tmk_core/tool/mbed/mbed-sdk/libraries/rtos/rtx/TARGET_CORTEX_M/HAL_CM.c

   1 /*----------------------------------------------------------------------------
   2  *      RL-ARM - RTX
   3  *----------------------------------------------------------------------------
   4  *      Name:    HAL_CM.C
   5  *      Purpose: Hardware Abstraction Layer for Cortex-M
   6  *      Rev.:    V4.60
   7  *----------------------------------------------------------------------------
   8  *
   9  * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
  10  * All rights reserved.
  11  * Redistribution and use in source and binary forms, with or without
  12  * modification, are permitted provided that the following conditions are met:
  13  *  - Redistributions of source code must retain the above copyright
  14  *    notice, this list of conditions and the following disclaimer.
  15  *  - Redistributions in binary form must reproduce the above copyright
  16  *    notice, this list of conditions and the following disclaimer in the
  17  *    documentation and/or other materials provided with the distribution.
  18  *  - Neither the name of ARM  nor the names of its contributors may be used
  19  *    to endorse or promote products derived from this software without
  20  *    specific prior written permission.
  21  *
  22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  23  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  24  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  25  * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
  26  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  27  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  28  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  29  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  30  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  31  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  32  * POSSIBILITY OF SUCH DAMAGE.
  33  *---------------------------------------------------------------------------*/
  34
  35 #include "rt_TypeDef.h"
  36 #include "RTX_Conf.h"
  37 #include "rt_HAL_CM.h"
  38
  39
  40 /*----------------------------------------------------------------------------
  41  *      Global Variables
  42  *---------------------------------------------------------------------------*/
  43
  44 #ifdef DBG_MSG
  45 BIT dbg_msg;
  46 #endif
  47
  48 /*----------------------------------------------------------------------------
  49  *      Functions
  50  *---------------------------------------------------------------------------*/
  51
  52
  53 /*--------------------------- rt_init_stack ---------------------------------*/
  54
  55 void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
  56   /* Prepare TCB and saved context for a first time start of a task. */
  57   U32 *stk,i,size;
  58
  59   /* Prepare a complete interrupt frame for first task start */
  60   size = p_TCB->priv_stack >> 2;
  61
  62   /* Write to the top of stack. */
  63   stk = &p_TCB->stack[size];
  64
  65   /* Auto correct to 8-byte ARM stack alignment. */
  66   if ((U32)stk & 0x04) {
  67     stk--;
  68   }
  69
  70   stk -= 16;
  71
  72   /* Default xPSR and initial PC */
  73   stk[15] = INITIAL_xPSR;
  74   stk[14] = (U32)task_body;
  75
  76   /* Clear R4-R11,R0-R3,R12,LR registers. */
  77   for (i = 0; i < 14; i++) {
  78     stk[i] = 0;
  79   }
  80
  81   /* Assign a void pointer to R0. */
  82   stk[8] = (U32)p_TCB->msg;
  83
  84   /* Initial Task stack pointer. */
  85   p_TCB->tsk_stack = (U32)stk;
  86
  87   /* Task entry point. */
  88   p_TCB->ptask = task_body;
  89
  90   /* Set a magic word for checking of stack overflow.
  91    For the main thread (ID: 0x01) the stack is in a memory area shared with the
  92    heap, therefore the last word of the stack is a moving target.
  93    We want to do stack/heap collision detection instead.
  94   */
  95   if (p_TCB->task_id != 0x01)
  96       p_TCB->stack[0] = MAGIC_WORD;
  97 }
  98
  99
 100 /*--------------------------- rt_ret_val ----------------------------------*/
 101
 102 static __inline U32 *rt_ret_regs (P_TCB p_TCB) {
 103   /* Get pointer to task return value registers (R0..R3) in Stack */
 104 #if (__TARGET_FPU_VFP)
 105   if (p_TCB->stack_frame) {
 106     /* Extended Stack Frame: R4-R11,S16-S31,R0-R3,R12,LR,PC,xPSR,S0-S15,FPSCR */
 107     return (U32 *)(p_TCB->tsk_stack + 8*4 + 16*4);
 108   } else {
 109     /* Basic Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
 110     return (U32 *)(p_TCB->tsk_stack + 8*4);
 111   }
 112 #else
 113   /* Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
 114   return (U32 *)(p_TCB->tsk_stack + 8*4);
 115 #endif
 116 }
 117
 118 void rt_ret_val (P_TCB p_TCB, U32 v0) {
 119   U32 *ret;
 120
 121   ret = rt_ret_regs(p_TCB);
 122   ret[0] = v0;
 123 }
 124
 125 void rt_ret_val2(P_TCB p_TCB, U32 v0, U32 v1) {
 126   U32 *ret;
 127
 128   ret = rt_ret_regs(p_TCB);
 129   ret[0] = v0;
 130   ret[1] = v1;
 131 }
 132
 133
 134 /*--------------------------- dbg_init --------------------------------------*/
 135
 136 #ifdef DBG_MSG
 137 void dbg_init (void) {
 138   if ((DEMCR & DEMCR_TRCENA)     &&
 139       (ITM_CONTROL & ITM_ITMENA) &&
 140       (ITM_ENABLE & (1UL << 31))) {
 141     dbg_msg = __TRUE;
 142   }
 143 }
 144 #endif
 145
 146 /*--------------------------- dbg_task_notify -------------------------------*/
 147
 148 #ifdef DBG_MSG
 149 void dbg_task_notify (P_TCB p_tcb, BOOL create) {
 150   while (ITM_PORT31_U32 == 0);
 151   ITM_PORT31_U32 = (U32)p_tcb->ptask;
 152   while (ITM_PORT31_U32 == 0);
 153   ITM_PORT31_U16 = (create << 8) | p_tcb->task_id;
 154 }
 155 #endif
 156
 157 /*--------------------------- dbg_task_switch -------------------------------*/
 158
 159 #ifdef DBG_MSG
 160 void dbg_task_switch (U32 task_id) {
 161   while (ITM_PORT31_U32 == 0);
 162   ITM_PORT31_U8 = task_id;
 163 }
 164 #endif
 165
 166
 167 /*----------------------------------------------------------------------------
 168  * end of file
 169  *---------------------------------------------------------------------------*/
 170