mbed official / mbed-rtos

Official mbed Real Time Operating System based on the RTX implementation of the CMSIS-RTOS API open standard.

Dependents:   denki-yohou_b TestY201 Network-RTOS NTPClient_HelloWorld ... more

Deprecated

This is the mbed 2 rtos library. mbed OS 5 integrates the mbed library with mbed-rtos. With this, we have provided thread safety for all mbed APIs. If you'd like to learn about using mbed OS 5, please see the docs.

rtx/TARGET_CORTEX_M/TARGET_M0/TOOLCHAIN_ARM/HAL_CM0.c@112:53ace74b190c, 2016-05-05 (annotated)

Committer:
mbed_official
Date:
Thu May 05 20:45:13 2016 +0100
Revision:
112:53ace74b190c
Parent:
49:77c8e4604045 
Synchronized with git revision 860fdd282b0dc3631a6c46b39442d4ab5343e534



Full URL: https://github.com/mbedmicro/mbed/commit/860fdd282b0dc3631a6c46b39442d4ab5343e534/



rtx update to v4.79

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 49:77c8e4604045 1 /*----------------------------------------------------------------------------
mbed_official 112:53ace74b190c 2 * CMSIS-RTOS - RTX
mbed_official 49:77c8e4604045 3 *----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 4 * Name: HAL_CM0.C
mbed_official 49:77c8e4604045 5 * Purpose: Hardware Abstraction Layer for Cortex-M0
mbed_official 112:53ace74b190c 6 * Rev.: V4.70
mbed_official 49:77c8e4604045 7 *----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 8 *
mbed_official 112:53ace74b190c 9 * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH
mbed_official 49:77c8e4604045 10 * All rights reserved.
mbed_official 49:77c8e4604045 11 * Redistribution and use in source and binary forms, with or without
mbed_official 49:77c8e4604045 12 * modification, are permitted provided that the following conditions are met:
mbed_official 49:77c8e4604045 13 * - Redistributions of source code must retain the above copyright
mbed_official 49:77c8e4604045 14 * notice, this list of conditions and the following disclaimer.
mbed_official 49:77c8e4604045 15 * - Redistributions in binary form must reproduce the above copyright
mbed_official 49:77c8e4604045 16 * notice, this list of conditions and the following disclaimer in the
mbed_official 49:77c8e4604045 17 * documentation and/or other materials provided with the distribution.
mbed_official 49:77c8e4604045 18 * - Neither the name of ARM nor the names of its contributors may be used
mbed_official 49:77c8e4604045 19 * to endorse or promote products derived from this software without
mbed_official 49:77c8e4604045 20 * specific prior written permission.
mbed_official 49:77c8e4604045 21 *
mbed_official 49:77c8e4604045 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official 49:77c8e4604045 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official 49:77c8e4604045 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbed_official 49:77c8e4604045 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbed_official 49:77c8e4604045 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbed_official 49:77c8e4604045 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbed_official 49:77c8e4604045 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbed_official 49:77c8e4604045 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbed_official 49:77c8e4604045 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbed_official 49:77c8e4604045 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official 49:77c8e4604045 32 * POSSIBILITY OF SUCH DAMAGE.
mbed_official 49:77c8e4604045 33 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 34
mbed_official 49:77c8e4604045 35 #include "rt_TypeDef.h"
mbed_official 112:53ace74b190c 36 #include "RTX_Config.h"
mbed_official 49:77c8e4604045 37 #include "rt_System.h"
mbed_official 49:77c8e4604045 38 #include "rt_HAL_CM.h"
mbed_official 49:77c8e4604045 39 #include "rt_Task.h"
mbed_official 49:77c8e4604045 40 #include "rt_MemBox.h"
mbed_official 49:77c8e4604045 41
mbed_official 49:77c8e4604045 42
mbed_official 49:77c8e4604045 43 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 44 * Functions
mbed_official 49:77c8e4604045 45 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 46
mbed_official 49:77c8e4604045 47
mbed_official 49:77c8e4604045 48 /*--------------------------- rt_set_PSP ------------------------------------*/
mbed_official 49:77c8e4604045 49
mbed_official 49:77c8e4604045 50 __asm void rt_set_PSP (U32 stack) {
mbed_official 49:77c8e4604045 51 MSR PSP,R0
mbed_official 49:77c8e4604045 52 BX LR
mbed_official 49:77c8e4604045 53 }
mbed_official 49:77c8e4604045 54
mbed_official 49:77c8e4604045 55
mbed_official 49:77c8e4604045 56 /*--------------------------- rt_get_PSP ------------------------------------*/
mbed_official 49:77c8e4604045 57
mbed_official 49:77c8e4604045 58 __asm U32 rt_get_PSP (void) {
mbed_official 49:77c8e4604045 59 MRS R0,PSP
mbed_official 49:77c8e4604045 60 BX LR
mbed_official 49:77c8e4604045 61 }
mbed_official 49:77c8e4604045 62
mbed_official 49:77c8e4604045 63
mbed_official 49:77c8e4604045 64 /*--------------------------- os_set_env ------------------------------------*/
mbed_official 49:77c8e4604045 65
mbed_official 49:77c8e4604045 66 __asm void os_set_env (void) {
mbed_official 49:77c8e4604045 67 /* Switch to Unprivileged/Privileged Thread mode, use PSP. */
mbed_official 49:77c8e4604045 68 MOV R0,SP ; PSP = MSP
mbed_official 49:77c8e4604045 69 MSR PSP,R0
mbed_official 49:77c8e4604045 70 LDR R0,=__cpp(&os_flags)
mbed_official 49:77c8e4604045 71 LDRB R0,[R0]
mbed_official 49:77c8e4604045 72 LSLS R0,#31
mbed_official 49:77c8e4604045 73 BNE PrivilegedE
mbed_official 49:77c8e4604045 74 MOVS R0,#0x03 ; Unprivileged Thread mode, use PSP
mbed_official 49:77c8e4604045 75 MSR CONTROL,R0
mbed_official 49:77c8e4604045 76 BX LR
mbed_official 49:77c8e4604045 77 PrivilegedE
mbed_official 49:77c8e4604045 78 MOVS R0,#0x02 ; Privileged Thread mode, use PSP
mbed_official 49:77c8e4604045 79 MSR CONTROL,R0
mbed_official 49:77c8e4604045 80 BX LR
mbed_official 49:77c8e4604045 81
mbed_official 49:77c8e4604045 82 ALIGN
mbed_official 49:77c8e4604045 83 }
mbed_official 49:77c8e4604045 84
mbed_official 49:77c8e4604045 85
mbed_official 49:77c8e4604045 86 /*--------------------------- _alloc_box ------------------------------------*/
mbed_official 49:77c8e4604045 87
mbed_official 49:77c8e4604045 88 __asm void *_alloc_box (void *box_mem) {
mbed_official 49:77c8e4604045 89 /* Function wrapper for Unprivileged/Privileged mode. */
mbed_official 49:77c8e4604045 90 LDR R3,=__cpp(rt_alloc_box)
mbed_official 49:77c8e4604045 91 MOV R12,R3
mbed_official 49:77c8e4604045 92 MRS R3,IPSR
mbed_official 49:77c8e4604045 93 LSLS R3,#24
mbed_official 49:77c8e4604045 94 BNE PrivilegedA
mbed_official 49:77c8e4604045 95 MRS R3,CONTROL
mbed_official 49:77c8e4604045 96 LSLS R3,#31
mbed_official 49:77c8e4604045 97 BEQ PrivilegedA
mbed_official 49:77c8e4604045 98 SVC 0
mbed_official 49:77c8e4604045 99 BX LR
mbed_official 49:77c8e4604045 100 PrivilegedA
mbed_official 49:77c8e4604045 101 BX R12
mbed_official 49:77c8e4604045 102
mbed_official 49:77c8e4604045 103 ALIGN
mbed_official 49:77c8e4604045 104 }
mbed_official 49:77c8e4604045 105
mbed_official 49:77c8e4604045 106
mbed_official 49:77c8e4604045 107 /*--------------------------- _free_box -------------------------------------*/
mbed_official 49:77c8e4604045 108
mbed_official 112:53ace74b190c 109 __asm U32 _free_box (void *box_mem, void *box) {
mbed_official 49:77c8e4604045 110 /* Function wrapper for Unprivileged/Privileged mode. */
mbed_official 49:77c8e4604045 111 LDR R3,=__cpp(rt_free_box)
mbed_official 49:77c8e4604045 112 MOV R12,R3
mbed_official 49:77c8e4604045 113 MRS R3,IPSR
mbed_official 49:77c8e4604045 114 LSLS R3,#24
mbed_official 49:77c8e4604045 115 BNE PrivilegedF
mbed_official 49:77c8e4604045 116 MRS R3,CONTROL
mbed_official 49:77c8e4604045 117 LSLS R3,#31
mbed_official 49:77c8e4604045 118 BEQ PrivilegedF
mbed_official 49:77c8e4604045 119 SVC 0
mbed_official 49:77c8e4604045 120 BX LR
mbed_official 49:77c8e4604045 121 PrivilegedF
mbed_official 49:77c8e4604045 122 BX R12
mbed_official 49:77c8e4604045 123
mbed_official 49:77c8e4604045 124 ALIGN
mbed_official 49:77c8e4604045 125 }
mbed_official 49:77c8e4604045 126
mbed_official 49:77c8e4604045 127
mbed_official 49:77c8e4604045 128 /*-------------------------- SVC_Handler ------------------------------------*/
mbed_official 49:77c8e4604045 129
mbed_official 49:77c8e4604045 130 __asm void SVC_Handler (void) {
mbed_official 49:77c8e4604045 131 PRESERVE8
mbed_official 49:77c8e4604045 132
mbed_official 49:77c8e4604045 133 IMPORT SVC_Count
mbed_official 49:77c8e4604045 134 IMPORT SVC_Table
mbed_official 49:77c8e4604045 135 IMPORT rt_stk_check
mbed_official 49:77c8e4604045 136
mbed_official 49:77c8e4604045 137 MRS R0,PSP ; Read PSP
mbed_official 49:77c8e4604045 138 LDR R1,[R0,#24] ; Read Saved PC from Stack
mbed_official 49:77c8e4604045 139 SUBS R1,R1,#2 ; Point to SVC Instruction
mbed_official 49:77c8e4604045 140 LDRB R1,[R1] ; Load SVC Number
mbed_official 49:77c8e4604045 141 CMP R1,#0
mbed_official 49:77c8e4604045 142 BNE SVC_User ; User SVC Number > 0
mbed_official 49:77c8e4604045 143
mbed_official 49:77c8e4604045 144 MOV LR,R4
mbed_official 49:77c8e4604045 145 LDMIA R0,{R0-R3,R4} ; Read R0-R3,R12 from stack
mbed_official 49:77c8e4604045 146 MOV R12,R4
mbed_official 49:77c8e4604045 147 MOV R4,LR
mbed_official 49:77c8e4604045 148 BLX R12 ; Call SVC Function
mbed_official 49:77c8e4604045 149
mbed_official 49:77c8e4604045 150 MRS R3,PSP ; Read PSP
mbed_official 49:77c8e4604045 151 STMIA R3!,{R0-R2} ; Store return values
mbed_official 49:77c8e4604045 152
mbed_official 49:77c8e4604045 153 LDR R3,=__cpp(&os_tsk)
mbed_official 49:77c8e4604045 154 LDMIA R3!,{R1,R2} ; os_tsk.run, os_tsk.new
mbed_official 49:77c8e4604045 155 CMP R1,R2
mbed_official 49:77c8e4604045 156 BEQ SVC_Exit ; no task switch
mbed_official 49:77c8e4604045 157
mbed_official 49:77c8e4604045 158 SUBS R3,#8
mbed_official 49:77c8e4604045 159 CMP R1,#0 ; Runtask deleted?
mbed_official 49:77c8e4604045 160 BEQ SVC_Next
mbed_official 49:77c8e4604045 161
mbed_official 49:77c8e4604045 162 MRS R0,PSP ; Read PSP
mbed_official 49:77c8e4604045 163 SUBS R0,R0,#32 ; Adjust Start Address
mbed_official 49:77c8e4604045 164 STR R0,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
mbed_official 49:77c8e4604045 165 STMIA R0!,{R4-R7} ; Save old context (R4-R7)
mbed_official 49:77c8e4604045 166 MOV R4,R8
mbed_official 49:77c8e4604045 167 MOV R5,R9
mbed_official 49:77c8e4604045 168 MOV R6,R10
mbed_official 49:77c8e4604045 169 MOV R7,R11
mbed_official 49:77c8e4604045 170 STMIA R0!,{R4-R7} ; Save old context (R8-R11)
mbed_official 49:77c8e4604045 171
mbed_official 49:77c8e4604045 172 PUSH {R2,R3}
mbed_official 49:77c8e4604045 173 BL rt_stk_check ; Check for Stack overflow
mbed_official 49:77c8e4604045 174 POP {R2,R3}
mbed_official 49:77c8e4604045 175
mbed_official 49:77c8e4604045 176 SVC_Next
mbed_official 49:77c8e4604045 177 STR R2,[R3] ; os_tsk.run = os_tsk.new
mbed_official 49:77c8e4604045 178
mbed_official 49:77c8e4604045 179 LDR R0,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
mbed_official 49:77c8e4604045 180 ADDS R0,R0,#16 ; Adjust Start Address
mbed_official 49:77c8e4604045 181 LDMIA R0!,{R4-R7} ; Restore new Context (R8-R11)
mbed_official 49:77c8e4604045 182 MOV R8,R4
mbed_official 49:77c8e4604045 183 MOV R9,R5
mbed_official 49:77c8e4604045 184 MOV R10,R6
mbed_official 49:77c8e4604045 185 MOV R11,R7
mbed_official 49:77c8e4604045 186 MSR PSP,R0 ; Write PSP
mbed_official 49:77c8e4604045 187 SUBS R0,R0,#32 ; Adjust Start Address
mbed_official 49:77c8e4604045 188 LDMIA R0!,{R4-R7} ; Restore new Context (R4-R7)
mbed_official 49:77c8e4604045 189
mbed_official 49:77c8e4604045 190 SVC_Exit
mbed_official 49:77c8e4604045 191 MOVS R0,#:NOT:0xFFFFFFFD ; Set EXC_RETURN value
mbed_official 49:77c8e4604045 192 MVNS R0,R0
mbed_official 49:77c8e4604045 193 BX R0 ; RETI to Thread Mode, use PSP
mbed_official 49:77c8e4604045 194
mbed_official 49:77c8e4604045 195 /*------------------- User SVC ------------------------------*/
mbed_official 49:77c8e4604045 196
mbed_official 49:77c8e4604045 197 SVC_User
mbed_official 49:77c8e4604045 198 PUSH {R4,LR} ; Save Registers
mbed_official 49:77c8e4604045 199 LDR R2,=SVC_Count
mbed_official 49:77c8e4604045 200 LDR R2,[R2]
mbed_official 49:77c8e4604045 201 CMP R1,R2
mbed_official 49:77c8e4604045 202 BHI SVC_Done ; Overflow
mbed_official 49:77c8e4604045 203
mbed_official 49:77c8e4604045 204 LDR R4,=SVC_Table-4
mbed_official 49:77c8e4604045 205 LSLS R1,R1,#2
mbed_official 49:77c8e4604045 206 LDR R4,[R4,R1] ; Load SVC Function Address
mbed_official 49:77c8e4604045 207 MOV LR,R4
mbed_official 49:77c8e4604045 208
mbed_official 49:77c8e4604045 209 LDMIA R0,{R0-R3,R4} ; Read R0-R3,R12 from stack
mbed_official 49:77c8e4604045 210 MOV R12,R4
mbed_official 49:77c8e4604045 211 BLX LR ; Call SVC Function
mbed_official 49:77c8e4604045 212
mbed_official 49:77c8e4604045 213 MRS R4,PSP ; Read PSP
mbed_official 49:77c8e4604045 214 STMIA R4!,{R0-R3} ; Function return values
mbed_official 49:77c8e4604045 215 SVC_Done
mbed_official 49:77c8e4604045 216 POP {R4,PC} ; RETI
mbed_official 49:77c8e4604045 217
mbed_official 49:77c8e4604045 218 ALIGN
mbed_official 49:77c8e4604045 219 }
mbed_official 49:77c8e4604045 220
mbed_official 49:77c8e4604045 221
mbed_official 49:77c8e4604045 222 /*-------------------------- PendSV_Handler ---------------------------------*/
mbed_official 49:77c8e4604045 223
mbed_official 49:77c8e4604045 224 __asm void PendSV_Handler (void) {
mbed_official 49:77c8e4604045 225 PRESERVE8
mbed_official 49:77c8e4604045 226
mbed_official 49:77c8e4604045 227 BL __cpp(rt_pop_req)
mbed_official 49:77c8e4604045 228
mbed_official 49:77c8e4604045 229 Sys_Switch
mbed_official 49:77c8e4604045 230 LDR R3,=__cpp(&os_tsk)
mbed_official 49:77c8e4604045 231 LDMIA R3!,{R1,R2} ; os_tsk.run, os_tsk.new
mbed_official 49:77c8e4604045 232 CMP R1,R2
mbed_official 49:77c8e4604045 233 BEQ Sys_Exit ; no task switch
mbed_official 49:77c8e4604045 234
mbed_official 49:77c8e4604045 235 SUBS R3,#8
mbed_official 49:77c8e4604045 236
mbed_official 49:77c8e4604045 237 MRS R0,PSP ; Read PSP
mbed_official 49:77c8e4604045 238 SUBS R0,R0,#32 ; Adjust Start Address
mbed_official 49:77c8e4604045 239 STR R0,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
mbed_official 49:77c8e4604045 240 STMIA R0!,{R4-R7} ; Save old context (R4-R7)
mbed_official 49:77c8e4604045 241 MOV R4,R8
mbed_official 49:77c8e4604045 242 MOV R5,R9
mbed_official 49:77c8e4604045 243 MOV R6,R10
mbed_official 49:77c8e4604045 244 MOV R7,R11
mbed_official 49:77c8e4604045 245 STMIA R0!,{R4-R7} ; Save old context (R8-R11)
mbed_official 49:77c8e4604045 246
mbed_official 49:77c8e4604045 247 PUSH {R2,R3}
mbed_official 49:77c8e4604045 248 BL rt_stk_check ; Check for Stack overflow
mbed_official 49:77c8e4604045 249 POP {R2,R3}
mbed_official 49:77c8e4604045 250
mbed_official 49:77c8e4604045 251 STR R2,[R3] ; os_tsk.run = os_tsk.new
mbed_official 49:77c8e4604045 252
mbed_official 49:77c8e4604045 253 LDR R0,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
mbed_official 49:77c8e4604045 254 ADDS R0,R0,#16 ; Adjust Start Address
mbed_official 49:77c8e4604045 255 LDMIA R0!,{R4-R7} ; Restore new Context (R8-R11)
mbed_official 49:77c8e4604045 256 MOV R8,R4
mbed_official 49:77c8e4604045 257 MOV R9,R5
mbed_official 49:77c8e4604045 258 MOV R10,R6
mbed_official 49:77c8e4604045 259 MOV R11,R7
mbed_official 49:77c8e4604045 260 MSR PSP,R0 ; Write PSP
mbed_official 49:77c8e4604045 261 SUBS R0,R0,#32 ; Adjust Start Address
mbed_official 49:77c8e4604045 262 LDMIA R0!,{R4-R7} ; Restore new Context (R4-R7)
mbed_official 49:77c8e4604045 263
mbed_official 49:77c8e4604045 264 Sys_Exit
mbed_official 49:77c8e4604045 265 MOVS R0,#:NOT:0xFFFFFFFD ; Set EXC_RETURN value
mbed_official 49:77c8e4604045 266 MVNS R0,R0
mbed_official 49:77c8e4604045 267 BX R0 ; RETI to Thread Mode, use PSP
mbed_official 49:77c8e4604045 268
mbed_official 49:77c8e4604045 269 ALIGN
mbed_official 49:77c8e4604045 270 }
mbed_official 49:77c8e4604045 271
mbed_official 49:77c8e4604045 272
mbed_official 49:77c8e4604045 273 /*-------------------------- SysTick_Handler --------------------------------*/
mbed_official 49:77c8e4604045 274
mbed_official 49:77c8e4604045 275 __asm void SysTick_Handler (void) {
mbed_official 49:77c8e4604045 276 PRESERVE8
mbed_official 49:77c8e4604045 277
mbed_official 49:77c8e4604045 278 BL __cpp(rt_systick)
mbed_official 49:77c8e4604045 279 B Sys_Switch
mbed_official 49:77c8e4604045 280
mbed_official 49:77c8e4604045 281 ALIGN
mbed_official 49:77c8e4604045 282 }
mbed_official 49:77c8e4604045 283
mbed_official 49:77c8e4604045 284
mbed_official 49:77c8e4604045 285 /*-------------------------- OS_Tick_Handler --------------------------------*/
mbed_official 49:77c8e4604045 286
mbed_official 49:77c8e4604045 287 __asm void OS_Tick_Handler (void) {
mbed_official 49:77c8e4604045 288 PRESERVE8
mbed_official 49:77c8e4604045 289
mbed_official 49:77c8e4604045 290 BL __cpp(os_tick_irqack)
mbed_official 49:77c8e4604045 291 BL __cpp(rt_systick)
mbed_official 49:77c8e4604045 292 B Sys_Switch
mbed_official 49:77c8e4604045 293
mbed_official 49:77c8e4604045 294 ALIGN
mbed_official 49:77c8e4604045 295 }
mbed_official 49:77c8e4604045 296
mbed_official 49:77c8e4604045 297
mbed_official 49:77c8e4604045 298 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 299 * end of file
mbed_official 49:77c8e4604045 300 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 301