb6a2ef00 | 135 | BXEQ R12 |
majik | 0:964eb6a2ef00 | 136 | SVC 0 |
majik | 0:964eb6a2ef00 | 137 | BX LR |
majik | 0:964eb6a2ef00 | 138 | |
majik | 0:964eb6a2ef00 | 139 | .fnend |
majik | 0:964eb6a2ef00 | 140 | .size _alloc_box, .-_alloc_box |
majik | 0:964eb6a2ef00 | 141 | |
majik | 0:964eb6a2ef00 | 142 | |
majik | 0:964eb6a2ef00 | 143 | /*--------------------------- _free_box -------------------------------------*/ |
majik | 0:964eb6a2ef00 | 144 | |
majik | 0:964eb6a2ef00 | 145 | # int _free_box (void *box_mem, void *box); |
majik | 0:964eb6a2ef00 | 146 | /* Function wrapper for Unprivileged/Privileged mode. */ |
majik | 0:964eb6a2ef00 | 147 | |
majik | 0:964eb6a2ef00 | 148 | .thumb_func |
majik | 0:964eb6a2ef00 | 149 | .type _free_box, %function |
majik | 0:964eb6a2ef00 | 150 | .global _free_box |
majik | 0:964eb6a2ef00 | 151 | _free_box: |
majik | 0:964eb6a2ef00 | 152 | .fnstart |
majik | 0:964eb6a2ef00 | 153 | .cantunwind |
majik | 0:964eb6a2ef00 | 154 | |
majik | 0:964eb6a2ef00 | 155 | LDR R12,=rt_free_box |
majik | 0:964eb6a2ef00 | 156 | MRS R3,IPSR |
majik | 0:964eb6a2ef00 | 157 | LSLS R3,#24 |
majik | 0:964eb6a2ef00 | 158 | IT NE |
majik | 0:964eb6a2ef00 | 159 | BXNE R12 |
majik | 0:964eb6a2ef00 | 160 | MRS R3,CONTROL |
majik | 0:964eb6a2ef00 | 161 | LSLS R3,#31 |
majik | 0:964eb6a2ef00 | 162 | IT EQ |
majik | 0:964eb6a2ef00 | 163 | BXEQ R12 |
majik | 0:964eb6a2ef00 | 164 | SVC 0 |
majik | 0:964eb6a2ef00 | 165 | BX LR |
majik | 0:964eb6a2ef00 | 166 | |
majik | 0:964eb6a2ef00 | 167 | .fnend |
majik | 0:964eb6a2ef00 | 168 | .size _free_box, .-_free_box |
majik | 0:964eb6a2ef00 | 169 | |
majik | 0:964eb6a2ef00 | 170 | |
majik | 0:964eb6a2ef00 | 171 | /*-------------------------- SVC_Handler ------------------------------------*/ |
majik | 0:964eb6a2ef00 | 172 | |
majik | 0:964eb6a2ef00 | 173 | # void SVC_Handler (void); |
majik | 0:964eb6a2ef00 | 174 | |
majik | 0:964eb6a2ef00 | 175 | .thumb_func |
majik | 0:964eb6a2ef00 | 176 | .type SVC_Handler, %function |
majik | 0:964eb6a2ef00 | 177 | .global SVC_Handler |
majik | 0:964eb6a2ef00 | 178 | SVC_Handler: |
majik | 0:964eb6a2ef00 | 179 | .ifdef IFX_XMC4XXX |
majik | 0:964eb6a2ef00 | 180 | .global SVC_Handler_Veneer |
majik | 0:964eb6a2ef00 | 181 | SVC_Handler_Veneer: |
majik | 0:964eb6a2ef00 | 182 | .endif |
majik | 0:964eb6a2ef00 | 183 | .fnstart |
majik | 0:964eb6a2ef00 | 184 | .cantunwind |
majik | 0:964eb6a2ef00 | 185 | |
majik | 0:964eb6a2ef00 | 186 | MRS R0,PSP /* Read PSP */ |
majik | 0:964eb6a2ef00 | 187 | LDR R1,[R0,#24] /* Read Saved PC from Stack */ |
majik | 0:964eb6a2ef00 | 188 | LDRB R1,[R1,#-2] /* Load SVC Number */ |
majik | 0:964eb6a2ef00 | 189 | CBNZ R1,SVC_User |
majik | 0:964eb6a2ef00 | 190 | |
majik | 0:964eb6a2ef00 | 191 | LDM R0,{R0-R3,R12} /* Read R0-R3,R12 from stack */ |
majik | 0:964eb6a2ef00 | 192 | PUSH {R4,LR} /* Save EXC_RETURN */ |
majik | 0:964eb6a2ef00 | 193 | BLX R12 /* Call SVC Function */ |
majik | 0:964eb6a2ef00 | 194 | POP {R4,LR} /* Restore EXC_RETURN */ |
majik | 0:964eb6a2ef00 | 195 | |
majik | 0:964eb6a2ef00 | 196 | MRS R12,PSP /* Read PSP */ |
majik | 0:964eb6a2ef00 | 197 | STM R12,{R0-R2} /* Store return values */ |
majik | 0:964eb6a2ef00 | 198 | |
majik | 0:964eb6a2ef00 | 199 | LDR R3,=os_tsk |
majik | 0:964eb6a2ef00 | 200 | LDM R3,{R1,R2} /* os_tsk.run, os_tsk.new */ |
majik | 0:964eb6a2ef00 | 201 | CMP R1,R2 |
majik | 0:964eb6a2ef00 | 202 | .ifdef IFX_XMC4XXX |
majik | 0:964eb6a2ef00 | 203 | ITT EQ |
majik | 0:964eb6a2ef00 | 204 | PUSHEQ {LR} |
majik | 0:964eb6a2ef00 | 205 | POPEQ {PC} |
majik | 0:964eb6a2ef00 | 206 | .else |
majik | 0:964eb6a2ef00 | 207 | IT EQ |
majik | 0:964eb6a2ef00 | 208 | BXEQ LR /* RETI, no task switch */ |
majik | 0:964eb6a2ef00 | 209 | .endif |
majik | 0:964eb6a2ef00 | 210 | |
majik | 0:964eb6a2ef00 | 211 | CBZ R1,SVC_Next /* Runtask deleted? */ |
majik | 0:964eb6a2ef00 | 212 | TST LR,#0x10 /* is it extended frame? */ |
majik | 0:964eb6a2ef00 | 213 | ITTE EQ |
majik | 0:964eb6a2ef00 | 214 | VSTMDBEQ R12!,{S16-S31} /* yes, stack also VFP hi-regs */ |
majik | 0:964eb6a2ef00 | 215 | MOVEQ R0,#0x01 /* os_tsk->stack_frame val */ |
majik | 0:964eb6a2ef00 | 216 | MOVNE R0,#0x00 |
majik | 0:964eb6a2ef00 | 217 | STRB R0,[R1,#TCB_STACKF] /* os_tsk.run->stack_frame = val */ |
majik | 0:964eb6a2ef00 | 218 | STMDB R12!,{R4-R11} /* Save Old context */ |
majik | 0:964eb6a2ef00 | 219 | STR R12,[R1,#TCB_TSTACK] /* Update os_tsk.run->tsk_stack */ |
majik | 0:964eb6a2ef00 | 220 | |
majik | 0:964eb6a2ef00 | 221 | PUSH {R2,R3} |
majik | 0:964eb6a2ef00 | 222 | BL rt_stk_check /* Check for Stack overflow */ |
majik | 0:964eb6a2ef00 | 223 | POP {R2,R3} |
majik | 0:964eb6a2ef00 | 224 | |
majik | 0:964eb6a2ef00 | 225 | SVC_Next: |
majik | 0:964eb6a2ef00 | 226 | STR R2,[R3] /* os_tsk.run = os_tsk.new */ |
majik | 0:964eb6a2ef00 | 227 | |
majik | 0:964eb6a2ef00 | 228 | LDR R12,[R2,#TCB_TSTACK] /* os_tsk.new->tsk_stack */ |
majik | 0:964eb6a2ef00 | 229 | LDMIA R12!,{R4-R11} /* Restore New Context */ |
majik | 0:964eb6a2ef00 | 230 | LDRB R0,[R2,#TCB_STACKF] /* Stack Frame */ |
majik | 0:964eb6a2ef00 | 231 | CMP R0,#0 /* Basic/Extended Stack Frame */ |
majik | 0:964eb6a2ef00 | 232 | ITTE NE |
majik | 0:964eb6a2ef00 | 233 | VLDMIANE R12!,{S16-S31} /* restore VFP hi-registers */ |
majik | 0:964eb6a2ef00 | 234 | MVNNE LR,#~0xFFFFFFED /* set EXC_RETURN value */ |
majik | 0:964eb6a2ef00 | 235 | MVNEQ LR,#~0xFFFFFFFD |
majik | 0:964eb6a2ef00 | 236 | MSR PSP,R12 /* Write PSP */ |
majik | 0:964eb6a2ef00 | 237 | |
majik | 0:964eb6a2ef00 | 238 | SVC_Exit: |
majik | 0:964eb6a2ef00 | 239 | .ifdef IFX_XMC4XXX |
majik | 0:964eb6a2ef00 | 240 | PUSH {LR} |
majik | 0:964eb6a2ef00 | 241 | POP {PC} |
majik | 0:964eb6a2ef00 | 242 | .else |
majik | 0:964eb6a2ef00 | 243 | BX LR |
majik | 0:964eb6a2ef00 | 244 | .endif |
majik | 0:964eb6a2ef00 | 245 | |
majik | 0:964eb6a2ef00 | 246 | /*------------------- User SVC ------------------------------*/ |
majik | 0:964eb6a2ef00 | 247 | |
majik | 0:964eb6a2ef00 | 248 | SVC_User: |
majik | 0:964eb6a2ef00 | 249 | PUSH {R4,LR} /* Save Registers */ |
majik | 0:964eb6a2ef00 | 250 | LDR R2,=SVC_Count |
majik | 0:964eb6a2ef00 | 251 | LDR R2,[R2] |
majik | 0:964eb6a2ef00 | 252 | CMP R1,R2 |
majik | 0:964eb6a2ef00 | 253 | BHI SVC_Done /* Overflow */ |
majik | 0:964eb6a2ef00 | 254 | |
majik | 0:964eb6a2ef00 | 255 | LDR R4,=SVC_Table-4 |
majik | 0:964eb6a2ef00 | 256 | LDR R4,[R4,R1,LSL #2] /* Load SVC Function Address */ |
majik | 0:964eb6a2ef00 | 257 | |
majik | 0:964eb6a2ef00 | 258 | LDM R0,{R0-R3,R12} /* Read R0-R3,R12 from stack */ |
majik | 0:964eb6a2ef00 | 259 | BLX R4 /* Call SVC Function */ |
majik | 0:964eb6a2ef00 | 260 | |
majik | 0:964eb6a2ef00 | 261 | MRS R12,PSP |
majik | 0:964eb6a2ef00 | 262 | STM R12,{R0-R3} /* Function return values */ |
majik | 0:964eb6a2ef00 | 263 | SVC_Done: |
majik | 0:964eb6a2ef00 | 264 | POP {R4,PC} /* RETI */ |
majik | 0:964eb6a2ef00 | 265 | |
majik | 0:964eb6a2ef00 | 266 | .fnend |
majik | 0:964eb6a2ef00 | 267 | .size SVC_Handler, .-SVC_Handler |
majik | 0:964eb6a2ef00 | 268 | |
majik | 0:964eb6a2ef00 | 269 | |
majik | 0:964eb6a2ef00 | 270 | /*-------------------------- PendSV_Handler ---------------------------------*/ |
majik | 0:964eb6a2ef00 | 271 | |
majik | 0:964eb6a2ef00 | 272 | # void PendSV_Handler (void); |
majik | 0:964eb6a2ef00 | 273 | |
majik | 0:964eb6a2ef00 | 274 | .thumb_func |
majik | 0:964eb6a2ef00 | 275 | .type PendSV_Handler, %function |
majik | 0:964eb6a2ef00 | 276 | .global PendSV_Handler |
majik | 0:964eb6a2ef00 | 277 | .global Sys_Switch |
majik | 0:964eb6a2ef00 | 278 | PendSV_Handler: |
majik | 0:964eb6a2ef00 | 279 | .ifdef IFX_XMC4XXX |
majik | 0:964eb6a2ef00 | 280 | .global PendSV_Handler_Veneer |
majik | 0:964eb6a2ef00 | 281 | PendSV_Handler_Veneer: |
majik | 0:964eb6a2ef00 | 282 | .endif |
majik | 0:964eb6a2ef00 | 283 | .fnstart |
majik | 0:964eb6a2ef00 | 284 | .cantunwind |
majik | 0:964eb6a2ef00 | 285 | |
majik | 0:964eb6a2ef00 | 286 | PUSH {R4,LR} /* Save EXC_RETURN */ |
majik | 0:964eb6a2ef00 | 287 | BL rt_pop_req |
majik | 0:964eb6a2ef00 | 288 | |
majik | 0:964eb6a2ef00 | 289 | Sys_Switch: |
majik | 0:964eb6a2ef00 | 290 | POP {R4,LR} /* Restore EXC_RETURN */ |
majik | 0:964eb6a2ef00 | 291 | |
majik | 0:964eb6a2ef00 | 292 | LDR R3,=os_tsk |
majik | 0:964eb6a2ef00 | 293 | LDM R3,{R1,R2} /* os_tsk.run, os_tsk.new */ |
majik | 0:964eb6a2ef00 | 294 | CMP R1,R2 |
majik | 0:964eb6a2ef00 | 295 | .ifdef IFX_XMC4XXX |
majik | 0:964eb6a2ef00 | 296 | ITT EQ |
majik | 0:964eb6a2ef00 | 297 | PUSHEQ {LR} |
majik | 0:964eb6a2ef00 | 298 | POPEQ {PC} |
majik | 0:964eb6a2ef00 | 299 | .else |
majik | 0:964eb6a2ef00 | 300 | IT EQ |
majik | 0:964eb6a2ef00 | 301 | BXEQ LR /* RETI, no task switch */ |
majik | 0:964eb6a2ef00 | 302 | .endif |
majik | 0:964eb6a2ef00 | 303 | |
majik | 0:964eb6a2ef00 | 304 | MRS R12,PSP /* Read PSP */ |
majik | 0:964eb6a2ef00 | 305 | TST LR,#0x10 /* is it extended frame? */ |
majik | 0:964eb6a2ef00 | 306 | ITTE EQ |
majik | 0:964eb6a2ef00 | 307 | VSTMDBEQ R12!,{S16-S31} /* yes, stack also VFP hi-regs */ |
majik | 0:964eb6a2ef00 | 308 | MOVEQ R0,#0x01 /* os_tsk->stack_frame val */ |
majik | 0:964eb6a2ef00 | 309 | MOVNE R0,#0x00 |
majik | 0:964eb6a2ef00 | 310 | STRB R0,[R1,#TCB_STACKF] /* os_tsk.run->stack_frame = val */ |
majik | 0:964eb6a2ef00 | 311 | STMDB R12!,{R4-R11} /* Save Old context */ |
majik | 0:964eb6a2ef00 | 312 | STR R12,[R1,#TCB_TSTACK] /* Update os_tsk.run->tsk_stack */ |
majik | 0:964eb6a2ef00 | 313 | |
majik | 0:964eb6a2ef00 | 314 | PUSH {R2,R3} |
majik | 0:964eb6a2ef00 | 315 | BL rt_stk_check /* Check for Stack overflow */ |
majik | 0:964eb6a2ef00 | 316 | POP {R2,R3} |
majik | 0:964eb6a2ef00 | 317 | |
majik | 0:964eb6a2ef00 | 318 | STR R2,[R3] /* os_tsk.run = os_tsk.new */ |
majik | 0:964eb6a2ef00 | 319 | |
majik | 0:964eb6a2ef00 | 320 | LDR R12,[R2,#TCB_TSTACK] /* os_tsk.new->tsk_stack */ |
majik | 0:964eb6a2ef00 | 321 | LDMIA R12!,{R4-R11} /* Restore New Context */ |
majik | 0:964eb6a2ef00 | 322 | LDRB R0,[R2,#TCB_STACKF] /* Stack Frame */ |
majik | 0:964eb6a2ef00 | 323 | CMP R0,#0 /* Basic/Extended Stack Frame */ |
majik | 0:964eb6a2ef00 | 324 | ITTE NE |
majik | 0:964eb6a2ef00 | 325 | VLDMIANE R12!,{S16-S31} /* restore VFP hi-registers */ |
majik | 0:964eb6a2ef00 | 326 | MVNNE LR,#~0xFFFFFFED /* set EXC_RETURN value */ |
majik | 0:964eb6a2ef00 | 327 | MVNEQ LR,#~0xFFFFFFFD |
majik | 0:964eb6a2ef00 | 328 | MSR PSP,R12 /* Write PSP */ |
majik | 0:964eb6a2ef00 | 329 | |
majik | 0:964eb6a2ef00 | 330 | Sys_Exit: |
majik | 0:964eb6a2ef00 | 331 | .ifdef IFX_XMC4XXX |
majik | 0:964eb6a2ef00 | 332 | PUSH {LR} |
majik | 0:964eb6a2ef00 | 333 | POP {PC} |
majik | 0:964eb6a2ef00 | 334 | .else |
majik | 0:964eb6a2ef00 | 335 | BX LR /* Return to Thread Mode */ |
majik | 0:964eb6a2ef00 | 336 | .endif |
majik | 0:964eb6a2ef00 | 337 | |
majik | 0:964eb6a2ef00 | 338 | .fnend |
majik | 0:964eb6a2ef00 | 339 | .size PendSV_Handler, .-PendSV_Handler |
majik | 0:964eb6a2ef00 | 340 | |
majik | 0:964eb6a2ef00 | 341 | |
majik | 0:964eb6a2ef00 | 342 | /*-------------------------- SysTick_Handler --------------------------------*/ |
majik | 0:964eb6a2ef00 | 343 | |
majik | 0:964eb6a2ef00 | 344 | # void SysTick_Handler (void); |
majik | 0:964eb6a2ef00 | 345 | |
majik | 0:964eb6a2ef00 | 346 | .thumb_func |
majik | 0:964eb6a2ef00 | 347 | .type SysTick_Handler, %function |
majik | 0:964eb6a2ef00 | 348 | .global SysTick_Handler |
majik | 0:964eb6a2ef00 | 349 | SysTick_Handler: |
majik | 0:964eb6a2ef00 | 350 | .ifdef IFX_XMC4XXX |
majik | 0:964eb6a2ef00 | 351 | .global SysTick_Handler_Veneer |
majik | 0:964eb6a2ef00 | 352 | SysTick_Handler_Veneer: |
majik | 0:964eb6a2ef00 | 353 | .endif |
majik | 0:964eb6a2ef00 | 354 | .fnstart |
majik | 0:964eb6a2ef00 | 355 | .cantunwind |
majik | 0:964eb6a2ef00 | 356 | |
majik | 0:964eb6a2ef00 | 357 | PUSH {R4,LR} /* Save EXC_RETURN */ |
majik | 0:964eb6a2ef00 | 358 | BL rt_systick |
majik | 0:964eb6a2ef00 | 359 | B Sys_Switch |
majik | 0:964eb6a2ef00 | 360 | |
majik | 0:964eb6a2ef00 | 361 | .fnend |
majik | 0:964eb6a2ef00 | 362 | .size SysTick_Handler, .-SysTick_Handler |
majik | 0:964eb6a2ef00 | 363 | |
majik | 0:964eb6a2ef00 | 364 | |
majik | 0:964eb6a2ef00 | 365 | /*-------------------------- OS_Tick_Handler --------------------------------*/ |
majik | 0:964eb6a2ef00 | 366 | |
majik | 0:964eb6a2ef00 | 367 | # void OS_Tick_Handler (void); |
majik | 0:964eb6a2ef00 | 368 | |
majik | 0:964eb6a2ef00 | 369 | .thumb_func |
majik | 0:964eb6a2ef00 | 370 | .type OS_Tick_Handler, %function |
majik | 0:964eb6a2ef00 | 371 | .global OS_Tick_Handler |
majik | 0:964eb6a2ef00 | 372 | OS_Tick_Handler: |
majik | 0:964eb6a2ef00 | 373 | .fnstart |
majik | 0:964eb6a2ef00 | 374 | .cantunwind |
majik | 0:964eb6a2ef00 | 375 | |
majik | 0:964eb6a2ef00 | 376 | PUSH {R4,LR} /* Save EXC_RETURN */ |
majik | 0:964eb6a2ef00 | 377 | BL os_tick_irqack |
majik | 0:964eb6a2ef00 | 378 | BL rt_systick |
majik | 0:964eb6a2ef00 | 379 | B Sys_Switch |
majik | 0:964eb6a2ef00 | 380 | |
majik | 0:964eb6a2ef00 | 381 | .fnend |
majik | 0:964eb6a2ef00 | 382 | .size OS_Tick_Handler, .-OS_Tick_Handler |
majik | 0:964eb6a2ef00 | 383 | |
majik | 0:964eb6a2ef00 | 384 | |
majik | 0:964eb6a2ef00 | 385 | .end |
majik | 0:964eb6a2ef00 | 386 | |
majik | 0:964eb6a2ef00 | 387 | /*---------------------------------------------------------------------------- |
majik | 0:964eb6a2ef00 | 388 | * end of file |
majik | 0:964eb6a2ef00 | 389 | *---------------------------------------------------------------------------*/ |