/*!
* \brief This function sets up the stack frame of a new task descriptor.
*
* \param[in] td_ptr the address of the task descriptor
* \param[in] stack_ptr the address of the stack memory block
* \param[in] stack_size the size of the stack
* \param[in] template_ptr the task's template
* \param[in] status_register the status register to use in creating the task
* \param[in] create_parameter the task creation parameter
*/
bool _psp_build_stack_frame
(
/* [IN] the address of the task descriptor */
TD_STRUCT_PTR td_ptr,
/* [IN] the address of the stack memory block */
void *stack_ptr,
/* [IN] the size of the stack */
_mem_size stack_size,
/* [IN] the task's template */
TASK_TEMPLATE_STRUCT_PTR template_ptr,
/* [IN] the status register to use in creating the task */
_mqx_uint status_register,
/* [IN] the task creation parameter */
uint32_t create_parameter
)
{
unsigned char *stack_base_ptr;
PSP_STACK_START_STRUCT_PTR stack_start_ptr;
bool res = TRUE;
stack_base_ptr = (unsigned char *)_GET_STACK_BASE(stack_ptr, stack_size);
stack_start_ptr = (PSP_STACK_START_STRUCT_PTR)(stack_base_ptr - sizeof(PSP_STACK_START_STRUCT));
td_ptr->STACK_BASE = (void *)stack_base_ptr;
td_ptr->STACK_LIMIT = _GET_STACK_LIMIT(stack_ptr, stack_size);
td_ptr->STACK_PTR = stack_start_ptr;
/*
** Build the task's initial stack frame. This contains the initialized
** registers, and an exception frame which will cause the task to
** "return" to the start of the task when it is dispatched.
*/
_mem_zero(stack_start_ptr, (_mem_size)sizeof(PSP_STACK_START_STRUCT));
stack_start_ptr->INITIAL_CONTEXT.LR = (uint32_t)_task_exit_function_internal;
stack_start_ptr->INITIAL_CONTEXT.R0 = (uint32_t)create_parameter;
stack_start_ptr->INITIAL_CONTEXT.PC = (uint32_t)(template_ptr->TASK_ADDRESS) | 1;
stack_start_ptr->INITIAL_CONTEXT.PSR = 0x01000000;
stack_start_ptr->PARAMETER = create_parameter;
#if PSP_MQX_CPU_IS_ARM_CORTEX_M4
stack_start_ptr->INITIAL_CONTEXT.PENDSVPRIOR = 0;
stack_start_ptr->INITIAL_CONTEXT.BASEPRI = status_register;
stack_start_ptr->INITIAL_CONTEXT.LR2 = 0xfffffffd;
#endif
#if MQXCFG_ENABLE_FP && PSP_HAS_FPU
if (td_ptr->FLAGS & MQX_FLOATING_POINT_TASK) {
res = _psp_build_float_context(td_ptr);
}
#endif /* MQXCFG_ENABLE_FP && PSP_HAS_FPU */
return res;
}
boolean _psp_build_stack_frame
(
/* [IN] the address of the task descriptor */
TD_STRUCT_PTR td_ptr,
/* [IN] the address of the stack memory block */
pointer stack_ptr,
/* [IN] the size of the stack */
uint_32 stack_size,
/* [IN] the task template address */
TASK_TEMPLATE_STRUCT_PTR template_ptr,
/* [IN] the status register to use in creating the task */
uint_32 status_register,
/* [IN] the task creation parameter */
uint_32 create_parameter
)
{ /* Body */
uchar_ptr stack_base_ptr;
PSP_STACK_START_STRUCT_PTR stack_start_ptr;
uint_32 reg_val;
boolean res = TRUE;
stack_base_ptr = (uchar_ptr)_GET_STACK_BASE(stack_ptr, stack_size);
stack_start_ptr = (pointer)(stack_base_ptr - sizeof(PSP_STACK_START_STRUCT));
td_ptr->STACK_BASE = (pointer)stack_base_ptr;
#if MQX_TD_HAS_STACK_LIMIT
td_ptr->STACK_LIMIT = _GET_STACK_LIMIT(stack_ptr, stack_size);
#endif
td_ptr->STACK_PTR = stack_start_ptr;
/*
** Build the task's initial stack frame. This contains the initialized
** registers, and an exception frame which will cause the task to
** "return" to the start of the task when it is dispatched.
*/
_mem_zero(stack_start_ptr, (uint_32)sizeof(PSP_STACK_START_STRUCT));
stack_start_ptr->INITIAL_CONTEXT.FRAME.STATUS_REGISTER =
(uint_16)status_register;
stack_start_ptr->INITIAL_CONTEXT.FRAME.FORMAT_AND_VECTOR =
(uint_16)PSP_NORMAL_STACK_FRAME;
stack_start_ptr->INITIAL_CONTEXT.FRAME.RETURN_ADDRESS =
(void (_CODE_PTR_)(void)) template_ptr->TASK_ADDRESS;
stack_start_ptr->EXIT_ADDRESS = _task_exit_function_internal;
#if PSP_ABI == PSP_ABI_REG
stack_start_ptr->INITIAL_CONTEXT.REGISTERS.D0 = create_parameter;
#endif
stack_start_ptr->PARAMETER = create_parameter;
_PSP_GET_A5(reg_val);
stack_start_ptr->INITIAL_CONTEXT.REGISTERS.A5 = (pointer)reg_val;
/* Mark the bottom of the stack for debuggers*/
stack_start_ptr->INITIAL_CONTEXT.REGISTERS.A6 =
&stack_start_ptr->ZERO_LINK_ADDRESS;
#if PSP_HAS_FPU
if ((td_ptr->FLAGS & MQX_FLOATING_POINT_TASK) != 0) {
res = _psp_build_float_context(td_ptr);
} /* Endif */
#endif
return res;
} /* Endbody */