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/TOOLCHAIN_GCC/HAL_CA9.S@92:bc9729798a19, 2015-09-25 (annotated)

Committer:
mbed_official
Date:
Fri Sep 25 13:30:34 2015 +0100
Revision:
92:bc9729798a19
Parent:
86:58c3b7759abf 
Synchronized with git revision e8c24ba90dd5507bdb7c1b46dd3aba8cfabb762b



Full URL: https://github.com/mbedmicro/mbed/commit/e8c24ba90dd5507bdb7c1b46dd3aba8cfabb762b/



RZ_A1H - Modify to support NEON for RTOS.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 67:63988a2238f7 1 /*----------------------------------------------------------------------------
mbed_official 67:63988a2238f7 2 * RL-ARM - RTX
mbed_official 67:63988a2238f7 3 *----------------------------------------------------------------------------
mbed_official 67:63988a2238f7 4 * Name: HAL_CA9.c
mbed_official 67:63988a2238f7 5 * Purpose: Hardware Abstraction Layer for Cortex-A9
mbed_official 92:bc9729798a19 6 * Rev.: 8 April 2015
mbed_official 67:63988a2238f7 7 *----------------------------------------------------------------------------
mbed_official 67:63988a2238f7 8 *
mbed_official 92:bc9729798a19 9 * Copyright (c) 2012 - 2015 ARM Limited
mbed_official 67:63988a2238f7 10 * All rights reserved.
mbed_official 67:63988a2238f7 11 * Redistribution and use in source and binary forms, with or without
mbed_official 67:63988a2238f7 12 * modification, are permitted provided that the following conditions are met:
mbed_official 67:63988a2238f7 13 * - Redistributions of source code must retain the above copyright
mbed_official 67:63988a2238f7 14 * notice, this list of conditions and the following disclaimer.
mbed_official 67:63988a2238f7 15 * - Redistributions in binary form must reproduce the above copyright
mbed_official 67:63988a2238f7 16 * notice, this list of conditions and the following disclaimer in the
mbed_official 67:63988a2238f7 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 67:63988a2238f7 20 * specific prior written permission.
mbed_official 67:63988a2238f7 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 67:63988a2238f7 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbed_official 67:63988a2238f7 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbed_official 67:63988a2238f7 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 67:63988a2238f7 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official 67:63988a2238f7 32 * POSSIBILITY OF SUCH DAMAGE.
mbed_official 67:63988a2238f7 33 *---------------------------------------------------------------------------*/
mbed_official 67:63988a2238f7 34
mbed_official 67:63988a2238f7 35 .global rt_set_PSP
mbed_official 67:63988a2238f7 36 .global rt_get_PSP
mbed_official 67:63988a2238f7 37 .global _alloc_box
mbed_official 67:63988a2238f7 38 .global _free_box
mbed_official 92:bc9729798a19 39 .global SVC_Handler
mbed_official 67:63988a2238f7 40 .global PendSV_Handler
mbed_official 67:63988a2238f7 41 .global OS_Tick_Handler
mbed_official 67:63988a2238f7 42
mbed_official 92:bc9729798a19 43 /* macro defines form rt_HAL_CA.h */
mbed_official 67:63988a2238f7 44 .EQU CPSR_T_BIT, 0x20
mbed_official 67:63988a2238f7 45 .EQU CPSR_I_BIT, 0x80
mbed_official 67:63988a2238f7 46 .EQU CPSR_F_BIT, 0x40
mbed_official 67:63988a2238f7 47
mbed_official 67:63988a2238f7 48 .EQU MODE_USR, 0x10
mbed_official 67:63988a2238f7 49 .EQU MODE_FIQ, 0x11
mbed_official 67:63988a2238f7 50 .EQU MODE_IRQ, 0x12
mbed_official 67:63988a2238f7 51 .EQU MODE_SVC, 0x13
mbed_official 67:63988a2238f7 52 .EQU MODE_ABT, 0x17
mbed_official 67:63988a2238f7 53 .EQU MODE_UND, 0x1B
mbed_official 67:63988a2238f7 54 .EQU MODE_SYS, 0x1F
mbed_official 67:63988a2238f7 55
mbed_official 92:bc9729798a19 56 /* macro defines form rt_TypeDef.h */
mbed_official 67:63988a2238f7 57 .EQU TCB_TID, 3 /* 'task id' offset */
mbed_official 92:bc9729798a19 58 .EQU TCB_STACKF, 37 /* 'stack_frame' offset */
mbed_official 92:bc9729798a19 59 .EQU TCB_TSTACK, 44 /* 'tsk_stack' offset for LARGE_STACK */
mbed_official 92:bc9729798a19 60
mbed_official 67:63988a2238f7 61
mbed_official 67:63988a2238f7 62 .extern rt_alloc_box
mbed_official 67:63988a2238f7 63 .extern os_tsk
mbed_official 67:63988a2238f7 64 .extern GICInterface_BASE
mbed_official 67:63988a2238f7 65 .extern rt_pop_req
mbed_official 67:63988a2238f7 66 .extern os_tick_irqack
mbed_official 67:63988a2238f7 67 .extern rt_systick
mbed_official 67:63988a2238f7 68
mbed_official 92:bc9729798a19 69 .text
mbed_official 92:bc9729798a19 70
mbed_official 67:63988a2238f7 71 /*----------------------------------------------------------------------------
mbed_official 67:63988a2238f7 72 * Functions
mbed_official 67:63988a2238f7 73 *---------------------------------------------------------------------------*/
mbed_official 92:bc9729798a19 74
mbed_official 67:63988a2238f7 75 @ For A-class, set USR/SYS stack
mbed_official 67:63988a2238f7 76 @ __asm void rt_set_PSP (U32 stack) {
mbed_official 67:63988a2238f7 77 rt_set_PSP:
mbed_official 92:bc9729798a19 78 .ARM
mbed_official 67:63988a2238f7 79
mbed_official 67:63988a2238f7 80 MRS R1, CPSR
mbed_official 67:63988a2238f7 81 CPS #MODE_SYS @no effect in USR mode
mbed_official 67:63988a2238f7 82 ISB
mbed_official 67:63988a2238f7 83 MOV SP, R0
mbed_official 67:63988a2238f7 84 MSR CPSR_c, R1 @no effect in USR mode
mbed_official 67:63988a2238f7 85 ISB
mbed_official 67:63988a2238f7 86 BX LR
mbed_official 67:63988a2238f7 87
mbed_official 67:63988a2238f7 88 @ }
mbed_official 67:63988a2238f7 89
mbed_official 67:63988a2238f7 90 @ For A-class, get USR/SYS stack
mbed_official 67:63988a2238f7 91 @ __asm U32 rt_get_PSP (void) {
mbed_official 67:63988a2238f7 92 rt_get_PSP:
mbed_official 92:bc9729798a19 93 .ARM
mbed_official 67:63988a2238f7 94
mbed_official 67:63988a2238f7 95 MRS R1, CPSR
mbed_official 67:63988a2238f7 96 CPS #MODE_SYS @no effect in USR mode
mbed_official 67:63988a2238f7 97 ISB
mbed_official 67:63988a2238f7 98 MOV R0, SP
mbed_official 67:63988a2238f7 99 MSR CPSR_c, R1 @no effect in USR mode
mbed_official 67:63988a2238f7 100 ISB
mbed_official 67:63988a2238f7 101 BX LR
mbed_official 67:63988a2238f7 102 @ }
mbed_official 67:63988a2238f7 103
mbed_official 67:63988a2238f7 104 /*--------------------------- _alloc_box ------------------------------------*/
mbed_official 67:63988a2238f7 105 @ __asm void *_alloc_box (void *box_mem) {
mbed_official 67:63988a2238f7 106 _alloc_box:
mbed_official 67:63988a2238f7 107 /* Function wrapper for Unprivileged/Privileged mode. */
mbed_official 92:bc9729798a19 108 .ARM
mbed_official 67:63988a2238f7 109
mbed_official 92:bc9729798a19 110 LDR R12,=rt_alloc_box
mbed_official 67:63988a2238f7 111 MRS R2, CPSR
mbed_official 67:63988a2238f7 112 LSLS R2, #28
mbed_official 67:63988a2238f7 113 BXNE R12
mbed_official 67:63988a2238f7 114 SVC 0
mbed_official 67:63988a2238f7 115 BX LR
mbed_official 67:63988a2238f7 116 @ }
mbed_official 67:63988a2238f7 117
mbed_official 67:63988a2238f7 118
mbed_official 67:63988a2238f7 119 /*--------------------------- _free_box -------------------------------------*/
mbed_official 67:63988a2238f7 120 @ __asm int _free_box (void *box_mem, void *box) {
mbed_official 67:63988a2238f7 121 _free_box:
mbed_official 67:63988a2238f7 122 /* Function wrapper for Unprivileged/Privileged mode. */
mbed_official 92:bc9729798a19 123 .ARM
mbed_official 67:63988a2238f7 124
mbed_official 92:bc9729798a19 125 LDR R12,=rt_free_box
mbed_official 67:63988a2238f7 126 MRS R2, CPSR
mbed_official 67:63988a2238f7 127 LSLS R2, #28
mbed_official 67:63988a2238f7 128 BXNE R12
mbed_official 67:63988a2238f7 129 SVC 0
mbed_official 67:63988a2238f7 130 BX LR
mbed_official 67:63988a2238f7 131
mbed_official 67:63988a2238f7 132 @ }
mbed_official 67:63988a2238f7 133
mbed_official 67:63988a2238f7 134 /*-------------------------- SVC_Handler -----------------------------------*/
mbed_official 67:63988a2238f7 135
mbed_official 67:63988a2238f7 136 @ #pragma push
mbed_official 67:63988a2238f7 137 @ #pragma arm
mbed_official 67:63988a2238f7 138 @ __asm void SVC_Handler (void) {
mbed_official 92:bc9729798a19 139 SVC_Handler:
mbed_official 92:bc9729798a19 140 .eabi_attribute Tag_ABI_align8_preserved,1
mbed_official 92:bc9729798a19 141 .ARM
mbed_official 67:63988a2238f7 142
mbed_official 67:63988a2238f7 143 .extern rt_tsk_lock
mbed_official 67:63988a2238f7 144 .extern rt_tsk_unlock
mbed_official 67:63988a2238f7 145 .extern SVC_Count
mbed_official 67:63988a2238f7 146 .extern SVC_Table
mbed_official 67:63988a2238f7 147 .extern rt_stk_check
mbed_official 67:63988a2238f7 148 .extern FPUEnable
mbed_official 92:bc9729798a19 149 .extern scheduler_suspended @ flag set by rt_suspend, cleared by rt_resume, read by SVC_Handler
mbed_official 67:63988a2238f7 150
mbed_official 67:63988a2238f7 151 .EQU Mode_SVC, 0x13
mbed_official 67:63988a2238f7 152
mbed_official 92:bc9729798a19 153 SRSDB SP!, #Mode_SVC @ Push LR_SVC and SPRS_SVC onto SVC mode stack @ Use SRSDB because SRSFD isn't supported by GCC-ARM.
mbed_official 67:63988a2238f7 154 PUSH {R4} @ Push R4 so we can use it as a temp
mbed_official 67:63988a2238f7 155
mbed_official 67:63988a2238f7 156 MRS R4,SPSR @ Get SPSR
mbed_official 67:63988a2238f7 157 TST R4,#CPSR_T_BIT @ Check Thumb Bit
mbed_official 67:63988a2238f7 158 LDRNEH R4,[LR,#-2] @ Thumb: Load Halfword
mbed_official 67:63988a2238f7 159 BICNE R4,R4,#0xFF00 @ Extract SVC Number
mbed_official 67:63988a2238f7 160 LDREQ R4,[LR,#-4] @ ARM: Load Word
mbed_official 67:63988a2238f7 161 BICEQ R4,R4,#0xFF000000 @ Extract SVC Number
mbed_official 67:63988a2238f7 162
mbed_official 67:63988a2238f7 163 /* Lock out systick and re-enable interrupts */
mbed_official 67:63988a2238f7 164 PUSH {R0-R3,R12,LR}
mbed_official 67:63988a2238f7 165
mbed_official 67:63988a2238f7 166 AND R12, SP, #4 @ Ensure stack is 8-byte aligned
mbed_official 67:63988a2238f7 167 SUB SP, SP, R12 @ Adjust stack
mbed_official 67:63988a2238f7 168 PUSH {R12, LR} @ Store stack adjustment and dummy LR to SVC stack
mbed_official 67:63988a2238f7 169
mbed_official 67:63988a2238f7 170 BLX rt_tsk_lock
mbed_official 67:63988a2238f7 171 CPSIE i
mbed_official 67:63988a2238f7 172
mbed_official 67:63988a2238f7 173 POP {R12, LR} @ Get stack adjustment & discard dummy LR
mbed_official 67:63988a2238f7 174 ADD SP, SP, R12 @ Unadjust stack
mbed_official 67:63988a2238f7 175
mbed_official 67:63988a2238f7 176 POP {R0-R3,R12,LR}
mbed_official 67:63988a2238f7 177
mbed_official 67:63988a2238f7 178 CMP R4,#0
mbed_official 67:63988a2238f7 179 BNE SVC_User
mbed_official 67:63988a2238f7 180
mbed_official 67:63988a2238f7 181 MRS R4,SPSR
mbed_official 67:63988a2238f7 182 PUSH {R4} @ Push R4 so we can use it as a temp
mbed_official 67:63988a2238f7 183 AND R4, SP, #4 @ Ensure stack is 8-byte aligned
mbed_official 67:63988a2238f7 184 SUB SP, SP, R4 @ Adjust stack
mbed_official 67:63988a2238f7 185 PUSH {R4, LR} @ Store stack adjustment and dummy LR
mbed_official 67:63988a2238f7 186 BLX R12
mbed_official 67:63988a2238f7 187 POP {R4, LR} @ Get stack adjustment & discard dummy LR
mbed_official 67:63988a2238f7 188 ADD SP, SP, R4 @ Unadjust stack
mbed_official 67:63988a2238f7 189 POP {R4} @ Restore R4
mbed_official 67:63988a2238f7 190 MSR SPSR_cxsf,R4
mbed_official 67:63988a2238f7 191
mbed_official 67:63988a2238f7 192 /* Here we will be in SVC mode (even if coming in from PendSV_Handler or OS_Tick_Handler) */
mbed_official 67:63988a2238f7 193 Sys_Switch:
mbed_official 92:bc9729798a19 194 LDR LR,=os_tsk
mbed_official 92:bc9729798a19 195 LDM LR,{R4,LR} @ os_tsk.run, os_tsk.new_tsk
mbed_official 67:63988a2238f7 196 CMP R4,LR
mbed_official 67:63988a2238f7 197 BNE switching
mbed_official 67:63988a2238f7 198
mbed_official 67:63988a2238f7 199 PUSH {R0-R3,R12,LR}
mbed_official 67:63988a2238f7 200
mbed_official 67:63988a2238f7 201 AND R12, SP, #4 @ Ensure stack is 8-byte aligned
mbed_official 67:63988a2238f7 202 SUB SP, SP, R12 @ Adjust stack
mbed_official 67:63988a2238f7 203 PUSH {R12, LR} @ Store stack adjustment and dummy LR to SVC stack
mbed_official 67:63988a2238f7 204
mbed_official 67:63988a2238f7 205 CPSID i
mbed_official 92:bc9729798a19 206 @ Do not unlock scheduler if it has just been suspended by rt_suspend()
mbed_official 92:bc9729798a19 207 LDR R1,=scheduler_suspended
mbed_official 92:bc9729798a19 208 LDRB R0, [R1]
mbed_official 92:bc9729798a19 209 CMP R0, #1
mbed_official 92:bc9729798a19 210 BEQ dont_unlock
mbed_official 67:63988a2238f7 211 BLX rt_tsk_unlock
mbed_official 92:bc9729798a19 212 dont_unlock:
mbed_official 67:63988a2238f7 213
mbed_official 67:63988a2238f7 214 POP {R12, LR} @ Get stack adjustment & discard dummy LR
mbed_official 67:63988a2238f7 215 ADD SP, SP, R12 @ Unadjust stack
mbed_official 67:63988a2238f7 216
mbed_official 67:63988a2238f7 217 POP {R0-R3,R12,LR}
mbed_official 67:63988a2238f7 218 POP {R4}
mbed_official 67:63988a2238f7 219 RFEFD SP! @ Return from exception, no task switch
mbed_official 67:63988a2238f7 220
mbed_official 67:63988a2238f7 221 switching:
mbed_official 67:63988a2238f7 222 CLREX
mbed_official 67:63988a2238f7 223 CMP R4,#0
mbed_official 67:63988a2238f7 224 ADDEQ SP,SP,#12 @ Original R4, LR & SPSR do not need to be popped when we are paging in a different task
mbed_official 67:63988a2238f7 225 BEQ SVC_Next @ Runtask deleted?
mbed_official 67:63988a2238f7 226
mbed_official 67:63988a2238f7 227
mbed_official 67:63988a2238f7 228 PUSH {R8-R11} @ R4 and LR already stacked
mbed_official 67:63988a2238f7 229 MOV R10,R4 @ Preserve os_tsk.run
mbed_official 92:bc9729798a19 230 MOV R11,LR @ Preserve os_tsk.new_tsk
mbed_official 67:63988a2238f7 231
mbed_official 67:63988a2238f7 232 ADD R8,SP,#16 @ Unstack R4,LR
mbed_official 67:63988a2238f7 233 LDMIA R8,{R4,LR}
mbed_official 67:63988a2238f7 234
mbed_official 67:63988a2238f7 235 SUB SP,SP,#4 @ Make space on the stack for the next instn
mbed_official 67:63988a2238f7 236 STMIA SP,{SP}^ @ Put User SP onto stack
mbed_official 67:63988a2238f7 237 POP {R8} @ Pop User SP into R8
mbed_official 67:63988a2238f7 238
mbed_official 67:63988a2238f7 239 MRS R9,SPSR
mbed_official 67:63988a2238f7 240 STMDB R8!,{R9} @ User CPSR
mbed_official 67:63988a2238f7 241 STMDB R8!,{LR} @ User PC
mbed_official 67:63988a2238f7 242 STMDB R8,{LR}^ @ User LR
mbed_official 67:63988a2238f7 243 SUB R8,R8,#4 @ No writeback for store of User LR
mbed_official 67:63988a2238f7 244 STMDB R8!,{R0-R3,R12} @ User R0-R3,R12
mbed_official 67:63988a2238f7 245 MOV R3,R10 @ os_tsk.run
mbed_official 92:bc9729798a19 246 MOV LR,R11 @ os_tsk.new_tsk
mbed_official 67:63988a2238f7 247 POP {R9-R12}
mbed_official 67:63988a2238f7 248 ADD SP,SP,#12 @ Fix up SP for unstack of R4, LR & SPSR
mbed_official 67:63988a2238f7 249 STMDB R8!,{R4-R7,R9-R12} @ User R4-R11
mbed_official 67:63988a2238f7 250
mbed_official 92:bc9729798a19 251 @ If applicable, stack VFP/NEON state
mbed_official 67:63988a2238f7 252 MRC p15,0,R1,c1,c0,2 @ VFP/NEON access enabled? (CPACR)
mbed_official 67:63988a2238f7 253 AND R2,R1,#0x00F00000
mbed_official 67:63988a2238f7 254 CMP R2,#0x00F00000
mbed_official 67:63988a2238f7 255 BNE no_outgoing_vfp
mbed_official 67:63988a2238f7 256 VMRS R2,FPSCR
mbed_official 67:63988a2238f7 257 STMDB R8!,{R2,R4} @ Push FPSCR, maintain 8-byte alignment
mbed_official 92:bc9729798a19 258 VSTMDB R8!,{D0-D15}
mbed_official 92:bc9729798a19 259 VSTMDB R8!,{D16-D31}
mbed_official 92:bc9729798a19 260 LDRB R2,[R3,#TCB_STACKF] @ Record in TCB that NEON/D32 state is stacked
mbed_official 92:bc9729798a19 261 ORR R2,#4
mbed_official 67:63988a2238f7 262 STRB R2,[R3,#TCB_STACKF]
mbed_official 67:63988a2238f7 263
mbed_official 67:63988a2238f7 264 no_outgoing_vfp:
mbed_official 67:63988a2238f7 265 STR R8,[R3,#TCB_TSTACK]
mbed_official 67:63988a2238f7 266 MOV R4,LR
mbed_official 67:63988a2238f7 267
mbed_official 67:63988a2238f7 268 PUSH {R4} @ Push R4 so we can use it as a temp
mbed_official 67:63988a2238f7 269 AND R4, SP, #4 @ Ensure stack is 8-byte aligned
mbed_official 67:63988a2238f7 270 SUB SP, SP, R4 @ Adjust stack
mbed_official 67:63988a2238f7 271 PUSH {R4, LR} @ Store stack adjustment and dummy LR to SVC stack
mbed_official 67:63988a2238f7 272
mbed_official 67:63988a2238f7 273 BLX rt_stk_check
mbed_official 67:63988a2238f7 274
mbed_official 67:63988a2238f7 275 POP {R4, LR} @ Get stack adjustment & discard dummy LR
mbed_official 67:63988a2238f7 276 ADD SP, SP, R4 @ Unadjust stack
mbed_official 67:63988a2238f7 277 POP {R4} @ Restore R4
mbed_official 67:63988a2238f7 278
mbed_official 67:63988a2238f7 279 MOV LR,R4
mbed_official 67:63988a2238f7 280
mbed_official 92:bc9729798a19 281 SVC_Next: @ R4 == os_tsk.run, LR == os_tsk.new_tsk, R0-R3, R5-R12 corruptible
mbed_official 92:bc9729798a19 282 LDR R1,=os_tsk @ os_tsk.run = os_tsk.new_tsk
mbed_official 67:63988a2238f7 283 STR LR,[R1]
mbed_official 67:63988a2238f7 284 LDRB R1,[LR,#TCB_TID] @ os_tsk.run->task_id
mbed_official 67:63988a2238f7 285 LSL R1,#8 @ Store PROCID
mbed_official 67:63988a2238f7 286 MCR p15,0,R1,c13,c0,1 @ Write CONTEXTIDR
mbed_official 67:63988a2238f7 287
mbed_official 67:63988a2238f7 288 LDR R0,[LR,#TCB_TSTACK] @ os_tsk.run->tsk_stack
mbed_official 67:63988a2238f7 289
mbed_official 92:bc9729798a19 290 @ Does incoming task have VFP/NEON state in stack?
mbed_official 67:63988a2238f7 291 LDRB R3,[LR,#TCB_STACKF]
mbed_official 92:bc9729798a19 292 ANDS R3, R3, #0x6
mbed_official 67:63988a2238f7 293 MRC p15,0,R1,c1,c0,2 @ Read CPACR
mbed_official 92:bc9729798a19 294 ANDEQ R1,R1,#0xFF0FFFFF @ Disable VFP/NEON access if incoming task does not have stacked VFP/NEON state
mbed_official 92:bc9729798a19 295 ORRNE R1,R1,#0x00F00000 @ Enable VFP/NEON access if incoming task does have stacked VFP/NEON state
mbed_official 67:63988a2238f7 296 MCR p15,0,R1,c1,c0,2 @ Write CPACR
mbed_official 67:63988a2238f7 297 BEQ no_incoming_vfp
mbed_official 92:bc9729798a19 298 ISB @ We only need the sync if we enabled, otherwise we will context switch before next VFP/NEON instruction anyway
mbed_official 92:bc9729798a19 299 VLDMIA R0!,{D16-D31}
mbed_official 92:bc9729798a19 300 VLDMIA R0!,{D0-D15}
mbed_official 67:63988a2238f7 301 LDR R2,[R0]
mbed_official 67:63988a2238f7 302 VMSR FPSCR,R2
mbed_official 67:63988a2238f7 303 ADD R0,R0,#8
mbed_official 67:63988a2238f7 304
mbed_official 67:63988a2238f7 305 no_incoming_vfp:
mbed_official 67:63988a2238f7 306 LDR R1,[R0,#60] @ Restore User CPSR
mbed_official 67:63988a2238f7 307 MSR SPSR_cxsf,R1
mbed_official 67:63988a2238f7 308 LDMIA R0!,{R4-R11} @ Restore User R4-R11
mbed_official 67:63988a2238f7 309 ADD R0,R0,#4 @ Restore User R1-R3,R12
mbed_official 67:63988a2238f7 310 LDMIA R0!,{R1-R3,R12}
mbed_official 67:63988a2238f7 311 LDMIA R0,{LR}^ @ Restore User LR
mbed_official 67:63988a2238f7 312 ADD R0,R0,#4 @ No writeback for load to user LR
mbed_official 67:63988a2238f7 313 LDMIA R0!,{LR} @ Restore User PC
mbed_official 67:63988a2238f7 314 ADD R0,R0,#4 @ Correct User SP for unstacked user CPSR
mbed_official 67:63988a2238f7 315
mbed_official 67:63988a2238f7 316 PUSH {R0} @ Push R0 onto stack
mbed_official 67:63988a2238f7 317 LDMIA SP,{SP}^ @ Get R0 off stack into User SP
mbed_official 67:63988a2238f7 318 ADD SP,SP,#4 @ Put SP back
mbed_official 67:63988a2238f7 319
mbed_official 67:63988a2238f7 320 LDR R0,[R0,#-32] @ Restore R0
mbed_official 67:63988a2238f7 321
mbed_official 67:63988a2238f7 322 PUSH {R0-R3,R12,LR}
mbed_official 67:63988a2238f7 323
mbed_official 67:63988a2238f7 324 AND R12, SP, #4 @ Ensure stack is 8-byte aligned
mbed_official 67:63988a2238f7 325 SUB SP, SP, R12 @ Adjust stack
mbed_official 67:63988a2238f7 326 PUSH {R12, LR} @ Store stack adjustment and dummy LR to SVC stack
mbed_official 67:63988a2238f7 327
mbed_official 67:63988a2238f7 328 CPSID i
mbed_official 67:63988a2238f7 329 BLX rt_tsk_unlock
mbed_official 67:63988a2238f7 330
mbed_official 67:63988a2238f7 331 POP {R12, LR} @ Get stack adjustment & discard dummy LR
mbed_official 67:63988a2238f7 332 ADD SP, SP, R12 @ Unadjust stack
mbed_official 67:63988a2238f7 333
mbed_official 67:63988a2238f7 334 POP {R0-R3,R12,LR}
mbed_official 67:63988a2238f7 335
mbed_official 67:63988a2238f7 336 MOVS PC,LR @ Return from exception
mbed_official 67:63988a2238f7 337
mbed_official 67:63988a2238f7 338
mbed_official 67:63988a2238f7 339 /*------------------- User SVC -------------------------------*/
mbed_official 67:63988a2238f7 340
mbed_official 67:63988a2238f7 341 SVC_User:
mbed_official 67:63988a2238f7 342 LDR R12,=SVC_Count
mbed_official 67:63988a2238f7 343 LDR R12,[R12]
mbed_official 67:63988a2238f7 344 CMP R4,R12 @ Check for overflow
mbed_official 67:63988a2238f7 345 BHI SVC_Done
mbed_official 67:63988a2238f7 346
mbed_official 67:63988a2238f7 347 LDR R12,=SVC_Table-4
mbed_official 67:63988a2238f7 348 LDR R12,[R12,R4,LSL #2] @ Load SVC Function Address
mbed_official 67:63988a2238f7 349 MRS R4,SPSR @ Save SPSR
mbed_official 67:63988a2238f7 350 PUSH {R4} @ Push R4 so we can use it as a temp
mbed_official 67:63988a2238f7 351 AND R4, SP, #4 @ Ensure stack is 8-byte aligned
mbed_official 67:63988a2238f7 352 SUB SP, SP, R4 @ Adjust stack
mbed_official 67:63988a2238f7 353 PUSH {R4, LR} @ Store stack adjustment and dummy LR
mbed_official 67:63988a2238f7 354 BLX R12 @ Call SVC Function
mbed_official 67:63988a2238f7 355 POP {R4, LR} @ Get stack adjustment & discard dummy LR
mbed_official 67:63988a2238f7 356 ADD SP, SP, R4 @ Unadjust stack
mbed_official 67:63988a2238f7 357 POP {R4} @ Restore R4
mbed_official 67:63988a2238f7 358 MSR SPSR_cxsf,R4 @ Restore SPSR
mbed_official 67:63988a2238f7 359
mbed_official 67:63988a2238f7 360 SVC_Done:
mbed_official 67:63988a2238f7 361 PUSH {R0-R3,R12,LR}
mbed_official 67:63988a2238f7 362
mbed_official 67:63988a2238f7 363 PUSH {R4} @ Push R4 so we can use it as a temp
mbed_official 67:63988a2238f7 364 AND R4, SP, #4 @ Ensure stack is 8-byte aligned
mbed_official 67:63988a2238f7 365 SUB SP, SP, R4 @ Adjust stack
mbed_official 67:63988a2238f7 366 PUSH {R4, LR} @ Store stack adjustment and dummy LR
mbed_official 67:63988a2238f7 367
mbed_official 67:63988a2238f7 368 CPSID i
mbed_official 67:63988a2238f7 369 BLX rt_tsk_unlock
mbed_official 67:63988a2238f7 370
mbed_official 67:63988a2238f7 371 POP {R4, LR} @ Get stack adjustment & discard dummy LR
mbed_official 67:63988a2238f7 372 ADD SP, SP, R4 @ Unadjust stack
mbed_official 67:63988a2238f7 373 POP {R4} @ Restore R4
mbed_official 67:63988a2238f7 374
mbed_official 67:63988a2238f7 375 POP {R0-R3,R12,LR}
mbed_official 67:63988a2238f7 376 POP {R4}
mbed_official 67:63988a2238f7 377 RFEFD SP! @ Return from exception
mbed_official 67:63988a2238f7 378 @ }
mbed_official 67:63988a2238f7 379 @ #pragma pop
mbed_official 67:63988a2238f7 380
mbed_official 67:63988a2238f7 381 @ #pragma push
mbed_official 67:63988a2238f7 382 @ #pragma arm
mbed_official 67:63988a2238f7 383 @ __asm void PendSV_Handler (U32 IRQn) {
mbed_official 67:63988a2238f7 384 PendSV_Handler:
mbed_official 92:bc9729798a19 385 .ARM
mbed_official 67:63988a2238f7 386
mbed_official 67:63988a2238f7 387 .extern rt_tsk_lock
mbed_official 92:bc9729798a19 388 .extern IRQNestLevel @ Flag indicates whether inside an ISR, and the depth of nesting. 0 = not in ISR.
mbed_official 92:bc9729798a19 389 .extern seen_id0_active @ Flag used to workaround GIC 390 errata 733075 - set in startup_Renesas_RZ_A1.s
mbed_official 67:63988a2238f7 390
mbed_official 67:63988a2238f7 391 ADD SP,SP,#8 @ fix up stack pointer (R0 has been pushed and will never be popped, R1 was pushed for stack alignment)
mbed_official 67:63988a2238f7 392
mbed_official 67:63988a2238f7 393 @ Disable systick interrupts, then write EOIR. We want interrupts disabled before we enter the context switcher.
mbed_official 67:63988a2238f7 394 PUSH {R0, R1}
mbed_official 67:63988a2238f7 395 BLX rt_tsk_lock
mbed_official 67:63988a2238f7 396 POP {R0, R1}
mbed_official 92:bc9729798a19 397 LDR R1, =GICInterface_BASE
mbed_official 67:63988a2238f7 398 LDR R1, [R1, #0]
mbed_official 67:63988a2238f7 399 STR R0, [R1, #0x10]
mbed_official 67:63988a2238f7 400
mbed_official 92:bc9729798a19 401 @ If it was interrupt ID0, clear the seen flag, otherwise return as normal
mbed_official 92:bc9729798a19 402 CMP R0, #0
mbed_official 92:bc9729798a19 403 LDREQ R1, =seen_id0_active
mbed_official 92:bc9729798a19 404 STREQB R0, [R1] @ Clear the seen flag, using R0 (which is 0), to save loading another register
mbed_official 92:bc9729798a19 405
mbed_official 67:63988a2238f7 406 LDR R0, =IRQNestLevel @ Get address of nesting counter
mbed_official 67:63988a2238f7 407 LDR R1, [R0]
mbed_official 67:63988a2238f7 408 SUB R1, R1, #1 @ Decrement nesting counter
mbed_official 67:63988a2238f7 409 STR R1, [R0]
mbed_official 67:63988a2238f7 410
mbed_official 92:bc9729798a19 411 BLX rt_pop_req
mbed_official 67:63988a2238f7 412
mbed_official 67:63988a2238f7 413 POP {R1, LR} @ Get stack adjustment & discard dummy LR
mbed_official 67:63988a2238f7 414 ADD SP, SP, R1 @ Unadjust stack
mbed_official 67:63988a2238f7 415
mbed_official 67:63988a2238f7 416 LDR R0,[SP,#24]
mbed_official 67:63988a2238f7 417 MSR SPSR_cxsf,R0
mbed_official 67:63988a2238f7 418 POP {R0-R3,R12} @ Leave SPSR & LR on the stack
mbed_official 67:63988a2238f7 419 PUSH {R4}
mbed_official 67:63988a2238f7 420 B Sys_Switch
mbed_official 67:63988a2238f7 421 @ }
mbed_official 67:63988a2238f7 422 @ #pragma pop
mbed_official 67:63988a2238f7 423
mbed_official 92:bc9729798a19 424
mbed_official 67:63988a2238f7 425 @ #pragma push
mbed_official 67:63988a2238f7 426 @ #pragma arm
mbed_official 67:63988a2238f7 427 @ __asm void OS_Tick_Handler (U32 IRQn) {
mbed_official 67:63988a2238f7 428 OS_Tick_Handler:
mbed_official 92:bc9729798a19 429 .ARM
mbed_official 92:bc9729798a19 430
mbed_official 92:bc9729798a19 431 .extern rt_tsk_lock
mbed_official 92:bc9729798a19 432 .extern IRQNestLevel @ Flag indicates whether inside an ISR, and the depth of nesting. 0 = not in ISR.
mbed_official 92:bc9729798a19 433 .extern seen_id0_active @ Flag used to workaround GIC 390 errata 733075 - set in startup_Renesas_RZ_A1.s
mbed_official 67:63988a2238f7 434
mbed_official 67:63988a2238f7 435 ADD SP,SP,#8 @ fix up stack pointer (R0 has been pushed and will never be popped, R1 was pushed for stack alignment)
mbed_official 67:63988a2238f7 436
mbed_official 67:63988a2238f7 437 PUSH {R0, R1}
mbed_official 67:63988a2238f7 438 BLX rt_tsk_lock
mbed_official 67:63988a2238f7 439 POP {R0, R1}
mbed_official 92:bc9729798a19 440 LDR R1, =GICInterface_BASE
mbed_official 67:63988a2238f7 441 LDR R1, [R1, #0]
mbed_official 67:63988a2238f7 442 STR R0, [R1, #0x10]
mbed_official 67:63988a2238f7 443
mbed_official 92:bc9729798a19 444 @ If it was interrupt ID0, clear the seen flag, otherwise return as normal
mbed_official 92:bc9729798a19 445 CMP R0, #0
mbed_official 92:bc9729798a19 446 LDREQ R1, =seen_id0_active
mbed_official 92:bc9729798a19 447 STREQB R0, [R1] @ Clear the seen flag, using R0 (which is 0), to save loading another register
mbed_official 92:bc9729798a19 448
mbed_official 67:63988a2238f7 449 LDR R0, =IRQNestLevel @ Get address of nesting counter
mbed_official 67:63988a2238f7 450 LDR R1, [R0]
mbed_official 67:63988a2238f7 451 SUB R1, R1, #1 @ Decrement nesting counter
mbed_official 67:63988a2238f7 452 STR R1, [R0]
mbed_official 67:63988a2238f7 453
mbed_official 92:bc9729798a19 454 BLX os_tick_irqack
mbed_official 92:bc9729798a19 455 BLX rt_systick
mbed_official 67:63988a2238f7 456
mbed_official 67:63988a2238f7 457 POP {R1, LR} @ Get stack adjustment & discard dummy LR
mbed_official 67:63988a2238f7 458 ADD SP, SP, R1 @ Unadjust stack
mbed_official 67:63988a2238f7 459
mbed_official 67:63988a2238f7 460 LDR R0,[SP,#24]
mbed_official 67:63988a2238f7 461 MSR SPSR_cxsf,R0
mbed_official 67:63988a2238f7 462 POP {R0-R3,R12} @ Leave SPSR & LR on the stack
mbed_official 67:63988a2238f7 463 PUSH {R4}
mbed_official 67:63988a2238f7 464 B Sys_Switch
mbed_official 67:63988a2238f7 465 @ }
mbed_official 67:63988a2238f7 466 @ #pragma pop
mbed_official 67:63988a2238f7 467
mbed_official 67:63988a2238f7 468
mbed_official 67:63988a2238f7 469 .END
mbed_official 67:63988a2238f7 470 /*----------------------------------------------------------------------------
mbed_official 67:63988a2238f7 471 * end of file
mbed_official 67:63988a2238f7 472 *---------------------------------------------------------------------------*/