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/rt_HAL_CA.h@121:3da5f554d8bf, 2016-09-01 (annotated)

Committer:
<>
Date:
Thu Sep 01 15:13:42 2016 +0100
Revision:
121:3da5f554d8bf
Parent:
119:19af2d39a542 
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 92:bc9729798a19 4 * Name: RT_HAL_CA.H
mbed_official 48:e9a2c7cb57a4 5 * Purpose: Hardware Abstraction Layer for Cortex-A definitions
mbed_official 92:bc9729798a19 6 * Rev.: 14th Jan 2014
mbed_official 48:e9a2c7cb57a4 7 *----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 8 *
mbed_official 48:e9a2c7cb57a4 9 * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH
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 /* Definitions */
mbed_official 48:e9a2c7cb57a4 36 #define INIT_CPSR_SYS 0x4000001F
mbed_official 48:e9a2c7cb57a4 37 #define INIT_CPSR_USER 0x40000010
mbed_official 48:e9a2c7cb57a4 38
mbed_official 48:e9a2c7cb57a4 39 #define CPSR_T_BIT 0x20
mbed_official 48:e9a2c7cb57a4 40 #define CPSR_I_BIT 0x80
mbed_official 48:e9a2c7cb57a4 41 #define CPSR_F_BIT 0x40
mbed_official 48:e9a2c7cb57a4 42
mbed_official 48:e9a2c7cb57a4 43 #define MODE_USR 0x10
mbed_official 48:e9a2c7cb57a4 44 #define MODE_FIQ 0x11
mbed_official 48:e9a2c7cb57a4 45 #define MODE_IRQ 0x12
mbed_official 48:e9a2c7cb57a4 46 #define MODE_SVC 0x13
mbed_official 48:e9a2c7cb57a4 47 #define MODE_ABT 0x17
mbed_official 48:e9a2c7cb57a4 48 #define MODE_UND 0x1B
mbed_official 48:e9a2c7cb57a4 49 #define MODE_SYS 0x1F
mbed_official 48:e9a2c7cb57a4 50
mbed_official 48:e9a2c7cb57a4 51 #define MAGIC_WORD 0xE25A2EA5
mbed_official 48:e9a2c7cb57a4 52
mbed_official 48:e9a2c7cb57a4 53 #include "core_ca9.h"
mbed_official 48:e9a2c7cb57a4 54
mbed_official 48:e9a2c7cb57a4 55 #if defined (__CC_ARM) /* ARM Compiler */
mbed_official 48:e9a2c7cb57a4 56
mbed_official 67:63988a2238f7 57 #if ((__TARGET_ARCH_7_M || __TARGET_ARCH_7E_M || __TARGET_ARCH_7_A) && !defined(NO_EXCLUSIVE_ACCESS))
mbed_official 48:e9a2c7cb57a4 58 #define __USE_EXCLUSIVE_ACCESS
mbed_official 48:e9a2c7cb57a4 59 #else
mbed_official 48:e9a2c7cb57a4 60 #undef __USE_EXCLUSIVE_ACCESS
mbed_official 48:e9a2c7cb57a4 61 #endif
mbed_official 48:e9a2c7cb57a4 62
Kojto 119:19af2d39a542 63 /* Supress __ldrex and __strex deprecated warnings - "#3731-D: intrinsic is deprecated" */
Kojto 119:19af2d39a542 64 #ifdef __USE_EXCLUSIVE_ACCESS
Kojto 119:19af2d39a542 65 #pragma diag_suppress 3731
Kojto 119:19af2d39a542 66 #endif
Kojto 119:19af2d39a542 67
mbed_official 48:e9a2c7cb57a4 68 #elif defined (__GNUC__) /* GNU Compiler */
mbed_official 48:e9a2c7cb57a4 69
mbed_official 67:63988a2238f7 70 #undef __USE_EXCLUSIVE_ACCESS
mbed_official 67:63988a2238f7 71
mbed_official 67:63988a2238f7 72 #if defined (__VFP_FP__) && !defined(__SOFTFP__)
mbed_official 67:63988a2238f7 73 #define __TARGET_FPU_VFP 1
mbed_official 67:63988a2238f7 74 #else
mbed_official 67:63988a2238f7 75 #define __TARGET_FPU_VFP 0
mbed_official 67:63988a2238f7 76 #endif
mbed_official 67:63988a2238f7 77
mbed_official 67:63988a2238f7 78 #define __inline inline
mbed_official 67:63988a2238f7 79 #define __weak __attribute__((weak))
mbed_official 48:e9a2c7cb57a4 80
mbed_official 48:e9a2c7cb57a4 81 #elif defined (__ICCARM__) /* IAR Compiler */
mbed_official 48:e9a2c7cb57a4 82
mbed_official 48:e9a2c7cb57a4 83 #endif
mbed_official 48:e9a2c7cb57a4 84
mbed_official 48:e9a2c7cb57a4 85 static U8 priority = 0xff;
mbed_official 48:e9a2c7cb57a4 86
mbed_official 48:e9a2c7cb57a4 87 extern const U32 GICDistributor_BASE;
mbed_official 48:e9a2c7cb57a4 88 extern const U32 GICInterface_BASE;
mbed_official 48:e9a2c7cb57a4 89
mbed_official 48:e9a2c7cb57a4 90 /* GIC registers - Distributor */
mbed_official 48:e9a2c7cb57a4 91 #define GICD_ICDICER0 (*((volatile U32 *)(GICDistributor_BASE + 0x180))) /* - RW - Interrupt Clear-Enable Registers */
mbed_official 48:e9a2c7cb57a4 92 #define GICD_ICDISER0 (*((volatile U32 *)(GICDistributor_BASE + 0x100))) /* - RW - Interrupt Set-Enable Registers */
mbed_official 48:e9a2c7cb57a4 93 #define GICD_ICDIPR0 (*((volatile U32 *)(GICDistributor_BASE + 0x400))) /* - RW - Interrupt Priority Registers */
mbed_official 48:e9a2c7cb57a4 94 #define GICD_ICDSGIR (*((volatile U32 *)(GICDistributor_BASE + 0xf00))) /* - RW - Interrupt Software Interrupt Register */
mbed_official 48:e9a2c7cb57a4 95 #define GICD_ICDICERx(irq) *(volatile U32 *)(&GICD_ICDICER0 + irq/32)
mbed_official 48:e9a2c7cb57a4 96 #define GICD_ICDISERx(irq) *(volatile U32 *)(&GICD_ICDISER0 + irq/32)
mbed_official 48:e9a2c7cb57a4 97
mbed_official 48:e9a2c7cb57a4 98 /* GIC register - CPU Interface */
mbed_official 48:e9a2c7cb57a4 99 #define GICI_ICCPMR (*((volatile U32 *)(GICInterface_BASE + 0x004))) /* - RW - Interrupt Priority Mask Register */
mbed_official 48:e9a2c7cb57a4 100
mbed_official 48:e9a2c7cb57a4 101 #define SGI_PENDSV 0 /* SGI0 */
mbed_official 48:e9a2c7cb57a4 102 #define SGI_PENDSV_BIT ((U32)(1 << (SGI_PENDSV & 0xf)))
mbed_official 48:e9a2c7cb57a4 103
mbed_official 48:e9a2c7cb57a4 104 //Increase priority filter to prevent timer and PendSV interrupts signaling. Guarantees that interrupts will not be forwarded.
mbed_official 103:5a85840ab54e 105 #if defined (__ICCARM__)
mbed_official 103:5a85840ab54e 106 #define OS_LOCK() int irq_dis = __disable_irq_iar();\
mbed_official 103:5a85840ab54e 107 priority = GICI_ICCPMR; \
mbed_official 103:5a85840ab54e 108 GICI_ICCPMR = 0xff; \
mbed_official 103:5a85840ab54e 109 GICI_ICCPMR = GICI_ICCPMR - 1; \
mbed_official 103:5a85840ab54e 110 __DSB();\
mbed_official 103:5a85840ab54e 111 if(!irq_dis) __enable_irq(); \
mbed_official 103:5a85840ab54e 112
mbed_official 103:5a85840ab54e 113 #else
mbed_official 48:e9a2c7cb57a4 114 #define OS_LOCK() int irq_dis = __disable_irq();\
mbed_official 48:e9a2c7cb57a4 115 priority = GICI_ICCPMR; \
mbed_official 48:e9a2c7cb57a4 116 GICI_ICCPMR = 0xff; \
mbed_official 48:e9a2c7cb57a4 117 GICI_ICCPMR = GICI_ICCPMR - 1; \
mbed_official 48:e9a2c7cb57a4 118 __DSB();\
mbed_official 48:e9a2c7cb57a4 119 if(!irq_dis) __enable_irq(); \
mbed_official 48:e9a2c7cb57a4 120
mbed_official 103:5a85840ab54e 121 #endif
mbed_official 103:5a85840ab54e 122
mbed_official 48:e9a2c7cb57a4 123 //Restore priority filter. Re-enable timer and PendSV signaling
mbed_official 48:e9a2c7cb57a4 124 #define OS_UNLOCK() __DSB(); \
mbed_official 48:e9a2c7cb57a4 125 GICI_ICCPMR = priority; \
mbed_official 48:e9a2c7cb57a4 126
mbed_official 48:e9a2c7cb57a4 127 #define OS_PEND_IRQ() GICD_ICDSGIR = 0x0010000 | SGI_PENDSV
mbed_official 48:e9a2c7cb57a4 128 #define OS_PEND(fl,p) if(p) OS_PEND_IRQ();
mbed_official 48:e9a2c7cb57a4 129 #define OS_UNPEND(fl)
mbed_official 48:e9a2c7cb57a4 130
mbed_official 48:e9a2c7cb57a4 131 /* HW initialization needs to be done in os_tick_init (void) -RTX_Conf_CM.c-
mbed_official 48:e9a2c7cb57a4 132 * OS_X_INIT enables the IRQ n in the GIC */
mbed_official 51:318e02f48146 133 #define OS_X_INIT(n) volatile char *reg; \
mbed_official 48:e9a2c7cb57a4 134 reg = (char *)(&GICD_ICDIPR0 + n / 4); \
mbed_official 48:e9a2c7cb57a4 135 reg += n % 4; \
mbed_official 48:e9a2c7cb57a4 136 *reg = (char)0xff; \
mbed_official 48:e9a2c7cb57a4 137 *reg = *reg - 1; \
mbed_official 48:e9a2c7cb57a4 138 GICD_ICDISERx(n) = (U32)(1 << n % 32);
mbed_official 48:e9a2c7cb57a4 139 #define OS_X_LOCK(n) OS_LOCK()
mbed_official 48:e9a2c7cb57a4 140 #define OS_X_UNLOCK(n) OS_UNLOCK()
mbed_official 48:e9a2c7cb57a4 141 #define OS_X_PEND_IRQ() OS_PEND_IRQ()
mbed_official 48:e9a2c7cb57a4 142 #define OS_X_PEND(fl,p) if(p) OS_X_PEND_IRQ();
mbed_official 48:e9a2c7cb57a4 143 #define OS_X_UNPEND(fl)
mbed_official 48:e9a2c7cb57a4 144
mbed_official 48:e9a2c7cb57a4 145
mbed_official 48:e9a2c7cb57a4 146 /* Functions */
mbed_official 48:e9a2c7cb57a4 147 #ifdef __USE_EXCLUSIVE_ACCESS
mbed_official 48:e9a2c7cb57a4 148 #define rt_inc(p) while(__strex((__ldrex(p)+1),p))
mbed_official 48:e9a2c7cb57a4 149 #define rt_dec(p) while(__strex((__ldrex(p)-1),p))
mbed_official 48:e9a2c7cb57a4 150 #else
mbed_official 103:5a85840ab54e 151 #if defined (__ICCARM__)
mbed_official 103:5a85840ab54e 152 #define rt_inc(p) { int irq_dis = __disable_irq_iar();(*p)++;if(!irq_dis) __enable_irq(); }
mbed_official 103:5a85840ab54e 153 #define rt_dec(p) { int irq_dis = __disable_irq_iar();(*p)--;if(!irq_dis) __enable_irq(); }
mbed_official 103:5a85840ab54e 154 #else
mbed_official 48:e9a2c7cb57a4 155 #define rt_inc(p) { int irq_dis = __disable_irq();(*p)++;if(!irq_dis) __enable_irq(); }
mbed_official 48:e9a2c7cb57a4 156 #define rt_dec(p) { int irq_dis = __disable_irq();(*p)--;if(!irq_dis) __enable_irq(); }
mbed_official 103:5a85840ab54e 157 #endif /* __ICCARM__ */
mbed_official 103:5a85840ab54e 158 #endif /* __USE_EXCLUSIVE_ACCESS */
mbed_official 48:e9a2c7cb57a4 159
mbed_official 48:e9a2c7cb57a4 160 __inline static U32 rt_inc_qi (U32 size, U8 *count, U8 *first) {
mbed_official 48:e9a2c7cb57a4 161 U32 cnt,c2;
mbed_official 48:e9a2c7cb57a4 162 #ifdef __USE_EXCLUSIVE_ACCESS
mbed_official 48:e9a2c7cb57a4 163 do {
mbed_official 48:e9a2c7cb57a4 164 if ((cnt = __ldrex(count)) == size) {
mbed_official 48:e9a2c7cb57a4 165 __clrex();
mbed_official 48:e9a2c7cb57a4 166 return (cnt); }
mbed_official 48:e9a2c7cb57a4 167 } while (__strex(cnt+1, count));
mbed_official 48:e9a2c7cb57a4 168 do {
mbed_official 48:e9a2c7cb57a4 169 c2 = (cnt = __ldrex(first)) + 1;
mbed_official 48:e9a2c7cb57a4 170 if (c2 == size) c2 = 0;
mbed_official 48:e9a2c7cb57a4 171 } while (__strex(c2, first));
mbed_official 48:e9a2c7cb57a4 172 #else
mbed_official 48:e9a2c7cb57a4 173 int irq_dis;
mbed_official 103:5a85840ab54e 174 #if defined (__ICCARM__)
mbed_official 103:5a85840ab54e 175 irq_dis = __disable_irq_iar();
mbed_official 103:5a85840ab54e 176 #else
mbed_official 48:e9a2c7cb57a4 177 irq_dis = __disable_irq();
mbed_official 103:5a85840ab54e 178 #endif /* __ICCARM__ */
mbed_official 48:e9a2c7cb57a4 179 if ((cnt = *count) < size) {
mbed_official 48:e9a2c7cb57a4 180 *count = cnt+1;
mbed_official 48:e9a2c7cb57a4 181 c2 = (cnt = *first) + 1;
mbed_official 48:e9a2c7cb57a4 182 if (c2 == size) c2 = 0;
mbed_official 68:d3d0e710b443 183 *first = c2;
mbed_official 48:e9a2c7cb57a4 184 }
mbed_official 48:e9a2c7cb57a4 185 if(!irq_dis) __enable_irq ();
mbed_official 48:e9a2c7cb57a4 186 #endif
mbed_official 48:e9a2c7cb57a4 187 return (cnt);
mbed_official 48:e9a2c7cb57a4 188 }
mbed_official 48:e9a2c7cb57a4 189
mbed_official 48:e9a2c7cb57a4 190 __inline static void rt_systick_init (void) {
mbed_official 48:e9a2c7cb57a4 191 /* Cortex-A doesn't have a Systick. User needs to provide an alternative timer using RTX_Conf_CM configuration */
mbed_official 48:e9a2c7cb57a4 192 /* HW initialization needs to be done in os_tick_init (void) -RTX_Conf_CM.c- */
mbed_official 48:e9a2c7cb57a4 193 }
mbed_official 48:e9a2c7cb57a4 194
mbed_official 92:bc9729798a19 195 __inline static U32 rt_systick_val (void) {
mbed_official 92:bc9729798a19 196 /* Cortex-A doesn't have a Systick. User needs to provide an alternative timer using RTX_Conf_CM configuration */
mbed_official 92:bc9729798a19 197 /* HW initialization needs to be done in os_tick_init (void) -RTX_Conf_CM.c- */
mbed_official 92:bc9729798a19 198 return 0;
mbed_official 92:bc9729798a19 199 }
mbed_official 92:bc9729798a19 200
mbed_official 92:bc9729798a19 201 __inline static U32 rt_systick_ovf (void) {
mbed_official 92:bc9729798a19 202 /* Cortex-A doesn't have a Systick. User needs to provide an alternative timer using RTX_Conf_CM configuration */
mbed_official 92:bc9729798a19 203 /* HW initialization needs to be done in os_tick_init (void) -RTX_Conf_CM.c- */
mbed_official 92:bc9729798a19 204 return 0;
mbed_official 92:bc9729798a19 205 }
mbed_official 92:bc9729798a19 206
mbed_official 48:e9a2c7cb57a4 207 __inline static void rt_svc_init (void) {
mbed_official 48:e9a2c7cb57a4 208 /* Register pendSV - through SGI */
mbed_official 51:318e02f48146 209 volatile char *reg;
mbed_official 48:e9a2c7cb57a4 210
mbed_official 48:e9a2c7cb57a4 211 reg = (char *)(&GICD_ICDIPR0 + SGI_PENDSV/4);
mbed_official 48:e9a2c7cb57a4 212 reg += SGI_PENDSV % 4;
mbed_official 48:e9a2c7cb57a4 213 /* Write 0xff to read priority level */
mbed_official 48:e9a2c7cb57a4 214 *reg = (char)0xff;
mbed_official 48:e9a2c7cb57a4 215 /* Read priority level and set the lowest possible*/
mbed_official 48:e9a2c7cb57a4 216 *reg = *reg - 1;
mbed_official 48:e9a2c7cb57a4 217
mbed_official 48:e9a2c7cb57a4 218 GICD_ICDISERx(SGI_PENDSV) = (U32)SGI_PENDSV_BIT;
mbed_official 48:e9a2c7cb57a4 219 }
mbed_official 48:e9a2c7cb57a4 220
mbed_official 48:e9a2c7cb57a4 221 extern void rt_set_PSP (U32 stack);
mbed_official 48:e9a2c7cb57a4 222 extern U32 rt_get_PSP (void);
mbed_official 48:e9a2c7cb57a4 223 extern void os_set_env (P_TCB p_TCB);
mbed_official 48:e9a2c7cb57a4 224 extern void *_alloc_box (void *box_mem);
mbed_official 48:e9a2c7cb57a4 225 extern int _free_box (void *box_mem, void *box);
mbed_official 48:e9a2c7cb57a4 226
mbed_official 48:e9a2c7cb57a4 227 extern void rt_init_stack (P_TCB p_TCB, FUNCP task_body);
mbed_official 48:e9a2c7cb57a4 228 extern void rt_ret_val (P_TCB p_TCB, U32 v0);
mbed_official 48:e9a2c7cb57a4 229 extern void rt_ret_val2 (P_TCB p_TCB, U32 v0, U32 v1);
mbed_official 48:e9a2c7cb57a4 230
mbed_official 48:e9a2c7cb57a4 231 extern void dbg_init (void);
mbed_official 48:e9a2c7cb57a4 232 extern void dbg_task_notify (P_TCB p_tcb, BOOL create);
mbed_official 48:e9a2c7cb57a4 233 extern void dbg_task_switch (U32 task_id);
mbed_official 48:e9a2c7cb57a4 234
mbed_official 48:e9a2c7cb57a4 235 #define DBG_INIT()
mbed_official 48:e9a2c7cb57a4 236 #define DBG_TASK_NOTIFY(p_tcb,create)
mbed_official 48:e9a2c7cb57a4 237 #define DBG_TASK_SWITCH(task_id)
mbed_official 48:e9a2c7cb57a4 238
mbed_official 48:e9a2c7cb57a4 239 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 240 * end of file
mbed_official 48:e9a2c7cb57a4 241 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 242