160 lines
4.6 KiB
ArmAsm
Executable File
160 lines
4.6 KiB
ArmAsm
Executable File
/*
|
|
ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio.
|
|
|
|
This file is part of ChibiOS.
|
|
|
|
ChibiOS is free software; you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation; either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
ChibiOS is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
/**
|
|
* @file compilers/GCC/chcoreasm_v6m.S
|
|
* @brief ARMv6-M architecture port low level code.
|
|
*
|
|
* @addtogroup ARMCMx_GCC_CORE
|
|
* @{
|
|
*/
|
|
|
|
#if !defined(FALSE) || defined(__DOXYGEN__)
|
|
#define FALSE 0
|
|
#endif
|
|
|
|
#if !defined(TRUE) || defined(__DOXYGEN__)
|
|
#define TRUE 1
|
|
#endif
|
|
|
|
#define _FROM_ASM_
|
|
#include "chlicense.h"
|
|
#include "chconf.h"
|
|
#include "chcore.h"
|
|
|
|
#if !defined(__DOXYGEN__)
|
|
|
|
/*
|
|
* RTOS-specific context offset.
|
|
*/
|
|
#if defined(_CHIBIOS_RT_CONF_)
|
|
#define CONTEXT_OFFSET 12
|
|
#elif defined(_CHIBIOS_NIL_CONF_)
|
|
#define CONTEXT_OFFSET 0
|
|
#else
|
|
#error "invalid chconf.h"
|
|
#endif
|
|
|
|
.set SCB_ICSR, 0xE000ED04
|
|
.set ICSR_PENDSVSET, 0x10000000
|
|
.set ICSR_NMIPENDSET, 0x80000000
|
|
|
|
.cpu cortex-m0
|
|
.fpu softvfp
|
|
|
|
.thumb
|
|
.text
|
|
|
|
/*--------------------------------------------------------------------------*
|
|
* Performs a context switch between two threads.
|
|
*--------------------------------------------------------------------------*/
|
|
.thumb_func
|
|
.globl _port_switch
|
|
_port_switch:
|
|
push {r4, r5, r6, r7, lr}
|
|
mov r4, r8
|
|
mov r5, r9
|
|
mov r6, r10
|
|
mov r7, r11
|
|
push {r4, r5, r6, r7}
|
|
|
|
mov r3, sp
|
|
str r3, [r1, #CONTEXT_OFFSET]
|
|
ldr r3, [r0, #CONTEXT_OFFSET]
|
|
mov sp, r3
|
|
|
|
pop {r4, r5, r6, r7}
|
|
mov r8, r4
|
|
mov r9, r5
|
|
mov r10, r6
|
|
mov r11, r7
|
|
pop {r4, r5, r6, r7, pc}
|
|
|
|
/*--------------------------------------------------------------------------*
|
|
* Start a thread by invoking its work function.
|
|
*
|
|
* Threads execution starts here, the code leaves the system critical zone
|
|
* and then jumps into the thread function passed in register R4. The
|
|
* register R5 contains the thread parameter. The function chThdExit() is
|
|
* called on thread function return.
|
|
*--------------------------------------------------------------------------*/
|
|
.thumb_func
|
|
.globl _port_thread_start
|
|
_port_thread_start:
|
|
#if CH_DBG_SYSTEM_STATE_CHECK
|
|
bl _dbg_check_unlock
|
|
#endif
|
|
#if CH_DBG_STATISTICS
|
|
bl _stats_stop_measure_crit_thd
|
|
#endif
|
|
cpsie i
|
|
mov r0, r5
|
|
blx r4
|
|
#if defined(_CHIBIOS_RT_CONF_)
|
|
movs r0, #0 /* MSG_OK */
|
|
bl chThdExit
|
|
#endif
|
|
#if defined(_CHIBIOS_NIL_CONF_)
|
|
mov r3, #0
|
|
bl chSysHalt
|
|
#endif
|
|
|
|
/*--------------------------------------------------------------------------*
|
|
* Post-IRQ switch code.
|
|
*
|
|
* Exception handlers return here for context switching.
|
|
*--------------------------------------------------------------------------*/
|
|
.thumb_func
|
|
.globl _port_switch_from_isr
|
|
_port_switch_from_isr:
|
|
#if CH_DBG_STATISTICS
|
|
bl _stats_start_measure_crit_thd
|
|
#endif
|
|
#if CH_DBG_SYSTEM_STATE_CHECK
|
|
bl _dbg_check_lock
|
|
#endif
|
|
bl chSchDoReschedule
|
|
#if CH_DBG_SYSTEM_STATE_CHECK
|
|
bl _dbg_check_unlock
|
|
#endif
|
|
#if CH_DBG_STATISTICS
|
|
bl _stats_stop_measure_crit_thd
|
|
#endif
|
|
.globl _port_exit_from_isr
|
|
_port_exit_from_isr:
|
|
ldr r2, .L2
|
|
ldr r3, .L3
|
|
str r3, [r2, #0]
|
|
#if CORTEX_ALTERNATE_SWITCH
|
|
cpsie i
|
|
#endif
|
|
.L1: b .L1
|
|
|
|
.align 2
|
|
.L2: .word SCB_ICSR
|
|
#if CORTEX_ALTERNATE_SWITCH
|
|
.L3: .word ICSR_PENDSVSET
|
|
#else
|
|
.L3: .word ICSR_NMIPENDSET
|
|
#endif
|
|
|
|
#endif /* !defined(__DOXYGEN__) */
|
|
|
|
/** @} */
|