Austin Blackstone / Mbed 2 deprecated client-lwip-lightswitch-demo-expanded

mbed client lightswitch demo

Dependencies:   mbed Socket lwip-eth lwip-sys lwip

Fork of mbed-client-classic-example-lwip by Austin Blackstone

mbed-rtos/rtx/TARGET_CORTEX_A/TOOLCHAIN_GCC/HAL_CA9.S@11:cada08fc8a70, 2016-06-09 (annotated)

Committer:
mbedAustin
Date:
Thu Jun 09 17:08:36 2016 +0000
Revision:
11:cada08fc8a70
Commit for public Consumption

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedAustin 11:cada08fc8a70 1 /*----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 2 * RL-ARM - RTX
mbedAustin 11:cada08fc8a70 3 *----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 4 * Name: HAL_CA9.c
mbedAustin 11:cada08fc8a70 5 * Purpose: Hardware Abstraction Layer for Cortex-A9
mbedAustin 11:cada08fc8a70 6 * Rev.: 8 April 2015
mbedAustin 11:cada08fc8a70 7 *----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 8 *
mbedAustin 11:cada08fc8a70 9 * Copyright (c) 2012 - 2015 ARM Limited
mbedAustin 11:cada08fc8a70 10 * All rights reserved.
mbedAustin 11:cada08fc8a70 11 * Redistribution and use in source and binary forms, with or without
mbedAustin 11:cada08fc8a70 12 * modification, are permitted provided that the following conditions are met:
mbedAustin 11:cada08fc8a70 13 * - Redistributions of source code must retain the above copyright
mbedAustin 11:cada08fc8a70 14 * notice, this list of conditions and the following disclaimer.
mbedAustin 11:cada08fc8a70 15 * - Redistributions in binary form must reproduce the above copyright
mbedAustin 11:cada08fc8a70 16 * notice, this list of conditions and the following disclaimer in the
mbedAustin 11:cada08fc8a70 17 * documentation and/or other materials provided with the distribution.
mbedAustin 11:cada08fc8a70 18 * - Neither the name of ARM nor the names of its contributors may be used
mbedAustin 11:cada08fc8a70 19 * to endorse or promote products derived from this software without
mbedAustin 11:cada08fc8a70 20 * specific prior written permission.
mbedAustin 11:cada08fc8a70 21 *
mbedAustin 11:cada08fc8a70 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbedAustin 11:cada08fc8a70 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbedAustin 11:cada08fc8a70 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbedAustin 11:cada08fc8a70 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbedAustin 11:cada08fc8a70 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbedAustin 11:cada08fc8a70 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbedAustin 11:cada08fc8a70 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbedAustin 11:cada08fc8a70 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbedAustin 11:cada08fc8a70 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbedAustin 11:cada08fc8a70 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbedAustin 11:cada08fc8a70 32 * POSSIBILITY OF SUCH DAMAGE.
mbedAustin 11:cada08fc8a70 33 *---------------------------------------------------------------------------*/
mbedAustin 11:cada08fc8a70 34
mbedAustin 11:cada08fc8a70 35 .global rt_set_PSP
mbedAustin 11:cada08fc8a70 36 .global rt_get_PSP
mbedAustin 11:cada08fc8a70 37 .global _alloc_box
mbedAustin 11:cada08fc8a70 38 .global _free_box
mbedAustin 11:cada08fc8a70 39 .global SVC_Handler
mbedAustin 11:cada08fc8a70 40 .global PendSV_Handler
mbedAustin 11:cada08fc8a70 41 .global OS_Tick_Handler
mbedAustin 11:cada08fc8a70 42
mbedAustin 11:cada08fc8a70 43 /* macro defines form rt_HAL_CA.h */
mbedAustin 11:cada08fc8a70 44 .EQU CPSR_T_BIT, 0x20
mbedAustin 11:cada08fc8a70 45 .EQU CPSR_I_BIT, 0x80
mbedAustin 11:cada08fc8a70 46 .EQU CPSR_F_BIT, 0x40
mbedAustin 11:cada08fc8a70 47
mbedAustin 11:cada08fc8a70 48 .EQU MODE_USR, 0x10
mbedAustin 11:cada08fc8a70 49 .EQU MODE_FIQ, 0x11
mbedAustin 11:cada08fc8a70 50 .EQU MODE_IRQ, 0x12
mbedAustin 11:cada08fc8a70 51 .EQU MODE_SVC, 0x13
mbedAustin 11:cada08fc8a70 52 .EQU MODE_ABT, 0x17
mbedAustin 11:cada08fc8a70 53 .EQU MODE_UND, 0x1B
mbedAustin 11:cada08fc8a70 54 .EQU MODE_SYS, 0x1F
mbedAustin 11:cada08fc8a70 55
mbedAustin 11:cada08fc8a70 56 /* macro defines form rt_TypeDef.h */
mbedAustin 11:cada08fc8a70 57 .EQU TCB_TID, 3 /* 'task id' offset */
mbedAustin 11:cada08fc8a70 58 .EQU TCB_STACKF, 37 /* 'stack_frame' offset */
mbedAustin 11:cada08fc8a70 59 .EQU TCB_TSTACK, 44 /* 'tsk_stack' offset for LARGE_STACK */
mbedAustin 11:cada08fc8a70 60
mbedAustin 11:cada08fc8a70 61
mbedAustin 11:cada08fc8a70 62 .extern rt_alloc_box
mbedAustin 11:cada08fc8a70 63 .extern os_tsk
mbedAustin 11:cada08fc8a70 64 .extern GICInterface_BASE
mbedAustin 11:cada08fc8a70 65 .extern rt_pop_req
mbedAustin 11:cada08fc8a70 66 .extern os_tick_irqack
mbedAustin 11:cada08fc8a70 67 .extern rt_systick
mbedAustin 11:cada08fc8a70 68
mbedAustin 11:cada08fc8a70 69 .text
mbedAustin 11:cada08fc8a70 70
mbedAustin 11:cada08fc8a70 71 /*----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 72 * Functions
mbedAustin 11:cada08fc8a70 73 *---------------------------------------------------------------------------*/
mbedAustin 11:cada08fc8a70 74
mbedAustin 11:cada08fc8a70 75 @ For A-class, set USR/SYS stack
mbedAustin 11:cada08fc8a70 76 @ __asm void rt_set_PSP (U32 stack) {
mbedAustin 11:cada08fc8a70 77 rt_set_PSP:
mbedAustin 11:cada08fc8a70 78 .ARM
mbedAustin 11:cada08fc8a70 79
mbedAustin 11:cada08fc8a70 80 MRS R1, CPSR
mbedAustin 11:cada08fc8a70 81 CPS #MODE_SYS @no effect in USR mode
mbedAustin 11:cada08fc8a70 82 ISB
mbedAustin 11:cada08fc8a70 83 MOV SP, R0
mbedAustin 11:cada08fc8a70 84 MSR CPSR_c, R1 @no effect in USR mode
mbedAustin 11:cada08fc8a70 85 ISB
mbedAustin 11:cada08fc8a70 86 BX LR
mbedAustin 11:cada08fc8a70 87
mbedAustin 11:cada08fc8a70 88 @ }
mbedAustin 11:cada08fc8a70 89
mbedAustin 11:cada08fc8a70 90 @ For A-class, get USR/SYS stack
mbedAustin 11:cada08fc8a70 91 @ __asm U32 rt_get_PSP (void) {
mbedAustin 11:cada08fc8a70 92 rt_get_PSP:
mbedAustin 11:cada08fc8a70 93 .ARM
mbedAustin 11:cada08fc8a70 94
mbedAustin 11:cada08fc8a70 95 MRS R1, CPSR
mbedAustin 11:cada08fc8a70 96 CPS #MODE_SYS @no effect in USR mode
mbedAustin 11:cada08fc8a70 97 ISB
mbedAustin 11:cada08fc8a70 98 MOV R0, SP
mbedAustin 11:cada08fc8a70 99 MSR CPSR_c, R1 @no effect in USR mode
mbedAustin 11:cada08fc8a70 100 ISB
mbedAustin 11:cada08fc8a70 101 BX LR
mbedAustin 11:cada08fc8a70 102 @ }
mbedAustin 11:cada08fc8a70 103
mbedAustin 11:cada08fc8a70 104 /*--------------------------- _alloc_box ------------------------------------*/
mbedAustin 11:cada08fc8a70 105 @ __asm void *_alloc_box (void *box_mem) {
mbedAustin 11:cada08fc8a70 106 _alloc_box:
mbedAustin 11:cada08fc8a70 107 /* Function wrapper for Unprivileged/Privileged mode. */
mbedAustin 11:cada08fc8a70 108 .ARM
mbedAustin 11:cada08fc8a70 109
mbedAustin 11:cada08fc8a70 110 LDR R12,=rt_alloc_box
mbedAustin 11:cada08fc8a70 111 MRS R2, CPSR
mbedAustin 11:cada08fc8a70 112 LSLS R2, #28
mbedAustin 11:cada08fc8a70 113 BXNE R12
mbedAustin 11:cada08fc8a70 114 SVC 0
mbedAustin 11:cada08fc8a70 115 BX LR
mbedAustin 11:cada08fc8a70 116 @ }
mbedAustin 11:cada08fc8a70 117
mbedAustin 11:cada08fc8a70 118
mbedAustin 11:cada08fc8a70 119 /*--------------------------- _free_box -------------------------------------*/
mbedAustin 11:cada08fc8a70 120 @ __asm int _free_box (void *box_mem, void *box) {
mbedAustin 11:cada08fc8a70 121 _free_box:
mbedAustin 11:cada08fc8a70 122 /* Function wrapper for Unprivileged/Privileged mode. */
mbedAustin 11:cada08fc8a70 123 .ARM
mbedAustin 11:cada08fc8a70 124
mbedAustin 11:cada08fc8a70 125 LDR R12,=rt_free_box
mbedAustin 11:cada08fc8a70 126 MRS R2, CPSR
mbedAustin 11:cada08fc8a70 127 LSLS R2, #28
mbedAustin 11:cada08fc8a70 128 BXNE R12
mbedAustin 11:cada08fc8a70 129 SVC 0
mbedAustin 11:cada08fc8a70 130 BX LR
mbedAustin 11:cada08fc8a70 131
mbedAustin 11:cada08fc8a70 132 @ }
mbedAustin 11:cada08fc8a70 133
mbedAustin 11:cada08fc8a70 134 /*-------------------------- SVC_Handler -----------------------------------*/
mbedAustin 11:cada08fc8a70 135
mbedAustin 11:cada08fc8a70 136 @ #pragma push
mbedAustin 11:cada08fc8a70 137 @ #pragma arm
mbedAustin 11:cada08fc8a70 138 @ __asm void SVC_Handler (void) {
mbedAustin 11:cada08fc8a70 139 SVC_Handler:
mbedAustin 11:cada08fc8a70 140 .eabi_attribute Tag_ABI_align8_preserved,1
mbedAustin 11:cada08fc8a70 141 .ARM
mbedAustin 11:cada08fc8a70 142
mbedAustin 11:cada08fc8a70 143 .extern rt_tsk_lock
mbedAustin 11:cada08fc8a70 144 .extern rt_tsk_unlock
mbedAustin 11:cada08fc8a70 145 .extern SVC_Count
mbedAustin 11:cada08fc8a70 146 .extern SVC_Table
mbedAustin 11:cada08fc8a70 147 .extern rt_stk_check
mbedAustin 11:cada08fc8a70 148 .extern FPUEnable
mbedAustin 11:cada08fc8a70 149 .extern scheduler_suspended @ flag set by rt_suspend, cleared by rt_resume, read by SVC_Handler
mbedAustin 11:cada08fc8a70 150
mbedAustin 11:cada08fc8a70 151 .EQU Mode_SVC, 0x13
mbedAustin 11:cada08fc8a70 152
mbedAustin 11:cada08fc8a70 153 SRSDB SP!, #Mode_SVC @ Push LR_SVC and SPRS_SVC onto SVC mode stack @ Use SRSDB because SRSFD isn't supported by GCC-ARM.
mbedAustin 11:cada08fc8a70 154 PUSH {R4} @ Push R4 so we can use it as a temp
mbedAustin 11:cada08fc8a70 155
mbedAustin 11:cada08fc8a70 156 MRS R4,SPSR @ Get SPSR
mbedAustin 11:cada08fc8a70 157 TST R4,#CPSR_T_BIT @ Check Thumb Bit
mbedAustin 11:cada08fc8a70 158 LDRNEH R4,[LR,#-2] @ Thumb: Load Halfword
mbedAustin 11:cada08fc8a70 159 BICNE R4,R4,#0xFF00 @ Extract SVC Number
mbedAustin 11:cada08fc8a70 160 LDREQ R4,[LR,#-4] @ ARM: Load Word
mbedAustin 11:cada08fc8a70 161 BICEQ R4,R4,#0xFF000000 @ Extract SVC Number
mbedAustin 11:cada08fc8a70 162
mbedAustin 11:cada08fc8a70 163 /* Lock out systick and re-enable interrupts */
mbedAustin 11:cada08fc8a70 164 PUSH {R0-R3,R12,LR}
mbedAustin 11:cada08fc8a70 165
mbedAustin 11:cada08fc8a70 166 AND R12, SP, #4 @ Ensure stack is 8-byte aligned
mbedAustin 11:cada08fc8a70 167 SUB SP, SP, R12 @ Adjust stack
mbedAustin 11:cada08fc8a70 168 PUSH {R12, LR} @ Store stack adjustment and dummy LR to SVC stack
mbedAustin 11:cada08fc8a70 169
mbedAustin 11:cada08fc8a70 170 BLX rt_tsk_lock
mbedAustin 11:cada08fc8a70 171 CPSIE i
mbedAustin 11:cada08fc8a70 172
mbedAustin 11:cada08fc8a70 173 POP {R12, LR} @ Get stack adjustment & discard dummy LR
mbedAustin 11:cada08fc8a70 174 ADD SP, SP, R12 @ Unadjust stack
mbedAustin 11:cada08fc8a70 175
mbedAustin 11:cada08fc8a70 176 POP {R0-R3,R12,LR}
mbedAustin 11:cada08fc8a70 177
mbedAustin 11:cada08fc8a70 178 CMP R4,#0
mbedAustin 11:cada08fc8a70 179 BNE SVC_User
mbedAustin 11:cada08fc8a70 180
mbedAustin 11:cada08fc8a70 181 MRS R4,SPSR
mbedAustin 11:cada08fc8a70 182 PUSH {R4} @ Push R4 so we can use it as a temp
mbedAustin 11:cada08fc8a70 183 AND R4, SP, #4 @ Ensure stack is 8-byte aligned
mbedAustin 11:cada08fc8a70 184 SUB SP, SP, R4 @ Adjust stack
mbedAustin 11:cada08fc8a70 185 PUSH {R4, LR} @ Store stack adjustment and dummy LR
mbedAustin 11:cada08fc8a70 186 BLX R12
mbedAustin 11:cada08fc8a70 187 POP {R4, LR} @ Get stack adjustment & discard dummy LR
mbedAustin 11:cada08fc8a70 188 ADD SP, SP, R4 @ Unadjust stack
mbedAustin 11:cada08fc8a70 189 POP {R4} @ Restore R4
mbedAustin 11:cada08fc8a70 190 MSR SPSR_cxsf,R4
mbedAustin 11:cada08fc8a70 191
mbedAustin 11:cada08fc8a70 192 /* Here we will be in SVC mode (even if coming in from PendSV_Handler or OS_Tick_Handler) */
mbedAustin 11:cada08fc8a70 193 Sys_Switch:
mbedAustin 11:cada08fc8a70 194 LDR LR,=os_tsk
mbedAustin 11:cada08fc8a70 195 LDM LR,{R4,LR} @ os_tsk.run, os_tsk.new_tsk
mbedAustin 11:cada08fc8a70 196 CMP R4,LR
mbedAustin 11:cada08fc8a70 197 BNE switching
mbedAustin 11:cada08fc8a70 198
mbedAustin 11:cada08fc8a70 199 PUSH {R0-R3,R12,LR}
mbedAustin 11:cada08fc8a70 200
mbedAustin 11:cada08fc8a70 201 AND R12, SP, #4 @ Ensure stack is 8-byte aligned
mbedAustin 11:cada08fc8a70 202 SUB SP, SP, R12 @ Adjust stack
mbedAustin 11:cada08fc8a70 203 PUSH {R12, LR} @ Store stack adjustment and dummy LR to SVC stack
mbedAustin 11:cada08fc8a70 204
mbedAustin 11:cada08fc8a70 205 CPSID i
mbedAustin 11:cada08fc8a70 206 @ Do not unlock scheduler if it has just been suspended by rt_suspend()
mbedAustin 11:cada08fc8a70 207 LDR R1,=scheduler_suspended
mbedAustin 11:cada08fc8a70 208 LDRB R0, [R1]
mbedAustin 11:cada08fc8a70 209 CMP R0, #1
mbedAustin 11:cada08fc8a70 210 BEQ dont_unlock
mbedAustin 11:cada08fc8a70 211 BLX rt_tsk_unlock
mbedAustin 11:cada08fc8a70 212 dont_unlock:
mbedAustin 11:cada08fc8a70 213
mbedAustin 11:cada08fc8a70 214 POP {R12, LR} @ Get stack adjustment & discard dummy LR
mbedAustin 11:cada08fc8a70 215 ADD SP, SP, R12 @ Unadjust stack
mbedAustin 11:cada08fc8a70 216
mbedAustin 11:cada08fc8a70 217 POP {R0-R3,R12,LR}
mbedAustin 11:cada08fc8a70 218 POP {R4}
mbedAustin 11:cada08fc8a70 219 RFEFD SP! @ Return from exception, no task switch
mbedAustin 11:cada08fc8a70 220
mbedAustin 11:cada08fc8a70 221 switching:
mbedAustin 11:cada08fc8a70 222 CLREX
mbedAustin 11:cada08fc8a70 223 CMP R4,#0
mbedAustin 11:cada08fc8a70 224 ADDEQ SP,SP,#12 @ Original R4, LR & SPSR do not need to be popped when we are paging in a different task
mbedAustin 11:cada08fc8a70 225 BEQ SVC_Next @ Runtask deleted?
mbedAustin 11:cada08fc8a70 226
mbedAustin 11:cada08fc8a70 227
mbedAustin 11:cada08fc8a70 228 PUSH {R8-R11} @ R4 and LR already stacked
mbedAustin 11:cada08fc8a70 229 MOV R10,R4 @ Preserve os_tsk.run
mbedAustin 11:cada08fc8a70 230 MOV R11,LR @ Preserve os_tsk.new_tsk
mbedAustin 11:cada08fc8a70 231
mbedAustin 11:cada08fc8a70 232 ADD R8,SP,#16 @ Unstack R4,LR
mbedAustin 11:cada08fc8a70 233 LDMIA R8,{R4,LR}
mbedAustin 11:cada08fc8a70 234
mbedAustin 11:cada08fc8a70 235 SUB SP,SP,#4 @ Make space on the stack for the next instn
mbedAustin 11:cada08fc8a70 236 STMIA SP,{SP}^ @ Put User SP onto stack
mbedAustin 11:cada08fc8a70 237 POP {R8} @ Pop User SP into R8
mbedAustin 11:cada08fc8a70 238
mbedAustin 11:cada08fc8a70 239 MRS R9,SPSR
mbedAustin 11:cada08fc8a70 240 STMDB R8!,{R9} @ User CPSR
mbedAustin 11:cada08fc8a70 241 STMDB R8!,{LR} @ User PC
mbedAustin 11:cada08fc8a70 242 STMDB R8,{LR}^ @ User LR
mbedAustin 11:cada08fc8a70 243 SUB R8,R8,#4 @ No writeback for store of User LR
mbedAustin 11:cada08fc8a70 244 STMDB R8!,{R0-R3,R12} @ User R0-R3,R12
mbedAustin 11:cada08fc8a70 245 MOV R3,R10 @ os_tsk.run
mbedAustin 11:cada08fc8a70 246 MOV LR,R11 @ os_tsk.new_tsk
mbedAustin 11:cada08fc8a70 247 POP {R9-R12}
mbedAustin 11:cada08fc8a70 248 ADD SP,SP,#12 @ Fix up SP for unstack of R4, LR & SPSR
mbedAustin 11:cada08fc8a70 249 STMDB R8!,{R4-R7,R9-R12} @ User R4-R11
mbedAustin 11:cada08fc8a70 250
mbedAustin 11:cada08fc8a70 251 @ If applicable, stack VFP/NEON state
mbedAustin 11:cada08fc8a70 252 MRC p15,0,R1,c1,c0,2 @ VFP/NEON access enabled? (CPACR)
mbedAustin 11:cada08fc8a70 253 AND R2,R1,#0x00F00000
mbedAustin 11:cada08fc8a70 254 CMP R2,#0x00F00000
mbedAustin 11:cada08fc8a70 255 BNE no_outgoing_vfp
mbedAustin 11:cada08fc8a70 256 VMRS R2,FPSCR
mbedAustin 11:cada08fc8a70 257 STMDB R8!,{R2,R4} @ Push FPSCR, maintain 8-byte alignment
mbedAustin 11:cada08fc8a70 258 VSTMDB R8!,{D0-D15}
mbedAustin 11:cada08fc8a70 259 VSTMDB R8!,{D16-D31}
mbedAustin 11:cada08fc8a70 260 LDRB R2,[R3,#TCB_STACKF] @ Record in TCB that NEON/D32 state is stacked
mbedAustin 11:cada08fc8a70 261 ORR R2,#4
mbedAustin 11:cada08fc8a70 262 STRB R2,[R3,#TCB_STACKF]
mbedAustin 11:cada08fc8a70 263
mbedAustin 11:cada08fc8a70 264 no_outgoing_vfp:
mbedAustin 11:cada08fc8a70 265 STR R8,[R3,#TCB_TSTACK]
mbedAustin 11:cada08fc8a70 266 MOV R4,LR
mbedAustin 11:cada08fc8a70 267
mbedAustin 11:cada08fc8a70 268 PUSH {R4} @ Push R4 so we can use it as a temp
mbedAustin 11:cada08fc8a70 269 AND R4, SP, #4 @ Ensure stack is 8-byte aligned
mbedAustin 11:cada08fc8a70 270 SUB SP, SP, R4 @ Adjust stack
mbedAustin 11:cada08fc8a70 271 PUSH {R4, LR} @ Store stack adjustment and dummy LR to SVC stack
mbedAustin 11:cada08fc8a70 272
mbedAustin 11:cada08fc8a70 273 BLX rt_stk_check
mbedAustin 11:cada08fc8a70 274
mbedAustin 11:cada08fc8a70 275 POP {R4, LR} @ Get stack adjustment & discard dummy LR
mbedAustin 11:cada08fc8a70 276 ADD SP, SP, R4 @ Unadjust stack
mbedAustin 11:cada08fc8a70 277 POP {R4} @ Restore R4
mbedAustin 11:cada08fc8a70 278
mbedAustin 11:cada08fc8a70 279 MOV LR,R4
mbedAustin 11:cada08fc8a70 280
mbedAustin 11:cada08fc8a70 281 SVC_Next: @ R4 == os_tsk.run, LR == os_tsk.new_tsk, R0-R3, R5-R12 corruptible
mbedAustin 11:cada08fc8a70 282 LDR R1,=os_tsk @ os_tsk.run = os_tsk.new_tsk
mbedAustin 11:cada08fc8a70 283 STR LR,[R1]
mbedAustin 11:cada08fc8a70 284 LDRB R1,[LR,#TCB_TID] @ os_tsk.run->task_id
mbedAustin 11:cada08fc8a70 285 LSL R1,#8 @ Store PROCID
mbedAustin 11:cada08fc8a70 286 MCR p15,0,R1,c13,c0,1 @ Write CONTEXTIDR
mbedAustin 11:cada08fc8a70 287
mbedAustin 11:cada08fc8a70 288 LDR R0,[LR,#TCB_TSTACK] @ os_tsk.run->tsk_stack
mbedAustin 11:cada08fc8a70 289
mbedAustin 11:cada08fc8a70 290 @ Does incoming task have VFP/NEON state in stack?
mbedAustin 11:cada08fc8a70 291 LDRB R3,[LR,#TCB_STACKF]
mbedAustin 11:cada08fc8a70 292 ANDS R3, R3, #0x6
mbedAustin 11:cada08fc8a70 293 MRC p15,0,R1,c1,c0,2 @ Read CPACR
mbedAustin 11:cada08fc8a70 294 ANDEQ R1,R1,#0xFF0FFFFF @ Disable VFP/NEON access if incoming task does not have stacked VFP/NEON state
mbedAustin 11:cada08fc8a70 295 ORRNE R1,R1,#0x00F00000 @ Enable VFP/NEON access if incoming task does have stacked VFP/NEON state
mbedAustin 11:cada08fc8a70 296 MCR p15,0,R1,c1,c0,2 @ Write CPACR
mbedAustin 11:cada08fc8a70 297 BEQ no_incoming_vfp
mbedAustin 11:cada08fc8a70 298 ISB @ We only need the sync if we enabled, otherwise we will context switch before next VFP/NEON instruction anyway
mbedAustin 11:cada08fc8a70 299 VLDMIA R0!,{D16-D31}
mbedAustin 11:cada08fc8a70 300 VLDMIA R0!,{D0-D15}
mbedAustin 11:cada08fc8a70 301 LDR R2,[R0]
mbedAustin 11:cada08fc8a70 302 VMSR FPSCR,R2
mbedAustin 11:cada08fc8a70 303 ADD R0,R0,#8
mbedAustin 11:cada08fc8a70 304
mbedAustin 11:cada08fc8a70 305 no_incoming_vfp:
mbedAustin 11:cada08fc8a70 306 LDR R1,[R0,#60] @ Restore User CPSR
mbedAustin 11:cada08fc8a70 307 MSR SPSR_cxsf,R1
mbedAustin 11:cada08fc8a70 308 LDMIA R0!,{R4-R11} @ Restore User R4-R11
mbedAustin 11:cada08fc8a70 309 ADD R0,R0,#4 @ Restore User R1-R3,R12
mbedAustin 11:cada08fc8a70 310 LDMIA R0!,{R1-R3,R12}
mbedAustin 11:cada08fc8a70 311 LDMIA R0,{LR}^ @ Restore User LR
mbedAustin 11:cada08fc8a70 312 ADD R0,R0,#4 @ No writeback for load to user LR
mbedAustin 11:cada08fc8a70 313 LDMIA R0!,{LR} @ Restore User PC
mbedAustin 11:cada08fc8a70 314 ADD R0,R0,#4 @ Correct User SP for unstacked user CPSR
mbedAustin 11:cada08fc8a70 315
mbedAustin 11:cada08fc8a70 316 PUSH {R0} @ Push R0 onto stack
mbedAustin 11:cada08fc8a70 317 LDMIA SP,{SP}^ @ Get R0 off stack into User SP
mbedAustin 11:cada08fc8a70 318 ADD SP,SP,#4 @ Put SP back
mbedAustin 11:cada08fc8a70 319
mbedAustin 11:cada08fc8a70 320 LDR R0,[R0,#-32] @ Restore R0
mbedAustin 11:cada08fc8a70 321
mbedAustin 11:cada08fc8a70 322 PUSH {R0-R3,R12,LR}
mbedAustin 11:cada08fc8a70 323
mbedAustin 11:cada08fc8a70 324 AND R12, SP, #4 @ Ensure stack is 8-byte aligned
mbedAustin 11:cada08fc8a70 325 SUB SP, SP, R12 @ Adjust stack
mbedAustin 11:cada08fc8a70 326 PUSH {R12, LR} @ Store stack adjustment and dummy LR to SVC stack
mbedAustin 11:cada08fc8a70 327
mbedAustin 11:cada08fc8a70 328 CPSID i
mbedAustin 11:cada08fc8a70 329 BLX rt_tsk_unlock
mbedAustin 11:cada08fc8a70 330
mbedAustin 11:cada08fc8a70 331 POP {R12, LR} @ Get stack adjustment & discard dummy LR
mbedAustin 11:cada08fc8a70 332 ADD SP, SP, R12 @ Unadjust stack
mbedAustin 11:cada08fc8a70 333
mbedAustin 11:cada08fc8a70 334 POP {R0-R3,R12,LR}
mbedAustin 11:cada08fc8a70 335
mbedAustin 11:cada08fc8a70 336 MOVS PC,LR @ Return from exception
mbedAustin 11:cada08fc8a70 337
mbedAustin 11:cada08fc8a70 338
mbedAustin 11:cada08fc8a70 339 /*------------------- User SVC -------------------------------*/
mbedAustin 11:cada08fc8a70 340
mbedAustin 11:cada08fc8a70 341 SVC_User:
mbedAustin 11:cada08fc8a70 342 LDR R12,=SVC_Count
mbedAustin 11:cada08fc8a70 343 LDR R12,[R12]
mbedAustin 11:cada08fc8a70 344 CMP R4,R12 @ Check for overflow
mbedAustin 11:cada08fc8a70 345 BHI SVC_Done
mbedAustin 11:cada08fc8a70 346
mbedAustin 11:cada08fc8a70 347 LDR R12,=SVC_Table-4
mbedAustin 11:cada08fc8a70 348 LDR R12,[R12,R4,LSL #2] @ Load SVC Function Address
mbedAustin 11:cada08fc8a70 349 MRS R4,SPSR @ Save SPSR
mbedAustin 11:cada08fc8a70 350 PUSH {R4} @ Push R4 so we can use it as a temp
mbedAustin 11:cada08fc8a70 351 AND R4, SP, #4 @ Ensure stack is 8-byte aligned
mbedAustin 11:cada08fc8a70 352 SUB SP, SP, R4 @ Adjust stack
mbedAustin 11:cada08fc8a70 353 PUSH {R4, LR} @ Store stack adjustment and dummy LR
mbedAustin 11:cada08fc8a70 354 BLX R12 @ Call SVC Function
mbedAustin 11:cada08fc8a70 355 POP {R4, LR} @ Get stack adjustment & discard dummy LR
mbedAustin 11:cada08fc8a70 356 ADD SP, SP, R4 @ Unadjust stack
mbedAustin 11:cada08fc8a70 357 POP {R4} @ Restore R4
mbedAustin 11:cada08fc8a70 358 MSR SPSR_cxsf,R4 @ Restore SPSR
mbedAustin 11:cada08fc8a70 359
mbedAustin 11:cada08fc8a70 360 SVC_Done:
mbedAustin 11:cada08fc8a70 361 PUSH {R0-R3,R12,LR}
mbedAustin 11:cada08fc8a70 362
mbedAustin 11:cada08fc8a70 363 PUSH {R4} @ Push R4 so we can use it as a temp
mbedAustin 11:cada08fc8a70 364 AND R4, SP, #4 @ Ensure stack is 8-byte aligned
mbedAustin 11:cada08fc8a70 365 SUB SP, SP, R4 @ Adjust stack
mbedAustin 11:cada08fc8a70 366 PUSH {R4, LR} @ Store stack adjustment and dummy LR
mbedAustin 11:cada08fc8a70 367
mbedAustin 11:cada08fc8a70 368 CPSID i
mbedAustin 11:cada08fc8a70 369 BLX rt_tsk_unlock
mbedAustin 11:cada08fc8a70 370
mbedAustin 11:cada08fc8a70 371 POP {R4, LR} @ Get stack adjustment & discard dummy LR
mbedAustin 11:cada08fc8a70 372 ADD SP, SP, R4 @ Unadjust stack
mbedAustin 11:cada08fc8a70 373 POP {R4} @ Restore R4
mbedAustin 11:cada08fc8a70 374
mbedAustin 11:cada08fc8a70 375 POP {R0-R3,R12,LR}
mbedAustin 11:cada08fc8a70 376 POP {R4}
mbedAustin 11:cada08fc8a70 377 RFEFD SP! @ Return from exception
mbedAustin 11:cada08fc8a70 378 @ }
mbedAustin 11:cada08fc8a70 379 @ #pragma pop
mbedAustin 11:cada08fc8a70 380
mbedAustin 11:cada08fc8a70 381 @ #pragma push
mbedAustin 11:cada08fc8a70 382 @ #pragma arm
mbedAustin 11:cada08fc8a70 383 @ __asm void PendSV_Handler (U32 IRQn) {
mbedAustin 11:cada08fc8a70 384 PendSV_Handler:
mbedAustin 11:cada08fc8a70 385 .ARM
mbedAustin 11:cada08fc8a70 386
mbedAustin 11:cada08fc8a70 387 .extern rt_tsk_lock
mbedAustin 11:cada08fc8a70 388 .extern IRQNestLevel @ Flag indicates whether inside an ISR, and the depth of nesting. 0 = not in ISR.
mbedAustin 11:cada08fc8a70 389 .extern seen_id0_active @ Flag used to workaround GIC 390 errata 733075 - set in startup_Renesas_RZ_A1.s
mbedAustin 11:cada08fc8a70 390
mbedAustin 11:cada08fc8a70 391 ADD SP,SP,#8 @ fix up stack pointer (R0 has been pushed and will never be popped, R1 was pushed for stack alignment)
mbedAustin 11:cada08fc8a70 392
mbedAustin 11:cada08fc8a70 393 @ Disable systick interrupts, then write EOIR. We want interrupts disabled before we enter the context switcher.
mbedAustin 11:cada08fc8a70 394 PUSH {R0, R1}
mbedAustin 11:cada08fc8a70 395 BLX rt_tsk_lock
mbedAustin 11:cada08fc8a70 396 POP {R0, R1}
mbedAustin 11:cada08fc8a70 397 LDR R1, =GICInterface_BASE
mbedAustin 11:cada08fc8a70 398 LDR R1, [R1, #0]
mbedAustin 11:cada08fc8a70 399 STR R0, [R1, #0x10]
mbedAustin 11:cada08fc8a70 400
mbedAustin 11:cada08fc8a70 401 @ If it was interrupt ID0, clear the seen flag, otherwise return as normal
mbedAustin 11:cada08fc8a70 402 CMP R0, #0
mbedAustin 11:cada08fc8a70 403 LDREQ R1, =seen_id0_active
mbedAustin 11:cada08fc8a70 404 STREQB R0, [R1] @ Clear the seen flag, using R0 (which is 0), to save loading another register
mbedAustin 11:cada08fc8a70 405
mbedAustin 11:cada08fc8a70 406 LDR R0, =IRQNestLevel @ Get address of nesting counter
mbedAustin 11:cada08fc8a70 407 LDR R1, [R0]
mbedAustin 11:cada08fc8a70 408 SUB R1, R1, #1 @ Decrement nesting counter
mbedAustin 11:cada08fc8a70 409 STR R1, [R0]
mbedAustin 11:cada08fc8a70 410
mbedAustin 11:cada08fc8a70 411 BLX rt_pop_req
mbedAustin 11:cada08fc8a70 412
mbedAustin 11:cada08fc8a70 413 POP {R1, LR} @ Get stack adjustment & discard dummy LR
mbedAustin 11:cada08fc8a70 414 ADD SP, SP, R1 @ Unadjust stack
mbedAustin 11:cada08fc8a70 415
mbedAustin 11:cada08fc8a70 416 LDR R0,[SP,#24]
mbedAustin 11:cada08fc8a70 417 MSR SPSR_cxsf,R0
mbedAustin 11:cada08fc8a70 418 POP {R0-R3,R12} @ Leave SPSR & LR on the stack
mbedAustin 11:cada08fc8a70 419 PUSH {R4}
mbedAustin 11:cada08fc8a70 420 B Sys_Switch
mbedAustin 11:cada08fc8a70 421 @ }
mbedAustin 11:cada08fc8a70 422 @ #pragma pop
mbedAustin 11:cada08fc8a70 423
mbedAustin 11:cada08fc8a70 424
mbedAustin 11:cada08fc8a70 425 @ #pragma push
mbedAustin 11:cada08fc8a70 426 @ #pragma arm
mbedAustin 11:cada08fc8a70 427 @ __asm void OS_Tick_Handler (U32 IRQn) {
mbedAustin 11:cada08fc8a70 428 OS_Tick_Handler:
mbedAustin 11:cada08fc8a70 429 .ARM
mbedAustin 11:cada08fc8a70 430
mbedAustin 11:cada08fc8a70 431 .extern rt_tsk_lock
mbedAustin 11:cada08fc8a70 432 .extern IRQNestLevel @ Flag indicates whether inside an ISR, and the depth of nesting. 0 = not in ISR.
mbedAustin 11:cada08fc8a70 433 .extern seen_id0_active @ Flag used to workaround GIC 390 errata 733075 - set in startup_Renesas_RZ_A1.s
mbedAustin 11:cada08fc8a70 434
mbedAustin 11:cada08fc8a70 435 ADD SP,SP,#8 @ fix up stack pointer (R0 has been pushed and will never be popped, R1 was pushed for stack alignment)
mbedAustin 11:cada08fc8a70 436
mbedAustin 11:cada08fc8a70 437 PUSH {R0, R1}
mbedAustin 11:cada08fc8a70 438 BLX rt_tsk_lock
mbedAustin 11:cada08fc8a70 439 POP {R0, R1}
mbedAustin 11:cada08fc8a70 440 LDR R1, =GICInterface_BASE
mbedAustin 11:cada08fc8a70 441 LDR R1, [R1, #0]
mbedAustin 11:cada08fc8a70 442 STR R0, [R1, #0x10]
mbedAustin 11:cada08fc8a70 443
mbedAustin 11:cada08fc8a70 444 @ If it was interrupt ID0, clear the seen flag, otherwise return as normal
mbedAustin 11:cada08fc8a70 445 CMP R0, #0
mbedAustin 11:cada08fc8a70 446 LDREQ R1, =seen_id0_active
mbedAustin 11:cada08fc8a70 447 STREQB R0, [R1] @ Clear the seen flag, using R0 (which is 0), to save loading another register
mbedAustin 11:cada08fc8a70 448
mbedAustin 11:cada08fc8a70 449 LDR R0, =IRQNestLevel @ Get address of nesting counter
mbedAustin 11:cada08fc8a70 450 LDR R1, [R0]
mbedAustin 11:cada08fc8a70 451 SUB R1, R1, #1 @ Decrement nesting counter
mbedAustin 11:cada08fc8a70 452 STR R1, [R0]
mbedAustin 11:cada08fc8a70 453
mbedAustin 11:cada08fc8a70 454 BLX os_tick_irqack
mbedAustin 11:cada08fc8a70 455 BLX rt_systick
mbedAustin 11:cada08fc8a70 456
mbedAustin 11:cada08fc8a70 457 POP {R1, LR} @ Get stack adjustment & discard dummy LR
mbedAustin 11:cada08fc8a70 458 ADD SP, SP, R1 @ Unadjust stack
mbedAustin 11:cada08fc8a70 459
mbedAustin 11:cada08fc8a70 460 LDR R0,[SP,#24]
mbedAustin 11:cada08fc8a70 461 MSR SPSR_cxsf,R0
mbedAustin 11:cada08fc8a70 462 POP {R0-R3,R12} @ Leave SPSR & LR on the stack
mbedAustin 11:cada08fc8a70 463 PUSH {R4}
mbedAustin 11:cada08fc8a70 464 B Sys_Switch
mbedAustin 11:cada08fc8a70 465 @ }
mbedAustin 11:cada08fc8a70 466 @ #pragma pop
mbedAustin 11:cada08fc8a70 467
mbedAustin 11:cada08fc8a70 468
mbedAustin 11:cada08fc8a70 469 .END
mbedAustin 11:cada08fc8a70 470 /*----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 471 * end of file
mbedAustin 11:cada08fc8a70 472 *---------------------------------------------------------------------------*/