/*---------------------------------------------------------------------------- * CMSIS-RTOS - RTX *---------------------------------------------------------------------------- * Name: HAL_CM4.S * Purpose: Hardware Abstraction Layer for Cortex-M4 * Rev.: V4.70 *---------------------------------------------------------------------------- * * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH * All rights reserved. * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * - Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * - Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * - Neither the name of ARM nor the names of its contributors may be used * to endorse or promote products derived from this software without * specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. *---------------------------------------------------------------------------*/ NAME HAL_CM4.S #define TCB_STACKF 32 #define TCB_TSTACK 40 EXTERN os_flags EXTERN os_tsk EXTERN rt_alloc_box EXTERN rt_free_box EXTERN rt_stk_check EXTERN rt_pop_req EXTERN rt_systick EXTERN os_tick_irqack EXTERN SVC_Table EXTERN SVC_Count /*---------------------------------------------------------------------------- * Functions *---------------------------------------------------------------------------*/ SECTION .text:CODE:NOROOT(2) THUMB /*--------------------------- rt_set_PSP ------------------------------------*/ ; void rt_set_PSP (U32 stack); PUBLIC rt_set_PSP rt_set_PSP: MSR PSP,R0 BX LR /*--------------------------- rt_get_PSP ------------------------------------*/ ; U32 rt_get_PSP (void); PUBLIC rt_get_PSP rt_get_PSP: MRS R0,PSP BX LR /*--------------------------- os_set_env ------------------------------------*/ ; void os_set_env (void); /* Switch to Unprivileged/Privileged Thread mode, use PSP. */ PUBLIC os_set_env os_set_env: MOV R0,SP /* PSP = MSP */ MSR PSP,R0 LDR R0,=os_flags LDRB R0,[R0] LSLS R0,#31 ITE NE MOVNE R0,#0x02 /* Privileged Thread mode, use PSP */ MOVEQ R0,#0x03 /* Unprivileged Thread mode, use PSP */ MSR CONTROL,R0 BX LR /*--------------------------- _alloc_box ------------------------------------*/ ; void *_alloc_box (void *box_mem); /* Function wrapper for Unprivileged/Privileged mode. */ PUBLIC _alloc_box _alloc_box: LDR R12,=rt_alloc_box MRS R3,IPSR LSLS R3,#24 IT NE BXNE R12 MRS R3,CONTROL LSLS R3,#31 IT EQ BXEQ R12 SVC 0 BX LR /*--------------------------- _free_box -------------------------------------*/ ; int _free_box (void *box_mem, void *box); /* Function wrapper for Unprivileged/Privileged mode. */ PUBLIC _free_box _free_box: LDR R12,=rt_free_box MRS R3,IPSR LSLS R3,#24 IT NE BXNE R12 MRS R3,CONTROL LSLS R3,#31 IT EQ BXEQ R12 SVC 0 BX LR /*-------------------------- SVC_Handler ------------------------------------*/ ; void SVC_Handler (void); PUBLIC SVC_Handler SVC_Handler: #ifdef IFX_XMC4XXX PUBLIC SVC_Handler_Veneer SVC_Handler_Veneer: #endif MRS R0,PSP /* Read PSP */ LDR R1,[R0,#24] /* Read Saved PC from Stack */ LDRB R1,[R1,#-2] /* Load SVC Number */ CBNZ R1,SVC_User LDM R0,{R0-R3,R12} /* Read R0-R3,R12 from stack */ PUSH {R4,LR} /* Save EXC_RETURN */ BLX R12 /* Call SVC Function */ POP {R4,LR} /* Restore EXC_RETURN */ MRS R12,PSP /* Read PSP */ STM R12,{R0-R2} /* Store return values */ LDR R3,=os_tsk LDM R3,{R1,R2} /* os_tsk.run, os_tsk.new */ CMP R1,R2 #ifdef IFX_XMC4XXX ITT EQ PUSHEQ {LR} POPEQ {PC} #else IT EQ BXEQ LR /* RETI, no task switch */ #endif CBZ R1,SVC_Next /* Runtask deleted? */ TST LR,#0x10 /* is it extended frame? */ ITTE EQ VSTMDBEQ R12!,{S16-S31} /* yes, stack also VFP hi-regs */ MOVEQ R0,#0x01 /* os_tsk->stack_frame val */ MOVNE R0,#0x00 STRB R0,[R1,#TCB_STACKF] /* os_tsk.run->stack_frame = val */ STMDB R12!,{R4-R11} /* Save Old context */ STR R12,[R1,#TCB_TSTACK] /* Update os_tsk.run->tsk_stack */ PUSH {R2,R3} BL rt_stk_check /* Check for Stack overflow */ POP {R2,R3} SVC_Next: STR R2,[R3] /* os_tsk.run = os_tsk.new */ LDR R12,[R2,#TCB_TSTACK] /* os_tsk.new->tsk_stack */ LDMIA R12!,{R4-R11} /* Restore New Context */ LDRB R0,[R2,#TCB_STACKF] /* Stack Frame */ CMP R0,#0 /* Basic/Extended Stack Frame */ ITTE NE VLDMIANE R12!,{S16-S31} /* restore VFP hi-registers */ MVNNE LR,#~0xFFFFFFED /* set EXC_RETURN value */ MVNEQ LR,#~0xFFFFFFFD MSR PSP,R12 /* Write PSP */ SVC_Exit: #ifdef IFX_XMC4XXX PUSH {LR} POP {PC} #else BX LR #endif /*------------------- User SVC ------------------------------*/ SVC_User: PUSH {R4,LR} /* Save Registers */ LDR R2,=SVC_Count LDR R2,[R2] CMP R1,R2 BHI SVC_Done /* Overflow */ LDR R4,=SVC_Table-4 LDR R4,[R4,R1,LSL #2] /* Load SVC Function Address */ LDM R0,{R0-R3,R12} /* Read R0-R3,R12 from stack */ BLX R4 /* Call SVC Function */ MRS R12,PSP STM R12,{R0-R3} /* Function return values */ SVC_Done: POP {R4,PC} /* RETI */ /*-------------------------- PendSV_Handler ---------------------------------*/ ; void PendSV_Handler (void); PUBLIC PendSV_Handler PendSV_Handler: #ifdef IFX_XMC4XXX PUBLIC PendSV_Handler_Veneer PendSV_Handler_Veneer: #endif PUSH {R4,LR} /* Save EXC_RETURN */ BL rt_pop_req Sys_Switch: POP {R4,LR} /* Restore EXC_RETURN */ LDR R3,=os_tsk LDM R3,{R1,R2} /* os_tsk.run, os_tsk.new */ CMP R1,R2 #ifdef IFX_XMC4XXX ITT EQ PUSHEQ {LR} POPEQ {PC} #else IT EQ BXEQ LR /* RETI, no task switch */ #endif MRS R12,PSP /* Read PSP */ TST LR,#0x10 /* is it extended frame? */ ITTE EQ VSTMDBEQ R12!,{S16-S31} /* yes, stack also VFP hi-regs */ MOVEQ R0,#0x01 /* os_tsk->stack_frame val */ MOVNE R0,#0x00 STRB R0,[R1,#TCB_STACKF] /* os_tsk.run->stack_frame = val */ STMDB R12!,{R4-R11} /* Save Old context */ STR R12,[R1,#TCB_TSTACK] /* Update os_tsk.run->tsk_stack */ PUSH {R2,R3} BL rt_stk_check /* Check for Stack overflow */ POP {R2,R3} STR R2,[R3] /* os_tsk.run = os_tsk.new */ LDR R12,[R2,#TCB_TSTACK] /* os_tsk.new->tsk_stack */ LDMIA R12!,{R4-R11} /* Restore New Context */ LDRB R0,[R2,#TCB_STACKF] /* Stack Frame */ CMP R0,#0 /* Basic/Extended Stack Frame */ ITTE NE VLDMIANE R12!,{S16-S31} /* restore VFP hi-registers */ MVNNE LR,#~0xFFFFFFED /* set EXC_RETURN value */ MVNEQ LR,#~0xFFFFFFFD MSR PSP,R12 /* Write PSP */ Sys_Exit: #ifdef IFX_XMC4XXX PUSH {LR} POP {PC} #else BX LR /* Return to Thread Mode */ #endif /*-------------------------- SysTick_Handler --------------------------------*/ ; void SysTick_Handler (void); PUBLIC SysTick_Handler SysTick_Handler: #ifdef IFX_XMC4XXX PUBLIC SysTick_Handler_Veneer SysTick_Handler_Veneer: #endif PUSH {R4,LR} /* Save EXC_RETURN */ BL rt_systick B Sys_Switch /*-------------------------- OS_Tick_Handler --------------------------------*/ ; void OS_Tick_Handler (void); PUBLIC OS_Tick_Handler OS_Tick_Handler: PUSH {R4,LR} /* Save EXC_RETURN */ BL os_tick_irqack BL rt_systick B Sys_Switch END /*---------------------------------------------------------------------------- * end of file *---------------------------------------------------------------------------*/