/*---------------------------------------------------------------------------- * CMSIS-RTOS - RTX *---------------------------------------------------------------------------- * Name: HAL_CM0.C * Purpose: Hardware Abstraction Layer for Cortex-M0 * 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_Config.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 BNE PrivilegedE MOVS R0,#0x03 ; Unprivileged Thread mode, use PSP MSR CONTROL,R0 BX LR PrivilegedE MOVS R0,#0x02 ; Privileged 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 R3,=__cpp(rt_alloc_box) MOV R12,R3 MRS R3,IPSR LSLS R3,#24 BNE PrivilegedA MRS R3,CONTROL LSLS R3,#31 BEQ PrivilegedA SVC 0 BX LR PrivilegedA BX R12 ALIGN } /*--------------------------- _free_box -------------------------------------*/ __asm U32 _free_box (void *box_mem, void *box) { /* Function wrapper for Unprivileged/Privileged mode. */ LDR R3,=__cpp(rt_free_box) MOV R12,R3 MRS R3,IPSR LSLS R3,#24 BNE PrivilegedF MRS R3,CONTROL LSLS R3,#31 BEQ PrivilegedF SVC 0 BX LR PrivilegedF BX R12 ALIGN } /*-------------------------- SVC_Handler ------------------------------------*/ __asm void SVC_Handler (void) { PRESERVE8 IMPORT SVC_Count IMPORT SVC_Table IMPORT rt_stk_check MRS R0,PSP ; Read PSP LDR R1,[R0,#24] ; Read Saved PC from Stack SUBS R1,R1,#2 ; Point to SVC Instruction LDRB R1,[R1] ; Load SVC Number CMP R1,#0 BNE SVC_User ; User SVC Number > 0 MOV LR,R4 LDMIA R0,{R0-R3,R4} ; Read R0-R3,R12 from stack MOV R12,R4 MOV R4,LR BLX R12 ; Call SVC Function MRS R3,PSP ; Read PSP STMIA R3!,{R0-R2} ; Store return values LDR R3,=__cpp(&os_tsk) LDMIA R3!,{R1,R2} ; os_tsk.run, os_tsk.next CMP R1,R2 BEQ SVC_Exit ; no task switch SUBS R3,#8 CMP R1,#0 ; Runtask deleted? BEQ SVC_Next MRS R0,PSP ; Read PSP SUBS R0,R0,#32 ; Adjust Start Address STR R0,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack STMIA R0!,{R4-R7} ; Save old context (R4-R7) MOV R4,R8 MOV R5,R9 MOV R6,R10 MOV R7,R11 STMIA R0!,{R4-R7} ; Save old context (R8-R11) PUSH {R2,R3} BL rt_stk_check ; Check for Stack overflow POP {R2,R3} SVC_Next STR R2,[R3] ; os_tsk.run = os_tsk.next LDR R0,[R2,#TCB_TSTACK] ; os_tsk.next->tsk_stack ADDS R0,R0,#16 ; Adjust Start Address LDMIA R0!,{R4-R7} ; Restore new Context (R8-R11) MOV R8,R4 MOV R9,R5 MOV R10,R6 MOV R11,R7 MSR PSP,R0 ; Write PSP SUBS R0,R0,#32 ; Adjust Start Address LDMIA R0!,{R4-R7} ; Restore new Context (R4-R7) SVC_Exit MOVS R0,#:NOT:0xFFFFFFFD ; Set EXC_RETURN value MVNS R0,R0 BX R0 ; RETI to Thread Mode, use PSP /*------------------- 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 LSLS R1,R1,#2 LDR R4,[R4,R1] ; Load SVC Function Address MOV LR,R4 LDMIA R0,{R0-R3,R4} ; Read R0-R3,R12 from stack MOV R12,R4 BLX LR ; Call SVC Function MRS R4,PSP ; Read PSP STMIA R4!,{R0-R3} ; Function return values SVC_Done POP {R4,PC} ; RETI ALIGN } /*-------------------------- PendSV_Handler ---------------------------------*/ __asm void PendSV_Handler (void) { PRESERVE8 BL __cpp(rt_pop_req) Sys_Switch LDR R3,=__cpp(&os_tsk) LDMIA R3!,{R1,R2} ; os_tsk.run, os_tsk.next CMP R1,R2 BEQ Sys_Exit ; no task switch SUBS R3,#8 MRS R0,PSP ; Read PSP SUBS R0,R0,#32 ; Adjust Start Address STR R0,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack STMIA R0!,{R4-R7} ; Save old context (R4-R7) MOV R4,R8 MOV R5,R9 MOV R6,R10 MOV R7,R11 STMIA R0!,{R4-R7} ; Save old context (R8-R11) PUSH {R2,R3} BL rt_stk_check ; Check for Stack overflow POP {R2,R3} STR R2,[R3] ; os_tsk.run = os_tsk.next LDR R0,[R2,#TCB_TSTACK] ; os_tsk.next->tsk_stack ADDS R0,R0,#16 ; Adjust Start Address LDMIA R0!,{R4-R7} ; Restore new Context (R8-R11) MOV R8,R4 MOV R9,R5 MOV R10,R6 MOV R11,R7 MSR PSP,R0 ; Write PSP SUBS R0,R0,#32 ; Adjust Start Address LDMIA R0!,{R4-R7} ; Restore new Context (R4-R7) Sys_Exit MOVS R0,#:NOT:0xFFFFFFFD ; Set EXC_RETURN value MVNS R0,R0 BX R0 ; RETI to Thread Mode, use PSP ALIGN } /*-------------------------- SysTick_Handler --------------------------------*/ __asm void SysTick_Handler (void) { PRESERVE8 BL __cpp(rt_systick) B Sys_Switch ALIGN } /*-------------------------- OS_Tick_Handler --------------------------------*/ __asm void OS_Tick_Handler (void) { PRESERVE8 BL __cpp(os_tick_irqack) BL __cpp(rt_systick) B Sys_Switch ALIGN } /*---------------------------------------------------------------------------- * end of file *---------------------------------------------------------------------------*/