1 /*----------------------------------------------------------------------------
3 *----------------------------------------------------------------------------
5 * Purpose: Hardware Abstraction Layer for Cortex-M4
7 *----------------------------------------------------------------------------
9 * Copyright (c) 1999-2009 KEIL, 2009-2013 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.
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 *---------------------------------------------------------------------------*/
35 #include "rt_TypeDef.h"
37 #include "rt_System.h"
38 #include "rt_HAL_CM.h"
40 #include "rt_MemBox.h"
43 /*----------------------------------------------------------------------------
45 *---------------------------------------------------------------------------*/
48 /*--------------------------- rt_set_PSP ------------------------------------*/
50 __asm
void rt_set_PSP (U32 stack
) {
56 /*--------------------------- rt_get_PSP ------------------------------------*/
58 __asm U32
rt_get_PSP (void) {
64 /*--------------------------- os_set_env ------------------------------------*/
66 __asm
void os_set_env (void) {
67 /* Switch to Unprivileged/Privileged Thread mode, use PSP. */
70 LDR R0
,=__cpp(&os_flags
)
73 MOVNE R0
,#0x02 ; Privileged Thread mode, use PSP
74 MOVEQ R0
,#0x03 ; Unprivileged Thread mode, use PSP
82 /*--------------------------- _alloc_box ------------------------------------*/
84 __asm
void *_alloc_box (void *box_mem
) {
85 /* Function wrapper for Unprivileged/Privileged mode. */
86 LDR R12
,=__cpp(rt_alloc_box
)
100 /*--------------------------- _free_box -------------------------------------*/
102 __asm
int _free_box (void *box_mem
, void *box
) {
103 /* Function wrapper for Unprivileged/Privileged mode. */
104 LDR R12
,=__cpp(rt_free_box
)
118 /*-------------------------- SVC_Handler ------------------------------------*/
120 __asm
void SVC_Handler (void) {
128 EXPORT SVC_Handler_Veneer
132 MRS R0
,PSP
; Read PSP
133 LDR R1
,[R0
,#24] ; Read Saved PC from Stack
134 LDRB R1
,[R1
,#-2] ; Load SVC Number
137 LDM R0
,{R0
-R3
,R12
} ; Read R0
-R3
,R12 from stack
138 PUSH
{R4
,LR
} ; Save EXC_RETURN
139 BLX R12
; Call SVC Function
140 POP
{R4
,LR
} ; Restore EXC_RETURN
142 MRS R12
,PSP
; Read PSP
143 STM R12
,{R0
-R2
} ; Store
return values
145 LDR R3
,=__cpp(&os_tsk
)
146 LDM R3
,{R1
,R2
} ; os_tsk
.run
, os_tsk
.new
152 BXEQ LR
; RETI
, no task
switch
155 CBZ R1
,SVC_Next
; Runtask deleted
?
156 TST LR
,#0x10 ; is it extended frame?
157 VSTMDBEQ R12
!,{S16
-S31
} ; yes
, stack also VFP hi
-regs
158 MOVEQ R0
,#0x01 ; os_tsk->stack_frame val
160 STRB R0
,[R1
,#TCB_STACKF] ; os_tsk.run->stack_frame = val
161 STMDB R12
!,{R4
-R11
} ; Save Old context
162 STR R12
,[R1
,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
165 BL rt_stk_check
; Check
for Stack overflow
169 STR R2
,[R3
] ; os_tsk
.run
= os_tsk
.new
171 LDR R12
,[R2
,#TCB_TSTACK] ; os_tsk.new->tsk_stack
172 LDMIA R12
!,{R4
-R11
} ; Restore New Context
173 LDRB R0
,[R2
,#TCB_STACKF] ; Stack Frame
174 CMP R0
,#0 ; Basic/Extended Stack Frame
175 VLDMIANE R12
!,{S16
-S31
} ; restore VFP hi
-registers
176 MVNNE LR
,#:NOT:0xFFFFFFED ; set EXC_RETURN value
177 MVNEQ LR
,#:NOT:0xFFFFFFFD
178 MSR PSP
,R12
; Write PSP
188 /*------------------- User SVC ------------------------------*/
191 PUSH
{R4
,LR
} ; Save Registers
195 BHI SVC_Done
; Overflow
198 LDR R4
,[R4
,R1
,LSL
#2] ; Load SVC Function Address
200 LDM R0
,{R0
-R3
,R12
} ; Read R0
-R3
,R12 from stack
201 BLX R4
; Call SVC Function
204 STM R12
,{R0
-R3
} ; Function
return values
212 /*-------------------------- PendSV_Handler ---------------------------------*/
214 __asm
void PendSV_Handler (void) {
218 EXPORT PendSV_Handler_Veneer
219 PendSV_Handler_Veneer
222 PUSH
{R4
,LR
} ; Save EXC_RETURN
226 POP
{R4
,LR
} ; Restore EXC_RETURN
228 LDR R3
,=__cpp(&os_tsk
)
229 LDM R3
,{R1
,R2
} ; os_tsk
.run
, os_tsk
.new
235 BXEQ LR
; RETI
, no task
switch
238 MRS R12
,PSP
; Read PSP
239 TST LR
,#0x10 ; is it extended frame?
240 VSTMDBEQ R12
!,{S16
-S31
} ; yes
, stack also VFP hi
-regs
241 MOVEQ R0
,#0x01 ; os_tsk->stack_frame val
243 STRB R0
,[R1
,#TCB_STACKF] ; os_tsk.run->stack_frame = val
244 STMDB R12
!,{R4
-R11
} ; Save Old context
245 STR R12
,[R1
,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
248 BL rt_stk_check
; Check
for Stack overflow
251 STR R2
,[R3
] ; os_tsk
.run
= os_tsk
.new
253 LDR R12
,[R2
,#TCB_TSTACK] ; os_tsk.new->tsk_stack
254 LDMIA R12
!,{R4
-R11
} ; Restore New Context
255 LDRB R0
,[R2
,#TCB_STACKF] ; Stack Frame
256 CMP R0
,#0 ; Basic/Extended Stack Frame
257 VLDMIANE R12
!,{S16
-S31
} ; restore VFP hi
-regs
258 MVNNE LR
,#:NOT:0xFFFFFFED ; set EXC_RETURN value
259 MVNEQ LR
,#:NOT:0xFFFFFFFD
260 MSR PSP
,R12
; Write PSP
267 BX LR
; Return to Thread Mode
274 /*-------------------------- SysTick_Handler --------------------------------*/
276 __asm
void SysTick_Handler (void) {
280 EXPORT SysTick_Handler_Veneer
281 SysTick_Handler_Veneer
284 PUSH
{R4
,LR
} ; Save EXC_RETURN
292 /*-------------------------- OS_Tick_Handler --------------------------------*/
294 __asm
void OS_Tick_Handler (void) {
297 PUSH
{R4
,LR
} ; Save EXC_RETURN
298 BL
__cpp(os_tick_irqack
)
306 /*----------------------------------------------------------------------------
308 *---------------------------------------------------------------------------*/