/*---------------------------------------------------------------------------- * CMSIS-RTOS - RTX *---------------------------------------------------------------------------- * Name: HAL_CM4.S * Purpose: Hardware Abstraction Layer for Cortex-M4 * Rev.: V4.79 *---------------------------------------------------------------------------- * * Copyright (c) 1999-2009 KEIL, 2009-2017 ARM Germany GmbH. All rights reserved. * * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the License); you may * not use this file except in compliance with the License. * You may obtain a copy of the License at * * www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an AS IS BASIS, WITHOUT * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *---------------------------------------------------------------------------*/ NAME HAL_CM4.S #define TCB_STACKF 37 #define TCB_TSTACK 40 EXTERN os_flags EXTERN os_tsk EXTERN rt_alloc_box EXTERN rt_free_box EXTERN rt_stk_check EXTERN rt_pop_req EXTERN rt_systick EXTERN os_tick_irqack EXTERN SVC_Table EXTERN SVC_Count /*---------------------------------------------------------------------------- * Functions *---------------------------------------------------------------------------*/ SECTION .text:CODE:NOROOT(2) THUMB /*--------------------------- rt_set_PSP ------------------------------------*/ ; void rt_set_PSP (U32 stack); PUBLIC rt_set_PSP rt_set_PSP: MSR PSP,R0 BX LR /*--------------------------- rt_get_PSP ------------------------------------*/ ; U32 rt_get_PSP (void); PUBLIC rt_get_PSP rt_get_PSP: MRS R0,PSP BX LR /*--------------------------- os_set_env ------------------------------------*/ ; void os_set_env (void); /* Switch to Unprivileged/Privileged Thread mode, use PSP. */ PUBLIC os_set_env os_set_env: MOV R0,SP /* PSP = MSP */ MSR PSP,R0 LDR R0,=os_flags LDRB R0,[R0] LSLS R0,#31 ITE NE MOVNE R0,#0x02 /* Privileged Thread mode, use PSP */ MOVEQ R0,#0x03 /* Unprivileged Thread mode, use PSP */ MSR CONTROL,R0 BX LR /*--------------------------- _alloc_box ------------------------------------*/ ; void *_alloc_box (void *box_mem); /* Function wrapper for Unprivileged/Privileged mode. */ PUBLIC _alloc_box _alloc_box: LDR R12,=rt_alloc_box MRS R3,IPSR LSLS R3,#24 IT NE BXNE R12 MRS R3,CONTROL LSLS R3,#31 IT EQ BXEQ R12 SVC 0 BX LR /*--------------------------- _free_box -------------------------------------*/ ; U32 _free_box (void *box_mem, void *box); /* Function wrapper for Unprivileged/Privileged mode. */ PUBLIC _free_box _free_box: LDR R12,=rt_free_box MRS R3,IPSR LSLS R3,#24 IT NE BXNE R12 MRS R3,CONTROL LSLS R3,#31 IT EQ BXEQ R12 SVC 0 BX LR /*-------------------------- SVC_Handler ------------------------------------*/ ; void SVC_Handler (void); PUBLIC SVC_Handler SVC_Handler: MRS R0,PSP /* Read PSP */ LDR R1,[R0,#24] /* Read Saved PC from Stack */ LDRB R1,[R1,#-2] /* Load SVC Number */ CBNZ R1,SVC_User LDM R0,{R0-R3,R12} /* Read R0-R3,R12 from stack */ PUSH {R4,LR} /* Save EXC_RETURN */ BLX R12 /* Call SVC Function */ POP {R4,LR} /* Restore EXC_RETURN */ MRS R12,PSP /* Read PSP */ STM R12,{R0-R2} /* Store return values */ LDR R3,=os_tsk LDM R3,{R1,R2} /* os_tsk.run, os_tsk.next */ CMP R1,R2 IT EQ BXEQ LR /* RETI, no task switch */ CBNZ R1,SVC_ContextSave /* Runtask not deleted? */ TST LR,#0x10 /* is it extended frame? */ BNE SVC_ContextRestore LDR R1,=0xE000EF34 LDR R0,[R1] /* Load FPCCR */ BIC R0,R0,#1 /* Clear LSPACT (Lazy state) */ STR R0,[R1] /* Store FPCCR */ B SVC_ContextRestore SVC_ContextSave: TST LR,#0x10 /* is it extended frame? */ ITTE EQ VSTMDBEQ R12!,{S16-S31} /* yes, stack also VFP hi-regs */ MOVEQ R0,#0x01 /* os_tsk->stack_frame val */ MOVNE R0,#0x00 STRB R0,[R1,#TCB_STACKF] /* os_tsk.run->stack_frame = val */ STMDB R12!,{R4-R11} /* Save Old context */ STR R12,[R1,#TCB_TSTACK] /* Update os_tsk.run->tsk_stack */ PUSH {R2,R3} BL rt_stk_check /* Check for Stack overflow */ POP {R2,R3} SVC_ContextRestore: STR R2,[R3] /* os_tsk.run = os_tsk.next */ LDR R12,[R2,#TCB_TSTACK] /* os_tsk.next->tsk_stack */ LDMIA R12!,{R4-R11} /* Restore New Context */ LDRB R0,[R2,#TCB_STACKF] /* Stack Frame */ CMP R0,#0 /* Basic/Extended Stack Frame */ ITEE EQ MVNEQ LR,#~0xFFFFFFFD /* set EXC_RETURN value */ MVNNE LR,#~0xFFFFFFED VLDMIANE R12!,{S16-S31} /* restore VFP hi-registers */ MSR PSP,R12 /* Write PSP */ SVC_Exit: BX LR /*------------------- User SVC ------------------------------*/ SVC_User: PUSH {R4,LR} /* Save Registers */ LDR R2,=SVC_Count LDR R2,[R2] CMP R1,R2 BHI SVC_Done /* Overflow */ LDR R4,=SVC_Table-4 LDR R4,[R4,R1,LSL #2] /* Load SVC Function Address */ LDM R0,{R0-R3,R12} /* Read R0-R3,R12 from stack */ BLX R4 /* Call SVC Function */ MRS R12,PSP STM R12,{R0-R3} /* Function return values */ SVC_Done: POP {R4,PC} /* RETI */ /*-------------------------- PendSV_Handler ---------------------------------*/ ; void PendSV_Handler (void); PUBLIC PendSV_Handler PendSV_Handler: PUSH {R4,LR} /* Save EXC_RETURN */ BL rt_pop_req Sys_Switch: POP {R4,LR} /* Restore EXC_RETURN */ LDR R3,=os_tsk LDM R3,{R1,R2} /* os_tsk.run, os_tsk.next */ CMP R1,R2 IT EQ BXEQ LR /* RETI, no task switch */ MRS R12,PSP /* Read PSP */ TST LR,#0x10 /* is it extended frame? */ ITTE EQ VSTMDBEQ R12!,{S16-S31} /* yes, stack also VFP hi-regs */ MOVEQ R0,#0x01 /* os_tsk->stack_frame val */ MOVNE R0,#0x00 STRB R0,[R1,#TCB_STACKF] /* os_tsk.run->stack_frame = val */ STMDB R12!,{R4-R11} /* Save Old context */ STR R12,[R1,#TCB_TSTACK] /* Update os_tsk.run->tsk_stack */ PUSH {R2,R3} BL rt_stk_check /* Check for Stack overflow */ POP {R2,R3} STR R2,[R3] /* os_tsk.run = os_tsk.next */ LDR R12,[R2,#TCB_TSTACK] /* os_tsk.next->tsk_stack */ LDMIA R12!,{R4-R11} /* Restore New Context */ LDRB R0,[R2,#TCB_STACKF] /* Stack Frame */ CMP R0,#0 /* Basic/Extended Stack Frame */ ITEE EQ MVNEQ LR,#~0xFFFFFFFD /* set EXC_RETURN value */ MVNNE LR,#~0xFFFFFFED VLDMIANE R12!,{S16-S31} /* restore VFP hi-registers */ MSR PSP,R12 /* Write PSP */ Sys_Exit: BX LR /* Return to Thread Mode */ /*-------------------------- SysTick_Handler --------------------------------*/ ; void SysTick_Handler (void); PUBLIC SysTick_Handler SysTick_Handler: PUSH {R4,LR} /* Save EXC_RETURN */ BL rt_systick B Sys_Switch /*-------------------------- OS_Tick_Handler --------------------------------*/ ; void OS_Tick_Handler (void); PUBLIC OS_Tick_Handler OS_Tick_Handler: PUSH {R4,LR} /* Save EXC_RETURN */ BL os_tick_irqack BL rt_systick B Sys_Switch END /*---------------------------------------------------------------------------- * end of file *---------------------------------------------------------------------------*/