sabme ua / mbed-rtos

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

Dependents:   DISCO-F746NG_rtos_test ecte433

Fork of mbed-rtos by mbed official

rtx/TARGET_CORTEX_M/TARGET_M7/TOOLCHAIN_ARM/HAL_CM3.c@96:8ac966e2cd3f, 2015-11-11 (annotated)

Committer:
mzta
Date:
Wed Nov 11 07:21:20 2015 +0000
Revision:
96:8ac966e2cd3f
Support Cortex-M7 target.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mzta 96:8ac966e2cd3f 1 /*----------------------------------------------------------------------------
mzta 96:8ac966e2cd3f 2 * RL-ARM - RTX
mzta 96:8ac966e2cd3f 3 *----------------------------------------------------------------------------
mzta 96:8ac966e2cd3f 4 * Name: HAL_CM3.C
mzta 96:8ac966e2cd3f 5 * Purpose: Hardware Abstraction Layer for Cortex-M3
mzta 96:8ac966e2cd3f 6 * Rev.: V4.60
mzta 96:8ac966e2cd3f 7 *----------------------------------------------------------------------------
mzta 96:8ac966e2cd3f 8 *
mzta 96:8ac966e2cd3f 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
mzta 96:8ac966e2cd3f 10 * All rights reserved.
mzta 96:8ac966e2cd3f 11 * Redistribution and use in source and binary forms, with or without
mzta 96:8ac966e2cd3f 12 * modification, are permitted provided that the following conditions are met:
mzta 96:8ac966e2cd3f 13 * - Redistributions of source code must retain the above copyright
mzta 96:8ac966e2cd3f 14 * notice, this list of conditions and the following disclaimer.
mzta 96:8ac966e2cd3f 15 * - Redistributions in binary form must reproduce the above copyright
mzta 96:8ac966e2cd3f 16 * notice, this list of conditions and the following disclaimer in the
mzta 96:8ac966e2cd3f 17 * documentation and/or other materials provided with the distribution.
mzta 96:8ac966e2cd3f 18 * - Neither the name of ARM nor the names of its contributors may be used
mzta 96:8ac966e2cd3f 19 * to endorse or promote products derived from this software without
mzta 96:8ac966e2cd3f 20 * specific prior written permission.
mzta 96:8ac966e2cd3f 21 *
mzta 96:8ac966e2cd3f 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mzta 96:8ac966e2cd3f 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mzta 96:8ac966e2cd3f 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mzta 96:8ac966e2cd3f 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mzta 96:8ac966e2cd3f 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mzta 96:8ac966e2cd3f 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mzta 96:8ac966e2cd3f 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mzta 96:8ac966e2cd3f 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mzta 96:8ac966e2cd3f 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mzta 96:8ac966e2cd3f 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mzta 96:8ac966e2cd3f 32 * POSSIBILITY OF SUCH DAMAGE.
mzta 96:8ac966e2cd3f 33 *---------------------------------------------------------------------------*/
mzta 96:8ac966e2cd3f 34
mzta 96:8ac966e2cd3f 35 #include "rt_TypeDef.h"
mzta 96:8ac966e2cd3f 36 #include "RTX_Conf.h"
mzta 96:8ac966e2cd3f 37 #include "rt_System.h"
mzta 96:8ac966e2cd3f 38 #include "rt_HAL_CM.h"
mzta 96:8ac966e2cd3f 39 #include "rt_Task.h"
mzta 96:8ac966e2cd3f 40 #include "rt_MemBox.h"
mzta 96:8ac966e2cd3f 41
mzta 96:8ac966e2cd3f 42
mzta 96:8ac966e2cd3f 43 /*----------------------------------------------------------------------------
mzta 96:8ac966e2cd3f 44 * Functions
mzta 96:8ac966e2cd3f 45 *---------------------------------------------------------------------------*/
mzta 96:8ac966e2cd3f 46
mzta 96:8ac966e2cd3f 47
mzta 96:8ac966e2cd3f 48 /*--------------------------- rt_set_PSP ------------------------------------*/
mzta 96:8ac966e2cd3f 49
mzta 96:8ac966e2cd3f 50 __asm void rt_set_PSP (U32 stack) {
mzta 96:8ac966e2cd3f 51 MSR PSP,R0
mzta 96:8ac966e2cd3f 52 BX LR
mzta 96:8ac966e2cd3f 53 }
mzta 96:8ac966e2cd3f 54
mzta 96:8ac966e2cd3f 55
mzta 96:8ac966e2cd3f 56 /*--------------------------- rt_get_PSP ------------------------------------*/
mzta 96:8ac966e2cd3f 57
mzta 96:8ac966e2cd3f 58 __asm U32 rt_get_PSP (void) {
mzta 96:8ac966e2cd3f 59 MRS R0,PSP
mzta 96:8ac966e2cd3f 60 BX LR
mzta 96:8ac966e2cd3f 61 }
mzta 96:8ac966e2cd3f 62
mzta 96:8ac966e2cd3f 63
mzta 96:8ac966e2cd3f 64 /*--------------------------- os_set_env ------------------------------------*/
mzta 96:8ac966e2cd3f 65
mzta 96:8ac966e2cd3f 66 __asm void os_set_env (void) {
mzta 96:8ac966e2cd3f 67 /* Switch to Unprivileged/Privileged Thread mode, use PSP. */
mzta 96:8ac966e2cd3f 68 MOV R0,SP ; PSP = MSP
mzta 96:8ac966e2cd3f 69 MSR PSP,R0
mzta 96:8ac966e2cd3f 70 LDR R0,=__cpp(&os_flags)
mzta 96:8ac966e2cd3f 71 LDRB R0,[R0]
mzta 96:8ac966e2cd3f 72 LSLS R0,#31
mzta 96:8ac966e2cd3f 73 MOVNE R0,#0x02 ; Privileged Thread mode, use PSP
mzta 96:8ac966e2cd3f 74 MOVEQ R0,#0x03 ; Unprivileged Thread mode, use PSP
mzta 96:8ac966e2cd3f 75 MSR CONTROL,R0
mzta 96:8ac966e2cd3f 76 BX LR
mzta 96:8ac966e2cd3f 77
mzta 96:8ac966e2cd3f 78 ALIGN
mzta 96:8ac966e2cd3f 79 }
mzta 96:8ac966e2cd3f 80
mzta 96:8ac966e2cd3f 81
mzta 96:8ac966e2cd3f 82 /*--------------------------- _alloc_box ------------------------------------*/
mzta 96:8ac966e2cd3f 83
mzta 96:8ac966e2cd3f 84 __asm void *_alloc_box (void *box_mem) {
mzta 96:8ac966e2cd3f 85 /* Function wrapper for Unprivileged/Privileged mode. */
mzta 96:8ac966e2cd3f 86 LDR R12,=__cpp(rt_alloc_box)
mzta 96:8ac966e2cd3f 87 MRS R3,IPSR
mzta 96:8ac966e2cd3f 88 LSLS R3,#24
mzta 96:8ac966e2cd3f 89 BXNE R12
mzta 96:8ac966e2cd3f 90 MRS R3,CONTROL
mzta 96:8ac966e2cd3f 91 LSLS R3,#31
mzta 96:8ac966e2cd3f 92 BXEQ R12
mzta 96:8ac966e2cd3f 93 SVC 0
mzta 96:8ac966e2cd3f 94 BX LR
mzta 96:8ac966e2cd3f 95
mzta 96:8ac966e2cd3f 96 ALIGN
mzta 96:8ac966e2cd3f 97 }
mzta 96:8ac966e2cd3f 98
mzta 96:8ac966e2cd3f 99
mzta 96:8ac966e2cd3f 100 /*--------------------------- _free_box -------------------------------------*/
mzta 96:8ac966e2cd3f 101
mzta 96:8ac966e2cd3f 102 __asm int _free_box (void *box_mem, void *box) {
mzta 96:8ac966e2cd3f 103 /* Function wrapper for Unprivileged/Privileged mode. */
mzta 96:8ac966e2cd3f 104 LDR R12,=__cpp(rt_free_box)
mzta 96:8ac966e2cd3f 105 MRS R3,IPSR
mzta 96:8ac966e2cd3f 106 LSLS R3,#24
mzta 96:8ac966e2cd3f 107 BXNE R12
mzta 96:8ac966e2cd3f 108 MRS R3,CONTROL
mzta 96:8ac966e2cd3f 109 LSLS R3,#31
mzta 96:8ac966e2cd3f 110 BXEQ R12
mzta 96:8ac966e2cd3f 111 SVC 0
mzta 96:8ac966e2cd3f 112 BX LR
mzta 96:8ac966e2cd3f 113
mzta 96:8ac966e2cd3f 114 ALIGN
mzta 96:8ac966e2cd3f 115 }
mzta 96:8ac966e2cd3f 116
mzta 96:8ac966e2cd3f 117
mzta 96:8ac966e2cd3f 118 /*-------------------------- SVC_Handler ------------------------------------*/
mzta 96:8ac966e2cd3f 119
mzta 96:8ac966e2cd3f 120 __asm void SVC_Handler (void) {
mzta 96:8ac966e2cd3f 121 PRESERVE8
mzta 96:8ac966e2cd3f 122
mzta 96:8ac966e2cd3f 123 IMPORT SVC_Count
mzta 96:8ac966e2cd3f 124 IMPORT SVC_Table
mzta 96:8ac966e2cd3f 125 IMPORT rt_stk_check
mzta 96:8ac966e2cd3f 126
mzta 96:8ac966e2cd3f 127 MRS R0,PSP ; Read PSP
mzta 96:8ac966e2cd3f 128 LDR R1,[R0,#24] ; Read Saved PC from Stack
mzta 96:8ac966e2cd3f 129 LDRB R1,[R1,#-2] ; Load SVC Number
mzta 96:8ac966e2cd3f 130 CBNZ R1,SVC_User
mzta 96:8ac966e2cd3f 131
mzta 96:8ac966e2cd3f 132 LDM R0,{R0-R3,R12} ; Read R0-R3,R12 from stack
mzta 96:8ac966e2cd3f 133 BLX R12 ; Call SVC Function
mzta 96:8ac966e2cd3f 134
mzta 96:8ac966e2cd3f 135 MRS R12,PSP ; Read PSP
mzta 96:8ac966e2cd3f 136 STM R12,{R0-R2} ; Store return values
mzta 96:8ac966e2cd3f 137
mzta 96:8ac966e2cd3f 138 LDR R3,=__cpp(&os_tsk)
mzta 96:8ac966e2cd3f 139 LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
mzta 96:8ac966e2cd3f 140 CMP R1,R2
mzta 96:8ac966e2cd3f 141 BEQ SVC_Exit ; no task switch
mzta 96:8ac966e2cd3f 142
mzta 96:8ac966e2cd3f 143 CBZ R1,SVC_Next ; Runtask deleted?
mzta 96:8ac966e2cd3f 144 STMDB R12!,{R4-R11} ; Save Old context
mzta 96:8ac966e2cd3f 145 STR R12,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
mzta 96:8ac966e2cd3f 146
mzta 96:8ac966e2cd3f 147 PUSH {R2,R3}
mzta 96:8ac966e2cd3f 148 BL rt_stk_check ; Check for Stack overflow
mzta 96:8ac966e2cd3f 149 POP {R2,R3}
mzta 96:8ac966e2cd3f 150
mzta 96:8ac966e2cd3f 151 SVC_Next
mzta 96:8ac966e2cd3f 152 STR R2,[R3] ; os_tsk.run = os_tsk.new
mzta 96:8ac966e2cd3f 153
mzta 96:8ac966e2cd3f 154 LDR R12,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
mzta 96:8ac966e2cd3f 155 LDMIA R12!,{R4-R11} ; Restore New Context
mzta 96:8ac966e2cd3f 156 MSR PSP,R12 ; Write PSP
mzta 96:8ac966e2cd3f 157
mzta 96:8ac966e2cd3f 158 SVC_Exit
mzta 96:8ac966e2cd3f 159 MVN LR,#:NOT:0xFFFFFFFD ; set EXC_RETURN value
mzta 96:8ac966e2cd3f 160 BX LR
mzta 96:8ac966e2cd3f 161
mzta 96:8ac966e2cd3f 162 /*------------------- User SVC ------------------------------*/
mzta 96:8ac966e2cd3f 163
mzta 96:8ac966e2cd3f 164 SVC_User
mzta 96:8ac966e2cd3f 165 PUSH {R4,LR} ; Save Registers
mzta 96:8ac966e2cd3f 166 LDR R2,=SVC_Count
mzta 96:8ac966e2cd3f 167 LDR R2,[R2]
mzta 96:8ac966e2cd3f 168 CMP R1,R2
mzta 96:8ac966e2cd3f 169 BHI SVC_Done ; Overflow
mzta 96:8ac966e2cd3f 170
mzta 96:8ac966e2cd3f 171 LDR R4,=SVC_Table-4
mzta 96:8ac966e2cd3f 172 LDR R4,[R4,R1,LSL #2] ; Load SVC Function Address
mzta 96:8ac966e2cd3f 173
mzta 96:8ac966e2cd3f 174 LDM R0,{R0-R3,R12} ; Read R0-R3,R12 from stack
mzta 96:8ac966e2cd3f 175 BLX R4 ; Call SVC Function
mzta 96:8ac966e2cd3f 176
mzta 96:8ac966e2cd3f 177 MRS R12,PSP
mzta 96:8ac966e2cd3f 178 STM R12,{R0-R3} ; Function return values
mzta 96:8ac966e2cd3f 179 SVC_Done
mzta 96:8ac966e2cd3f 180 POP {R4,PC} ; RETI
mzta 96:8ac966e2cd3f 181
mzta 96:8ac966e2cd3f 182 ALIGN
mzta 96:8ac966e2cd3f 183 }
mzta 96:8ac966e2cd3f 184
mzta 96:8ac966e2cd3f 185
mzta 96:8ac966e2cd3f 186 /*-------------------------- PendSV_Handler ---------------------------------*/
mzta 96:8ac966e2cd3f 187
mzta 96:8ac966e2cd3f 188 __asm void PendSV_Handler (void) {
mzta 96:8ac966e2cd3f 189 PRESERVE8
mzta 96:8ac966e2cd3f 190
mzta 96:8ac966e2cd3f 191 BL __cpp(rt_pop_req)
mzta 96:8ac966e2cd3f 192
mzta 96:8ac966e2cd3f 193 Sys_Switch
mzta 96:8ac966e2cd3f 194 LDR R3,=__cpp(&os_tsk)
mzta 96:8ac966e2cd3f 195 LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
mzta 96:8ac966e2cd3f 196 CMP R1,R2
mzta 96:8ac966e2cd3f 197 BEQ Sys_Exit
mzta 96:8ac966e2cd3f 198
mzta 96:8ac966e2cd3f 199 MRS R12,PSP ; Read PSP
mzta 96:8ac966e2cd3f 200 STMDB R12!,{R4-R11} ; Save Old context
mzta 96:8ac966e2cd3f 201 STR R12,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
mzta 96:8ac966e2cd3f 202
mzta 96:8ac966e2cd3f 203 PUSH {R2,R3}
mzta 96:8ac966e2cd3f 204 BL rt_stk_check ; Check for Stack overflow
mzta 96:8ac966e2cd3f 205 POP {R2,R3}
mzta 96:8ac966e2cd3f 206
mzta 96:8ac966e2cd3f 207 STR R2,[R3] ; os_tsk.run = os_tsk.new
mzta 96:8ac966e2cd3f 208
mzta 96:8ac966e2cd3f 209 LDR R12,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
mzta 96:8ac966e2cd3f 210 LDMIA R12!,{R4-R11} ; Restore New Context
mzta 96:8ac966e2cd3f 211 MSR PSP,R12 ; Write PSP
mzta 96:8ac966e2cd3f 212
mzta 96:8ac966e2cd3f 213 Sys_Exit
mzta 96:8ac966e2cd3f 214 MVN LR,#:NOT:0xFFFFFFFD ; set EXC_RETURN value
mzta 96:8ac966e2cd3f 215 BX LR ; Return to Thread Mode
mzta 96:8ac966e2cd3f 216
mzta 96:8ac966e2cd3f 217 ALIGN
mzta 96:8ac966e2cd3f 218 }
mzta 96:8ac966e2cd3f 219
mzta 96:8ac966e2cd3f 220
mzta 96:8ac966e2cd3f 221 /*-------------------------- SysTick_Handler --------------------------------*/
mzta 96:8ac966e2cd3f 222
mzta 96:8ac966e2cd3f 223 __asm void SysTick_Handler (void) {
mzta 96:8ac966e2cd3f 224 PRESERVE8
mzta 96:8ac966e2cd3f 225
mzta 96:8ac966e2cd3f 226 BL __cpp(rt_systick)
mzta 96:8ac966e2cd3f 227 B Sys_Switch
mzta 96:8ac966e2cd3f 228
mzta 96:8ac966e2cd3f 229 ALIGN
mzta 96:8ac966e2cd3f 230 }
mzta 96:8ac966e2cd3f 231
mzta 96:8ac966e2cd3f 232
mzta 96:8ac966e2cd3f 233 /*-------------------------- OS_Tick_Handler --------------------------------*/
mzta 96:8ac966e2cd3f 234
mzta 96:8ac966e2cd3f 235 __asm void OS_Tick_Handler (void) {
mzta 96:8ac966e2cd3f 236 PRESERVE8
mzta 96:8ac966e2cd3f 237
mzta 96:8ac966e2cd3f 238 BL __cpp(os_tick_irqack)
mzta 96:8ac966e2cd3f 239 BL __cpp(rt_systick)
mzta 96:8ac966e2cd3f 240 B Sys_Switch
mzta 96:8ac966e2cd3f 241
mzta 96:8ac966e2cd3f 242 ALIGN
mzta 96:8ac966e2cd3f 243 }
mzta 96:8ac966e2cd3f 244
mzta 96:8ac966e2cd3f 245
mzta 96:8ac966e2cd3f 246 /*----------------------------------------------------------------------------
mzta 96:8ac966e2cd3f 247 * end of file
mzta 96:8ac966e2cd3f 248 *---------------------------------------------------------------------------*/
mzta 96:8ac966e2cd3f 249