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2019-01-18 17:14:55 +08:00
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uCOS-II Template/uCOS-II/Ports/os_cpu_c.c Normal file
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/*
*********************************************************************************************************
* 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 : V2.86
* By : Jean J. Labrosse
* Brian Nagel
*
* For : ARMv7M Cortex-M3
* Mode : Thumb2
* Toolchain : IAR EWARM
*********************************************************************************************************
*/
#define OS_CPU_GLOBALS
#include <ucos_ii.h>
/*
*********************************************************************************************************
* LOCAL VARIABLES
*********************************************************************************************************
*/
#if OS_TMR_EN > 0
static INT16U OSTmrCtr;
#endif
/*
*********************************************************************************************************
* SYS TICK DEFINES
*********************************************************************************************************
*/
//#define OS_CPU_CM3_NVIC_ST_CTRL (*((volatile INT32U *)0xE000E010)) /* SysTick Ctrl & Status Reg. */
//#define OS_CPU_CM3_NVIC_ST_RELOAD (*((volatile INT32U *)0xE000E014)) /* SysTick Reload Value Reg. */
//#define OS_CPU_CM3_NVIC_ST_CURRENT (*((volatile INT32U *)0xE000E018)) /* SysTick Current Value Reg. */
//#define OS_CPU_CM3_NVIC_ST_CAL (*((volatile INT32U *)0xE000E01C)) /* SysTick Cal Value Reg. */
//#define OS_CPU_CM3_NVIC_PRIO_ST (*((volatile INT8U *)0xE000ED23)) /* SysTick Handler Prio Reg. */
//#define OS_CPU_CM3_NVIC_ST_CTRL_COUNT 0x00010000 /* Count flag. */
//#define OS_CPU_CM3_NVIC_ST_CTRL_CLK_SRC 0x00000004 /* Clock Source. */
//#define OS_CPU_CM3_NVIC_ST_CTRL_INTEN 0x00000002 /* Interrupt enable. */
//#define OS_CPU_CM3_NVIC_ST_CTRL_ENABLE 0x00000001 /* Counter mode. */
//#define OS_CPU_CM3_NVIC_PRIO_MIN 0xFF /* 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 > 0 && OS_VERSION > 203
void OSInitHookBegin (void)
{
#if OS_TMR_EN > 0
OSTmrCtr = 0;
#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 > 0 && OS_VERSION > 203
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 > 0
void OSTaskCreateHook (OS_TCB *ptcb)
{
#if OS_APP_HOOKS_EN > 0
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 > 0
void OSTaskDelHook (OS_TCB *ptcb)
{
#if OS_APP_HOOKS_EN > 0
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 > 0 && OS_VERSION >= 251
void OSTaskIdleHook (void)
{
#if OS_APP_HOOKS_EN > 0
App_TaskIdleHook();
#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 > 0
void OSTaskStatHook (void)
{
#if OS_APP_HOOKS_EN > 0
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)0x01000000L; /* xPSR */
*(--stk) = (INT32U)task; /* Entry Point */
*(--stk) = (INT32U)0xFFFFFFFEL; /* R14 (LR) (init value will cause fault if ever used)*/
*(--stk) = (INT32U)0x12121212L; /* R12 */
*(--stk) = (INT32U)0x03030303L; /* R3 */
*(--stk) = (INT32U)0x02020202L; /* R2 */
*(--stk) = (INT32U)0x01010101L; /* R1 */
*(--stk) = (INT32U)p_arg; /* R0 : argument */
/* Remaining registers saved on process stack */
*(--stk) = (INT32U)0x11111111L; /* R11 */
*(--stk) = (INT32U)0x10101010L; /* R10 */
*(--stk) = (INT32U)0x09090909L; /* R9 */
*(--stk) = (INT32U)0x08080808L; /* R8 */
*(--stk) = (INT32U)0x07070707L; /* R7 */
*(--stk) = (INT32U)0x06060606L; /* R6 */
*(--stk) = (INT32U)0x05050505L; /* R5 */
*(--stk) = (INT32U)0x04040404L; /* 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 > 0) && (OS_TASK_SW_HOOK_EN > 0)
void OSTaskSwHook (void)
{
#if OS_APP_HOOKS_EN > 0
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 > 0 && OS_VERSION > 203
void OSTCBInitHook (OS_TCB *ptcb)
{
#if OS_APP_HOOKS_EN > 0
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 > 0) && (OS_TIME_TICK_HOOK_EN > 0)
void OSTimeTickHook (void)
{
#if OS_APP_HOOKS_EN > 0
App_TimeTickHook();
#endif
#if OS_TMR_EN > 0
OSTmrCtr++;
if (OSTmrCtr >= (OS_TICKS_PER_SEC / OS_TMR_CFG_TICKS_PER_SEC)) {
OSTmrCtr = 0;
OSTmrSignal();
}
#endif
}
#endif
/*
*********************************************************************************************************
* OS_CPU_SysTickHandler()
*
* 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 */
//}
/*
*********************************************************************************************************
* OS_CPU_SysTickInit()
*
* Description: Initialize the SysTick.
*
* Arguments : none.
*
* Note(s) : 1) This function MUST be called after OSStart() & after processor initialization.
*********************************************************************************************************
*/
//extern INT32U SystemCoreClock;
//void OS_CPU_SysTickInit (void)
//{
// INT32U cnts;
// //cnts = OS_CPU_SysTickClkFreq() / OS_TICKS_PER_SEC;
// cnts = SystemCoreClock / OS_TICKS_PER_SEC;
//
// OS_CPU_CM3_NVIC_ST_RELOAD = (cnts - 1);
// /* 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;
//}