2.3-InternetRadio/nutos/nut/arch/arm/os/context.c

/*
 * Copyright (C) 2001-2005 by egnite Software GmbH. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of the copyright holders nor the names of
 *    contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
 * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
 * SUCH DAMAGE.
 *
 * For additional information see http://www.ethernut.de/
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 */

/*!
 * \file arch/arm/os/context.c
 * \brief Context switching ported to ARM.
 *
 * \verbatim File version $Id: context.c 5472 2013-12-06 00:16:28Z olereinhardt $ \endverbatim
 */

#include <cfg/os.h>

#include <string.h>

#include <sys/osdebug.h>
#include <sys/nutdebug.h>

#include <sys/atom.h>
#include <sys/heap.h>
#include <sys/thread.h>

/*!
 * \addtogroup xgNutArchArmOsContext Context Switching for ARM CPUs
 * \ingroup xgNutArchArmOs
 * \brief Context Switching for ARM CPUs
 *
 * This code should work with other GCC distributions for the ARM CPU.
 */
/*@{*/


/*!
 * \brief ARM7TDMI GCC context switch frame layout.
 *
 * This is the layout of the stack after a thread's context has been
 * switched-out. The stack pointer is stored in the thread info and
 * points to this structure.
 */
typedef struct {
    uint32_t csf_cpsr;
    uint32_t csf_r4;
    uint32_t csf_r5;
    uint32_t csf_r6;
    uint32_t csf_r7;
    uint32_t csf_r8;
    uint32_t csf_r9;
    uint32_t csf_r10;
    uint32_t csf_r11;             /* AKA fp */
    uint32_t csf_lr;
} SWITCHFRAME;

/*!
 * \brief Thread entry frame layout.
 *
 * This is the stack layout being build to enter a new thread.
 */
typedef struct {
    uint32_t cef_r0;
    uint32_t cef_pc;
} ENTERFRAME;

/*!
 * \brief Enter a new thread.
 */
static void NutThreadEntry(void) NUT_NAKED_FUNC;
void NutThreadEntry(void)
{
    /* Load argument in r0 and jump to thread entry. */
    asm volatile ("ldmfd   sp!, {r0, lr}\n\tbx lr":::"r0", "lr");
}

void NutThreadSwitch(void) NUT_NAKED_FUNC;
void NutThreadSwitch(void)
{
    __asm__ __volatile__
        /* Save CPU context. */
     ("@ Save context\n\t"
      /* Save registers. */
      "stmfd   sp!, {r4-r11, lr}\n\t"
      /* Save status. */
      "mrs     r0, cpsr\n\t"
      /* */
      "stmfd   sp!, {r0}\n\t"
      /* Save stack pointer. */
      "str     sp, %[td_sp]"
      /* Output. */
      :
      /* Input. */
      :[td_sp] "o"(runningThread->td_sp)
      /* Clobbers. */
      :"r0", "memory");

    /* Select thread on top of the run queue. */
    runningThread = runQueue;
    runningThread->td_state = TDS_RUNNING;
#if defined(NUT_CRITICAL_NESTING) && !defined(NUT_CRITICAL_NESTING_STACK)
    critical_nesting_level = 0;
#endif

    __asm__ __volatile__
        /* Restore context. */
     ("@ Reload context\n\t"
      /* Restore stack pointer. */
      "ldr     sp, %[td_sp]\n\t"
      /* Get saved status... */
      "ldmfd   sp!, {r0}\n\t"
      /* ...enable interrupts */
      "bic     r0, r0, #0xC0\n\t"
      /* ...and save in spsr. */
      "msr     spsr, r0\n\t"
      /* Restore registers. */
      "ldmfd   sp!, {r4-r11, lr}\n\t"
      /* Restore status and return. */
      "movs    pc, lr"
      /* Output. */
      :
      /* Input. */
      :[td_sp] "m"(runningThread->td_sp)
      /* Clobbers. */
      :"r0", "memory");
}

HANDLE NutThreadCreate(char * name, void (*fn) (void *), void *arg, size_t stackSize)
{
    uint8_t *threadMem;
    SWITCHFRAME *sf;
    ENTERFRAME *ef;
    NUTTHREADINFO *td;
    size_t alloc_size;

    /*
     * Allocate stack and thread info structure in one block.
     * We sill setup the following layout:
     *
     * Upper memory addresses.
     *
     *              +--------------------+
     *              I                    I
     *              I   NUTTHREADINFO    I
     *              I                    I
     * td ->        +-----+--------------+ <- Stack top
     *              I     I              I
     *              I  T  I   ENTERFRAME I
     *              I  H  I              I
     * ef ->        I  R  +--------------+
     *              I  E  I              I    ^
     *              I  A  I  SWITCHFRAME I    I
     *              I  D  I              I    I  pop moves up
     * sf ->        I     +--------------+ <- Initial stack pointer
     *              I  S  I              I    I  push moves down
     *              I  T  I Application  I    I
     *              I  A  I Stack        I    V
     *              I  C  I              I
     *              I  K  I              I
     * threadMem -> +-----+--------------+ <- Stack bottom
     *
     * Lower memory addresses.
     */
    alloc_size = stackSize + sizeof(NUTTHREADINFO);
    alloc_size += 7;
    alloc_size &= ~7;
    if ((threadMem = NutHeapAlloc(alloc_size)) == 0) {
        return 0;
    }
    td = (NUTTHREADINFO *) (threadMem + stackSize);
    ef = (ENTERFRAME *) ((uintptr_t) td - sizeof(ENTERFRAME));
    sf = (SWITCHFRAME *) ((uintptr_t) ef - sizeof(SWITCHFRAME));

    /*
     * Set predefined values at the stack bottom. May be used to detect
     * stack overflows.
     */
#if defined(NUTDEBUG_CHECK_STACKMIN) || defined(NUTDEBUG_CHECK_STACK)
    {
        uint32_t *fip = (uint32_t *)threadMem;
        while (fip < (uint32_t *)sf) {
            *fip++ = DEADBEEF;
        }
    }
#else
    *((uint32_t *) threadMem) = DEADBEEF;
    *((uint32_t *) (threadMem + 4)) = DEADBEEF;
    *((uint32_t *) (threadMem + 8)) = DEADBEEF;
    *((uint32_t *) (threadMem + 12)) = DEADBEEF;
#endif

    /*
     * Setup the entry frame to simulate C function entry.
     */
    ef->cef_pc = (uintptr_t) fn;
    ef->cef_r0 = (uintptr_t) arg;

    /*
     * Setup the switch frame.
     */
    sf->csf_lr = (uintptr_t) NutThreadEntry;
    sf->csf_cpsr = ARM_CPSR_I_BIT | ARM_CPSR_F_BIT | ARM_MODE_SYS;

    /*
     * Initialize the thread info structure and insert it into the
     * thread list and the run queue.
     */
    memcpy(td->td_name, name, sizeof(td->td_name) - 1);
    td->td_name[sizeof(td->td_name) - 1] = 0;
    td->td_state = TDS_READY;
    td->td_sp = (uintptr_t) sf;
    td->td_priority = 64;
    td->td_memory = threadMem;
    td->td_timer = 0;
    td->td_queue = 0;

    NutEnterCritical();
    td->td_next = nutThreadList;
    nutThreadList = td;
    NutThreadAddPriQueue(td, (NUTTHREADINFO **) & runQueue);

    /*
     * If no thread is running, then this is the first thread ever
     * created. In Nut/OS, the idle thread is created first.
     */
    if (runningThread == 0) {
        /* This will never return. */
        runningThread = runQueue;
        runningThread->td_state = TDS_RUNNING;

        __asm__ __volatile__
            /* Load initial idle thread context. */
         ("@ Load context\n\t"
          /* Restore stack pointer. */
          "ldr     sp, %[td_sp]\n\t"
          /* Get saved status... */
          "ldmfd   sp!, {r0}\n\t"
          /* ...enable interrupts */
          "bic     r0, r0, #0xC0\n\t"
          /* ...and save in spsr. */
          "msr     spsr, r0\n\t"
          /* Restore registers. */
          "ldmfd   sp!, {r4-r11, lr}\n\t"
          /* Restore status and return. */
          "movs    pc, lr"
          /* Input. */
          :
          /* Output. */
          :[td_sp] "m" (runningThread->td_sp)
          /* Clobbers. */
          :"r0", "memory");
    }

    /*
     * If current context is not in front of the run queue (highest
     * priority), then switch to the thread in front.
     */
    if (runningThread != runQueue) {
        runningThread->td_state = TDS_READY;
        NutThreadSwitch();
    }
    NutExitCritical();

    return td;
}

/*@}*/