/* ********************************************************************************************************* * uC/OS-II * The Real-Time Kernel * * * (c) Copyright 2006, Micrium, Weston, FL * All Rights Reserved * * ARM Cortex-M3 Port * * File : OS_CPU_C.C * Version : V2.89 * By : Jean J. Labrosse * Brian Nagel * * For : ARMv7M Cortex-M3 * Mode : Thumb2 * Toolchain : RealView Development Suite * RealView Microcontroller Development Kit (MDK) * ARM Developer Suite (ADS) * Keil uVision ********************************************************************************************************* */ #define OS_CPU_GLOBALS #include /* ********************************************************************************************************* * LOCAL VARIABLES ********************************************************************************************************* */ #if OS_TMR_EN > 0u static INT16U OSTmrCtr; #endif /* ********************************************************************************************************* * SYS TICK DEFINES ********************************************************************************************************* */ #define OS_CPU_CM3_NVIC_ST_CTRL (*((volatile INT32U *)0xE000E010uL)) /* SysTick Ctrl & Status Reg. */ #define OS_CPU_CM3_NVIC_ST_RELOAD (*((volatile INT32U *)0xE000E014uL)) /* SysTick Reload Value Reg. */ #define OS_CPU_CM3_NVIC_ST_CURRENT (*((volatile INT32U *)0xE000E018uL)) /* SysTick Current Value Reg. */ #define OS_CPU_CM3_NVIC_ST_CAL (*((volatile INT32U *)0xE000E01CuL)) /* SysTick Cal Value Reg. */ #define OS_CPU_CM3_NVIC_PRIO_ST (*((volatile INT8U *)0xE000ED23uL)) /* SysTick Handler Prio Reg. */ #define OS_CPU_CM3_NVIC_ST_CTRL_COUNT 0x00010000uL /* Count flag. */ #define OS_CPU_CM3_NVIC_ST_CTRL_CLK_SRC 0x00000004uL /* Clock Source. */ #define OS_CPU_CM3_NVIC_ST_CTRL_INTEN 0x00000002uL /* Interrupt enable. */ #define OS_CPU_CM3_NVIC_ST_CTRL_ENABLE 0x00000001uL /* Counter mode. */ #define OS_CPU_CM3_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; } OS_CPU_ExceptStkBase = &OS_CPU_ExceptStk[OS_CPU_EXCEPT_STK_SIZE - 1u]; #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 your task starts executing. * 2) All tasks run in Thread mode, using process stack. ********************************************************************************************************* */ OS_STK *OSTaskStkInit (void (*task)(void *p_arg), void *p_arg, OS_STK *ptos, INT16U opt) { OS_STK *stk; (void)opt; /* 'opt' is not used, prevent warning */ stk = ptos; /* Load stack pointer */ /* Registers stacked as if auto-saved on exception */ *(stk) = (INT32U)0x01000000uL; /* xPSR */ *(--stk) = (INT32U)task; /* Entry Point */ *(--stk) = (INT32U)OS_TaskReturn; /* R14 (LR) */ *(--stk) = (INT32U)0x12121212uL; /* R12 */ *(--stk) = (INT32U)0x03030303uL; /* R3 */ *(--stk) = (INT32U)0x02020202uL; /* R2 */ *(--stk) = (INT32U)0x01010101uL; /* R1 */ *(--stk) = (INT32U)p_arg; /* R0 : argument */ /* Remaining registers saved on process stack */ *(--stk) = (INT32U)0x11111111uL; /* R11 */ *(--stk) = (INT32U)0x10101010uL; /* R10 */ *(--stk) = (INT32U)0x09090909uL; /* R9 */ *(--stk) = (INT32U)0x08080808uL; /* R8 */ *(--stk) = (INT32U)0x07070707uL; /* R7 */ *(--stk) = (INT32U)0x06060606uL; /* R6 */ *(--stk) = (INT32U)0x05050505uL; /* R5 */ *(--stk) = (INT32U)0x04040404uL; /* R4 */ return (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_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(); /* Tell uC/OS-II that we are starting an ISR */ OSIntNesting++; OS_EXIT_CRITICAL(); OSTimeTick(); /* Call uC/OS-II's OSTimeTick() */ OSIntExit(); /* Tell uC/OS-II that we are leaving the ISR */ } /* ********************************************************************************************************* * INITIALIZE SYS TICK * * Description: Initialize the SysTick. * * Arguments : cnts is the 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) { OS_CPU_CM3_NVIC_ST_RELOAD = cnts - 1u; /* Set prio of SysTick handler to min prio. */ OS_CPU_CM3_NVIC_PRIO_ST = OS_CPU_CM3_NVIC_PRIO_MIN; /* Enable timer. */ OS_CPU_CM3_NVIC_ST_CTRL |= OS_CPU_CM3_NVIC_ST_CTRL_CLK_SRC | OS_CPU_CM3_NVIC_ST_CTRL_ENABLE; /* Enable timer interrupt. */ OS_CPU_CM3_NVIC_ST_CTRL |= OS_CPU_CM3_NVIC_ST_CTRL_INTEN; }