mbed official / mbed-rtos

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

Dependents:   denki-yohou_b TestY201 Network-RTOS NTPClient_HelloWorld ... more

Deprecated

This is the mbed 2 rtos library. mbed OS 5 integrates the mbed library with mbed-rtos. With this, we have provided thread safety for all mbed APIs. If you'd like to learn about using mbed OS 5, please see the docs.

rtx/TARGET_CORTEX_A/HAL_CA.c@121:3da5f554d8bf, 2016-09-01 (annotated)

Committer:
<>
Date:
Thu Sep 01 15:13:42 2016 +0100
Revision:
121:3da5f554d8bf
Parent:
92:bc9729798a19 
RTOS rev121



Compatible with the mbed library v125



Changes:

- K64F: Revert to hardcoded stack pointer in RTX.

- Adding NCS36510 support.

- Add MAX32620 target support.

- Fix implicit declaration of function 'atexit'.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 48:e9a2c7cb57a4 1 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 2 * RL-ARM - RTX
mbed_official 48:e9a2c7cb57a4 3 *----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 4 * Name: HAL_CA.C
mbed_official 48:e9a2c7cb57a4 5 * Purpose: Hardware Abstraction Layer for Cortex-A
mbed_official 48:e9a2c7cb57a4 6 * Rev.:
mbed_official 48:e9a2c7cb57a4 7 *----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 8 *
mbed_official 48:e9a2c7cb57a4 9 * Copyright (c) 2012 ARM Limited
mbed_official 48:e9a2c7cb57a4 10 * All rights reserved.
mbed_official 48:e9a2c7cb57a4 11 * Redistribution and use in source and binary forms, with or without
mbed_official 48:e9a2c7cb57a4 12 * modification, are permitted provided that the following conditions are met:
mbed_official 48:e9a2c7cb57a4 13 * - Redistributions of source code must retain the above copyright
mbed_official 48:e9a2c7cb57a4 14 * notice, this list of conditions and the following disclaimer.
mbed_official 48:e9a2c7cb57a4 15 * - Redistributions in binary form must reproduce the above copyright
mbed_official 48:e9a2c7cb57a4 16 * notice, this list of conditions and the following disclaimer in the
mbed_official 48:e9a2c7cb57a4 17 * documentation and/or other materials provided with the distribution.
mbed_official 68:d3d0e710b443 18 * - Neither the name of ARM nor the names of its contributors may be used
mbed_official 68:d3d0e710b443 19 * to endorse or promote products derived from this software without
mbed_official 48:e9a2c7cb57a4 20 * specific prior written permission.
mbed_official 48:e9a2c7cb57a4 21 *
mbed_official 68:d3d0e710b443 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official 68:d3d0e710b443 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official 48:e9a2c7cb57a4 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbed_official 48:e9a2c7cb57a4 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbed_official 48:e9a2c7cb57a4 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbed_official 68:d3d0e710b443 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbed_official 68:d3d0e710b443 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbed_official 68:d3d0e710b443 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbed_official 68:d3d0e710b443 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbed_official 48:e9a2c7cb57a4 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official 48:e9a2c7cb57a4 32 * POSSIBILITY OF SUCH DAMAGE.
mbed_official 48:e9a2c7cb57a4 33 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 34
mbed_official 48:e9a2c7cb57a4 35 #include "rt_TypeDef.h"
mbed_official 48:e9a2c7cb57a4 36 #include "RTX_Config.h"
mbed_official 48:e9a2c7cb57a4 37 #include "rt_HAL_CA.h"
mbed_official 48:e9a2c7cb57a4 38
mbed_official 48:e9a2c7cb57a4 39 /*--------------------------- os_init_context -------------------------------*/
mbed_official 48:e9a2c7cb57a4 40
mbed_official 48:e9a2c7cb57a4 41 void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
mbed_official 48:e9a2c7cb57a4 42 /* Prepare TCB and saved context for a first time start of a task. */
mbed_official 48:e9a2c7cb57a4 43 U32 *stk,i,size;
mbed_official 48:e9a2c7cb57a4 44
mbed_official 48:e9a2c7cb57a4 45 /* Prepare a complete interrupt frame for first task start */
mbed_official 48:e9a2c7cb57a4 46 size = p_TCB->priv_stack >> 2;
mbed_official 48:e9a2c7cb57a4 47 if (size == 0) {
mbed_official 48:e9a2c7cb57a4 48 size = (U16)os_stackinfo >> 2;
mbed_official 48:e9a2c7cb57a4 49 }
mbed_official 48:e9a2c7cb57a4 50 /* Write to the top of stack. */
mbed_official 48:e9a2c7cb57a4 51 stk = &p_TCB->stack[size];
mbed_official 48:e9a2c7cb57a4 52
mbed_official 48:e9a2c7cb57a4 53 /* Auto correct to 8-byte ARM stack alignment. */
mbed_official 48:e9a2c7cb57a4 54 if ((U32)stk & 0x04) {
mbed_official 48:e9a2c7cb57a4 55 stk--;
mbed_official 48:e9a2c7cb57a4 56 }
mbed_official 48:e9a2c7cb57a4 57
mbed_official 48:e9a2c7cb57a4 58 stk -= 16;
mbed_official 48:e9a2c7cb57a4 59
mbed_official 48:e9a2c7cb57a4 60 /* Initial PC and default CPSR */
mbed_official 48:e9a2c7cb57a4 61 stk[14] = (U32)task_body;
mbed_official 48:e9a2c7cb57a4 62 /* Task run mode is inherited from the startup file. */
mbed_official 48:e9a2c7cb57a4 63 /* (non-privileged USER or privileged SYSTEM mode) */
mbed_official 48:e9a2c7cb57a4 64 stk[15] = (os_flags & 1) ? INIT_CPSR_SYS : INIT_CPSR_USER;
mbed_official 48:e9a2c7cb57a4 65 /* Set T-bit if task function in Thumb mode. */
mbed_official 48:e9a2c7cb57a4 66 if ((U32)task_body & 1) {
mbed_official 48:e9a2c7cb57a4 67 stk[15] |= CPSR_T_BIT;
mbed_official 48:e9a2c7cb57a4 68 }
mbed_official 48:e9a2c7cb57a4 69 /* Assign a void pointer to R0. */
mbed_official 48:e9a2c7cb57a4 70 stk[8] = (U32)p_TCB->msg;
mbed_official 48:e9a2c7cb57a4 71 /* Clear R1-R12,LR registers. */
mbed_official 48:e9a2c7cb57a4 72 for (i = 0; i < 8; i++) {
mbed_official 48:e9a2c7cb57a4 73 stk[i] = 0;
mbed_official 48:e9a2c7cb57a4 74 }
mbed_official 48:e9a2c7cb57a4 75 for (i = 9; i < 14; i++) {
mbed_official 48:e9a2c7cb57a4 76 stk[i] = 0;
mbed_official 48:e9a2c7cb57a4 77 }
mbed_official 48:e9a2c7cb57a4 78
mbed_official 48:e9a2c7cb57a4 79 /* Initial Task stack pointer. */
mbed_official 48:e9a2c7cb57a4 80 p_TCB->tsk_stack = (U32)stk;
mbed_official 48:e9a2c7cb57a4 81
mbed_official 48:e9a2c7cb57a4 82 /* Task entry point. */
mbed_official 48:e9a2c7cb57a4 83 p_TCB->ptask = task_body;
mbed_official 48:e9a2c7cb57a4 84
mbed_official 48:e9a2c7cb57a4 85 /* Set a magic word for checking of stack overflow. */
mbed_official 48:e9a2c7cb57a4 86 p_TCB->stack[0] = MAGIC_WORD;
mbed_official 48:e9a2c7cb57a4 87 }
mbed_official 48:e9a2c7cb57a4 88
mbed_official 48:e9a2c7cb57a4 89
mbed_official 48:e9a2c7cb57a4 90 /*--------------------------- rt_ret_val ----------------------------------*/
mbed_official 48:e9a2c7cb57a4 91
mbed_official 48:e9a2c7cb57a4 92 static __inline U32 *rt_ret_regs (P_TCB p_TCB) {
mbed_official 48:e9a2c7cb57a4 93 /* Get pointer to task return value registers (R0..R3) in Stack */
mbed_official 92:bc9729798a19 94 if (p_TCB->stack_frame & 0x4) {
mbed_official 92:bc9729798a19 95 /* NEON/D32 Stack Frame: D0-31,FPSCR,Reserved,R4-R11,R0-R3,R12,LR,PC,xPSR */
mbed_official 92:bc9729798a19 96 return (U32 *)(p_TCB->tsk_stack + 8*4 + 2*4 + 32*8);
mbed_official 92:bc9729798a19 97 } else if (p_TCB->stack_frame & 0x2) {
mbed_official 92:bc9729798a19 98 /* VFP/D16 Stack Frame: D0-D15/S0-31,FPSCR,Reserved,R4-R11,R0-R3,R12,LR,PC,xPSR */
mbed_official 92:bc9729798a19 99 return (U32 *)(p_TCB->tsk_stack + 8*4 + 2*4 + 32*4);
mbed_official 48:e9a2c7cb57a4 100 } else {
mbed_official 48:e9a2c7cb57a4 101 /* Basic Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
mbed_official 48:e9a2c7cb57a4 102 return (U32 *)(p_TCB->tsk_stack + 8*4);
mbed_official 48:e9a2c7cb57a4 103 }
mbed_official 48:e9a2c7cb57a4 104 }
mbed_official 48:e9a2c7cb57a4 105
mbed_official 48:e9a2c7cb57a4 106 void rt_ret_val (P_TCB p_TCB, U32 v0) {
mbed_official 48:e9a2c7cb57a4 107 U32 *ret;
mbed_official 48:e9a2c7cb57a4 108
mbed_official 48:e9a2c7cb57a4 109 ret = rt_ret_regs(p_TCB);
mbed_official 48:e9a2c7cb57a4 110 ret[0] = v0;
mbed_official 48:e9a2c7cb57a4 111 }
mbed_official 48:e9a2c7cb57a4 112
mbed_official 48:e9a2c7cb57a4 113 void rt_ret_val2(P_TCB p_TCB, U32 v0, U32 v1) {
mbed_official 48:e9a2c7cb57a4 114 U32 *ret;
mbed_official 48:e9a2c7cb57a4 115
mbed_official 48:e9a2c7cb57a4 116 ret = rt_ret_regs(p_TCB);
mbed_official 48:e9a2c7cb57a4 117 ret[0] = v0;
mbed_official 48:e9a2c7cb57a4 118 ret[1] = v1;
mbed_official 48:e9a2c7cb57a4 119 }
mbed_official 48:e9a2c7cb57a4 120
mbed_official 48:e9a2c7cb57a4 121
mbed_official 48:e9a2c7cb57a4 122 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 123 * end of file
mbed_official 48:e9a2c7cb57a4 124 *---------------------------------------------------------------------------*/