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524 lines
23 KiB
Plaintext
524 lines
23 KiB
Plaintext
/*
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*********************************************************************************************************
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* uC/OS-II
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* The Real-Time Kernel
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*
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*
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* (c) Copyright 1992-2007, Micrium, Weston, FL
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* All Rights Reserved
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*
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* Generic ARM Port
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*
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* File : OS_CPU_C.C
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* Version : V1.82
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* By : Jean J. Labrosse
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* Jean-Denis Hatier
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*
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* For : ARM7 or ARM9
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* Mode : ARM or Thumb
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* Toolchain : IAR's EWARM V4.11a and higher
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*********************************************************************************************************
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*/
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#define OS_CPU_GLOBALS
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#include <ucos_ii.h>
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/*$PAGE*/
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/*
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*********************************************************************************************************
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* LOCAL CONSTANTS
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*
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* Note(s) : 1) ARM_MODE_ARM is the CPSR bit mask for ARM Mode
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* 2) ARM_MODE_THUMB is the CPSR bit mask for THUMB Mode
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* 3) ARM_SVC_MODE_THUMB is the CPSR bit mask for SVC MODE + THUMB Mode
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* 4) ARM_SVC_MODE_ARM is the CPSR bit mask for SVC MODE + ARM Mode
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5) OS_NTASKS_FP establishes the number of tasks capable of supporting floating-point. One
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* task is removed for the idle task because it doesn't do floating-point at all.
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* 6) OS_FP_STORAGE_SIZE currently allocates 1024 bytes of storage in order to accomodate
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* thirty-two, single precision 32 bit, or sixteen double precision 64 bit VFP registers.
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*********************************************************************************************************
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*/
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#define ARM_MODE_ARM 0x00000000
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#define ARM_MODE_THUMB 0x00000020
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#define ARM_SVC_MODE_THUMB (0x00000013L + ARM_MODE_THUMB)
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#define ARM_SVC_MODE_ARM (0x00000013L + ARM_MODE_ARM)
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#define OS_NTASKS_FP (OS_MAX_TASKS + OS_N_SYS_TASKS - 1)
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#define OS_FP_STORAGE_SIZE 128L
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/*
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*********************************************************************************************************
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* LOCAL VARIABLES
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*********************************************************************************************************
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*/
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#if OS_TMR_EN > 0
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static INT16U OSTmrCtr;
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#endif
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#if OS_CPU_FPU_EN > 0
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static OS_MEM *OSFPPartPtr; /* Pointer to memory partition for storing FPU registers */
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static INT32U OSFPPart[OS_NTASKS_FP][OS_FP_STORAGE_SIZE / sizeof(INT32U)];
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#endif
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/*$PAGE*/
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/*
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*********************************************************************************************************
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* INITIALIZE FP SUPPORT
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*
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* Description: This function initializes the memory partition used to save FPU registers
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* during a context switch. This function MUST be called AFTER calling
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* OSInit(). OS_CPU_FPU_EN must be defined > 0 in order to compile FPU support into the
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* build.
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*
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* Arguments : none
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*
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* Returns : none
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*
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* Note(s) : 1) Tasks that are to use FP support MUST be created with OSTaskCreateExt().
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* 2) For the ARM VFP, 1024 bytes are required to save the VFP context.
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* The INT32U data type is used to ensure that storage is aligned on a 32-bit boundary.
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* 3) If you need to perform floating point operations from within the OSStatTaskHook(),
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* then you must change the 'Options' attribute for OSTaskCreatExt() when creating
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* the statistics task. This only applies if OS_TaskStat() was created with OSTaskCreateExt().
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*********************************************************************************************************
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*/
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#if OS_CPU_FPU_EN > 0
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void OS_CPU_FP_Init (void)
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{
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INT8U err;
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#if OS_TASK_STAT_EN && OS_TASK_CREATE_EXT_EN
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OS_TCB *ptcb;
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void *pblk;
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#endif
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OSFPPartPtr = OSMemCreate(&OSFPPart[0][0], OS_NTASKS_FP, OS_FP_STORAGE_SIZE, &err);
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#if OS_TASK_STAT_EN && OS_TASK_CREATE_EXT_EN /* CHANGE 'OPTIONS' for OS_TaskStat() */
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ptcb = OSTCBPrioTbl[OS_TASK_STAT_PRIO];
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ptcb->OSTCBOpt |= OS_TASK_OPT_SAVE_FP; /* Allow floating-point support for Statistic task */
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pblk = OSMemGet(OSFPPartPtr, &err); /* Get storage for VFP registers */
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if (pblk != (void *)0) { /* Did we get a memory block? */
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ptcb->OSTCBExtPtr = pblk; /* Yes, Link to task's TCB */
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OS_CPU_FP_Save(pblk); /* Save the VFP registers in block */
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}
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#endif
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}
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#endif
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/*
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*********************************************************************************************************
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* OS INITIALIZATION HOOK
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* (BEGINNING)
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*
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* Description: This function is called by OSInit() at the beginning of OSInit().
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*
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* Arguments : none
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*
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* Note(s) : 1) Interrupts should be disabled during this call.
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*********************************************************************************************************
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*/
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#if OS_CPU_HOOKS_EN > 0 && OS_VERSION > 203
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void OSInitHookBegin (void)
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{
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#if OS_TMR_EN > 0
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OSTmrCtr = 0;
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#endif
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}
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#endif
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/*
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*********************************************************************************************************
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* OS INITIALIZATION HOOK
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* (END)
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*
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* Description: This function is called by OSInit() at the end of OSInit().
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*
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* Arguments : none
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*
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* Note(s) : 1) Interrupts should be disabled during this call.
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*********************************************************************************************************
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*/
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#if OS_CPU_HOOKS_EN > 0 && OS_VERSION > 203
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void OSInitHookEnd (void)
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{
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#if OS_CPU_INT_DIS_MEAS_EN > 0
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OS_CPU_IntDisMeasInit();
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#endif
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#if OS_CPU_FPU_EN > 0
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OS_CPU_FP_Init(); /* Initialize support for VFP register save / restore */
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#endif
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}
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#endif
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/*
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*********************************************************************************************************
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* TASK CREATION HOOK
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*
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* Description: This function is called when a task is created.
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*
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* Arguments : ptcb is a pointer to the task control block of the task being created.
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*
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* Note(s) : 1) Interrupts are disabled during this call.
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*********************************************************************************************************
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*/
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#if OS_CPU_HOOKS_EN > 0
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void OSTaskCreateHook (OS_TCB *ptcb)
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{
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#if OS_CPU_FPU_EN > 0
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INT8U err;
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void *pblk;
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#endif
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#if OS_CPU_FPU_EN > 0
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if (ptcb->OSTCBOpt & OS_TASK_OPT_SAVE_FP) { /* See if task needs FP support */
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pblk = OSMemGet(OSFPPartPtr, &err); /* Yes, Get storage for VFP registers */
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if (pblk != (void *)0) { /* Did we get a memory block? */
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ptcb->OSTCBExtPtr = pblk; /* Yes, Link to task's TCB */
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OS_CPU_FP_Save(pblk); /* Save the VFP registers in block */
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}
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}
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#endif
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#if OS_APP_HOOKS_EN > 0
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App_TaskCreateHook(ptcb);
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#else
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(void)ptcb; /* Prevent compiler warning */
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#endif
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}
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#endif
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/*
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*********************************************************************************************************
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* TASK DELETION HOOK
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*
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* Description: This function is called when a task is deleted.
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*
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* Arguments : ptcb is a pointer to the task control block of the task being deleted.
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*
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* Note(s) : 1) Interrupts are disabled during this call.
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*********************************************************************************************************
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*/
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#if OS_CPU_HOOKS_EN > 0
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void OSTaskDelHook (OS_TCB *ptcb)
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{
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#if OS_CPU_FPU_EN > 0
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if (ptcb->OSTCBOpt & OS_TASK_OPT_SAVE_FP) { /* See if task had FP support */
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if (ptcb->OSTCBExtPtr != (void *)0) { /* Yes, OSTCBExtPtr must not be NULL */
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OSMemPut(OSFPPartPtr, ptcb->OSTCBExtPtr); /* Return memory block to free pool */
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}
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}
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#endif
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#if OS_APP_HOOKS_EN > 0
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App_TaskDelHook(ptcb);
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#else
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(void)ptcb; /* Prevent compiler warning */
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#endif
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}
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#endif
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/*
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*********************************************************************************************************
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* IDLE TASK HOOK
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*
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* Description: This function is called by the idle task. This hook has been added to allow you to do
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* such things as STOP the CPU to conserve power.
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*
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* Arguments : none
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*
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* Note(s) : 1) Interrupts are enabled during this call.
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*********************************************************************************************************
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*/
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#if OS_CPU_HOOKS_EN > 0 && OS_VERSION >= 251
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void OSTaskIdleHook (void)
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{
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#if OS_CPU_ARM_DCC_EN > 0
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OSDCC_Handler();
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#endif
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#if OS_APP_HOOKS_EN > 0
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App_TaskIdleHook();
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#endif
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}
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#endif
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/*
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*********************************************************************************************************
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* STATISTIC TASK HOOK
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*
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* Description: This function is called every second by uC/OS-II's statistics task. This allows your
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* application to add functionality to the statistics task.
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*
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* Arguments : none
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*********************************************************************************************************
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*/
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#if OS_CPU_HOOKS_EN > 0
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void OSTaskStatHook (void)
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{
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#if OS_APP_HOOKS_EN > 0
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App_TaskStatHook();
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#endif
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}
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#endif
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/*
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*********************************************************************************************************
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* INITIALIZE A TASK'S STACK
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*
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* Description: This function is called by either OSTaskCreate() or OSTaskCreateExt() to initialize the
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* stack frame of the task being created. This function is highly processor specific.
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*
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* Arguments : task is a pointer to the task code
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*
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* p_arg is a pointer to a user supplied data area that will be passed to the task
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* when the task first executes.
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*
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* ptos is a pointer to the top of stack. It is assumed that 'ptos' points to
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* a 'free' entry on the task stack. If OS_STK_GROWTH is set to 1 then
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* 'ptos' will contain the HIGHEST valid address of the stack. Similarly, if
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* OS_STK_GROWTH is set to 0, the 'ptos' will contains the LOWEST valid address
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* of the stack.
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*
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* opt specifies options that can be used to alter the behavior of OSTaskStkInit().
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* (see uCOS_II.H for OS_TASK_OPT_xxx).
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*
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* Returns : Always returns the location of the new top-of-stack' once the processor registers have
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* been placed on the stack in the proper order.
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*
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* Note(s) : 1) Interrupts are enabled when your task starts executing.
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* 2) All tasks run in SVC mode.
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*********************************************************************************************************
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*/
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OS_STK *OSTaskStkInit (void (*task)(void *p_arg), void *p_arg, OS_STK *ptos, INT16U opt)
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{
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OS_STK *stk;
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INT32U task_addr;
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opt = opt; /* 'opt' is not used, prevent warning */
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stk = ptos; /* Load stack pointer */
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task_addr = (INT32U)task & ~1; /* Mask off lower bit in case task is thumb mode */
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*(stk) = (INT32U)task_addr; /* Entry Point */
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*(--stk) = (INT32U)0x14141414L; /* R14 (LR) */
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*(--stk) = (INT32U)0x12121212L; /* R12 */
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*(--stk) = (INT32U)0x11111111L; /* R11 */
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*(--stk) = (INT32U)0x10101010L; /* R10 */
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*(--stk) = (INT32U)0x09090909L; /* R9 */
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*(--stk) = (INT32U)0x08080808L; /* R8 */
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*(--stk) = (INT32U)0x07070707L; /* R7 */
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*(--stk) = (INT32U)0x06060606L; /* R6 */
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*(--stk) = (INT32U)0x05050505L; /* R5 */
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*(--stk) = (INT32U)0x04040404L; /* R4 */
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*(--stk) = (INT32U)0x03030303L; /* R3 */
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*(--stk) = (INT32U)0x02020202L; /* R2 */
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*(--stk) = (INT32U)0x01010101L; /* R1 */
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*(--stk) = (INT32U)p_arg; /* R0 : argument */
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if ((INT32U)task & 0x01) { /* See if task runs in Thumb or ARM mode */
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*(--stk) = (INT32U)ARM_SVC_MODE_THUMB; /* CPSR (Enable both IRQ and FIQ interrupts, THUMB-mode) */
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} else {
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*(--stk) = (INT32U)ARM_SVC_MODE_ARM; /* CPSR (Enable both IRQ and FIQ interrupts, ARM-mode) */
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}
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return (stk);
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}
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/*
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*********************************************************************************************************
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* TASK SWITCH HOOK
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*
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* Description: This function is called when a task switch is performed. This allows you to perform other
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* operations during a context switch.
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*
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* Arguments : none
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*
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* Note(s) : 1) Interrupts are disabled during this call.
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* 2) It is assumed that the global pointer 'OSTCBHighRdy' points to the TCB of the task that
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* will be 'switched in' (i.e. the highest priority task) and, 'OSTCBCur' points to the
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* task being switched out (i.e. the preempted task).
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*********************************************************************************************************
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*/
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#if (OS_CPU_HOOKS_EN > 0) && (OS_TASK_SW_HOOK_EN > 0)
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void OSTaskSwHook (void)
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{
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#if OS_CPU_FPU_EN > 0
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void *pblk;
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#endif
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#if OS_CPU_FPU_EN > 0 /* Save VFP context of preempted task */
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if (OSRunning == OS_TRUE) { /* Don't save on OSStart()! */
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if (OSTCBCur->OSTCBOpt & OS_TASK_OPT_SAVE_FP) { /* See if task used FP */
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pblk = OSTCBCur->OSTCBExtPtr; /* Yes, Get pointer to FP storage area */
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if (pblk != (void *)0) { /* Make sure we have storage */
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OS_CPU_FP_Save(pblk); /* Save the VFP registers in block */
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}
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}
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}
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/* Restore VFP context of new task */
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if (OSTCBHighRdy->OSTCBOpt & OS_TASK_OPT_SAVE_FP) { /* See if new task uses FP */
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pblk = OSTCBHighRdy->OSTCBExtPtr; /* Yes, Get pointer to FP storage area */
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if (pblk != (void *)0) { /* Make sure we have storage */
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OS_CPU_FP_Restore(pblk); /* Get contents of VFP registers */
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}
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}
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#endif
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#if OS_APP_HOOKS_EN > 0
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App_TaskSwHook();
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#endif
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}
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#endif
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/*
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*********************************************************************************************************
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* OS_TCBInit() HOOK
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*
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* Description: This function is called by OS_TCBInit() after setting up most of the TCB.
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*
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* Arguments : ptcb is a pointer to the TCB of the task being created.
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*
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* Note(s) : 1) Interrupts may or may not be ENABLED during this call.
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*********************************************************************************************************
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*/
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#if OS_CPU_HOOKS_EN > 0 && OS_VERSION > 203
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void OSTCBInitHook (OS_TCB *ptcb)
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{
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#if OS_APP_HOOKS_EN > 0
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App_TCBInitHook(ptcb);
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#else
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(void)ptcb; /* Prevent compiler warning */
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#endif
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}
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#endif
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/*
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*********************************************************************************************************
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* TICK HOOK
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*
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* Description: This function is called every tick.
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*
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* Arguments : none
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*
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* Note(s) : 1) Interrupts may or may not be ENABLED during this call.
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*********************************************************************************************************
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*/
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#if (OS_CPU_HOOKS_EN > 0) && (OS_TIME_TICK_HOOK_EN > 0)
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void OSTimeTickHook (void)
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{
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#if OS_APP_HOOKS_EN > 0
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App_TimeTickHook();
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#endif
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#if OS_TMR_EN > 0
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OSTmrCtr++;
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if (OSTmrCtr >= (OS_TICKS_PER_SEC / OS_TMR_CFG_TICKS_PER_SEC)) {
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OSTmrCtr = 0;
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OSTmrSignal();
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}
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#endif
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#if OS_CPU_ARM_DCC_EN > 0
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OSDCC_Handler();
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#endif
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}
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#endif
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/*
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*********************************************************************************************************
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* INTERRUPT DISABLE TIME MEASUREMENT, START
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*********************************************************************************************************
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*/
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#if OS_CPU_INT_DIS_MEAS_EN > 0
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void OS_CPU_IntDisMeasInit (void)
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{
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OS_CPU_IntDisMeasNestingCtr = 0;
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OS_CPU_IntDisMeasCntsEnter = 0;
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OS_CPU_IntDisMeasCntsExit = 0;
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OS_CPU_IntDisMeasCntsMax = 0;
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OS_CPU_IntDisMeasCntsDelta = 0;
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OS_CPU_IntDisMeasCntsOvrhd = 0;
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OS_CPU_IntDisMeasStart(); /* Measure the overhead of the functions */
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OS_CPU_IntDisMeasStop();
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OS_CPU_IntDisMeasCntsOvrhd = OS_CPU_IntDisMeasCntsDelta;
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}
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void OS_CPU_IntDisMeasStart (void)
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{
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OS_CPU_IntDisMeasNestingCtr++;
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if (OS_CPU_IntDisMeasNestingCtr == 1) { /* Only measure at the first nested level */
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OS_CPU_IntDisMeasCntsEnter = OS_CPU_IntDisMeasTmrRd();
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}
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}
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void OS_CPU_IntDisMeasStop (void)
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{
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OS_CPU_IntDisMeasNestingCtr--; /* Decrement nesting ctr */
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if (OS_CPU_IntDisMeasNestingCtr == 0) {
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OS_CPU_IntDisMeasCntsExit = OS_CPU_IntDisMeasTmrRd();
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OS_CPU_IntDisMeasCntsDelta = OS_CPU_IntDisMeasCntsExit - OS_CPU_IntDisMeasCntsEnter;
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if (OS_CPU_IntDisMeasCntsDelta > OS_CPU_IntDisMeasCntsOvrhd) { /* Ensure overhead < delta */
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OS_CPU_IntDisMeasCntsDelta -= OS_CPU_IntDisMeasCntsOvrhd;
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} else {
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OS_CPU_IntDisMeasCntsDelta = OS_CPU_IntDisMeasCntsOvrhd;
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}
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if (OS_CPU_IntDisMeasCntsDelta > OS_CPU_IntDisMeasCntsMax) { /* Track MAXIMUM */
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OS_CPU_IntDisMeasCntsMax = OS_CPU_IntDisMeasCntsDelta;
|
||
}
|
||
}
|
||
}
|
||
#endif
|
||
|
||
|
||
/*
|
||
*********************************************************************************************************
|
||
* INITIALIZE EXCEPTION VECTORS
|
||
*
|
||
* Description : This function initialize exception vectors to the default handlers.
|
||
*
|
||
* Arguments : None.
|
||
*********************************************************************************************************
|
||
*/
|
||
|
||
void OS_CPU_InitExceptVect (void)
|
||
{
|
||
/*
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_RESET_VECT_ADDR) = OS_CPU_ARM_INSTR_JUMP_TO_HANDLER;
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_RESET_HANDLER_ADDR) = (INT32U)OS_CPU_ARM_ExceptResetHndlr;
|
||
*/
|
||
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_UNDEF_INSTR_VECT_ADDR) = OS_CPU_ARM_INSTR_JUMP_TO_HANDLER;
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_UNDEF_INSTR_HANDLER_ADDR) = (INT32U)OS_CPU_ARM_ExceptUndefInstrHndlr;
|
||
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_SWI_VECT_ADDR) = OS_CPU_ARM_INSTR_JUMP_TO_HANDLER;
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_SWI_HANDLER_ADDR) = (INT32U)OS_CPU_ARM_ExceptSwiHndlr;
|
||
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_PREFETCH_ABORT_VECT_ADDR) = OS_CPU_ARM_INSTR_JUMP_TO_HANDLER;
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_PREFETCH_ABORT_HANDLER_ADDR) = (INT32U)OS_CPU_ARM_ExceptPrefetchAbortHndlr;
|
||
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_DATA_ABORT_VECT_ADDR) = OS_CPU_ARM_INSTR_JUMP_TO_HANDLER;
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_DATA_ABORT_HANDLER_ADDR) = (INT32U)OS_CPU_ARM_ExceptDataAbortHndlr;
|
||
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_ADDR_ABORT_VECT_ADDR) = OS_CPU_ARM_INSTR_JUMP_TO_HANDLER;
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_ADDR_ABORT_HANDLER_ADDR) = (INT32U)OS_CPU_ARM_ExceptAddrAbortHndlr;
|
||
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_IRQ_VECT_ADDR) = OS_CPU_ARM_INSTR_JUMP_TO_HANDLER;
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_IRQ_HANDLER_ADDR) = (INT32U)OS_CPU_ARM_ExceptIrqHndlr;
|
||
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_FIQ_VECT_ADDR) = OS_CPU_ARM_INSTR_JUMP_TO_HANDLER;
|
||
(*(INT32U *)OS_CPU_ARM_EXCEPT_FIQ_HANDLER_ADDR) = (INT32U)OS_CPU_ARM_ExceptFiqHndlr;
|
||
}
|