mbed official
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.
Diff: rtx/TARGET_CORTEX_A/TOOLCHAIN_GCC/HAL_CA9.s
- Revision:
- 86:58c3b7759abf
- Parent:
- 85:ef0a22cdf839
- Child:
- 87:e695cd34556b
--- a/rtx/TARGET_CORTEX_A/TOOLCHAIN_GCC/HAL_CA9.s Wed Jun 17 11:15:10 2015 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,474 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: HAL_CA9.c
- * Purpose: Hardware Abstraction Layer for Cortex-A9
- * Rev.: 3 Sept 2013
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 2012 - 2013 ARM Limited
- * 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.
- *---------------------------------------------------------------------------*/
-
- .global rt_set_PSP
- .global rt_get_PSP
- .global _alloc_box
- .global _free_box
- .global PendSV_Handler
- .global OS_Tick_Handler
-
- .EQU CPSR_T_BIT, 0x20
- .EQU CPSR_I_BIT, 0x80
- .EQU CPSR_F_BIT, 0x40
-
- .EQU MODE_USR, 0x10
- .EQU MODE_FIQ, 0x11
- .EQU MODE_IRQ, 0x12
- .EQU MODE_SVC, 0x13
- .EQU MODE_ABT, 0x17
- .EQU MODE_UND, 0x1B
- .EQU MODE_SYS, 0x1F
-
- .EQU TCB_TID, 3 /* 'task id' offset */
- .EQU TCB_STACKF, 32 /* 'stack_frame' offset */
- .EQU TCB_TSTACK, 36 /* 'tsk_stack' offset */
-
- .extern rt_alloc_box
- .extern os_tsk
- .extern GICInterface_BASE
- .extern rt_pop_req
- .extern os_tick_irqack
- .extern rt_systick
-
-/*----------------------------------------------------------------------------
- * Functions
- *---------------------------------------------------------------------------*/
- .text
-@ For A-class, set USR/SYS stack
-@ __asm void rt_set_PSP (U32 stack) {
-rt_set_PSP:
- .arm
-
- MRS R1, CPSR
- CPS #MODE_SYS @no effect in USR mode
- ISB
- MOV SP, R0
- MSR CPSR_c, R1 @no effect in USR mode
- ISB
- BX LR
-
-@ }
-
-@ For A-class, get USR/SYS stack
-@ __asm U32 rt_get_PSP (void) {
-rt_get_PSP:
- .arm
-
- MRS R1, CPSR
- CPS #MODE_SYS @no effect in USR mode
- ISB
- MOV R0, SP
- MSR CPSR_c, R1 @no effect in USR mode
- ISB
- BX LR
-
-@ }
-
-/*--------------------------- _alloc_box ------------------------------------*/
-@ __asm void *_alloc_box (void *box_mem) {
-_alloc_box:
- /* Function wrapper for Unprivileged/Privileged mode. */
- .arm
-
- LDR R12,=rt_alloc_box @ __cpp(rt_alloc_box)
- MRS R2, CPSR
- LSLS R2, #28
- BXNE R12
- SVC 0
- BX LR
-@ }
-
-
-/*--------------------------- _free_box -------------------------------------*/
-@ __asm int _free_box (void *box_mem, void *box) {
-_free_box:
- /* Function wrapper for Unprivileged/Privileged mode. */
- .arm
-
- LDR R12,=rt_free_box @ __cpp(rt_free_box)
- MRS R2, CPSR
- LSLS R2, #28
- BXNE R12
- SVC 0
- BX LR
-
-@ }
-
-/*-------------------------- SVC_Handler -----------------------------------*/
-
-@ #pragma push
-@ #pragma arm
-@ __asm void SVC_Handler (void) {
-
- .type SVC_Handler, %function
- .global SVC_Handler
-SVC_Handler:
-@ PRESERVE8
- .arm
- .extern rt_tsk_lock
- .extern rt_tsk_unlock
- .extern SVC_Count
- .extern SVC_Table
- .extern rt_stk_check
- .extern FPUEnable
-
- .EQU Mode_SVC, 0x13
-
- SRSDB SP!, #Mode_SVC @ Push LR_SVC and SPRS_SVC onto SVC mode stack
- PUSH {R4} @ Push R4 so we can use it as a temp
-
-
- MRS R4,SPSR @ Get SPSR
- TST R4,#CPSR_T_BIT @ Check Thumb Bit
- LDRNEH R4,[LR,#-2] @ Thumb: Load Halfword
- BICNE R4,R4,#0xFF00 @ Extract SVC Number
- LDREQ R4,[LR,#-4] @ ARM: Load Word
- BICEQ R4,R4,#0xFF000000 @ Extract SVC Number
-
- /* Lock out systick and re-enable interrupts */
- PUSH {R0-R3,R12,LR}
-
- AND R12, SP, #4 @ Ensure stack is 8-byte aligned
- SUB SP, SP, R12 @ Adjust stack
- PUSH {R12, LR} @ Store stack adjustment and dummy LR to SVC stack
-
- BLX rt_tsk_lock
- CPSIE i
-
- POP {R12, LR} @ Get stack adjustment & discard dummy LR
- ADD SP, SP, R12 @ Unadjust stack
-
- POP {R0-R3,R12,LR}
-
- CMP R4,#0
- BNE SVC_User
-
- MRS R4,SPSR
- PUSH {R4} @ Push R4 so we can use it as a temp
- AND R4, SP, #4 @ Ensure stack is 8-byte aligned
- SUB SP, SP, R4 @ Adjust stack
- PUSH {R4, LR} @ Store stack adjustment and dummy LR
- BLX R12
- POP {R4, LR} @ Get stack adjustment & discard dummy LR
- ADD SP, SP, R4 @ Unadjust stack
- POP {R4} @ Restore R4
- MSR SPSR_cxsf,R4
-
- /* Here we will be in SVC mode (even if coming in from PendSV_Handler or OS_Tick_Handler) */
-Sys_Switch:
- LDR LR,=os_tsk @ __cpp(&os_tsk)
- LDM LR,{R4,LR} @ os_tsk.run, os_tsk.new
- CMP R4,LR
- BNE switching
-
- PUSH {R0-R3,R12,LR}
-
- AND R12, SP, #4 @ Ensure stack is 8-byte aligned
- SUB SP, SP, R12 @ Adjust stack
- PUSH {R12, LR} @ Store stack adjustment and dummy LR to SVC stack
-
- CPSID i
- BLX rt_tsk_unlock
-
- POP {R12, LR} @ Get stack adjustment & discard dummy LR
- ADD SP, SP, R12 @ Unadjust stack
-
- POP {R0-R3,R12,LR}
- POP {R4}
- RFEFD SP! @ Return from exception, no task switch
-
-switching:
- CLREX
- CMP R4,#0
- ADDEQ SP,SP,#12 @ Original R4, LR & SPSR do not need to be popped when we are paging in a different task
- BEQ SVC_Next @ Runtask deleted?
-
-
- PUSH {R8-R11} @ R4 and LR already stacked
- MOV R10,R4 @ Preserve os_tsk.run
- MOV R11,LR @ Preserve os_tsk.new
-
- ADD R8,SP,#16 @ Unstack R4,LR
- LDMIA R8,{R4,LR}
-
- SUB SP,SP,#4 @ Make space on the stack for the next instn
- STMIA SP,{SP}^ @ Put User SP onto stack
- POP {R8} @ Pop User SP into R8
-
- MRS R9,SPSR
- STMDB R8!,{R9} @ User CPSR
- STMDB R8!,{LR} @ User PC
- STMDB R8,{LR}^ @ User LR
- SUB R8,R8,#4 @ No writeback for store of User LR
- STMDB R8!,{R0-R3,R12} @ User R0-R3,R12
- MOV R3,R10 @ os_tsk.run
- MOV LR,R11 @ os_tsk.new
- POP {R9-R12}
- ADD SP,SP,#12 @ Fix up SP for unstack of R4, LR & SPSR
- STMDB R8!,{R4-R7,R9-R12} @ User R4-R11
-
- @ If applicable, stack VFP state
- MRC p15,0,R1,c1,c0,2 @ VFP/NEON access enabled? (CPACR)
- AND R2,R1,#0x00F00000
- CMP R2,#0x00F00000
- BNE no_outgoing_vfp
- VMRS R2,FPSCR
- STMDB R8!,{R2,R4} @ Push FPSCR, maintain 8-byte alignment
- VSTMDB R8!,{S0-S31}
- LDRB R2,[R3,#TCB_STACKF] @ Record in TCB that VFP state is stacked
- ORR R2,#2
- STRB R2,[R3,#TCB_STACKF]
-
-no_outgoing_vfp:
- STR R8,[R3,#TCB_TSTACK]
- MOV R4,LR
-
- PUSH {R4} @ Push R4 so we can use it as a temp
- AND R4, SP, #4 @ Ensure stack is 8-byte aligned
- SUB SP, SP, R4 @ Adjust stack
- PUSH {R4, LR} @ Store stack adjustment and dummy LR to SVC stack
-
- BLX rt_stk_check
-
- POP {R4, LR} @ Get stack adjustment & discard dummy LR
- ADD SP, SP, R4 @ Unadjust stack
- POP {R4} @ Restore R4
-
- MOV LR,R4
-
-SVC_Next: @ R4 == os_tsk.run, LR == os_tsk.new, R0-R3, R5-R12 corruptible
- LDR R1,=os_tsk @ __cpp(&os_tsk), os_tsk.run = os_tsk.new
- STR LR,[R1]
- LDRB R1,[LR,#TCB_TID] @ os_tsk.run->task_id
- LSL R1,#8 @ Store PROCID
- MCR p15,0,R1,c13,c0,1 @ Write CONTEXTIDR
-
- LDR R0,[LR,#TCB_TSTACK] @ os_tsk.run->tsk_stack
-
- @ Does incoming task have VFP state in stack?
- LDRB R3,[LR,#TCB_STACKF]
- TST R3,#0x2
- MRC p15,0,R1,c1,c0,2 @ Read CPACR
- ANDEQ R1,R1,#0xFF0FFFFF @ Disable VFP access if incoming task does not have stacked VFP state
- ORRNE R1,R1,#0x00F00000 @ Enable VFP access if incoming task does have stacked VFP state
- MCR p15,0,R1,c1,c0,2 @ Write CPACR
- BEQ no_incoming_vfp
- ISB @ We only need the sync if we enabled, otherwise we will context switch before next VFP instruction anyway
- VLDMIA R0!,{S0-S31}
- LDR R2,[R0]
- VMSR FPSCR,R2
- ADD R0,R0,#8
-
-no_incoming_vfp:
- LDR R1,[R0,#60] @ Restore User CPSR
- MSR SPSR_cxsf,R1
- LDMIA R0!,{R4-R11} @ Restore User R4-R11
- ADD R0,R0,#4 @ Restore User R1-R3,R12
- LDMIA R0!,{R1-R3,R12}
- LDMIA R0,{LR}^ @ Restore User LR
- ADD R0,R0,#4 @ No writeback for load to user LR
- LDMIA R0!,{LR} @ Restore User PC
- ADD R0,R0,#4 @ Correct User SP for unstacked user CPSR
-
- PUSH {R0} @ Push R0 onto stack
- LDMIA SP,{SP}^ @ Get R0 off stack into User SP
- ADD SP,SP,#4 @ Put SP back
-
- LDR R0,[R0,#-32] @ Restore R0
-
- PUSH {R0-R3,R12,LR}
-
- AND R12, SP, #4 @ Ensure stack is 8-byte aligned
- SUB SP, SP, R12 @ Adjust stack
- PUSH {R12, LR} @ Store stack adjustment and dummy LR to SVC stack
-
- CPSID i
- BLX rt_tsk_unlock
-
- POP {R12, LR} @ Get stack adjustment & discard dummy LR
- ADD SP, SP, R12 @ Unadjust stack
-
- POP {R0-R3,R12,LR}
-
- MOVS PC,LR @ Return from exception
-
-
- /*------------------- User SVC -------------------------------*/
-
-SVC_User:
- LDR R12,=SVC_Count
- LDR R12,[R12]
- CMP R4,R12 @ Check for overflow
- BHI SVC_Done
-
- LDR R12,=SVC_Table-4
- LDR R12,[R12,R4,LSL #2] @ Load SVC Function Address
- MRS R4,SPSR @ Save SPSR
- PUSH {R4} @ Push R4 so we can use it as a temp
- AND R4, SP, #4 @ Ensure stack is 8-byte aligned
- SUB SP, SP, R4 @ Adjust stack
- PUSH {R4, LR} @ Store stack adjustment and dummy LR
- BLX R12 @ Call SVC Function
- POP {R4, LR} @ Get stack adjustment & discard dummy LR
- ADD SP, SP, R4 @ Unadjust stack
- POP {R4} @ Restore R4
- MSR SPSR_cxsf,R4 @ Restore SPSR
-
-SVC_Done:
- PUSH {R0-R3,R12,LR}
-
- PUSH {R4} @ Push R4 so we can use it as a temp
- AND R4, SP, #4 @ Ensure stack is 8-byte aligned
- SUB SP, SP, R4 @ Adjust stack
- PUSH {R4, LR} @ Store stack adjustment and dummy LR
-
- CPSID i
- BLX rt_tsk_unlock
-
- POP {R4, LR} @ Get stack adjustment & discard dummy LR
- ADD SP, SP, R4 @ Unadjust stack
- POP {R4} @ Restore R4
-
- POP {R0-R3,R12,LR}
- POP {R4}
- RFEFD SP! @ Return from exception
-
-@ }
-
-@ #pragma pop
-
-
-@ #pragma push
-@ #pragma arm
-@ __asm void PendSV_Handler (U32 IRQn) {
-PendSV_Handler:
- .arm
-
- .extern rt_tsk_lock
- .extern IRQNestLevel
-
- ADD SP,SP,#8 @ fix up stack pointer (R0 has been pushed and will never be popped, R1 was pushed for stack alignment)
-
- @ Disable systick interrupts, then write EOIR. We want interrupts disabled before we enter the context switcher.
- PUSH {R0, R1}
- BLX rt_tsk_lock
- POP {R0, R1}
- LDR R1, =GICInterface_BASE @ __cpp(&GICInterface_BASE)
- LDR R1, [R1, #0]
- STR R0, [R1, #0x10]
-
- LDR R0, =IRQNestLevel @ Get address of nesting counter
- LDR R1, [R0]
- SUB R1, R1, #1 @ Decrement nesting counter
- STR R1, [R0]
-
- BLX rt_pop_req @ __cpp(rt_pop_req)
-
- POP {R1, LR} @ Get stack adjustment & discard dummy LR
- ADD SP, SP, R1 @ Unadjust stack
-
- LDR R0,[SP,#24]
- MSR SPSR_cxsf,R0
- POP {R0-R3,R12} @ Leave SPSR & LR on the stack
- PUSH {R4}
- B Sys_Switch
-@ }
-@ #pragma pop
-
-@ #pragma push
-@ #pragma arm
-@ __asm void OS_Tick_Handler (U32 IRQn) {
-OS_Tick_Handler:
- .arm
-
- ADD SP,SP,#8 @ fix up stack pointer (R0 has been pushed and will never be popped, R1 was pushed for stack alignment)
-
- PUSH {R0, R1}
- BLX rt_tsk_lock
- POP {R0, R1}
- LDR R1, =GICInterface_BASE @ __cpp(&GICInterface_BASE)
- LDR R1, [R1, #0]
- STR R0, [R1, #0x10]
-
- LDR R0, =IRQNestLevel @ Get address of nesting counter
- LDR R1, [R0]
- SUB R1, R1, #1 @ Decrement nesting counter
- STR R1, [R0]
-
- BLX os_tick_irqack @ __cpp(os_tick_irqack)
- BLX rt_systick @ __cpp(rt_systick)
-
- POP {R1, LR} @ Get stack adjustment & discard dummy LR
- ADD SP, SP, R1 @ Unadjust stack
-
- LDR R0,[SP,#24]
- MSR SPSR_cxsf,R0
- POP {R0-R3,R12} @ Leave SPSR & LR on the stack
- PUSH {R4}
- B Sys_Switch
-@ }
-@ #pragma pop
-
- .global __set_PSP
-@ __STATIC_ASM void __set_PSP(uint32_t topOfProcStack)
-@ {
-__set_PSP:
-@ PRESERVE8
- .arm
-
- BIC R0, R0, #7 @ensure stack is 8-byte aligned
- MRS R1, CPSR
- CPS #MODE_SYS @no effect in USR mode
- MOV SP, R0
- MSR CPSR_c, R1 @no effect in USR mode
- ISB
- BX LR
-
-@ }
-
- .global __set_CPS_USR
-@ __STATIC_ASM void __set_CPS_USR(void)
-@ {
-__set_CPS_USR:
- .arm
-
- CPS #MODE_USR
- BX LR
-@ }
-
- .END
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
