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- /*
- *********************************************************************************************************
- * uC/OS-II
- * The Real-Time Kernel
- *
- *
- * (c) Copyright 2009-2013; Micrium, Inc.; Weston, FL
- * All rights reserved. Protected by international copyright laws.
- *
- * ARM Cortex-M4 Port
- *
- * File : OS_CPU_C.C
- * Version : V2.92.09
- * By : JJL
- * BAN
- *
- * LICENSING TERMS:
- * ---------------
- * uC/OS-II is provided in source form for FREE short-term evaluation, for educational use or
- * for peaceful research. If you plan or intend to use uC/OS-II in a commercial application/
- * product then, you need to contact Micrium to properly license uC/OS-II for its use in your
- * experience uC/OS-II. The fact that the source is provided does NOT mean that you can use
- * it commercially without paying a licensing fee.
- *
- * Knowledge of the source code may NOT be used to develop a similar product.
- *
- * Please help us continue to provide the embedded community with the finest software available.
- * Your honesty is greatly appreciated.
- *
- * You can contact us at www.micrium.com, or by phone at +1 (954) 217-2036.
- *
- * For : ARMv7 Cortex-M4
- * Mode : Thumb-2 ISA
- * Toolchain : IAR EWARM
- *********************************************************************************************************
- */
-
- #define OS_CPU_GLOBALS
-
- /*
- *********************************************************************************************************
- * INCLUDE FILES
- *********************************************************************************************************
- */
-
- #include <ucos_ii.h>
- //#include <lib_def.h>
-
- /*********************************************************************************************************
- * LOCAL VARIABLES
- *********************************************************************************************************
- */
-
- #if OS_TMR_EN > 0u
- static INT16U OSTmrCtr;
- #endif
-
-
- /*
- *********************************************************************************************************
- * SYS TICK DEFINES
- *********************************************************************************************************
- */
-
- //#define OS_CPU_CM4_NVIC_ST_CTRL (*((volatile INT32U *)0xE000E010uL)) /* SysTick Ctrl & Status Reg. */
- //#define OS_CPU_CM4_NVIC_ST_RELOAD (*((volatile INT32U *)0xE000E014uL)) /* SysTick Reload Value Reg. */
- //#define OS_CPU_CM4_NVIC_ST_CURRENT (*((volatile INT32U *)0xE000E018uL)) /* SysTick Current Value Reg. */
- //#define OS_CPU_CM4_NVIC_ST_CAL (*((volatile INT32U *)0xE000E01CuL)) /* SysTick Cal Value Reg. */
- //#define OS_CPU_CM4_NVIC_SHPRI1 (*((volatile INT32U *)0xE000ED18uL)) /* System Handlers 4 to 7 Prio. */
- //#define OS_CPU_CM4_NVIC_SHPRI2 (*((volatile INT32U *)0xE000ED1CuL)) /* System Handlers 8 to 11 Prio. */
- //#define OS_CPU_CM4_NVIC_SHPRI3 (*((volatile INT32U *)0xE000ED20uL)) /* System Handlers 12 to 15 Prio. */
-
-
- #define OS_CPU_CM4_NVIC_ST_CTRL_COUNT 0x00010000uL /* Count flag. */
- #define OS_CPU_CM4_NVIC_ST_CTRL_CLK_SRC 0x00000004uL /* Clock Source. */
- #define OS_CPU_CM4_NVIC_ST_CTRL_INTEN 0x00000002uL /* Interrupt enable. */
- #define OS_CPU_CM4_NVIC_ST_CTRL_ENABLE 0x00000001uL /* Counter mode. */
- #define OS_CPU_CM4_NVIC_PRIO_MIN 0xFFu /* Min handler prio. */
-
-
- /*
- *********************************************************************************************************
- * OS INITIALIZATION HOOK
- * (BEGINNING)
- *
- * Description: This function is called by OSInit() at the beginning of OSInit().
- *
- * Arguments : none
- *
- * Note(s) : 1) Interrupts should be disabled during this call.
- *********************************************************************************************************
- */
- #if OS_CPU_HOOKS_EN > 0u
- void OSInitHookBegin (void)
- {
- INT32U size;
- OS_STK *pstk;
-
- /* Clear exception stack for stack checking. */
- pstk = &OS_CPU_ExceptStk[0];
- size = OS_CPU_EXCEPT_STK_SIZE;
- while (size > 0u) {
- size--;
- *pstk++ = (OS_STK)0;
- }
-
- /* Align the ISR stack to 8-bytes */
- OS_CPU_ExceptStkBase = (OS_STK *)&OS_CPU_ExceptStk[OS_CPU_EXCEPT_STK_SIZE];
- OS_CPU_ExceptStkBase = (OS_STK *)((OS_STK)(OS_CPU_ExceptStkBase) & 0xFFFFFFF8);
-
- #if OS_TMR_EN > 0u
- OSTmrCtr = 0u;
- #endif
- }
- #endif
-
-
- /*
- *********************************************************************************************************
- * OS INITIALIZATION HOOK
- * (END)
- *
- * Description: This function is called by OSInit() at the end of OSInit().
- *
- * Arguments : none
- *
- * Note(s) : 1) Interrupts should be disabled during this call.
- *********************************************************************************************************
- */
- #if OS_CPU_HOOKS_EN > 0u
- void OSInitHookEnd (void)
- {
-
- }
- #endif
-
-
- /*
- *********************************************************************************************************
- * TASK CREATION HOOK
- *
- * Description: This function is called when a task is created.
- *
- * Arguments : ptcb is a pointer to the task control block of the task being created.
- *
- * Note(s) : 1) Interrupts are disabled during this call.
- *********************************************************************************************************
- */
- #if OS_CPU_HOOKS_EN > 0u
- void OSTaskCreateHook (OS_TCB *ptcb)
- {
- #if OS_APP_HOOKS_EN > 0u
- App_TaskCreateHook(ptcb);
- #else
- (void)ptcb; /* Prevent compiler warning */
- #endif
- }
- #endif
-
-
- /*
- *********************************************************************************************************
- * TASK DELETION HOOK
- *
- * Description: This function is called when a task is deleted.
- *
- * Arguments : ptcb is a pointer to the task control block of the task being deleted.
- *
- * Note(s) : 1) Interrupts are disabled during this call.
- *********************************************************************************************************
- */
- #if OS_CPU_HOOKS_EN > 0u
- void OSTaskDelHook (OS_TCB *ptcb)
- {
- #if OS_APP_HOOKS_EN > 0u
- App_TaskDelHook(ptcb);
- #else
- (void)ptcb; /* Prevent compiler warning */
- #endif
- }
- #endif
-
-
- /*
- *********************************************************************************************************
- * IDLE TASK HOOK
- *
- * Description: This function is called by the idle task. This hook has been added to allow you to do
- * such things as STOP the CPU to conserve power.
- *
- * Arguments : none
- *
- * Note(s) : 1) Interrupts are enabled during this call.
- *********************************************************************************************************
- */
- #if OS_CPU_HOOKS_EN > 0u
- void OSTaskIdleHook (void)
- {
- #if OS_APP_HOOKS_EN > 0u
- App_TaskIdleHook();
- #endif
- }
- #endif
-
-
- /*
- *********************************************************************************************************
- * TASK RETURN HOOK
- *
- * Description: This function is called if a task accidentally returns. In other words, a task should
- * either be an infinite loop or delete itself when done.
- *
- * Arguments : ptcb is a pointer to the task control block of the task that is returning.
- *
- * Note(s) : none
- *********************************************************************************************************
- */
-
- #if OS_CPU_HOOKS_EN > 0u
- void OSTaskReturnHook (OS_TCB *ptcb)
- {
- #if OS_APP_HOOKS_EN > 0u
- App_TaskReturnHook(ptcb);
- #else
- (void)ptcb;
- #endif
- }
- #endif
-
-
- /*
- *********************************************************************************************************
- * STATISTIC TASK HOOK
- *
- * Description: This function is called every second by uC/OS-II's statistics task. This allows your
- * application to add functionality to the statistics task.
- *
- * Arguments : none
- *********************************************************************************************************
- */
-
- #if OS_CPU_HOOKS_EN > 0u
- void OSTaskStatHook (void)
- {
- #if OS_APP_HOOKS_EN > 0u
- App_TaskStatHook();
- #endif
- }
- #endif
-
-
- /*
- *********************************************************************************************************
- * INITIALIZE A TASK'S STACK
- *
- * Description: This function is called by either OSTaskCreate() or OSTaskCreateExt() to initialize the
- * stack frame of the task being created. This function is highly processor specific.
- *
- * Arguments : task is a pointer to the task code
- *
- * p_arg is a pointer to a user supplied data area that will be passed to the task
- * when the task first executes.
- *
- * ptos is a pointer to the top of stack. It is assumed that 'ptos' points to
- * a 'free' entry on the task stack. If OS_STK_GROWTH is set to 1 then
- * 'ptos' will contain the HIGHEST valid address of the stack. Similarly, if
- * OS_STK_GROWTH is set to 0, the 'ptos' will contains the LOWEST valid address
- * of the stack.
- *
- * opt specifies options that can be used to alter the behavior of OSTaskStkInit().
- * (see uCOS_II.H for OS_TASK_OPT_xxx).
- *
- * Returns : Always returns the location of the new top-of-stack once the processor registers have
- * been placed on the stack in the proper order.
- *
- * Note(s) : (1) Interrupts are enabled when task starts executing.
- *
- * (2) All tasks run in Thread mode, using process stack.
- *
- * (3) There are two different stack frames depending on whether the Floating-Point(FP)
- * co-processor is enabled or not.
- *
- * (a) The stack frame shown in the diagram is used when the FP co-processor is not present and
- * OS_TASK_OPT_SAVE_FP is disabled. In this case, the FP registers and FP Status Control
- * register are not saved in the stack frame.
- *
- * (b) If the FP co-processor is present but the OS_TASK_OPT_SAVE_FP is not set, then the stack
- * frame is saved as shown in diagram (a). Moreover, if OS_TASK_OPT_SAVE_FP is set, then the
- * FP registers and FP Status Control register are saved in the stack frame.
- *
- * (1) When enabling the FP co-processor, make sure to clear bits ASPEN and LSPEN in the
- * Floating-Point Context Control Register (FPCCR).
- *
- * +------------+ +------------+
- * | | | |
- * +------------+ +------------+
- * | xPSR | | xPSR |
- * +------------+ +------------+
- * |Return Addr | |Return Addr |
- * +------------+ +------------+
- * | LR(R14) | | LR(R14) |
- * +------------+ +------------+
- * | R12 | | R12 |
- * +------------+ +------------+
- * | R3 | | R3 |
- * +------------+ +------------+
- * | R2 | | R0 |
- * +------------+ +------------+
- * | R1 | | R1 |
- * +------------+ +------------+
- * | R0 | | R0 |
- * +------------+ +------------+
- * | R11 | | R11 |
- * +------------+ +------------+
- * | R10 | | R10 |
- * +------------+ +------------+
- * | R9 | | R9 |
- * +------------+ +------------+
- * | R8 | | R8 |
- * +------------+ +------------+
- * | R7 | | R7 |
- * +------------+ +------------+
- * | R6 | | R6 |
- * +------------+ +------------+
- * | R5 | | R5 |
- * +------------+ +------------+
- * | R4 | | R4 |
- * +------------+ +------------+
- * (a) | FPSCR |
- * +------------+
- * | S31 |
- * +------------+
- * .
- * .
- * .
- * +------------+
- * | S1 |
- +------------+
- * | S0 |
- * +------------+
- * (b)
- *
- * (4) The SP must be 8-byte aligned in conforming to the Procedure Call Standard for the ARM architecture
- *
- * (a) Section 2.1 of the ABI for the ARM Architecture Advisory Note. SP must be 8-byte aligned
- * on entry to AAPCS-Conforming functions states :
- *
- * The Procedure Call Standard for the ARM Architecture [AAPCS] requires primitive
- * data types to be naturally aligned according to their sizes (for size = 1, 2, 4, 8 bytes).
- * Doing otherwise creates more problems than it solves.
- *
- * In return for preserving the natural alignment of data, conforming code is permitted
- * to rely on that alignment. To support aligning data allocated on the stack, the stack
- * pointer (SP) is required to be 8-byte aligned on entry to a conforming function. In
- * practice this requirement is met if:
- *
- * (1) At each call site, the current size of the calling function’s stack frame is a multiple of 8 bytes.
- * This places an obligation on compilers and assembly language programmers.
- *
- * (2) SP is a multiple of 8 when control first enters a program.
- * This places an obligation on authors of low level OS, RTOS, and runtime library
- * code to align SP at all points at which control first enters
- * a body of (AAPCS-conforming) code.
- *
- * In turn, this requires the value of SP to be aligned to 0 modulo 8:
- *
- * (3) By exception handlers, before calling AAPCS-conforming code.
- *
- * (4) By OS/RTOS/run-time system code, before giving control to an application.
- *
- * (b) Section 2.3.1 corrective steps from the the SP must be 8-byte aligned on entry
- * to AAPCS-conforming functions advisory note also states.
- *
- * " This requirement extends to operating systems and run-time code for all architecture versions
- * prior to ARMV7 and to the A, R and M architecture profiles thereafter. Special considerations
- * associated with ARMV7M are discussed in §2.3.3"
- *
- * (1) Even if the SP 8-byte aligment is not a requirement for the ARMv7M profile, the stack is aligned
- * to 8-byte boundaries to support legacy execution enviroments.
- *
- * (c) Section 5.2.1.2 from the Procedure Call Standard for the ARM
- * architecture states : "The stack must also conform to the following
- * constraint at a public interface:
- *
- * (1) SP mod 8 = 0. The stack must be double-word aligned"
- *
- * (d) From the ARM Technical Support Knowledge Base. 8 Byte stack aligment.
- *
- * "8 byte stack alignment is a requirement of the ARM Architecture Procedure
- * Call Standard [AAPCS]. This specifies that functions must maintain an 8 byte
- * aligned stack address (e.g. 0x00, 0x08, 0x10, 0x18, 0x20) on all external
- * interfaces. In practice this requirement is met if:
- *
- * (1) At each external interface, the current stack pointer
- * is a multiple of 8 bytes.
- *
- * (2) Your OS maintains 8 byte stack alignment on its external interfaces
- * e.g. on task switches"
- *
- **********************************************************************************************************
- */
-
- OS_STK *OSTaskStkInit (void (*task)(void *p_arg), void *p_arg, OS_STK *ptos, INT16U opt)
- {
- OS_STK *p_stk;
-
-
- p_stk = ptos + 1u; /* Load stack pointer */
- /* Align the stack to 8-bytes. */
- p_stk = (OS_STK *)((OS_STK)(p_stk) & 0xFFFFFFF8u);
- /* Registers stacked as if auto-saved on exception */
- *(--p_stk) = (OS_STK)0x01000000uL; /* xPSR */
- *(--p_stk) = (OS_STK)task; /* Entry Point */
- *(--p_stk) = (OS_STK)OS_TaskReturn; /* R14 (LR) */
- *(--p_stk) = (OS_STK)0x12121212uL; /* R12 */
- *(--p_stk) = (OS_STK)0x03030303uL; /* R3 */
- *(--p_stk) = (OS_STK)0x02020202uL; /* R2 */
- *(--p_stk) = (OS_STK)0x01010101uL; /* R1 */
- *(--p_stk) = (OS_STK)p_arg; /* R0 : argument */
-
- /* Remaining registers saved on process stack */
- *(--p_stk) = (OS_STK)0x11111111uL; /* R11 */
- *(--p_stk) = (OS_STK)0x10101010uL; /* R10 */
- *(--p_stk) = (OS_STK)0x09090909uL; /* R9 */
- *(--p_stk) = (OS_STK)0x08080808uL; /* R8 */
- *(--p_stk) = (OS_STK)0x07070707uL; /* R7 */
- *(--p_stk) = (OS_STK)0x06060606uL; /* R6 */
- *(--p_stk) = (OS_STK)0x05050505uL; /* R5 */
- *(--p_stk) = (OS_STK)0x04040404uL; /* R4 */
-
- #if (OS_CPU_ARM_FP_EN > 0u)
- if ((opt & OS_TASK_OPT_SAVE_FP) != (INT16U)0) {
- *--p_stk = (OS_STK)0x02000000u; /* FPSCR */
- /* Initialize S0-S31 floating point registers */
- *--p_stk = (OS_STK)0x41F80000u; /* S31 */
- *--p_stk = (OS_STK)0x41F00000u; /* S30 */
- *--p_stk = (OS_STK)0x41E80000u; /* S29 */
- *--p_stk = (OS_STK)0x41E00000u; /* S28 */
- *--p_stk = (OS_STK)0x41D80000u; /* S27 */
- *--p_stk = (OS_STK)0x41D00000u; /* S26 */
- *--p_stk = (OS_STK)0x41C80000u; /* S25 */
- *--p_stk = (OS_STK)0x41C00000u; /* S24 */
- *--p_stk = (OS_STK)0x41B80000u; /* S23 */
- *--p_stk = (OS_STK)0x41B00000u; /* S22 */
- *--p_stk = (OS_STK)0x41A80000u; /* S21 */
- *--p_stk = (OS_STK)0x41A00000u; /* S20 */
- *--p_stk = (OS_STK)0x41980000u; /* S19 */
- *--p_stk = (OS_STK)0x41900000u; /* S18 */
- *--p_stk = (OS_STK)0x41880000u; /* S17 */
- *--p_stk = (OS_STK)0x41800000u; /* S16 */
- *--p_stk = (OS_STK)0x41700000u; /* S15 */
- *--p_stk = (OS_STK)0x41600000u; /* S14 */
- *--p_stk = (OS_STK)0x41500000u; /* S13 */
- *--p_stk = (OS_STK)0x41400000u; /* S12 */
- *--p_stk = (OS_STK)0x41300000u; /* S11 */
- *--p_stk = (OS_STK)0x41200000u; /* S10 */
- *--p_stk = (OS_STK)0x41100000u; /* S9 */
- *--p_stk = (OS_STK)0x41000000u; /* S8 */
- *--p_stk = (OS_STK)0x40E00000u; /* S7 */
- *--p_stk = (OS_STK)0x40C00000u; /* S6 */
- *--p_stk = (OS_STK)0x40A00000u; /* S5 */
- *--p_stk = (OS_STK)0x40800000u; /* S4 */
- *--p_stk = (OS_STK)0x40400000u; /* S3 */
- *--p_stk = (OS_STK)0x40000000u; /* S2 */
- *--p_stk = (OS_STK)0x3F800000u; /* S1 */
- *--p_stk = (OS_STK)0x00000000u; /* S0 */
- }
- #endif
-
- return (p_stk);
- }
-
-
- /*
- *********************************************************************************************************
- * TASK SWITCH HOOK
- *
- * Description: This function is called when a task switch is performed. This allows you to perform other
- * operations during a context switch.
- *
- * Arguments : none
- *
- * Note(s) : 1) Interrupts are disabled during this call.
- * 2) It is assumed that the global pointer 'OSTCBHighRdy' points to the TCB of the task that
- * will be 'switched in' (i.e. the highest priority task) and, 'OSTCBCur' points to the
- * task being switched out (i.e. the preempted task).
- *********************************************************************************************************
- */
- #if (OS_CPU_HOOKS_EN > 0u) && (OS_TASK_SW_HOOK_EN > 0u)
- void OSTaskSwHook (void)
- {
-
- #if (OS_CPU_ARM_FP_EN > 0u)
- if ((OSTCBCur->OSTCBOpt & OS_TASK_OPT_SAVE_FP) != (INT16U)0) {
- OS_CPU_FP_Reg_Push(OSTCBCur->OSTCBStkPtr);
- }
-
- if ((OSTCBHighRdy->OSTCBOpt & OS_TASK_OPT_SAVE_FP) != (INT16U)0) {
- OS_CPU_FP_Reg_Pop(OSTCBHighRdy->OSTCBStkPtr);
- }
- #endif
-
- #if OS_APP_HOOKS_EN > 0u
- App_TaskSwHook();
- #endif
- }
- #endif
-
-
- /*
- *********************************************************************************************************
- * OS_TCBInit() HOOK
- *
- * Description: This function is called by OS_TCBInit() after setting up most of the TCB.
- *
- * Arguments : ptcb is a pointer to the TCB of the task being created.
- *
- * Note(s) : 1) Interrupts may or may not be ENABLED during this call.
- *********************************************************************************************************
- */
- #if OS_CPU_HOOKS_EN > 0u
- void OSTCBInitHook (OS_TCB *ptcb)
- {
- #if OS_APP_HOOKS_EN > 0u
- App_TCBInitHook(ptcb);
- #else
- (void)ptcb; /* Prevent compiler warning */
- #endif
- }
- #endif
-
-
- /*
- *********************************************************************************************************
- * TICK HOOK
- *
- * Description: This function is called every tick.
- *
- * Arguments : none
- *
- * Note(s) : 1) Interrupts may or may not be ENABLED during this call.
- *********************************************************************************************************
- */
- #if (OS_CPU_HOOKS_EN > 0u) && (OS_TIME_TICK_HOOK_EN > 0u)
- void OSTimeTickHook (void)
- {
- #if OS_APP_HOOKS_EN > 0u
- App_TimeTickHook();
- #endif
-
- #if OS_TMR_EN > 0u
- OSTmrCtr++;
- if (OSTmrCtr >= (OS_TICKS_PER_SEC / OS_TMR_CFG_TICKS_PER_SEC)) {
- OSTmrCtr = 0;
- OSTmrSignal();
- }
- #endif
- }
- #endif
-
-
- /*
- *********************************************************************************************************
- * SYS TICK HANDLER
- *
- * Description: Handle the system tick (SysTick) interrupt, which is used to generate the uC/OS-II tick
- * interrupt.
- *
- * Arguments : None.
- *
- * Note(s) : 1) This function MUST be placed on entry 15 of the Cortex-M3 vector table.
- *********************************************************************************************************
- */
-
- /*
- void OS_CPU_SysTickHandler (void)
- {
- OS_CPU_SR cpu_sr;
-
-
- OS_ENTER_CRITICAL();
- OSIntNesting++;
- OS_EXIT_CRITICAL();
-
- OSTimeTick();
-
- OSIntExit();
- }
- */
-
- /*
- *********************************************************************************************************
- * INITIALIZE SYS TICK
- *
- * Description: Initialize the SysTick.
- *
- * Arguments : cnts Number of SysTick counts between two OS tick interrupts.
- *
- * Note(s) : 1) This function MUST be called after OSStart() & after processor initialization.
- *********************************************************************************************************
- */
-
- /*void OS_CPU_SysTickInit (INT32U cnts)
- {
- INT32U prio;
-
-
- OS_CPU_CM4_NVIC_ST_RELOAD = cnts - 1u;
-
-
- prio = OS_CPU_CM4_NVIC_SHPRI3;
- prio &= DEF_BIT_FIELD(24, 0);
- prio |= DEF_BIT_MASK(OS_CPU_CFG_SYSTICK_PRIO, 24);
-
- OS_CPU_CM4_NVIC_SHPRI3 = prio;
-
-
- OS_CPU_CM4_NVIC_ST_CTRL |= OS_CPU_CM4_NVIC_ST_CTRL_CLK_SRC |
- OS_CPU_CM4_NVIC_ST_CTRL_ENABLE;
-
- OS_CPU_CM4_NVIC_ST_CTRL |= OS_CPU_CM4_NVIC_ST_CTRL_INTEN;
- }
- */
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