mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-12-08 20:55:14 -05:00
Formatting changes for the portASM.S file
This commit is contained in:
Soren Ptak
parent
56b400f1a2
commit
ae127206fa
1 changed files with 123 additions and 139 deletions
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@ -55,10 +55,8 @@
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.extern vTaskSwitchContext
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.extern vApplicationIRQHandler
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/******************************************************************************
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* portSAVE_CONTEXT is used to save all the registers, variables, and MPU
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* settings that make up a task's context.
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*****************************************************************************/
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/* ------------------------------------------------------------------------- */
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/* Save the register context of a FreeRTOS Task. */
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.macro portSAVE_CONTEXT
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DSB
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ISB
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@ -101,10 +99,8 @@
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ADD SP, SP, 0x8
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.endm
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/******************************************************************************
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* portRESTORE_CONTEXT is used to restore all the registers, variables, and MPU
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* settings that make up a task's context.
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*****************************************************************************/
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/* ------------------------------------------------------------------------- */
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/* Restore the register context of a FreeRTOS Task. */
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.macro portRESTORE_CONTEXT
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/* Load the address of the current task TCB */
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LDR R0, =pxCurrentTCB
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@ -122,33 +118,33 @@
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LSR R6, #0x8
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/* Clear other bits, as there can only be 8-16 regions */
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AND R6, 0x1F
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/* When creating a loop label in a macro it has to be a numeric label. */
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123: /* For (R5 = portFIRST_CONFIGURABLE_REGION ; R5 <= portSTACK_REGION ; R5++ ) */
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/* Load values of struct MPU_REGION_REGISTERS into R1-R3 */
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LDMIA R1!, {R2-R4}
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/* Load the values set in xMPU_REGION_REGISTERS */
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/* R2 Will hold ulRegionSize */
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/* R3 will hold ulRegionAttribute */
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/* R4 will hold ulRegionBaseAddress */
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/* R5 will hold the MPU Region number */
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/* When creating a loop label in a macro it has to be a numeric label.
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* For (R5 = portFIRST_CONFIGURABLE_REGION ; R5 <= portSTACK_REGION ; R5++ ) */
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123:
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/* Load values of struct MPU_REGION_REGISTERS into R2-R4 */
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LDMIA R1!, {R2-R4}
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/* Load the values set in xMPU_REGION_REGISTERS
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* R2 Will hold ulRegionSize
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* R3 will hold ulRegionAttribute
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* R4 will hold ulRegionBaseAddress
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* R5 will hold the MPU Region number */
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/* Select the MPU Region using R5 */
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MCR p15, #0, R5, c6, c2, #0
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/* Set the MPU Region Base Address using ulRegionBaseAddress */
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MCR p15, #0, R4, c6, c1, #0
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/* Set the MPU Region Access Attributes using ulRegionAttribute */
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MCR p15, #0, R3, c6, c1, #4
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/* Set the MPU Region Size, and if the region is enabled using ulRegionSize */
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MCR p15, #0, R2, c6, c1, #2
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/* R5++ */
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ADD R5, R5, #1
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/* R5 <= R6 */
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CMP R5, #portSTACK_REGION
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/* R5 <= R6, loop again */
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BLE 123b
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/* Select the MPU Region using R5 */
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MCR p15, #0, R5, c6, c2, #0
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/* Set the MPU Region Base Address using ulRegionBaseAddress */
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MCR p15, #0, R4, c6, c1, #0
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/* Set the MPU Region Access Attributes using ulRegionAttribute */
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MCR p15, #0, R3, c6, c1, #4
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/* Set the MPU Region Size, and if the region is enabled using ulRegionSize */
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MCR p15, #0, R2, c6, c1, #2
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/* R5++ */
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ADD R5, R5, #1
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/* R5 <= R6 */
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CMP R5, #portSTACK_REGION
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/* R5 <= R6, loop again */
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BLE 123b
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/* R5 > portSTACK_REGION, all MPU regions have been restored */
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/* Restore the critical section nesting depth. */
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/* Load the address of the ulCriticalNesting variable into R1 */
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LDR R1, =ulCriticalNesting
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/* Pop the previously saved value of ulCriticalNesting from ulContext */
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@ -157,19 +153,13 @@
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STR R2, [R1]
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#ifdef portENABLE_FPU
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/* Restore the Floating Point Context */
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/* Pop the value of FPSCR from ulContext */
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POP {R1}
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/* Restore Floating Point Context: Restore previous FPSCR from ulContext */
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POP {R1}
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/* Move the saved FPSCR value into the FPSCR */
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VMSR FPSCR, R1
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/* Restore the Floating Point Registers */
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VPOP {D0-D15}
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#endif /* portENABLE_FPU*/
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/* At this point the SVC stack pointer will be in one of three places:
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* 1. ulContext[51] - This is the bottom of the context inside of the TCB for task saving
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* 1. ulContext[1] - We reloaded a nested context, the next context to restore is a task context
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* 2. ulSystemCallStackBuffer[?] - Restoring a nested context inside of an exception handler
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*/
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/* Restore the register context, first need to load the mode bits */
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/* Set R1 to be past R0-R12 */
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@ -183,16 +173,14 @@
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/* Load R0-R12 from the context */
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POP {R0-R12}
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/* Jump over the already set R13 and R14 */
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ADD SP, SP, #0x8
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ADD SP, SP, #0x8
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/* Return from the exception, loading the PC and CPSR */
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RFE SP!
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RFE SP!
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.endm
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/******************************************************************************
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* FreeRTOS_Tick_Handler is used to save context, increment the tick count, and
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* then switch tasks if neeeded
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*****************************************************************************/
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/* ------------------------------------------------------------------------- */
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/* Default FreeRTOS-Kernel System Tick Interrupt for VIM support */
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.align 4
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.global FreeRTOS_Tick_Handler
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.type FreeRTOS_Tick_Handler, %function
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@ -201,9 +189,8 @@ FreeRTOS_Tick_Handler:
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SUB LR, LR, #4
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/* Save the context of the current task. */
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portSAVE_CONTEXT
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/* Enter back into IRQ mode after saving task context */
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CPS #IRQ_MODE
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/* Clear interrupt flag in RTI. */
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/* Clear interrupt flag in Real Time Interrupt. */
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LDR R0, =configRTI_ADDRESS
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MOV R1, #1
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STR R1, [R0]
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@ -218,9 +205,8 @@ FreeRTOS_Tick_Handler:
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/* Restore the context of the task selected to execute. */
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portRESTORE_CONTEXT
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/*-----------------------------------------------------------*/
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/* Yield to another task from within the FreeRTOS API */
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/* ------------------------------------------------------------------------- */
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/* Respond to a pending IRQ raised by the FreeRTOS-Kernel to swap tasks */
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.align 4
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.global vPortYieldWithinAPI
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.type vPortYieldWithinAPI, %function
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@ -241,9 +227,8 @@ vPortYieldWithinAPI:
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/* Restore the context of the task selected to execute. */
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portRESTORE_CONTEXT
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/******************************************************************************
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* vPortStartFirstTask is used to start the scheduler.
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*****************************************************************************/
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/* ------------------------------------------------------------------------- */
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/* Load the context of the first task, starting the FreeRTOS-Scheduler */
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.align 4
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.global vPortStartFirstTask
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.type vPortStartFirstTask, %function
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@ -256,32 +241,28 @@ vPortStartFirstTask:
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*/
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/* Swap to SVC Mode for context restore */
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CPS #SVC_MODE
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/* Restore context of first task, which enables IRQs, starting the sys tick timer */
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/* Load the context of first task, starting the FreeRTOS-Scheduler */
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portRESTORE_CONTEXT
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/******************************************************************************
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* The FreeRTOS SVC Handler is used to handle Supervisor Calls
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*****************************************************************************/
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/** Upon entering here the LR, or R14, will hold the address of the
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* following instruction. The instruction can be inspected to determine
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* what SVC # was raised.
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* This handler is ONLY safe when called from the exposed SVC wrapper functions
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* located after this handler in this file.
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*/
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/* Checks:
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* 1. SVC is raised from the system call section (i.e. application is
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* not raising SVC directly).
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* 2. pxMpuSettings->xSystemCallStackInfo.pulTaskStack must be NULL as
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* it is non-NULL only during the execution of a system call (i.e.
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* between system call enter and exit).
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* 3. System call is not for a kernel API disabled by the configuration
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* in FreeRTOSConfig.h.
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* 4. We do not need to check that ucSystemCallNumber is within range
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* because the assembly SVC handler checks that before calling
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* this function.
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*/
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/* ------------------------------------------------------------------------- */
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/* Handler for Supervisor Calls (SVCs) when using this FreeRTOS Port */
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/* Upon entering here the LR, or R14, will hold the address of the following
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* instruction. This then checks that instruction for the SVC # raised.
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* This handler is ONLY safe when called from the exposed SVC wrapper functions
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* located after this handler in this file.
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* Checks:
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* 1. SVC is raised from the system call section (i.e. application is
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* not raising SVC directly).
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* 2. pxMpuSettings->xSystemCallStackInfo.pulTaskStack must be NULL as
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* it is non-NULL only during the execution of a system call (i.e.
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* between system call enter and exit).
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* 3. System call is not for a kernel API disabled by the configuration
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* in FreeRTOSConfig.h.
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* 4. We do not need to check that ucSystemCallNumber is within range
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* because the assembly SVC handler checks that before calling
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* this function.
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*/
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.align 4
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.global FreeRTOS_SVC_Handler
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.type FreeRTOS_SVC_Handler, %function
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@ -291,8 +272,8 @@ FreeRTOS_SVC_Handler:
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/* -------------------- Caller Flash Location Check -------------------- */
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/** The address of the caller will be in the Link Register (LR), it will be
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* the caller's Program Counter (PC). Check this address to ensure the
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/* The address of the caller will be in the Link Register (LR), it will
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* be the caller's Program Counter (PC). Check this address to ensure the
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* Supervisor call (SVC) was raised from inside the FreRTOS-Kernel. */
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/* Get the starting address for FreeRTOS System Calls */
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@ -303,22 +284,18 @@ FreeRTOS_SVC_Handler:
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LDR R12, =__syscalls_flash_length__
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/* Check if an SVC was raised after the end of FreeRTOS System Calls */
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CMP R11, R12
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/* If the SVC was raised from outside FreeRTOS System Calls exit */
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/* If the SVC was raised from outside FreeRTOS System Calls exit now */
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BGE SVC_Handler_Exit
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/* ----------------------- Get Caller SVC Number ----------------------- */
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svcNumberCheck:
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/* The SPSR will be the CPSR of the calling task, store it in R11 */
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MRS R11, SPSR
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/* Thumb Mode is bit 5 of the CPSR. And it with the CPSR for comparison check */
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MRS R11, SPSR
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/* Thumb Mode is bit 5 of the CPSR, AND for comparison */
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ANDS R11, R11, #0x20
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/* The SVC instruction will be 0x2 before LR in Thumb Mode, or 0x4 if not */
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/* In Thumb Mode, so get instruction 0x2 before */
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/* In Thumb Mode, the instruction 0x2 before holds the SVC numebr */
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LDRHNE R11, [LR, #-0x2]
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/* Not in Thumb Mode, so get the instruction 0x4 before */
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/* Not in Thumb Mode, the instruction 0x4 before holds the SVC numebr */
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LDRHEQ R11, [LR, #-0x4]
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/* ---------------------------- SVC Routing ---------------------------- */
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@ -343,24 +320,24 @@ SVC_Handler_Exit:
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/* This instruction loads the SPSR into the CPSR, performing the mode swap */
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MOVS PC, LR
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/*-----------------------------------------------------------*/
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/* Save a FreeRTOS-Task's Context, select a new task, and then restore its context */
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/* ------------------------------------------------------------------------- */
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/* Perform a task swap */
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svcPortYield:
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/* Restore the previously saved R11, R12 */
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LDM SP, {R11, R12}
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/* Save the context of the current task and select a new task to run. */
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portSAVE_CONTEXT
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/* Run the following function from the IRQ stack */
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CPS #IRQ_MODE
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CPS #IRQ_MODE
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/* Select a new task to swap to */
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BL vTaskSwitchContext
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BL vTaskSwitchContext
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/* Swap back to SVC Mode for context restore */
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CPS #SVC_MODE
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CPS #SVC_MODE
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/* Restore the context of the task selected to execute. */
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portRESTORE_CONTEXT
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/* Swap a task back to using its task stack, and reset its privilege level if needed */
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/* ------------------------------------------------------------------------- */
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/* Reset task stack and link register after a FreeRTOS System Call */
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svcSystemCallExit:
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/* Restore the Task Stack Pointer and Link Register */
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/* Load the address of pxCurrentTCB into R11 */
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@ -392,8 +369,8 @@ svcSystemCallExit:
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/* Jump back */
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B SVC_Handler_Exit
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/* svcSystemCallEnter */
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/* Swap a task to using the ulSystemCallStack Buffer, and set its privilege high */
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/* ------------------------------------------------------------------------- */
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/* Save task's SP and LR, swap to ulSystemCallStack Buffer, raise privilege */
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svcSystemCallEnter:
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/* Load the base address of the uxSystemCallImplementations[] table into R14 */
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LDR R14, =uxSystemCallImplementations
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@ -413,9 +390,12 @@ svcSystemCallEnter:
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ADD R11, R11, #portSYSTEM_CALL_INFO_OFFSET
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/* Get the value in the TCB for ulTaskStackPointer */
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LDMIB R11!, { R12 }
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/* Make sure that ulTaskStackPointer was null, meaning that this is initial entry */
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TST R12, #0x0
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/** Hard code the ascii value of the function name and line number to call
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/* Ensure ulTaskStackPointer is null, signifying initial entry */
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TEQ R12, #0x0
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/* Make sure that the function pointer loaded is not NULL */
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TEQNE R14, #0x0
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/* Hard code the ascii value of the function name and line number to call
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* assert if the ulTaskStackPointer is not null. */
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MOVWNE R0, #0x706F
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MOVTNE R0, #0x7274
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@ -424,7 +404,7 @@ svcSystemCallEnter:
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/* Store the task's SP and LR to xSYSTEM_CALL_STACK_INFO */
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STM R11, {R13-R14}^
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/* It's a compilation warning to use the ! for writeback, so manually move R11 */
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/* Undefined behaviour to auto-increment with the ^ operator */
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ADD R11, R11, 0x8
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/* Load pulSystemCallStackPointer and pulSystemCallLinkRegister now */
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LDM R11, {R13-R14}^
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@ -436,10 +416,10 @@ svcSystemCallEnter:
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/* Assign the new value to SPSR */
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MSR SPSR_cxsf, R12
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/* Leave through the SVC Exit */
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B SVC_Handler_Exit
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B SVC_Handler_Exit
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/*-------------------------------------------------------------------------------*/
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/* vPortEnterCritical */
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/* ------------------------------------------------------------------------- */
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/* Disable IRQs and increment the critical nesting count */
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.align 4
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.global vPortEnterCritical
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.type vPortEnterCritical, %function
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@ -460,8 +440,8 @@ vPortEnterCritical:
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POP {R0-R1}
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BX LR
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/*-------------------------------------------------------------------------------*/
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/* vPortDisableInterrupts */
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/* ------------------------------------------------------------------------- */
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/* Disable IRQs */
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.align 4
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.global vPortDisableInterrupts
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.type vPortDisableInterrupts, %function
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@ -471,14 +451,14 @@ vPortDisableInterrupts:
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/* Return to caller */
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BX LR
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/*-------------------------------------------------------------------------------*/
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/* vPortExitCritical */
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/* ------------------------------------------------------------------------- */
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/* Enable IRQs and decrement the critical nesting count */
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.align 4
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.global vPortExitCritical
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.type vPortExitCritical, %function
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vPortExitCritical:
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/* Store two scratch registers */
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PUSH {R0-R1}
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PUSH { R0-R1 }
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/* Load address of current critical nesting count */
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LDR R0, =ulCriticalNesting
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/* Load value of current critical nesting count */
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@ -495,8 +475,8 @@ vPortExitCritical:
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POP {R0-R1}
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BX LR
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/*-------------------------------------------------------------------------------*/
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/* vPortEnableInterrupts */
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/* ------------------------------------------------------------------------- */
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/* Enable IRQs */
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.align 4
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.global vPortEnableInterrupts
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.type vPortEnableInterrupts, %function
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@ -504,67 +484,71 @@ vPortEnableInterrupts:
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/* Enable IRQs */
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CPSIE I
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/* Return to caller */
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BX LR
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BX LR
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/******************************************************************************
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* prvMpuSetRegion is used to set the base address, access attributes,
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* and the size and enable bits of a selected MPU region.
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* void prvMpuSetRegion(unsigned region, unsigned base, unsigned size, unsigned access)
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*****************************************************************************/
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/* ------------------------------------------------------------------------- */
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/** Set MPU Registers using provided values
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* Function: void prvMpuSetRegion
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* Inputs: uint32_t ulRegionNumber
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* Inputs: uint32_t ulBaseAddress
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* Inputs: uint32_t ulRegionSize
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* Inputs: uint32_t ulRegionPermissions
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*/
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.align 4
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.global prvMpuSetRegion
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.type prvMpuSetRegion, %function
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prvMpuSetRegion:
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/* Only 15 possible regions, drop all other bits */
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AND R0, R0, #15
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AND R0, R0, #15
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/* Select the MPU Region selected by region */
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MCR p15, #0, R0, c6, c2, #0
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MCR p15, #0, R0, c6, c2, #0
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/* Set the Base Address to be base */
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MCR p15, #0, R1, c6, c1, #0
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MCR p15, #0, R1, c6, c1, #0
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/* Set the Access Attributes to be access */
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MCR p15, #0, R3, c6, c1, #4
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MCR p15, #0, R3, c6, c1, #4
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/* Set the Size and Enable bits to be size */
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MCR p15, #0, R2, c6, c1, #2
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BX LR
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MCR p15, #0, R2, c6, c1, #2
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/* Return to caller */
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BX LR
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/******************************************************************************
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* prvMpuEnable is used to set the Enable bit of the MPU Enable Register to 1.
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*****************************************************************************/
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/* ------------------------------------------------------------------------- */
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/* Set the Enable bit of the MPU Enable Register to 1. */
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.align 4
|
||||
.global prvMpuEnable
|
||||
.type prvMpuEnable, %function
|
||||
prvMpuEnable:
|
||||
/* Read the current MPU control register into R0 */
|
||||
MRC p15, #0, R0, c1, c0, #0
|
||||
MRC p15, #0, R0, c1, c0, #0
|
||||
/* Set the enable bit to high */
|
||||
ORR R0, R0, #0x1
|
||||
ORR R0, R0, #0x1
|
||||
/* Data sync */
|
||||
DSB
|
||||
/* Write out previous MPU control register with a high enable bit */
|
||||
MCR p15, #0, R0, c1, c0, #0
|
||||
MCR p15, #0, R0, c1, c0, #0
|
||||
/* Instruction sync */
|
||||
ISB
|
||||
BX LR
|
||||
/* Return to caller */
|
||||
BX LR
|
||||
|
||||
/******************************************************************************
|
||||
* prvMpuDisable is used to set the Enable bit of the MPU Enable Register to 0.
|
||||
*****************************************************************************/
|
||||
/* ------------------------------------------------------------------------- */
|
||||
/* Set the Enable bit of the MPU Enable Register to 0. */
|
||||
.align 4
|
||||
.global prvMpuDisable
|
||||
.type prvMpuDisable, %function
|
||||
prvMpuDisable:
|
||||
/* Read the MPU enable register values into R0 */
|
||||
MRC p15, #0, R0, c1, c0, #0
|
||||
/* Clear out all bits in R0 except for bit 1 */
|
||||
BIC R0, R0, #1
|
||||
MRC p15, #0, R0, c1, c0, #0
|
||||
/* Perform a bitwise AND of R0 and NOT #1, i.e. clear bit 1 */
|
||||
BIC R0, R0, #1
|
||||
/* Wait for all pending explicit data accesses to complete */
|
||||
DSB
|
||||
/* Write out to the MPU Enable Register */
|
||||
MCR p15, #0, R0, c1, c0, #0
|
||||
MCR p15, #0, R0, c1, c0, #0
|
||||
/* Flushes the pipeline and prefetch buffer(s) in the processor. */
|
||||
/* Ensures all following instructions are fetched from cache or memory. */
|
||||
ISB
|
||||
BX LR
|
||||
/* Return to caller */
|
||||
BX LR
|
||||
|
||||
.align 4
|
||||
.global FreeRTOS_IRQ_Handler
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue