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tx_initialize_low_level.S
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tx_initialize_low_level.S
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@/**************************************************************************/
@/* */
@/* Copyright (c) Microsoft Corporation. All rights reserved. */
@/* */
@/* This software is licensed under the Microsoft Software License */
@/* Terms for Microsoft Azure RTOS. Full text of the license can be */
@/* found in the LICENSE file at https://aka.ms/AzureRTOS_EULA */
@/* and in the root directory of this software. */
@/* */
@/**************************************************************************/
@
@
@/**************************************************************************/
@/**************************************************************************/
@/** */
@/** ThreadX Component */
@/** */
@/** Initialize */
@/** */
@/**************************************************************************/
@/**************************************************************************/
@
@#define TX_SOURCE_CODE
@
@
@/* Include necessary system files. */
@
@#include "tx_api.h"
@#include "tx_initialize.h"
@#include "tx_thread.h"
@#include "tx_timer.h"
@
@
@/* rp2040: original file 'tx_initialize_low_level.S' copied from */
@/* threadx/ports/cortex_m0/gnu/example_build/tx_initialize_low_level.S */
@
@/* rp2040: undefined default ThreadX variables redefined using values */
@/* from linker scripts at pico-sdk/src/rp2_common/pico_standard_link/ */
@/* '__vectors' are in FLASH, 'ram_vector_table' is in RAM */
#define __RAM_segment_used_end__ __end__
@#define _vectors __vectors
#define _vectors ram_vector_table
.global _tx_thread_system_stack_ptr
.global _tx_initialize_unused_memory
.global __RAM_segment_used_end__
.global _tx_thread_context_save
.global _tx_thread_context_restore
.global _tx_timer_interrupt
.global _vectors
@
@
@/* rp2040: system clock value updated to 125 MHz */
@/* rp2040: systick cycles updated to 1000 Hz */
SYSTEM_CLOCK = 125000000
SYSTICK_CYCLES = ((SYSTEM_CLOCK / 1000) -1)
.text
.align 4
.syntax unified
@/**************************************************************************/
@/* */
@/* FUNCTION RELEASE */
@/* */
@/* _tx_initialize_low_level Cortex-M0/GNU */
@/* 6.1 */
@/* AUTHOR */
@/* */
@/* William E. Lamie, Microsoft Corporation */
@/* */
@/* DESCRIPTION */
@/* */
@/* This function is responsible for any low-level processor */
@/* initialization, including setting up interrupt vectors, setting */
@/* up a periodic timer interrupt source, saving the system stack */
@/* pointer for use in ISR processing later, and finding the first */
@/* available RAM memory address for tx_application_define. */
@/* */
@/* INPUT */
@/* */
@/* None */
@/* */
@/* OUTPUT */
@/* */
@/* None */
@/* */
@/* CALLS */
@/* */
@/* None */
@/* */
@/* CALLED BY */
@/* */
@/* _tx_initialize_kernel_enter ThreadX entry function */
@/* */
@/* RELEASE HISTORY */
@/* */
@/* DATE NAME DESCRIPTION */
@/* */
@/* 05-19-2020 William E. Lamie Initial Version 6.0 */
@/* 09-30-2020 Scott Larson Modified comment(s), and */
@/* commented out code for */
@/* enabling DWT, */
@/* resulting in version 6.1 */
@/* */
@/**************************************************************************/
@VOID _tx_initialize_low_level(VOID)
@{
.global _tx_initialize_low_level
.thumb_func
_tx_initialize_low_level:
@
@ /* Disable interrupts during ThreadX initialization. */
@
CPSID i
@
@ /* Set base of available memory to end of non-initialised RAM area. */
@
LDR r0, =_tx_initialize_unused_memory @ Build address of unused memory pointer
LDR r1, =__RAM_segment_used_end__ @ Build first free address
ADDS r1, r1, #4 @
STR r1, [r0] @ Setup first unused memory pointer
@
@ /* Enable the cycle count register. */
@ /* Not all M0 have DWT, uncomment if you have a DWT and want to use it. */
@ LDR r0, =0xE0001000 @ Build address of DWT register
@ LDR r1, [r0] @ Pickup the current value
@ MOVS r2, #1
@ ORRS r1, r1, r2 @ Set the CYCCNTENA bit
@ STR r1, [r0] @ Enable the cycle count register
@
@ /* Setup Vector Table Offset Register. */
@
LDR r0, =0xE000E000 @ Build address of NVIC registers
LDR r2, =0xD08 @ Offset to vector base register
ADD r0, r0, r2 @ Build vector base register
LDR r1, =_vectors @ Pickup address of vector table
STR r1, [r0] @ Set vector table address
@
@ /* Set system stack pointer from vector value. */
@
LDR r0, =_tx_thread_system_stack_ptr @ Build address of system stack pointer
LDR r1, =_vectors @ Pickup address of vector table
LDR r1, [r1] @ Pickup reset stack pointer
STR r1, [r0] @ Save system stack pointer
@
@ /* Configure SysTick for 100Hz clock, or 16384 cycles if no reference. */
@
LDR r0, =0xE000E000 @ Build address of NVIC registers
LDR r1, =SYSTICK_CYCLES
STR r1, [r0, #0x14] // Setup SysTick Reload Value
LDR r1, =0x7 // Build SysTick Control Enable Value
STR r1, [r0, #0x10] // Setup SysTick Control
/* Configure handler priorities. */
LDR r1, =0x00000000 // Rsrv, UsgF, BusF, MemM
LDR r0, =0xE000E000 // Build address of NVIC registers
LDR r2, =0xD18 //
ADD r0, r0, r2 //
STR r1, [r0] // Setup System Handlers 4-7 Priority Registers
LDR r1, =0xFF000000 // SVCl, Rsrv, Rsrv, Rsrv
LDR r0, =0xE000E000 // Build address of NVIC registers
LDR r2, =0xD1C //
ADD r0, r0, r2 //
STR r1, [r0] // Setup System Handlers 8-11 Priority Registers
// Note: SVC must be lowest priority, which is 0xFF
LDR r1, =0x40FF0000 // SysT, PnSV, Rsrv, DbgM
LDR r0, =0xE000E000 // Build address of NVIC registers
LDR r2, =0xD20 //
ADD r0, r0, r2 //
STR r1, [r0] // Setup System Handlers 12-15 Priority Registers
// Note: PnSV must be lowest priority, which is 0xFF
/* Return to caller. */
BX lr
// }
/* Define shells for each of the unused vectors. */
.global __tx_BadHandler
.thumb_func
__tx_BadHandler:
B __tx_BadHandler
/* added to catch the hardfault */
.global __tx_HardfaultHandler
.thumb_func
__tx_HardfaultHandler:
B __tx_HardfaultHandler
/* Generic interrupt handler template */
.global __tx_IntHandler
.thumb_func
__tx_IntHandler:
// VOID InterruptHandler (VOID)
// {
PUSH {r0, lr}
#ifdef TX_ENABLE_EXECUTION_CHANGE_NOTIFY
BL _tx_execution_isr_enter // Call the ISR enter function
#endif
/* Do interrupt handler work here */
/* BL <your C Function>.... */
#ifdef TX_ENABLE_EXECUTION_CHANGE_NOTIFY
BL _tx_execution_isr_exit // Call the ISR exit function
#endif
POP {r0, r1}
MOV lr, r1
BX lr
// }
/* System Tick timer interrupt handler */
.global __tx_SysTickHandler
.global SysTick_Handler
.thumb_func
__tx_SysTickHandler:
.thumb_func
SysTick_Handler:
// VOID SysTick_Handler (VOID)
// {
PUSH {r0, lr}
#if (defined(TX_ENABLE_EXECUTION_CHANGE_NOTIFY) || defined(TX_EXECUTION_PROFILE_ENABLE))
BL _tx_execution_isr_enter // Call the ISR enter function
#endif
BL _tx_timer_interrupt
#if (defined(TX_ENABLE_EXECUTION_CHANGE_NOTIFY) || defined(TX_EXECUTION_PROFILE_ENABLE))
BL _tx_execution_isr_exit // Call the ISR exit function
#endif
POP {r0, r1}
MOV lr, r1
BX lr
// }
/* NMI, DBG handlers */
.global __tx_NMIHandler
.thumb_func
__tx_NMIHandler:
B __tx_NMIHandler
.global __tx_DBGHandler
.thumb_func
__tx_DBGHandler:
B __tx_DBGHandler