/*---------------------------------------------------------------------------- * CMSIS-RTOS - RTX *---------------------------------------------------------------------------- * Name: HAL_CM4.S * Purpose: Hardware Abstraction Layer for Cortex-M4 * Rev.: V4.79 *---------------------------------------------------------------------------- * * Copyright (c) 1999-2009 KEIL, 2009-2015 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. *---------------------------------------------------------------------------*/ .file "HAL_CM4.S" .syntax unified .equ TCB_STACKF, 37 .equ TCB_TSTACK, 40 /*---------------------------------------------------------------------------- * Functions *---------------------------------------------------------------------------*/ .thumb .section ".text" .align 2 /*--------------------------- rt_set_PSP ------------------------------------*/ # void rt_set_PSP (U32 stack); .thumb_func .type rt_set_PSP, %function .global rt_set_PSP rt_set_PSP: .fnstart .cantunwind MSR PSP,R0 BX LR .fnend .size rt_set_PSP, .-rt_set_PSP /*--------------------------- rt_get_PSP ------------------------------------*/ # U32 rt_get_PSP (void); .thumb_func .type rt_get_PSP, %function .global rt_get_PSP rt_get_PSP: .fnstart .cantunwind MRS R0,PSP BX LR .fnend .size rt_get_PSP, .-rt_get_PSP /*--------------------------- os_set_env ------------------------------------*/ # void os_set_env (void); /* Switch to Unprivileged/Privileged Thread mode, use PSP. */ .thumb_func .type os_set_env, %function .global os_set_env os_set_env: .fnstart .cantunwind 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 .fnend .size os_set_env, .-os_set_env /*--------------------------- _alloc_box ------------------------------------*/ # void *_alloc_box (void *box_mem); /* Function wrapper for Unprivileged/Privileged mode. */ .thumb_func .type _alloc_box, %function .global _alloc_box _alloc_box: .fnstart .cantunwind 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 .fnend .size _alloc_box, .-_alloc_box /*--------------------------- _free_box -------------------------------------*/ # U32 _free_box (void *box_mem, void *box); /* Function wrapper for Unprivileged/Privileged mode. */ .thumb_func .type _free_box, %function .global _free_box _free_box: .fnstart .cantunwind 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 .fnend .size _free_box, .-_free_box /*-------------------------- SVC_Handler ------------------------------------*/ # void SVC_Handler (void); .thumb_func .type SVC_Handler, %function .global SVC_Handler SVC_Handler: .ifdef IFX_XMC4XXX .global SVC_Handler_Veneer SVC_Handler_Veneer: .endif .fnstart .cantunwind 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.next */ CMP R1,R2 .ifdef IFX_XMC4XXX ITT EQ PUSHEQ {LR} POPEQ {PC} .else IT EQ BXEQ LR /* RETI, no task switch */ .endif CBNZ R1,SVC_ContextSave /* Runtask not deleted? */ TST LR,#0x10 /* is it extended frame? */ BNE SVC_ContextRestore LDR R1,=0xE000EF34 LDR R0,[R1] /* Load FPCCR */ BIC R0,#1 /* Clear LSPACT (Lazy state) */ STR R0,[R1] /* Store FPCCR */ B SVC_ContextRestore SVC_ContextSave: 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_ContextRestore: STR R2,[R3] /* os_tsk.run = os_tsk.next */ LDR R12,[R2,#TCB_TSTACK] /* os_tsk.next->tsk_stack */ LDMIA R12!,{R4-R11} /* Restore New Context */ LDRB R0,[R2,#TCB_STACKF] /* Stack Frame */ CMP R0,#0 /* Basic/Extended Stack Frame */ ITEE EQ MVNEQ LR,#~0xFFFFFFFD /* set EXC_RETURN value */ MVNNE LR,#~0xFFFFFFED VLDMIANE R12!,{S16-S31} /* restore VFP hi-registers */ 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 */ .fnend .size SVC_Handler, .-SVC_Handler /*-------------------------- PendSV_Handler ---------------------------------*/ # void PendSV_Handler (void); .thumb_func .type PendSV_Handler, %function .global PendSV_Handler .global Sys_Switch PendSV_Handler: .ifdef IFX_XMC4XXX .global PendSV_Handler_Veneer PendSV_Handler_Veneer: .endif .fnstart .cantunwind 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.next */ 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.next */ LDR R12,[R2,#TCB_TSTACK] /* os_tsk.next->tsk_stack */ LDMIA R12!,{R4-R11} /* Restore New Context */ LDRB R0,[R2,#TCB_STACKF] /* Stack Frame */ CMP R0,#0 /* Basic/Extended Stack Frame */ ITEE EQ MVNEQ LR,#~0xFFFFFFFD /* set EXC_RETURN value */ MVNNE LR,#~0xFFFFFFED VLDMIANE R12!,{S16-S31} /* restore VFP hi-registers */ MSR PSP,R12 /* Write PSP */ Sys_Exit: .ifdef IFX_XMC4XXX PUSH {LR} POP {PC} .else BX LR /* Return to Thread Mode */ .endif .fnend .size PendSV_Handler, .-PendSV_Handler /*-------------------------- SysTick_Handler --------------------------------*/ # void SysTick_Handler (void); .thumb_func .type SysTick_Handler, %function .global SysTick_Handler SysTick_Handler: .ifdef IFX_XMC4XXX .global SysTick_Handler_Veneer SysTick_Handler_Veneer: .endif .fnstart .cantunwind PUSH {R4,LR} /* Save EXC_RETURN */ BL rt_systick B Sys_Switch .fnend .size SysTick_Handler, .-SysTick_Handler /*-------------------------- OS_Tick_Handler --------------------------------*/ # void OS_Tick_Handler (void); .thumb_func .type OS_Tick_Handler, %function .global OS_Tick_Handler OS_Tick_Handler: .fnstart .cantunwind PUSH {R4,LR} /* Save EXC_RETURN */ BL os_tick_irqack BL rt_systick B Sys_Switch .fnend .size OS_Tick_Handler, .-OS_Tick_Handler .end /*---------------------------------------------------------------------------- * end of file *---------------------------------------------------------------------------*/