247 lines
7.6 KiB
C
247 lines
7.6 KiB
C
#include "os_port.h"
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#include "os_stack.h"
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#include "os_macros.h"
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#include "os_align.h"
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#include "os_compiler.h"
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#include "os_systick.h"
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#include "os_sched.h"
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/* ------------------------------------------------------------------------------------------------------------------ */
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/* */
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volatile os_uint_t svc_exc_return;
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/* ------------------------------------------------------------------------------------------------------------------ */
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/* */
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typedef struct {
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#if(OS_CFG_CPU_FPU_PRESENT)
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os_uintptr_t s16;
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os_uintptr_t s17;
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os_uintptr_t s18;
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os_uintptr_t s19;
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os_uintptr_t s20;
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os_uintptr_t s21;
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os_uintptr_t s22;
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os_uintptr_t s23;
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os_uintptr_t s24;
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os_uintptr_t s25;
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os_uintptr_t s26;
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os_uintptr_t s27;
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os_uintptr_t s28;
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os_uintptr_t s29;
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os_uintptr_t s30;
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os_uintptr_t s31;
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#endif
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/* ==== 以下为手动压栈部分 ==== */
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os_uintptr_t exc_return; /* r2 - LR */ /* 这是地址最小的位置 */
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os_uintptr_t control; /* r3 */
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os_uintptr_t r4;
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os_uintptr_t r5;
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os_uintptr_t r6;
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os_uintptr_t r7;
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os_uintptr_t r8;
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os_uintptr_t r9;
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os_uintptr_t r10;
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os_uintptr_t r11;
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/* ==== 以下为自动压栈部分 ==== */
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os_uintptr_t r0;
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os_uintptr_t r1;
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os_uintptr_t r2;
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os_uintptr_t r3;
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os_uintptr_t r12;
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os_uintptr_t lr;
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os_uintptr_t pc;
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os_uintptr_t xPSR;
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}os_stack_frame_t;
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#define STACK_FRAME_SIZE sizeof(os_stack_frame_t)
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os_stack_t os_port_cpu_stack_init(os_task_entry_t entry, void* param
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, void* stack_base, os_size_t stack_size, void(*exit_entry)(void)){
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os_uintptr_t stack_max = (os_uintptr_t)((uint8_t *) stack_base + stack_size);
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os_uintptr_t real_max = OS_ALIGN_DOWN(stack_max, OS_ALIGN_SIZE); /* 实际栈顶的位置，对齐后的位置 */
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stack_size -= (stack_max - real_max); /* 实际栈大小 */
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uint8_t flag = 0x01;
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os_stack_frame_t* p_frame = (os_stack_frame_t*)(real_max - STACK_FRAME_SIZE);
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for(os_size_t i=0; i<STACK_FRAME_SIZE/sizeof(os_uintptr_t); i++){
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((os_uintptr_t*)(p_frame))[i] = ((os_uintptr_t)flag<<24)|((os_uintptr_t)flag<<16)|((os_uintptr_t)flag<<8)|flag;
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flag++;
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}
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p_frame->r0 = (os_uintptr_t)param; /* 任务参数 */
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p_frame->pc = (os_uintptr_t)entry; /* 任务入口 */
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p_frame->lr = (os_uintptr_t)exit_entry; /* 退出地址 */
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p_frame->xPSR = (1u << 24); /* THUMB */
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p_frame->control = 0x03; /* 任务使用用户权限，栈使用 PSP */
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p_frame->exc_return = 0xFFFFFFFDul; /* 任务在中断中切换，这里是退出中断的设置 */
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os_stack_t stack;
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stack.min = (os_uintptr_t)stack_base;
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stack.max = (os_uintptr_t)real_max;
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stack.type = kOsStackType_MaxToMin;
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stack.sp = p_frame;
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return stack;
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}
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void os_port_init(void){
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}
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void os_port_startup(void){
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NVIC_SetPriority(PendSV_IRQn, 0xff);
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NVIC_SetPriority(SVCall_IRQn, OS_CFG_SYSCALL_PRIORITY);
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SysTick_Config(SystemCoreClock/OS_CFG_TICKS_PER_SECOND);
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}
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void os_port_send_context_switch_request(void){
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SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk;
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}
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void os_port_clear_context_switch_request(void){
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SCB->ICSR &= ~SCB_ICSR_PENDSVSET_Msk;
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}
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void os_sched(void){
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if(is_cpu_in_privilege()){
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os_sched_in_isr();
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}else{
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cpu_sched_in_svc();
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}
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}
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void SysTick_Handler(void){
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os_systick_tick();
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}
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void SVC_Handler_C(os_uintptr_t* svc_args){
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// 读取系统调用号：它存储在原本的 PC 指令前两个字节
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uint8_t svc_number = ((uint8_t *)svc_args[6])[-2];
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switch (svc_number) {
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case CPU_SYSCALL_ID:{
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os_uint_t op = svc_args[0];
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switch (op) {
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case CPU_SYSCALL_OP_SAVE_DISABLE_IRQ:{
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svc_args[0] = os_port_save_disable_irq_in_isr();
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break;
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}
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case CPU_SYSCALL_OP_RESTORE_IRQ:{
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os_port_restore_irq_in_isr(svc_args[1]);
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break;
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}
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case CPU_SYSCALL_OP_SCHED:{
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os_sched_in_isr();
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break;
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}
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default:
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break;
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}
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break;
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}
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default: break;
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}
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}
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/* ------------------------------------------------------------------------------------------------------------------ */
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/* */
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// https://interrupt.memfault.com/blog/cortex-m-hardfault-debug
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// Logic for dealing with the exception. Typically:
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// - log the fault which occurred for postmortem analysis
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// - If the fault is recoverable,
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// - clear errors and return back to Thread Mode
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// - else
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// - reboot system
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#define AUTO_REBOOT_ENABLE /* 允许自动重启 */
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#define OUTPUT_FAULT_TO_CONSOLE_ENABLE /* 在调试终端输出运行时信息 */
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#define RECOVER_FROM_FAULT_ENABLE /* 尝试从错误中继续运行 */
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#if defined(RECOVER_FROM_FAULT_ENABLE)
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static void recover_from_task_fault(void){
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while(1){
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os_task_yield();
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}
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}
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#endif
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typedef OS_PACKED_STRUCT(ContextStateFrame) {
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uint32_t r0;
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uint32_t r1;
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uint32_t r2;
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uint32_t r3;
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uint32_t r12;
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uint32_t lr;
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uint32_t return_address;
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uint32_t xpsr;
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} ContextStateFrame_t;
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void HardFault_Handler_C(ContextStateFrame_t* frame, uint32_t lr_value){
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uint32_t bus_fault_address = SCB->BFAR;
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uint32_t mem_manage_fault_address = SCB->MMFAR;
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uint32_t cfsr = SCB->CFSR;
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#if defined(AUTO_REBOOT_ENABLE)
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const uint32_t usage_fault_mask = 0xffff0000;
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const bool non_usage_fault_occurred =
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(cfsr & ~usage_fault_mask) != 0;
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// the bottom 8 bits of the xpsr hold the exception number of the
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// executing exception or 0 if the processor is in Thread mode
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const bool faulted_from_exception = ((frame->xpsr & 0xFF) != 0);
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if (faulted_from_exception || non_usage_fault_occurred) {
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// For any fault within an ISR or non-usage faults
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// let's reboot the system
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volatile uint32_t *aircr = (volatile uint32_t *)0xE000ED0C;
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*aircr = (0x05FA << 16) | 0x1 << 2;
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while (1) { } // should be unreachable
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}
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#endif
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#if defined(OUTPUT_FAULT_TO_CONSOLE_ENABLE)
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printf("[HardFault]\n");
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printf("- Stack frame:\n");
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printf(" R0 = %08"OS_PRIx"\n", frame->r0);
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printf(" R1 = %08"OS_PRIx"\n", frame->r1);
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printf(" R2 = %08"OS_PRIx"\n", frame->r2);
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printf(" R3 = %08"OS_PRIx"\n", frame->r3);
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printf(" R12 = %08"OS_PRIx"\n", frame->r12);
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printf(" LR = %08"OS_PRIx"\n", frame->lr);
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printf(" PC = %08"OS_PRIx"\n", frame->return_address);
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printf(" PSR = %08"OS_PRIx"\n", frame->xpsr);
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printf("- FSR/FAR:\n");
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printf(" CFSR = %08"OS_PRIx"\n", cfsr);
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printf(" HFSR = %08"OS_PRIx"\n", SCB->HFSR);
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printf(" DFSR = %08"OS_PRIx"\n", SCB->DFSR);
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printf(" AFSR = %08"OS_PRIx"\n", SCB->AFSR);
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if(cfsr & 0x0080){
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printf(" MMFAR = %08"OS_PRIx"\n", mem_manage_fault_address);
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}
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if(cfsr & 0x8000){
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printf(" BFAR = %08"OS_PRIx"\n", bus_fault_address);
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}
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printf("- Misc:\n");
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printf(" LR/EXC_RETURN = %08"OS_PRIx"\n", lr_value);
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#endif
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#if defined(RECOVER_FROM_FAULT_ENABLE)
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// Clear any logged faults from the CFSR
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SCB->CFSR |= SCB->CFSR;
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// the instruction we will return to when we exit from the exception
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frame->return_address = (uint32_t)recover_from_task_fault;
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// the function we are returning to should never branch
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// so set lr to a pattern that would fault if it did
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frame->lr = 0xdeadbeef;
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// reset the psr state and only leave the
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// "thumb instruction interworking" bit set
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frame->xpsr = (1 << 24);
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#else
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while(1);
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#endif
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}
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