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/RTX_CM_lib.h
- Revision:
- 118:6635230e06ba
- Parent:
- 116:0788b1a76461
- Child:
- 119:19af2d39a542
--- a/rtx/TARGET_CORTEX_A/RTX_CM_lib.h Mon May 23 11:00:15 2016 +0100 +++ b/rtx/TARGET_CORTEX_A/RTX_CM_lib.h Mon Jul 25 14:12:24 2016 +0100 @@ -50,7 +50,7 @@ #define _declare_box(pool,size,cnt) uint32_t pool[(((size)+3)/4)*(cnt) + 3] #define _declare_box8(pool,size,cnt) uint64_t pool[(((size)+7)/8)*(cnt) + 2] -#define OS_TCB_SIZE 52 +#define OS_TCB_SIZE 60 #define OS_TMR_SIZE 8 #if defined (__CC_ARM) && !defined (__MICROLIB) @@ -395,18 +395,22 @@ *---------------------------------------------------------------------------*/ /* Main Thread definition */ -extern int main (void); +extern void pre_main (void); #ifdef __MBED_CMSIS_RTOS_CA9 uint32_t os_thread_def_stack_main [(4 * OS_MAINSTKSIZE) / sizeof(uint32_t)]; -osThreadDef_t os_thread_def_main = {(os_pthread)main, osPriorityNormal, 1, 4*OS_MAINSTKSIZE, os_thread_def_stack_main }; +osThreadDef_t os_thread_def_main = {(os_pthread)pre_main, osPriorityNormal, 1, 4*OS_MAINSTKSIZE, os_thread_def_stack_main }; #else -osThreadDef_t os_thread_def_main = {(os_pthread)main, osPriorityNormal, 1, 4*OS_MAINSTKSIZE }; +osThreadDef_t os_thread_def_main = {(os_pthread)pre_main, osPriorityNormal, 1, 4*OS_MAINSTKSIZE }; #endif #if defined (__CC_ARM) #ifdef __MICROLIB + +int main(void); void _main_init (void) __attribute__((section(".ARM.Collect$$$$000000FF"))); +void $Super$$__cpp_initialize__aeabi_(void); + #if __TARGET_ARCH_ARM #pragma push #pragma arm @@ -420,66 +424,134 @@ #if __TARGET_ARCH_ARM #pragma pop #endif + +void $Sub$$__cpp_initialize__aeabi_(void) +{ + // this should invoke C++ initializers prior _main_init, we keep this empty and + // invoke them after _main_init (=starts RTX kernel) +} + +void pre_main() +{ + $Super$$__cpp_initialize__aeabi_(); + main(); +} + #else + +void * armcc_heap_base; +void * armcc_heap_top; + +__asm void pre_main (void) +{ + IMPORT __rt_lib_init + IMPORT main + IMPORT armcc_heap_base + IMPORT armcc_heap_top + + LDR R0,=armcc_heap_base + LDR R1,=armcc_heap_top + LDR R0,[R0] + LDR R1,[R1] + /* Save link register (keep 8 byte alignment with dummy R4) */ + PUSH {R4, LR} + BL __rt_lib_init + BL main + /* Return to the thread destroy function. + */ + POP {R4, PC} + ALIGN +} + __asm void __rt_entry (void) { IMPORT __user_setup_stackheap - IMPORT __rt_lib_init IMPORT os_thread_def_main + IMPORT armcc_heap_base + IMPORT armcc_heap_top IMPORT osKernelInitialize IMPORT osKernelStart IMPORT osThreadCreate - IMPORT exit BL __user_setup_stackheap - MOV R1,R2 - BL __rt_lib_init + LDR R3,=armcc_heap_base + LDR R4,=armcc_heap_top + STR R0,[R3] + STR R2,[R4] BL osKernelInitialize LDR R0,=os_thread_def_main MOVS R1,#0 BL osThreadCreate BL osKernelStart - BL exit + /* osKernelStart should not return */ + B . ALIGN } #endif #elif defined (__GNUC__) +extern void __libc_fini_array(void); +extern void __libc_init_array (void); +extern int main(int argc, char **argv); -__attribute__((naked)) void software_init_hook (void) { +void pre_main(void) { + atexit(__libc_fini_array); + __libc_init_array(); + main(0, NULL); +} + +__attribute__((naked)) void software_init_hook_rtos (void) { __asm ( ".syntax unified\n" ".arm\n" - "movs r0,#0\n" - "movs r1,#0\n" - "mov r4,r0\n" - "mov r5,r1\n" - "ldr r0,= __libc_fini_array\n" - "bl atexit\n" - "bl __libc_init_array\n" - "mov r0,r4\n" - "mov r1,r5\n" "bl osKernelInitialize\n" "ldr r0,=os_thread_def_main\n" "movs r1,#0\n" "bl osThreadCreate\n" "bl osKernelStart\n" - "bl exit\n" + /* osKernelStart should not return */ + "B .\n" ); } #elif defined (__ICCARM__) +extern void* __vector_core_a9; +extern int __low_level_init(void); +extern void __iar_data_init3(void); +extern __weak void __iar_init_core( void ); +extern __weak void __iar_init_vfp( void ); +extern void __iar_dynamic_initialization(void); +extern void mbed_sdk_init(void); +static uint8_t low_level_init_needed; -extern void exit(int arg); +void pre_main(void) { + if (low_level_init_needed) { + __iar_dynamic_initialization(); + } + main(); +} -void mbed_main(void) { - int a; - +#pragma required=__vector_core_a9 +void __iar_program_start( void ) +{ + __iar_init_core(); + __iar_init_vfp(); + + uint8_t low_level_init_needed_local; + + low_level_init_needed_local = __low_level_init(); + if (low_level_init_needed_local) { + __iar_data_init3(); + mbed_sdk_init(); + } + /* Store in a global variable after RAM has been initialized */ + low_level_init_needed = low_level_init_needed_local; osKernelInitialize(); osThreadCreate(&os_thread_def_main, NULL); - a = osKernelStart(); - exit(a); + osKernelStart(); + /* osKernelStart should not return */ + while (1); } #endif