mirror of
https://github.com/ARMmbed/DAPLink.git
synced 2025-07-17 08:04:45 +08:00
386 lines
10 KiB
C
386 lines
10 KiB
C
/**
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* @file HAL_CM3.c
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* @brief HAL for Cortex-M4
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*
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* DAPLink Interface Firmware
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* Copyright (c) 2009-2016, ARM Limited, All Rights Reserved
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the "License"); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "rt_TypeDef.h"
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#include "RTX_Config.h"
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#include "rt_System.h"
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#include "rt_HAL_CM.h"
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#include "rt_Task.h"
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#include "rt_List.h"
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#include "rt_MemBox.h"
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/*----------------------------------------------------------------------------
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* Global Variables
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*---------------------------------------------------------------------------*/
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BIT dbg_msg;
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/*----------------------------------------------------------------------------
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* Functions
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*---------------------------------------------------------------------------*/
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/*--------------------------- rt_set_PSP ------------------------------------*/
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__asm void rt_set_PSP (U32 stack) {
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MSR PSP,R0
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BX LR
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}
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/*--------------------------- rt_get_PSP ------------------------------------*/
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__asm U32 rt_get_PSP (void) {
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MRS R0,PSP
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BX LR
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}
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/*--------------------------- os_set_env ------------------------------------*/
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__asm void os_set_env (void) {
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/* Switch to Unprivileged/Privileged Thread mode, use PSP. */
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MOV R0,SP ; PSP = MSP
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MSR PSP,R0
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LDR R0,=__cpp(&os_flags)
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LDRB R0,[R0]
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LSLS R0,#31
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MOVNE R0,#0x02 ; Privileged Thread mode, use PSP
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MOVEQ R0,#0x03 ; Unprivileged Thread mode, use PSP
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MSR CONTROL,R0
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BX LR
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ALIGN
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}
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/*--------------------------- _alloc_box ------------------------------------*/
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__asm void *_alloc_box (void *box_mem) {
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/* Function wrapper for Unprivileged/Privileged mode. */
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LDR R12,=__cpp(rt_alloc_box)
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MRS R3,IPSR
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LSLS R3,#24
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BXNE R12
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MRS R3,CONTROL
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LSLS R3,#31
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BXEQ R12
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SVC 0
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BX LR
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ALIGN
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}
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/*--------------------------- _free_box -------------------------------------*/
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__asm int _free_box (void *box_mem, void *box) {
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/* Function wrapper for Unprivileged/Privileged mode. */
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LDR R12,=__cpp(rt_free_box)
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MRS R3,IPSR
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LSLS R3,#24
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BXNE R12
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MRS R3,CONTROL
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LSLS R3,#31
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BXEQ R12
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SVC 0
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BX LR
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ALIGN
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}
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/*-------------------------- SVC_Handler ------------------------------------*/
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__asm void SVC_Handler (void) {
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PRESERVE8
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#ifdef IFX_XMC4XXX
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EXPORT SVC_Handler_Veneer
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SVC_Handler_Veneer
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#endif
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IMPORT SVC_Count
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IMPORT SVC_Table
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IMPORT rt_stk_check
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MRS R0,PSP ; Read PSP
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LDR R1,[R0,#24] ; Read Saved PC from Stack
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LDRB R1,[R1,#-2] ; Load SVC Number
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CBNZ R1,SVC_User
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PUSH {R4,LR} ; Save EXC_RETURN
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LDM R0,{R0-R3,R12} ; Read R0-R3,R12 from stack
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BLX R12 ; Call SVC Function
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POP {R4,LR} ; Restore EXC_RETURN
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MRS R12,PSP ; Read PSP
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LDR R3,=__cpp(&os_tsk)
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LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
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CMP R1,R2
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BEQ SVC_Exit ; no task switch
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CBZ R1,SVC_Restore ; Runtask deleted?
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PUSH {R2,R3}
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TST LR,#0x10 ; is it extended frame?
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VSTMDBEQ R12!,{S16-S31} ; yes, stack also VFP hi-regs
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MOVEQ R3,#0x03 ; os_tsk->ret_upd val
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MOVNE R3,#0x01
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STRB R3,[R1,#TCB_RETUPD] ; os_tsk.run->ret_upd = val
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STMDB R12!,{R4-R11} ; Save Old context
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STR R12,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
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BL rt_stk_check ; Check for Stack overflow
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POP {R2,R3}
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SVC_Restore
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STR R2,[R3] ; os_tsk.run = os_tsk.new
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LDR R12,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
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LDMIA R12!,{R4-R11} ; Restore New Context
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LDRB R3,[R2,#TCB_RETUPD] ; Update ret_val?
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TST R3,#0x02 ; VFP Active?
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VLDMIANE R12!,{S16-S31} ; restore VFP hi-registers
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MVNNE LR,#:NOT:0xFFFFFFED ; set EXC_RETURN value
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MVNEQ LR,#:NOT:0xFFFFFFFD
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MSR PSP,R12 ; Write PSP
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TST R3,#0x01
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#ifdef IFX_XMC4XXX
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PUSHEQ {LR}
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POPEQ {PC}
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#else
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BXEQ LR ; RETI
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#endif
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LDRB R0,[R2,#TCB_RETVAL] ; Write os_tsk.new->ret_val
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SVC_Exit
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STR R0,[R12] ; Function return value
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#ifdef IFX_XMC4XXX
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PUSH {LR}
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POP {PC}
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#else
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BX LR
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#endif
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/*------------------- User SVC ------------------------------*/
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SVC_User
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PUSH {R4,LR} ; Save Registers
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LDR R2,=SVC_Count
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LDR R2,[R2]
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CMP R1,R2
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BHI SVC_Done ; Overflow
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LDR R4,=SVC_Table-4
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LDR R4,[R4,R1,LSL #2] ; Load SVC Function Address
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LDM R0,{R0-R3,R12} ; Read R0-R3,R12 from stack
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BLX R4 ; Call SVC Function
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MRS R12,PSP
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STM R12,{R0-R3} ; Function return values
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SVC_Done
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POP {R4,PC} ; RETI
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ALIGN
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}
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/*-------------------------- PendSV_Handler ---------------------------------*/
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__asm void PendSV_Handler (void) {
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PRESERVE8
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#ifdef IFX_XMC4XXX
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EXPORT PendSV_Handler_Veneer
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PendSV_Handler_Veneer
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#endif
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PUSH {R4,LR} ; Save EXC_RETURN
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BL __cpp(rt_pop_req)
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Sys_Switch
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POP {R4,LR} ; Restore EXC_RETURN
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LDR R3,=__cpp(&os_tsk)
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LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
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CMP R1,R2
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#ifdef IFX_XMC4XXX
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PUSHEQ {LR}
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POPEQ {PC}
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#else
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BXEQ LR ; RETI, no task switch
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#endif
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PUSH {R2,R3}
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MRS R12,PSP ; Read PSP
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TST LR,#0x10 ; is it extended frame?
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VSTMDBEQ R12!,{S16-S31} ; yes, stack also VFP hi-regs
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MOVEQ R3,#0x02 ; os_tsk->ret_upd val
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MOVNE R3,#0x00
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STRB R3,[R1,#TCB_RETUPD] ; os_tsk.run->ret_upd = 0
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STMDB R12!,{R4-R11} ; Save Old context
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STR R12,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
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BL rt_stk_check ; Check for Stack overflow
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POP {R2,R3}
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STR R2,[R3] ; os_tsk.run = os_tsk.new
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LDR R12,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
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LDMIA R12!,{R4-R11} ; Restore New Context
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LDRB R3,[R2,#TCB_RETUPD] ; Update ret_val?
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TST R3,#0x02 ; VFP Active?
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VLDMIANE R12!,{S16-S31} ; restore VFP hi-regs
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MVNNE LR,#:NOT:0xFFFFFFED ; set EXC_RETURN value
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MVNEQ LR,#:NOT:0xFFFFFFFD
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MSR PSP,R12 ; Write PSP
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TST R3,#0x01
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LDRBNE R3,[R2,#TCB_RETVAL] ; Write os_tsk.new->ret_val
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STRNE R3,[R12]
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#ifdef IFX_XMC4XXX
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PUSH {LR}
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POP {PC}
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#else
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BX LR ; Return to Thread Mode
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#endif
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ALIGN
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}
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/*-------------------------- SysTick_Handler --------------------------------*/
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__asm void SysTick_Handler (void) {
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PRESERVE8
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#ifdef IFX_XMC4XXX
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EXPORT SysTick_Handler_Veneer
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SysTick_Handler_Veneer
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#endif
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PUSH {R4,LR} ; Save EXC_RETURN
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BL __cpp(rt_systick)
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B Sys_Switch
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ALIGN
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}
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/*-------------------------- OS_Tick_Handler --------------------------------*/
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__asm void OS_Tick_Handler (void) {
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PRESERVE8
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PUSH {R4,LR} ; Save EXC_RETURN
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BL __cpp(os_tick_irqack)
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BL __cpp(rt_systick)
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B Sys_Switch
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ALIGN
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}
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/*--------------------------- rt_init_stack ---------------------------------*/
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void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
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/* Prepare TCB and saved context for a first time start of a task. */
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U32 *stk,i,size;
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/* Prepare a complete interrupt frame for first task start */
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size = p_TCB->priv_stack >> 2;
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if (size == 0) {
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size = (U16)os_stackinfo >> 2;
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}
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/* Write to the top of stack. */
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stk = &p_TCB->stack[size];
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/* Auto correct to 8-byte stack alignment. */
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if ((U32)stk & 0x04) {
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stk--;
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}
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stk -= 16;
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/* Default xPSR and initial PC */
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stk[15] = INITIAL_xPSR;
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stk[14] = (U32)task_body;
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/* Clear R1-R12,LR registers. */
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for (i = 0; i < 14; i++) {
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stk[i] = 0;
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}
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/* Assign a void pointer to R0. */
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stk[8] = (U32)p_TCB->msg;
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/* Initial Task stack pointer. */
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p_TCB->tsk_stack = (U32)stk;
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/* Task entry point. */
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p_TCB->ptask = task_body;
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/* Set a magic word for checking of stack overflow. */
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p_TCB->stack[0] = MAGIC_WORD;
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}
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/*--------------------------- dbg_init --------------------------------------*/
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void dbg_init (void) {
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if ((DEMCR & DEMCR_TRCENA) &&
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(ITM_CONTROL & ITM_ITMENA) &&
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(ITM_ENABLE & (1UL << 31))) {
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dbg_msg = __TRUE;
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}
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}
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/*--------------------------- dbg_task_notify -------------------------------*/
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void dbg_task_notify (P_TCB p_tcb, BOOL create) {
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while (ITM_PORT31_U32 == 0);
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ITM_PORT31_U32 = (U32)p_tcb->ptask;
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while (ITM_PORT31_U32 == 0);
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ITM_PORT31_U16 = (create << 8) | p_tcb->task_id;
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}
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/*--------------------------- dbg_task_switch -------------------------------*/
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void dbg_task_switch (U32 task_id) {
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while (ITM_PORT31_U32 == 0);
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ITM_PORT31_U8 = task_id;
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}
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/*----------------------------------------------------------------------------
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* end of file
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*---------------------------------------------------------------------------*/
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