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/*----------------------------------------------------------------------------
* RL-ARM - RTX
*----------------------------------------------------------------------------
* Name: HAL_CM4.C
* 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.
*---------------------------------------------------------------------------*/
#include "rt_TypeDef.h"
#include "RTX_Conf.h"
#include "rt_System.h"
#include "rt_HAL_CM.h"
#include "rt_Task.h"
#include "rt_MemBox.h"
/*----------------------------------------------------------------------------
* Functions
*---------------------------------------------------------------------------*/
/*--------------------------- rt_set_PSP ------------------------------------*/
__asm void rt_set_PSP (U32 stack) {
MSR PSP,R0
BX LR
}
/*--------------------------- rt_get_PSP ------------------------------------*/
__asm U32 rt_get_PSP (void) {
MRS R0,PSP
BX LR
}
/*--------------------------- os_set_env ------------------------------------*/
__asm void os_set_env (void) {
/* Switch to Unprivileged/Privileged Thread mode, use PSP. */
MOV R0,SP ; PSP = MSP
MSR PSP,R0
LDR R0,=__cpp(&os_flags)
LDRB R0,[R0]
LSLS R0,#31
MOVNE R0,#0x02 ; Privileged Thread mode, use PSP
MOVEQ R0,#0x03 ; Unprivileged Thread mode, use PSP
MSR CONTROL,R0
BX LR
ALIGN
}
/*--------------------------- _alloc_box ------------------------------------*/
__asm void *_alloc_box (void *box_mem) {
/* Function wrapper for Unprivileged/Privileged mode. */
LDR R12,=__cpp(rt_alloc_box)
MRS R3,IPSR
LSLS R3,#24
BXNE R12
MRS R3,CONTROL
LSLS R3,#31
BXEQ R12
SVC 0
BX LR
ALIGN
}
/*--------------------------- _free_box -------------------------------------*/
__asm int _free_box (void *box_mem, void *box) {
/* Function wrapper for Unprivileged/Privileged mode. */
LDR R12,=__cpp(rt_free_box)
MRS R3,IPSR
LSLS R3,#24
BXNE R12
MRS R3,CONTROL
LSLS R3,#31
BXEQ R12
SVC 0
BX LR
ALIGN
}
/*-------------------------- SVC_Handler ------------------------------------*/
__asm void SVC_Handler (void) {
PRESERVE8
IMPORT SVC_Count
IMPORT SVC_Table
IMPORT rt_stk_check
#ifdef IFX_XMC4XXX
EXPORT 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,=__cpp(&os_tsk)
LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
CMP R1,R2
#ifdef IFX_XMC4XXX
PUSHEQ {LR}
POPEQ {PC}
#else
BXEQ LR ; RETI, no task switch
#endif
CBZ R1,SVC_Next ; Runtask deleted?
TST LR,#0x10 ; is it extended frame?
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
VLDMIANE R12!,{S16-S31} ; restore VFP hi-registers
MVNNE LR,#:NOT:0xFFFFFFED ; set EXC_RETURN value
MVNEQ LR,#:NOT: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
ALIGN
}
/*-------------------------- PendSV_Handler ---------------------------------*/
__asm void PendSV_Handler (void) {
PRESERVE8
#ifdef IFX_XMC4XXX
EXPORT PendSV_Handler_Veneer
PendSV_Handler_Veneer
#endif
PUSH {R4,LR} ; Save EXC_RETURN
BL __cpp(rt_pop_req)
Sys_Switch
POP {R4,LR} ; Restore EXC_RETURN
LDR R3,=__cpp(&os_tsk)
LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
CMP R1,R2
#ifdef IFX_XMC4XXX
PUSHEQ {LR}
POPEQ {PC}
#else
BXEQ LR ; RETI, no task switch
#endif
MRS R12,PSP ; Read PSP
TST LR,#0x10 ; is it extended frame?
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
VLDMIANE R12!,{S16-S31} ; restore VFP hi-regs
MVNNE LR,#:NOT:0xFFFFFFED ; set EXC_RETURN value
MVNEQ LR,#:NOT:0xFFFFFFFD
MSR PSP,R12 ; Write PSP
Sys_Exit
#ifdef IFX_XMC4XXX
PUSH {LR}
POP {PC}
#else
BX LR ; Return to Thread Mode
#endif
ALIGN
}
/*-------------------------- SysTick_Handler --------------------------------*/
__asm void SysTick_Handler (void) {
PRESERVE8
#ifdef IFX_XMC4XXX
EXPORT SysTick_Handler_Veneer
SysTick_Handler_Veneer
#endif
PUSH {R4,LR} ; Save EXC_RETURN
BL __cpp(rt_systick)
B Sys_Switch
ALIGN
}
/*-------------------------- OS_Tick_Handler --------------------------------*/
__asm void OS_Tick_Handler (void) {
PRESERVE8
PUSH {R4,LR} ; Save EXC_RETURN
BL __cpp(os_tick_irqack)
BL __cpp(rt_systick)
B Sys_Switch
ALIGN
}
/*----------------------------------------------------------------------------
* end of file
*---------------------------------------------------------------------------*/
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