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_A/RTX_CM_lib.h@118:6635230e06ba, 2016-07-25 (annotated)

Committer:
Kojto
Date:
Mon Jul 25 14:12:24 2016 +0100
Revision:
118:6635230e06ba
Parent:
116:0788b1a76461
Child:
119:19af2d39a542
RTOS rev118



Compatible with the mbed library v122



Changes:

- warnings about duplicated CM symbols fix

- init sequence update - allows init array to be run prior kernel start

- RTOS with OS_TIMERS=0 fix for thread id

- Thread ctor is deprecated, use start() method

- main stack fix for IAR (set via linker script)

- add TCB context pointer

- provide thread safety for toolchains (std lib locks)

- add MBED_RTOS_SINGLE_THREAD macro (sets TSKCNT to 1 and TIMERS to 0)

- nrf51, nucleo l423kc, nucleo f767zi, nucleo f446ze, efm32 support addition

- add OSObserver function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 48:e9a2c7cb57a4 1 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 2 * RL-ARM - RTX
mbed_official 48:e9a2c7cb57a4 3 *----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 4 * Name: RTX_CM_LIB.H
mbed_official 48:e9a2c7cb57a4 5 * Purpose: RTX Kernel System Configuration
mbed_official 92:bc9729798a19 6 * Rev.: V4.73
mbed_official 48:e9a2c7cb57a4 7 *----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 8 *
mbed_official 92:bc9729798a19 9 * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH
mbed_official 48:e9a2c7cb57a4 10 * All rights reserved.
mbed_official 48:e9a2c7cb57a4 11 * Redistribution and use in source and binary forms, with or without
mbed_official 48:e9a2c7cb57a4 12 * modification, are permitted provided that the following conditions are met:
mbed_official 48:e9a2c7cb57a4 13 * - Redistributions of source code must retain the above copyright
mbed_official 48:e9a2c7cb57a4 14 * notice, this list of conditions and the following disclaimer.
mbed_official 48:e9a2c7cb57a4 15 * - Redistributions in binary form must reproduce the above copyright
mbed_official 48:e9a2c7cb57a4 16 * notice, this list of conditions and the following disclaimer in the
mbed_official 48:e9a2c7cb57a4 17 * documentation and/or other materials provided with the distribution.
mbed_official 68:d3d0e710b443 18 * - Neither the name of ARM nor the names of its contributors may be used
mbed_official 68:d3d0e710b443 19 * to endorse or promote products derived from this software without
mbed_official 48:e9a2c7cb57a4 20 * specific prior written permission.
mbed_official 48:e9a2c7cb57a4 21 *
mbed_official 68:d3d0e710b443 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official 68:d3d0e710b443 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official 48:e9a2c7cb57a4 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbed_official 48:e9a2c7cb57a4 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbed_official 48:e9a2c7cb57a4 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbed_official 68:d3d0e710b443 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbed_official 68:d3d0e710b443 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbed_official 68:d3d0e710b443 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbed_official 68:d3d0e710b443 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbed_official 48:e9a2c7cb57a4 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official 48:e9a2c7cb57a4 32 * POSSIBILITY OF SUCH DAMAGE.
mbed_official 48:e9a2c7cb57a4 33 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 34
mbed_official 48:e9a2c7cb57a4 35 #if defined (__CC_ARM)
mbed_official 48:e9a2c7cb57a4 36 #pragma O3
mbed_official 48:e9a2c7cb57a4 37 #define __USED __attribute__((used))
mbed_official 48:e9a2c7cb57a4 38 #elif defined (__GNUC__)
mbed_official 48:e9a2c7cb57a4 39 #pragma GCC optimize ("O3")
mbed_official 48:e9a2c7cb57a4 40 #define __USED __attribute__((used))
mbed_official 48:e9a2c7cb57a4 41 #elif defined (__ICCARM__)
mbed_official 48:e9a2c7cb57a4 42 #define __USED __root
mbed_official 48:e9a2c7cb57a4 43 #endif
mbed_official 48:e9a2c7cb57a4 44
mbed_official 48:e9a2c7cb57a4 45
mbed_official 48:e9a2c7cb57a4 46 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 47 * Definitions
mbed_official 48:e9a2c7cb57a4 48 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 49
mbed_official 48:e9a2c7cb57a4 50 #define _declare_box(pool,size,cnt) uint32_t pool[(((size)+3)/4)*(cnt) + 3]
mbed_official 48:e9a2c7cb57a4 51 #define _declare_box8(pool,size,cnt) uint64_t pool[(((size)+7)/8)*(cnt) + 2]
mbed_official 48:e9a2c7cb57a4 52
Kojto 118:6635230e06ba 53 #define OS_TCB_SIZE 60
mbed_official 48:e9a2c7cb57a4 54 #define OS_TMR_SIZE 8
mbed_official 48:e9a2c7cb57a4 55
mbed_official 48:e9a2c7cb57a4 56 #if defined (__CC_ARM) && !defined (__MICROLIB)
mbed_official 48:e9a2c7cb57a4 57
mbed_official 48:e9a2c7cb57a4 58 typedef void *OS_ID;
mbed_official 48:e9a2c7cb57a4 59 typedef uint32_t OS_TID;
mbed_official 92:bc9729798a19 60 typedef uint32_t OS_MUT[4];
mbed_official 48:e9a2c7cb57a4 61 typedef uint32_t OS_RESULT;
mbed_official 48:e9a2c7cb57a4 62
mbed_official 48:e9a2c7cb57a4 63 #define runtask_id() rt_tsk_self()
mbed_official 48:e9a2c7cb57a4 64 #define mutex_init(m) rt_mut_init(m)
mbed_official 48:e9a2c7cb57a4 65 #define mutex_wait(m) os_mut_wait(m,0xFFFF)
mbed_official 48:e9a2c7cb57a4 66 #define mutex_rel(m) os_mut_release(m)
mbed_official 48:e9a2c7cb57a4 67
mbed_official 48:e9a2c7cb57a4 68 extern OS_TID rt_tsk_self (void);
mbed_official 48:e9a2c7cb57a4 69 extern void rt_mut_init (OS_ID mutex);
mbed_official 48:e9a2c7cb57a4 70 extern OS_RESULT rt_mut_release (OS_ID mutex);
mbed_official 48:e9a2c7cb57a4 71 extern OS_RESULT rt_mut_wait (OS_ID mutex, uint16_t timeout);
mbed_official 48:e9a2c7cb57a4 72
mbed_official 48:e9a2c7cb57a4 73 #define os_mut_wait(mutex,timeout) _os_mut_wait((uint32_t)rt_mut_wait,mutex,timeout)
mbed_official 48:e9a2c7cb57a4 74 #define os_mut_release(mutex) _os_mut_release((uint32_t)rt_mut_release,mutex)
mbed_official 48:e9a2c7cb57a4 75
mbed_official 48:e9a2c7cb57a4 76 OS_RESULT _os_mut_release (uint32_t p, OS_ID mutex) __svc_indirect(0);
mbed_official 48:e9a2c7cb57a4 77 OS_RESULT _os_mut_wait (uint32_t p, OS_ID mutex, uint16_t timeout) __svc_indirect(0);
mbed_official 48:e9a2c7cb57a4 78
mbed_official 103:5a85840ab54e 79 #elif defined (__ICCARM__)
mbed_official 103:5a85840ab54e 80
mbed_official 103:5a85840ab54e 81 typedef void *OS_ID;
mbed_official 103:5a85840ab54e 82 typedef uint32_t OS_TID;
mbed_official 103:5a85840ab54e 83 typedef uint32_t OS_MUT[4];
mbed_official 103:5a85840ab54e 84 typedef uint32_t OS_RESULT;
mbed_official 103:5a85840ab54e 85
mbed_official 103:5a85840ab54e 86 #define runtask_id() rt_tsk_self()
mbed_official 103:5a85840ab54e 87 #define mutex_init(m) rt_mut_init(m)
mbed_official 103:5a85840ab54e 88 #define mutex_del(m) os_mut_delete(m)
mbed_official 103:5a85840ab54e 89 #define mutex_wait(m) os_mut_wait(m,0xFFFF)
mbed_official 103:5a85840ab54e 90 #define mutex_rel(m) os_mut_release(m)
mbed_official 103:5a85840ab54e 91
mbed_official 103:5a85840ab54e 92 extern OS_TID rt_tsk_self (void);
mbed_official 103:5a85840ab54e 93 extern void rt_mut_init (OS_ID mutex);
mbed_official 103:5a85840ab54e 94 extern OS_RESULT rt_mut_delete (OS_ID mutex);
mbed_official 103:5a85840ab54e 95 extern OS_RESULT rt_mut_release (OS_ID mutex);
mbed_official 103:5a85840ab54e 96 extern OS_RESULT rt_mut_wait (OS_ID mutex, uint16_t timeout);
mbed_official 103:5a85840ab54e 97
mbed_official 103:5a85840ab54e 98 #pragma swi_number=0
mbed_official 103:5a85840ab54e 99 __swi OS_RESULT _os_mut_delete (OS_ID mutex);
mbed_official 103:5a85840ab54e 100
mbed_official 103:5a85840ab54e 101 static inline OS_RESULT os_mut_delete(OS_ID mutex)
mbed_official 103:5a85840ab54e 102 {
mbed_official 103:5a85840ab54e 103 __asm("mov r12,%0\n" :: "r"(&rt_mut_delete) : "r12" );
mbed_official 103:5a85840ab54e 104 return _os_mut_delete(mutex);
mbed_official 103:5a85840ab54e 105 }
mbed_official 103:5a85840ab54e 106
mbed_official 103:5a85840ab54e 107 #pragma swi_number=0
mbed_official 103:5a85840ab54e 108 __swi OS_RESULT _os_mut_release (OS_ID mutex);
mbed_official 103:5a85840ab54e 109
mbed_official 103:5a85840ab54e 110 static inline OS_RESULT os_mut_release(OS_ID mutex)
mbed_official 103:5a85840ab54e 111 {
mbed_official 103:5a85840ab54e 112 __asm("mov r12,%0\n" :: "r"(&rt_mut_release) : "r12" );
mbed_official 103:5a85840ab54e 113 return _os_mut_release(mutex);
mbed_official 103:5a85840ab54e 114 }
mbed_official 103:5a85840ab54e 115
mbed_official 103:5a85840ab54e 116 #pragma swi_number=0
mbed_official 103:5a85840ab54e 117 __swi OS_RESULT _os_mut_wait (OS_ID mutex, uint16_t timeout);
mbed_official 103:5a85840ab54e 118
mbed_official 103:5a85840ab54e 119 static inline OS_RESULT os_mut_wait(OS_ID mutex, uint16_t timeout)
mbed_official 103:5a85840ab54e 120 {
mbed_official 103:5a85840ab54e 121 __asm("mov r12,%0\n" :: "r"(&rt_mut_wait) : "r12" );
mbed_official 103:5a85840ab54e 122 return _os_mut_wait(mutex, timeout);
mbed_official 103:5a85840ab54e 123 }
mbed_official 103:5a85840ab54e 124
mbed_official 103:5a85840ab54e 125 #include <yvals.h> /* for include DLib_Thread.h */
mbed_official 103:5a85840ab54e 126
mbed_official 103:5a85840ab54e 127 void __iar_system_Mtxinit(__iar_Rmtx *);
mbed_official 103:5a85840ab54e 128 void __iar_system_Mtxdst(__iar_Rmtx *);
mbed_official 103:5a85840ab54e 129 void __iar_system_Mtxlock(__iar_Rmtx *);
mbed_official 103:5a85840ab54e 130 void __iar_system_Mtxunlock(__iar_Rmtx *);
mbed_official 103:5a85840ab54e 131
mbed_official 103:5a85840ab54e 132
mbed_official 103:5a85840ab54e 133
mbed_official 103:5a85840ab54e 134
mbed_official 48:e9a2c7cb57a4 135 #endif
mbed_official 48:e9a2c7cb57a4 136
mbed_official 48:e9a2c7cb57a4 137
mbed_official 48:e9a2c7cb57a4 138 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 139 * Global Variables
mbed_official 48:e9a2c7cb57a4 140 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 141
mbed_official 48:e9a2c7cb57a4 142 #if (OS_TIMERS != 0)
mbed_official 48:e9a2c7cb57a4 143 #define OS_TASK_CNT (OS_TASKCNT + 1)
mbed_official 85:ef0a22cdf839 144 #ifndef __MBED_CMSIS_RTOS_CA9
mbed_official 48:e9a2c7cb57a4 145 #define OS_PRIV_CNT (OS_PRIVCNT + 2)
mbed_official 48:e9a2c7cb57a4 146 #define OS_STACK_SZ (4*(OS_PRIVSTKSIZE+OS_MAINSTKSIZE+OS_TIMERSTKSZ))
mbed_official 85:ef0a22cdf839 147 #endif
mbed_official 48:e9a2c7cb57a4 148 #else
mbed_official 48:e9a2c7cb57a4 149 #define OS_TASK_CNT OS_TASKCNT
mbed_official 85:ef0a22cdf839 150 #ifndef __MBED_CMSIS_RTOS_CA9
mbed_official 48:e9a2c7cb57a4 151 #define OS_PRIV_CNT (OS_PRIVCNT + 1)
mbed_official 48:e9a2c7cb57a4 152 #define OS_STACK_SZ (4*(OS_PRIVSTKSIZE+OS_MAINSTKSIZE))
mbed_official 48:e9a2c7cb57a4 153 #endif
mbed_official 85:ef0a22cdf839 154 #endif
mbed_official 48:e9a2c7cb57a4 155
mbed_official 48:e9a2c7cb57a4 156 uint16_t const os_maxtaskrun = OS_TASK_CNT;
mbed_official 85:ef0a22cdf839 157 #ifdef __MBED_CMSIS_RTOS_CA9
mbed_official 85:ef0a22cdf839 158 uint32_t const os_stackinfo = (OS_STKCHECK<<24)| (OS_IDLESTKSIZE*4);
mbed_official 85:ef0a22cdf839 159 #else
mbed_official 48:e9a2c7cb57a4 160 uint32_t const os_stackinfo = (OS_STKCHECK<<24)| (OS_PRIV_CNT<<16) | (OS_STKSIZE*4);
mbed_official 85:ef0a22cdf839 161 #endif
mbed_official 48:e9a2c7cb57a4 162 uint32_t const os_rrobin = (OS_ROBIN << 16) | OS_ROBINTOUT;
mbed_official 92:bc9729798a19 163 uint32_t const os_tickfreq = OS_CLOCK;
mbed_official 92:bc9729798a19 164 uint16_t const os_tickus_i = OS_CLOCK/1000000;
mbed_official 92:bc9729798a19 165 uint16_t const os_tickus_f = (((uint64_t)(OS_CLOCK-1000000*(OS_CLOCK/1000000)))<<16)/1000000;
mbed_official 48:e9a2c7cb57a4 166 uint32_t const os_trv = OS_TRV;
mbed_official 48:e9a2c7cb57a4 167 uint8_t const os_flags = OS_RUNPRIV;
mbed_official 48:e9a2c7cb57a4 168
mbed_official 48:e9a2c7cb57a4 169 /* Export following defines to uVision debugger. */
mbed_official 92:bc9729798a19 170 __USED uint32_t const CMSIS_RTOS_API_Version = osCMSIS;
mbed_official 92:bc9729798a19 171 __USED uint32_t const CMSIS_RTOS_RTX_Version = osCMSIS_RTX;
mbed_official 48:e9a2c7cb57a4 172 __USED uint32_t const os_clockrate = OS_TICK;
mbed_official 48:e9a2c7cb57a4 173 __USED uint32_t const os_timernum = 0;
mbed_official 48:e9a2c7cb57a4 174
mbed_official 48:e9a2c7cb57a4 175 /* Memory pool for TCB allocation */
mbed_official 48:e9a2c7cb57a4 176 _declare_box (mp_tcb, OS_TCB_SIZE, OS_TASK_CNT);
mbed_official 48:e9a2c7cb57a4 177 uint16_t const mp_tcb_size = sizeof(mp_tcb);
mbed_official 48:e9a2c7cb57a4 178
mbed_official 85:ef0a22cdf839 179 #ifdef __MBED_CMSIS_RTOS_CA9
mbed_official 85:ef0a22cdf839 180 /* Memory pool for os_idle_demon stack allocation. */
mbed_official 85:ef0a22cdf839 181 _declare_box8 (mp_stk, OS_IDLESTKSIZE*4, 1);
mbed_official 85:ef0a22cdf839 182 uint32_t const mp_stk_size = sizeof(mp_stk);
mbed_official 85:ef0a22cdf839 183 #else
mbed_official 48:e9a2c7cb57a4 184 /* Memory pool for System stack allocation (+os_idle_demon). */
mbed_official 48:e9a2c7cb57a4 185 _declare_box8 (mp_stk, OS_STKSIZE*4, OS_TASK_CNT-OS_PRIV_CNT+1);
mbed_official 48:e9a2c7cb57a4 186 uint32_t const mp_stk_size = sizeof(mp_stk);
mbed_official 48:e9a2c7cb57a4 187
mbed_official 48:e9a2c7cb57a4 188 /* Memory pool for user specified stack allocation (+main, +timer) */
mbed_official 48:e9a2c7cb57a4 189 uint64_t os_stack_mem[2+OS_PRIV_CNT+(OS_STACK_SZ/8)];
mbed_official 48:e9a2c7cb57a4 190 uint32_t const os_stack_sz = sizeof(os_stack_mem);
mbed_official 85:ef0a22cdf839 191 #endif
mbed_official 48:e9a2c7cb57a4 192
mbed_official 48:e9a2c7cb57a4 193 #ifndef OS_FIFOSZ
mbed_official 48:e9a2c7cb57a4 194 #define OS_FIFOSZ 16
mbed_official 48:e9a2c7cb57a4 195 #endif
mbed_official 48:e9a2c7cb57a4 196
mbed_official 48:e9a2c7cb57a4 197 /* Fifo Queue buffer for ISR requests.*/
mbed_official 48:e9a2c7cb57a4 198 uint32_t os_fifo[OS_FIFOSZ*2+1];
mbed_official 48:e9a2c7cb57a4 199 uint8_t const os_fifo_size = OS_FIFOSZ;
mbed_official 48:e9a2c7cb57a4 200
mbed_official 48:e9a2c7cb57a4 201 /* An array of Active task pointers. */
mbed_official 48:e9a2c7cb57a4 202 void *os_active_TCB[OS_TASK_CNT];
mbed_official 48:e9a2c7cb57a4 203
mbed_official 48:e9a2c7cb57a4 204 /* User Timers Resources */
mbed_official 48:e9a2c7cb57a4 205 #if (OS_TIMERS != 0)
mbed_official 48:e9a2c7cb57a4 206 extern void osTimerThread (void const *argument);
mbed_official 85:ef0a22cdf839 207 #ifdef __MBED_CMSIS_RTOS_CA9
mbed_official 48:e9a2c7cb57a4 208 osThreadDef(osTimerThread, (osPriority)(OS_TIMERPRIO-3), 4*OS_TIMERSTKSZ);
mbed_official 48:e9a2c7cb57a4 209 #else
mbed_official 48:e9a2c7cb57a4 210 osThreadDef(osTimerThread, (osPriority)(OS_TIMERPRIO-3), 1, 4*OS_TIMERSTKSZ);
mbed_official 48:e9a2c7cb57a4 211 #endif
mbed_official 48:e9a2c7cb57a4 212 osThreadId osThreadId_osTimerThread;
mbed_official 48:e9a2c7cb57a4 213 osMessageQDef(osTimerMessageQ, OS_TIMERCBQS, void *);
mbed_official 48:e9a2c7cb57a4 214 osMessageQId osMessageQId_osTimerMessageQ;
mbed_official 48:e9a2c7cb57a4 215 #else
mbed_official 48:e9a2c7cb57a4 216 osThreadDef_t os_thread_def_osTimerThread = { NULL };
mbed_official 48:e9a2c7cb57a4 217 osThreadId osThreadId_osTimerThread;
mbed_official 48:e9a2c7cb57a4 218 osMessageQDef(osTimerMessageQ, 0, void *);
mbed_official 48:e9a2c7cb57a4 219 osMessageQId osMessageQId_osTimerMessageQ;
mbed_official 48:e9a2c7cb57a4 220 #endif
mbed_official 48:e9a2c7cb57a4 221
mbed_official 48:e9a2c7cb57a4 222 /* Legacy RTX User Timers not used */
mbed_official 68:d3d0e710b443 223 uint32_t os_tmr = 0;
mbed_official 48:e9a2c7cb57a4 224 uint32_t const *m_tmr = NULL;
mbed_official 48:e9a2c7cb57a4 225 uint16_t const mp_tmr_size = 0;
mbed_official 48:e9a2c7cb57a4 226
mbed_official 48:e9a2c7cb57a4 227 #if defined (__CC_ARM) && !defined (__MICROLIB)
mbed_official 48:e9a2c7cb57a4 228 /* A memory space for arm standard library. */
mbed_official 48:e9a2c7cb57a4 229 static uint32_t std_libspace[OS_TASK_CNT][96/4];
mbed_official 48:e9a2c7cb57a4 230 static OS_MUT std_libmutex[OS_MUTEXCNT];
mbed_official 48:e9a2c7cb57a4 231 static uint32_t nr_mutex;
mbed_official 48:e9a2c7cb57a4 232 extern void *__libspace_start;
mbed_official 103:5a85840ab54e 233 #elif defined (__ICCARM__)
mbed_official 103:5a85840ab54e 234 typedef struct os_mut_array {
mbed_official 103:5a85840ab54e 235 OS_MUT mutex;
mbed_official 103:5a85840ab54e 236 uint32_t used;
mbed_official 103:5a85840ab54e 237 } os_mut_array_t;
mbed_official 103:5a85840ab54e 238
mbed_official 103:5a85840ab54e 239 static os_mut_array_t std_libmutex[OS_MUTEXCNT];/* must be Zero clear */
mbed_official 103:5a85840ab54e 240 static uint32_t nr_mutex = 0;
mbed_official 48:e9a2c7cb57a4 241 #endif
mbed_official 48:e9a2c7cb57a4 242
mbed_official 48:e9a2c7cb57a4 243
mbed_official 48:e9a2c7cb57a4 244 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 245 * RTX Optimizations (empty functions)
mbed_official 48:e9a2c7cb57a4 246 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 247
mbed_official 48:e9a2c7cb57a4 248 #if OS_ROBIN == 0
mbed_official 48:e9a2c7cb57a4 249 void rt_init_robin (void) {;}
mbed_official 48:e9a2c7cb57a4 250 void rt_chk_robin (void) {;}
mbed_official 48:e9a2c7cb57a4 251 #endif
mbed_official 48:e9a2c7cb57a4 252
mbed_official 48:e9a2c7cb57a4 253 #if OS_STKCHECK == 0
mbed_official 48:e9a2c7cb57a4 254 void rt_stk_check (void) {;}
mbed_official 48:e9a2c7cb57a4 255 #endif
mbed_official 48:e9a2c7cb57a4 256
mbed_official 48:e9a2c7cb57a4 257
mbed_official 48:e9a2c7cb57a4 258 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 259 * Standard Library multithreading interface
mbed_official 48:e9a2c7cb57a4 260 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 261
mbed_official 48:e9a2c7cb57a4 262 #if defined (__CC_ARM) && !defined (__MICROLIB)
mbed_official 48:e9a2c7cb57a4 263
mbed_official 48:e9a2c7cb57a4 264 /*--------------------------- __user_perthread_libspace ---------------------*/
mbed_official 48:e9a2c7cb57a4 265
mbed_official 48:e9a2c7cb57a4 266 void *__user_perthread_libspace (void) {
mbed_official 48:e9a2c7cb57a4 267 /* Provide a separate libspace for each task. */
mbed_official 48:e9a2c7cb57a4 268 uint32_t idx;
mbed_official 48:e9a2c7cb57a4 269
mbed_official 48:e9a2c7cb57a4 270 idx = runtask_id ();
mbed_official 48:e9a2c7cb57a4 271 if (idx == 0) {
mbed_official 48:e9a2c7cb57a4 272 /* RTX not running yet. */
mbed_official 48:e9a2c7cb57a4 273 return (&__libspace_start);
mbed_official 48:e9a2c7cb57a4 274 }
mbed_official 48:e9a2c7cb57a4 275 return ((void *)&std_libspace[idx-1]);
mbed_official 48:e9a2c7cb57a4 276 }
mbed_official 48:e9a2c7cb57a4 277
mbed_official 48:e9a2c7cb57a4 278 /*--------------------------- _mutex_initialize -----------------------------*/
mbed_official 48:e9a2c7cb57a4 279
mbed_official 48:e9a2c7cb57a4 280 int _mutex_initialize (OS_ID *mutex) {
mbed_official 48:e9a2c7cb57a4 281 /* Allocate and initialize a system mutex. */
mbed_official 48:e9a2c7cb57a4 282
mbed_official 48:e9a2c7cb57a4 283 if (nr_mutex >= OS_MUTEXCNT) {
mbed_official 48:e9a2c7cb57a4 284 /* If you are here, you need to increase the number OS_MUTEXCNT. */
mbed_official 48:e9a2c7cb57a4 285 for (;;);
mbed_official 48:e9a2c7cb57a4 286 }
mbed_official 48:e9a2c7cb57a4 287 *mutex = &std_libmutex[nr_mutex++];
mbed_official 48:e9a2c7cb57a4 288 mutex_init (*mutex);
mbed_official 48:e9a2c7cb57a4 289 return (1);
mbed_official 48:e9a2c7cb57a4 290 }
mbed_official 48:e9a2c7cb57a4 291
mbed_official 48:e9a2c7cb57a4 292
mbed_official 48:e9a2c7cb57a4 293 /*--------------------------- _mutex_acquire --------------------------------*/
mbed_official 48:e9a2c7cb57a4 294
mbed_official 48:e9a2c7cb57a4 295 __attribute__((used)) void _mutex_acquire (OS_ID *mutex) {
mbed_official 48:e9a2c7cb57a4 296 /* Acquire a system mutex, lock stdlib resources. */
mbed_official 48:e9a2c7cb57a4 297 if (runtask_id ()) {
mbed_official 48:e9a2c7cb57a4 298 /* RTX running, acquire a mutex. */
mbed_official 48:e9a2c7cb57a4 299 mutex_wait (*mutex);
mbed_official 48:e9a2c7cb57a4 300 }
mbed_official 48:e9a2c7cb57a4 301 }
mbed_official 48:e9a2c7cb57a4 302
mbed_official 48:e9a2c7cb57a4 303
mbed_official 48:e9a2c7cb57a4 304 /*--------------------------- _mutex_release --------------------------------*/
mbed_official 48:e9a2c7cb57a4 305
mbed_official 48:e9a2c7cb57a4 306 __attribute__((used)) void _mutex_release (OS_ID *mutex) {
mbed_official 48:e9a2c7cb57a4 307 /* Release a system mutex, unlock stdlib resources. */
mbed_official 48:e9a2c7cb57a4 308 if (runtask_id ()) {
mbed_official 48:e9a2c7cb57a4 309 /* RTX running, release a mutex. */
mbed_official 48:e9a2c7cb57a4 310 mutex_rel (*mutex);
mbed_official 48:e9a2c7cb57a4 311 }
mbed_official 48:e9a2c7cb57a4 312 }
mbed_official 48:e9a2c7cb57a4 313
mbed_official 103:5a85840ab54e 314 #elif defined (__ICCARM__)
mbed_official 103:5a85840ab54e 315
mbed_official 103:5a85840ab54e 316 /*--------------------------- __iar_system_Mtxinit --------------------------*/
mbed_official 103:5a85840ab54e 317
mbed_official 103:5a85840ab54e 318 void __iar_system_Mtxinit(__iar_Rmtx *mutex)
mbed_official 103:5a85840ab54e 319 {
mbed_official 103:5a85840ab54e 320 /* Allocate and initialize a system mutex. */
mbed_official 103:5a85840ab54e 321 int32_t idx;
mbed_official 103:5a85840ab54e 322
mbed_official 103:5a85840ab54e 323 for (idx = 0; idx < OS_MUTEXCNT; idx++)
mbed_official 103:5a85840ab54e 324 {
mbed_official 103:5a85840ab54e 325 if (std_libmutex[idx].used == 0)
mbed_official 103:5a85840ab54e 326 {
mbed_official 103:5a85840ab54e 327 std_libmutex[idx].used = 1;
mbed_official 103:5a85840ab54e 328 *mutex = &std_libmutex[idx].mutex;
mbed_official 103:5a85840ab54e 329 nr_mutex++;
mbed_official 103:5a85840ab54e 330 break;
mbed_official 103:5a85840ab54e 331 }
mbed_official 103:5a85840ab54e 332 }
mbed_official 103:5a85840ab54e 333 if (nr_mutex >= OS_MUTEXCNT)
mbed_official 103:5a85840ab54e 334 {
mbed_official 103:5a85840ab54e 335 /* If you are here, you need to increase the number OS_MUTEXCNT. */
mbed_official 103:5a85840ab54e 336 for (;;);
mbed_official 103:5a85840ab54e 337 }
mbed_official 103:5a85840ab54e 338
mbed_official 103:5a85840ab54e 339 mutex_init (*mutex);
mbed_official 103:5a85840ab54e 340 }
mbed_official 103:5a85840ab54e 341
mbed_official 103:5a85840ab54e 342 /*--------------------------- __iar_system_Mtxdst ---------------------------*/
mbed_official 103:5a85840ab54e 343
mbed_official 103:5a85840ab54e 344 void __iar_system_Mtxdst(__iar_Rmtx *mutex)
mbed_official 103:5a85840ab54e 345 {
mbed_official 103:5a85840ab54e 346 /* Free a system mutex. */
mbed_official 103:5a85840ab54e 347 int32_t idx;
mbed_official 103:5a85840ab54e 348
mbed_official 103:5a85840ab54e 349 if (nr_mutex == 0)
mbed_official 103:5a85840ab54e 350 {
mbed_official 103:5a85840ab54e 351 for (;;);
mbed_official 103:5a85840ab54e 352 }
mbed_official 103:5a85840ab54e 353
mbed_official 103:5a85840ab54e 354 idx = ((((uint32_t)mutex) - ((uint32_t)&std_libmutex[0].mutex))
mbed_official 103:5a85840ab54e 355 / sizeof(os_mut_array_t));
mbed_official 103:5a85840ab54e 356
mbed_official 103:5a85840ab54e 357 if (idx >= OS_MUTEXCNT)
mbed_official 103:5a85840ab54e 358 {
mbed_official 103:5a85840ab54e 359 for (;;);
mbed_official 103:5a85840ab54e 360 }
mbed_official 103:5a85840ab54e 361
mbed_official 103:5a85840ab54e 362 mutex_del (*mutex);
mbed_official 103:5a85840ab54e 363 std_libmutex[idx].used = 0;
mbed_official 103:5a85840ab54e 364 }
mbed_official 103:5a85840ab54e 365
mbed_official 103:5a85840ab54e 366 /*--------------------------- __iar_system_Mtxlock --------------------------*/
mbed_official 103:5a85840ab54e 367
mbed_official 103:5a85840ab54e 368 void __iar_system_Mtxlock(__iar_Rmtx *mutex)
mbed_official 103:5a85840ab54e 369 {
mbed_official 103:5a85840ab54e 370 /* Acquire a system mutex, lock stdlib resources. */
mbed_official 103:5a85840ab54e 371 if (runtask_id ())
mbed_official 103:5a85840ab54e 372 {
mbed_official 103:5a85840ab54e 373 /* RTX running, acquire a mutex. */
mbed_official 103:5a85840ab54e 374 mutex_wait (*mutex);
mbed_official 103:5a85840ab54e 375 }
mbed_official 103:5a85840ab54e 376 }
mbed_official 103:5a85840ab54e 377
mbed_official 103:5a85840ab54e 378 /*--------------------------- __iar_system_Mtxunlock ------------------------*/
mbed_official 103:5a85840ab54e 379
mbed_official 103:5a85840ab54e 380 void __iar_system_Mtxunlock(__iar_Rmtx *mutex)
mbed_official 103:5a85840ab54e 381 {
mbed_official 103:5a85840ab54e 382 /* Release a system mutex, unlock stdlib resources. */
mbed_official 103:5a85840ab54e 383 if (runtask_id ())
mbed_official 103:5a85840ab54e 384 {
mbed_official 103:5a85840ab54e 385 /* RTX running, release a mutex. */
mbed_official 103:5a85840ab54e 386 mutex_rel (*mutex);
mbed_official 103:5a85840ab54e 387 }
mbed_official 103:5a85840ab54e 388 }
mbed_official 103:5a85840ab54e 389
mbed_official 48:e9a2c7cb57a4 390 #endif
mbed_official 48:e9a2c7cb57a4 391
mbed_official 48:e9a2c7cb57a4 392
mbed_official 48:e9a2c7cb57a4 393 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 394 * RTX Startup
mbed_official 48:e9a2c7cb57a4 395 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 396
mbed_official 48:e9a2c7cb57a4 397 /* Main Thread definition */
Kojto 118:6635230e06ba 398 extern void pre_main (void);
mbed_official 85:ef0a22cdf839 399 #ifdef __MBED_CMSIS_RTOS_CA9
mbed_official 85:ef0a22cdf839 400 uint32_t os_thread_def_stack_main [(4 * OS_MAINSTKSIZE) / sizeof(uint32_t)];
Kojto 118:6635230e06ba 401 osThreadDef_t os_thread_def_main = {(os_pthread)pre_main, osPriorityNormal, 1, 4*OS_MAINSTKSIZE, os_thread_def_stack_main };
mbed_official 85:ef0a22cdf839 402 #else
Kojto 118:6635230e06ba 403 osThreadDef_t os_thread_def_main = {(os_pthread)pre_main, osPriorityNormal, 1, 4*OS_MAINSTKSIZE };
mbed_official 85:ef0a22cdf839 404 #endif
mbed_official 48:e9a2c7cb57a4 405
mbed_official 48:e9a2c7cb57a4 406 #if defined (__CC_ARM)
mbed_official 48:e9a2c7cb57a4 407
mbed_official 48:e9a2c7cb57a4 408 #ifdef __MICROLIB
Kojto 118:6635230e06ba 409
Kojto 118:6635230e06ba 410 int main(void);
mbed_official 48:e9a2c7cb57a4 411 void _main_init (void) __attribute__((section(".ARM.Collect$$$$000000FF")));
Kojto 118:6635230e06ba 412 void $Super$$__cpp_initialize__aeabi_(void);
Kojto 118:6635230e06ba 413
mbed_official 48:e9a2c7cb57a4 414 #if __TARGET_ARCH_ARM
mbed_official 48:e9a2c7cb57a4 415 #pragma push
mbed_official 48:e9a2c7cb57a4 416 #pragma arm
mbed_official 48:e9a2c7cb57a4 417 #endif
mbed_official 48:e9a2c7cb57a4 418 void _main_init (void) {
mbed_official 48:e9a2c7cb57a4 419 osKernelInitialize();
mbed_official 48:e9a2c7cb57a4 420 osThreadCreate(&os_thread_def_main, NULL);
mbed_official 48:e9a2c7cb57a4 421 osKernelStart();
mbed_official 48:e9a2c7cb57a4 422 for (;;);
mbed_official 48:e9a2c7cb57a4 423 }
mbed_official 48:e9a2c7cb57a4 424 #if __TARGET_ARCH_ARM
mbed_official 48:e9a2c7cb57a4 425 #pragma pop
mbed_official 48:e9a2c7cb57a4 426 #endif
Kojto 118:6635230e06ba 427
Kojto 118:6635230e06ba 428 void $Sub$$__cpp_initialize__aeabi_(void)
Kojto 118:6635230e06ba 429 {
Kojto 118:6635230e06ba 430 // this should invoke C++ initializers prior _main_init, we keep this empty and
Kojto 118:6635230e06ba 431 // invoke them after _main_init (=starts RTX kernel)
Kojto 118:6635230e06ba 432 }
Kojto 118:6635230e06ba 433
Kojto 118:6635230e06ba 434 void pre_main()
Kojto 118:6635230e06ba 435 {
Kojto 118:6635230e06ba 436 $Super$$__cpp_initialize__aeabi_();
Kojto 118:6635230e06ba 437 main();
Kojto 118:6635230e06ba 438 }
Kojto 118:6635230e06ba 439
mbed_official 48:e9a2c7cb57a4 440 #else
Kojto 118:6635230e06ba 441
Kojto 118:6635230e06ba 442 void * armcc_heap_base;
Kojto 118:6635230e06ba 443 void * armcc_heap_top;
Kojto 118:6635230e06ba 444
Kojto 118:6635230e06ba 445 __asm void pre_main (void)
Kojto 118:6635230e06ba 446 {
Kojto 118:6635230e06ba 447 IMPORT __rt_lib_init
Kojto 118:6635230e06ba 448 IMPORT main
Kojto 118:6635230e06ba 449 IMPORT armcc_heap_base
Kojto 118:6635230e06ba 450 IMPORT armcc_heap_top
Kojto 118:6635230e06ba 451
Kojto 118:6635230e06ba 452 LDR R0,=armcc_heap_base
Kojto 118:6635230e06ba 453 LDR R1,=armcc_heap_top
Kojto 118:6635230e06ba 454 LDR R0,[R0]
Kojto 118:6635230e06ba 455 LDR R1,[R1]
Kojto 118:6635230e06ba 456 /* Save link register (keep 8 byte alignment with dummy R4) */
Kojto 118:6635230e06ba 457 PUSH {R4, LR}
Kojto 118:6635230e06ba 458 BL __rt_lib_init
Kojto 118:6635230e06ba 459 BL main
Kojto 118:6635230e06ba 460 /* Return to the thread destroy function.
Kojto 118:6635230e06ba 461 */
Kojto 118:6635230e06ba 462 POP {R4, PC}
Kojto 118:6635230e06ba 463 ALIGN
Kojto 118:6635230e06ba 464 }
Kojto 118:6635230e06ba 465
mbed_official 48:e9a2c7cb57a4 466 __asm void __rt_entry (void) {
mbed_official 48:e9a2c7cb57a4 467
mbed_official 48:e9a2c7cb57a4 468 IMPORT __user_setup_stackheap
mbed_official 48:e9a2c7cb57a4 469 IMPORT os_thread_def_main
Kojto 118:6635230e06ba 470 IMPORT armcc_heap_base
Kojto 118:6635230e06ba 471 IMPORT armcc_heap_top
mbed_official 48:e9a2c7cb57a4 472 IMPORT osKernelInitialize
mbed_official 48:e9a2c7cb57a4 473 IMPORT osKernelStart
mbed_official 48:e9a2c7cb57a4 474 IMPORT osThreadCreate
mbed_official 48:e9a2c7cb57a4 475
mbed_official 48:e9a2c7cb57a4 476 BL __user_setup_stackheap
Kojto 118:6635230e06ba 477 LDR R3,=armcc_heap_base
Kojto 118:6635230e06ba 478 LDR R4,=armcc_heap_top
Kojto 118:6635230e06ba 479 STR R0,[R3]
Kojto 118:6635230e06ba 480 STR R2,[R4]
mbed_official 48:e9a2c7cb57a4 481 BL osKernelInitialize
mbed_official 48:e9a2c7cb57a4 482 LDR R0,=os_thread_def_main
mbed_official 48:e9a2c7cb57a4 483 MOVS R1,#0
mbed_official 48:e9a2c7cb57a4 484 BL osThreadCreate
mbed_official 48:e9a2c7cb57a4 485 BL osKernelStart
Kojto 118:6635230e06ba 486 /* osKernelStart should not return */
Kojto 118:6635230e06ba 487 B .
mbed_official 48:e9a2c7cb57a4 488
mbed_official 48:e9a2c7cb57a4 489 ALIGN
mbed_official 48:e9a2c7cb57a4 490 }
mbed_official 48:e9a2c7cb57a4 491 #endif
mbed_official 48:e9a2c7cb57a4 492
mbed_official 48:e9a2c7cb57a4 493 #elif defined (__GNUC__)
Kojto 118:6635230e06ba 494 extern void __libc_fini_array(void);
Kojto 118:6635230e06ba 495 extern void __libc_init_array (void);
Kojto 118:6635230e06ba 496 extern int main(int argc, char **argv);
mbed_official 48:e9a2c7cb57a4 497
Kojto 118:6635230e06ba 498 void pre_main(void) {
Kojto 118:6635230e06ba 499 atexit(__libc_fini_array);
Kojto 118:6635230e06ba 500 __libc_init_array();
Kojto 118:6635230e06ba 501 main(0, NULL);
Kojto 118:6635230e06ba 502 }
Kojto 118:6635230e06ba 503
Kojto 118:6635230e06ba 504 __attribute__((naked)) void software_init_hook_rtos (void) {
mbed_official 48:e9a2c7cb57a4 505 __asm (
mbed_official 48:e9a2c7cb57a4 506 ".syntax unified\n"
mbed_official 67:63988a2238f7 507 ".arm\n"
mbed_official 48:e9a2c7cb57a4 508 "bl osKernelInitialize\n"
mbed_official 48:e9a2c7cb57a4 509 "ldr r0,=os_thread_def_main\n"
mbed_official 48:e9a2c7cb57a4 510 "movs r1,#0\n"
mbed_official 48:e9a2c7cb57a4 511 "bl osThreadCreate\n"
mbed_official 48:e9a2c7cb57a4 512 "bl osKernelStart\n"
Kojto 118:6635230e06ba 513 /* osKernelStart should not return */
Kojto 118:6635230e06ba 514 "B .\n"
mbed_official 48:e9a2c7cb57a4 515 );
mbed_official 48:e9a2c7cb57a4 516 }
mbed_official 48:e9a2c7cb57a4 517
mbed_official 48:e9a2c7cb57a4 518 #elif defined (__ICCARM__)
Kojto 118:6635230e06ba 519 extern void* __vector_core_a9;
Kojto 118:6635230e06ba 520 extern int __low_level_init(void);
Kojto 118:6635230e06ba 521 extern void __iar_data_init3(void);
Kojto 118:6635230e06ba 522 extern __weak void __iar_init_core( void );
Kojto 118:6635230e06ba 523 extern __weak void __iar_init_vfp( void );
Kojto 118:6635230e06ba 524 extern void __iar_dynamic_initialization(void);
Kojto 118:6635230e06ba 525 extern void mbed_sdk_init(void);
Kojto 118:6635230e06ba 526 static uint8_t low_level_init_needed;
mbed_official 48:e9a2c7cb57a4 527
Kojto 118:6635230e06ba 528 void pre_main(void) {
Kojto 118:6635230e06ba 529 if (low_level_init_needed) {
Kojto 118:6635230e06ba 530 __iar_dynamic_initialization();
Kojto 118:6635230e06ba 531 }
Kojto 118:6635230e06ba 532 main();
Kojto 118:6635230e06ba 533 }
mbed_official 48:e9a2c7cb57a4 534
Kojto 118:6635230e06ba 535 #pragma required=__vector_core_a9
Kojto 118:6635230e06ba 536 void __iar_program_start( void )
Kojto 118:6635230e06ba 537 {
Kojto 118:6635230e06ba 538 __iar_init_core();
Kojto 118:6635230e06ba 539 __iar_init_vfp();
Kojto 118:6635230e06ba 540
Kojto 118:6635230e06ba 541 uint8_t low_level_init_needed_local;
Kojto 118:6635230e06ba 542
Kojto 118:6635230e06ba 543 low_level_init_needed_local = __low_level_init();
Kojto 118:6635230e06ba 544 if (low_level_init_needed_local) {
Kojto 118:6635230e06ba 545 __iar_data_init3();
Kojto 118:6635230e06ba 546 mbed_sdk_init();
Kojto 118:6635230e06ba 547 }
Kojto 118:6635230e06ba 548 /* Store in a global variable after RAM has been initialized */
Kojto 118:6635230e06ba 549 low_level_init_needed = low_level_init_needed_local;
mbed_official 48:e9a2c7cb57a4 550 osKernelInitialize();
mbed_official 48:e9a2c7cb57a4 551 osThreadCreate(&os_thread_def_main, NULL);
Kojto 118:6635230e06ba 552 osKernelStart();
Kojto 118:6635230e06ba 553 /* osKernelStart should not return */
Kojto 118:6635230e06ba 554 while (1);
mbed_official 48:e9a2c7cb57a4 555 }
mbed_official 48:e9a2c7cb57a4 556
mbed_official 48:e9a2c7cb57a4 557 #endif
mbed_official 48:e9a2c7cb57a4 558
mbed_official 48:e9a2c7cb57a4 559
mbed_official 48:e9a2c7cb57a4 560 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 561 * end of file
mbed_official 48:e9a2c7cb57a4 562 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 563