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 *---------------------------------------------------------------------------*/