tmk_core/tool/mbed/mbed-sdk/libraries/rtos/rtx/TARGET_CORTEX_M/TARGET_M0P/TOOLCHAIN_ARM/HAL_CM0.c

   1 /*----------------------------------------------------------------------------
   2  *      RL-ARM - RTX
   3  *----------------------------------------------------------------------------
   4  *      Name:    HAL_CM0.C
   5  *      Purpose: Hardware Abstraction Layer for Cortex-M0
   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_System.h"
  38 #include "rt_HAL_CM.h"
  39 #include "rt_Task.h"
  40 #include "rt_MemBox.h"
  41
  42
  43 /*----------------------------------------------------------------------------
  44  *      Functions
  45  *---------------------------------------------------------------------------*/
  46
  47
  48 /*--------------------------- rt_set_PSP ------------------------------------*/
  49
  50 __asm void rt_set_PSP (U32 stack) {
  51         MSR     PSP,R0
  52         BX      LR
  53 }
  54
  55
  56 /*--------------------------- rt_get_PSP ------------------------------------*/
  57
  58 __asm U32 rt_get_PSP (void) {
  59         MRS     R0,PSP
  60         BX      LR
  61 }
  62
  63
  64 /*--------------------------- os_set_env ------------------------------------*/
  65
  66 __asm void os_set_env (void) {
  67    /* Switch to Unprivileged/Privileged Thread mode, use PSP. */
  68         MOV     R0,SP                   ; PSP = MSP
  69         MSR     PSP,R0
  70         LDR     R0,=__cpp(&os_flags)
  71         LDRB    R0,[R0]
  72         LSLS    R0,#31
  73         BNE     PrivilegedE
  74         MOVS    R0,#0x03                ; Unprivileged Thread mode, use PSP
  75         MSR     CONTROL,R0
  76         BX      LR
  77 PrivilegedE
  78         MOVS    R0,#0x02                ; Privileged Thread mode, use PSP
  79         MSR     CONTROL,R0
  80         BX      LR
  81
  82         ALIGN
  83 }
  84
  85
  86 /*--------------------------- _alloc_box ------------------------------------*/
  87
  88 __asm void *_alloc_box (void *box_mem) {
  89    /* Function wrapper for Unprivileged/Privileged mode. */
  90         LDR     R3,=__cpp(rt_alloc_box)
  91         MOV     R12,R3
  92         MRS     R3,IPSR
  93         LSLS    R3,#24
  94         BNE     PrivilegedA
  95         MRS     R3,CONTROL
  96         LSLS    R3,#31
  97         BEQ     PrivilegedA
  98         SVC     0
  99         BX      LR
 100 PrivilegedA
 101         BX      R12
 102
 103         ALIGN
 104 }
 105
 106
 107 /*--------------------------- _free_box -------------------------------------*/
 108
 109 __asm int _free_box (void *box_mem, void *box) {
 110    /* Function wrapper for Unprivileged/Privileged mode. */
 111         LDR     R3,=__cpp(rt_free_box)
 112         MOV     R12,R3
 113         MRS     R3,IPSR
 114         LSLS    R3,#24
 115         BNE     PrivilegedF
 116         MRS     R3,CONTROL
 117         LSLS    R3,#31
 118         BEQ     PrivilegedF
 119         SVC     0
 120         BX      LR
 121 PrivilegedF
 122         BX      R12
 123
 124         ALIGN
 125 }
 126
 127
 128 /*-------------------------- SVC_Handler ------------------------------------*/
 129
 130 __asm void SVC_Handler (void) {
 131         PRESERVE8
 132
 133         IMPORT  SVC_Count
 134         IMPORT  SVC_Table
 135         IMPORT  rt_stk_check
 136
 137         MRS     R0,PSP                  ; Read PSP
 138         LDR     R1,[R0,#24]             ; Read Saved PC from Stack
 139         SUBS    R1,R1,#2                ; Point to SVC Instruction
 140         LDRB    R1,[R1]                 ; Load SVC Number
 141         CMP     R1,#0
 142         BNE     SVC_User                ; User SVC Number > 0
 143
 144         MOV     LR,R4
 145         LDMIA   R0,{R0-R3,R4}           ; Read R0-R3,R12 from stack
 146         MOV     R12,R4
 147         MOV     R4,LR
 148         BLX     R12                     ; Call SVC Function
 149
 150         MRS     R3,PSP                  ; Read PSP
 151         STMIA   R3!,{R0-R2}             ; Store return values
 152
 153         LDR     R3,=__cpp(&os_tsk)
 154         LDMIA   R3!,{R1,R2}             ; os_tsk.run, os_tsk.new
 155         CMP     R1,R2
 156         BEQ     SVC_Exit                ; no task switch
 157
 158         SUBS    R3,#8
 159         CMP     R1,#0                   ; Runtask deleted?
 160         BEQ     SVC_Next
 161
 162         MRS     R0,PSP                  ; Read PSP
 163         SUBS    R0,R0,#32               ; Adjust Start Address
 164         STR     R0,[R1,#TCB_TSTACK]     ; Update os_tsk.run->tsk_stack
 165         STMIA   R0!,{R4-R7}             ; Save old context (R4-R7)
 166         MOV     R4,R8
 167         MOV     R5,R9
 168         MOV     R6,R10
 169         MOV     R7,R11
 170         STMIA   R0!,{R4-R7}             ; Save old context (R8-R11)
 171
 172         PUSH    {R2,R3}
 173         BL      rt_stk_check            ; Check for Stack overflow
 174         POP     {R2,R3}
 175
 176 SVC_Next
 177         STR     R2,[R3]                 ; os_tsk.run = os_tsk.new
 178
 179         LDR     R0,[R2,#TCB_TSTACK]     ; os_tsk.new->tsk_stack
 180         ADDS    R0,R0,#16               ; Adjust Start Address
 181         LDMIA   R0!,{R4-R7}             ; Restore new Context (R8-R11)
 182         MOV     R8,R4
 183         MOV     R9,R5
 184         MOV     R10,R6
 185         MOV     R11,R7
 186         MSR     PSP,R0                  ; Write PSP
 187         SUBS    R0,R0,#32               ; Adjust Start Address
 188         LDMIA   R0!,{R4-R7}             ; Restore new Context (R4-R7)
 189
 190 SVC_Exit
 191         MOVS    R0,#:NOT:0xFFFFFFFD     ; Set EXC_RETURN value
 192         MVNS    R0,R0
 193         BX      R0                      ; RETI to Thread Mode, use PSP
 194
 195         /*------------------- User SVC ------------------------------*/
 196
 197 SVC_User
 198         PUSH    {R4,LR}                 ; Save Registers
 199         LDR     R2,=SVC_Count
 200         LDR     R2,[R2]
 201         CMP     R1,R2
 202         BHI     SVC_Done                ; Overflow
 203
 204         LDR     R4,=SVC_Table-4
 205         LSLS    R1,R1,#2
 206         LDR     R4,[R4,R1]              ; Load SVC Function Address
 207         MOV     LR,R4
 208
 209         LDMIA   R0,{R0-R3,R4}           ; Read R0-R3,R12 from stack
 210         MOV     R12,R4
 211         BLX     LR                      ; Call SVC Function
 212
 213         MRS     R4,PSP                  ; Read PSP
 214         STMIA   R4!,{R0-R3}             ; Function return values
 215 SVC_Done
 216         POP     {R4,PC}                 ; RETI
 217
 218         ALIGN
 219 }
 220
 221
 222 /*-------------------------- PendSV_Handler ---------------------------------*/
 223
 224 __asm void PendSV_Handler (void) {
 225         PRESERVE8
 226
 227         BL      __cpp(rt_pop_req)
 228
 229 Sys_Switch
 230         LDR     R3,=__cpp(&os_tsk)
 231         LDMIA   R3!,{R1,R2}             ; os_tsk.run, os_tsk.new
 232         CMP     R1,R2
 233         BEQ     Sys_Exit                ; no task switch
 234
 235         SUBS    R3,#8
 236
 237         MRS     R0,PSP                  ; Read PSP
 238         SUBS    R0,R0,#32               ; Adjust Start Address
 239         STR     R0,[R1,#TCB_TSTACK]     ; Update os_tsk.run->tsk_stack
 240         STMIA   R0!,{R4-R7}             ; Save old context (R4-R7)
 241         MOV     R4,R8
 242         MOV     R5,R9
 243         MOV     R6,R10
 244         MOV     R7,R11
 245         STMIA   R0!,{R4-R7}             ; Save old context (R8-R11)
 246
 247         PUSH    {R2,R3}
 248         BL      rt_stk_check            ; Check for Stack overflow
 249         POP     {R2,R3}
 250
 251         STR     R2,[R3]                 ; os_tsk.run = os_tsk.new
 252
 253         LDR     R0,[R2,#TCB_TSTACK]     ; os_tsk.new->tsk_stack
 254         ADDS    R0,R0,#16               ; Adjust Start Address
 255         LDMIA   R0!,{R4-R7}             ; Restore new Context (R8-R11)
 256         MOV     R8,R4
 257         MOV     R9,R5
 258         MOV     R10,R6
 259         MOV     R11,R7
 260         MSR     PSP,R0                  ; Write PSP
 261         SUBS    R0,R0,#32               ; Adjust Start Address
 262         LDMIA   R0!,{R4-R7}             ; Restore new Context (R4-R7)
 263
 264 Sys_Exit
 265         MOVS    R0,#:NOT:0xFFFFFFFD     ; Set EXC_RETURN value
 266         MVNS    R0,R0
 267         BX      R0                      ; RETI to Thread Mode, use PSP
 268
 269         ALIGN
 270 }
 271
 272
 273 /*-------------------------- SysTick_Handler --------------------------------*/
 274
 275 __asm void SysTick_Handler (void) {
 276         PRESERVE8
 277
 278         BL      __cpp(rt_systick)
 279         B       Sys_Switch
 280
 281         ALIGN
 282 }
 283
 284
 285 /*-------------------------- OS_Tick_Handler --------------------------------*/
 286
 287 __asm void OS_Tick_Handler (void) {
 288         PRESERVE8
 289
 290         BL      __cpp(os_tick_irqack)
 291         BL      __cpp(rt_systick)
 292         B       Sys_Switch
 293
 294         ALIGN
 295 }
 296
 297
 298 /*----------------------------------------------------------------------------
 299  * end of file
 300  *---------------------------------------------------------------------------*/
 301