/*!
* \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 */
/*!
* \brief Initializes and starts MQX on the processor.
*
* The function does the following:
* \li Initializes the default memory pool and memory components.
* \li Initializes kernel data.
* \li Performs BSP-specific initialization, which includes installing the
* periodic timer.
* \li Performs PSP-specific initialization.
* \li Creates the interrupt stack.
* \li Creates the ready queues.
* \li Starts MQX tasks.
* \li Starts autostart application tasks.
*
* \param[in] mqx_init Pointer to the MQX initialization structure for the
* processor.
*
* \return Does not return (Success.)
* \return If application called _mqx_exit(), error code that it passed to
* _mqx_exit() (Success.)
* \return Errors from _int_install_isr() (MQX cannot install the interrupt
* subsystem.)
* \return Errors from _io_init() (MQX cannot install the I/O subsystem.)
* \return Errors from _mem_alloc_system() (There is not enough memory to
* allocate either the interrupt stack or the interrupt table.)
* \return Errors from _mem_alloc_zero() (There is not enough memory to allocate
* the ready queues.)
* \return MQX_KERNEL_MEMORY_TOO_SMALL (Init_struct_ptr does not specify enough
* kernel memory.)
* \return MQX_OUT_OF_MEMORY (There is not enough memory to allocate either the
* ready queues, the interrupt stack, or the interrupt table.)
* \return MQX_TIMER_ISR_INSTALL_FAIL (MQX cannot install the periodic timer ISR.)
*
* \warning Must be called exactly once per processor.
*
* \see _mqx_exit
* \see _int_install_isr
* \see _mem_alloc()
* \see _mem_alloc_from()
* \see _mem_alloc_system()
* \see _mem_alloc_system_from()
* \see _mem_alloc_system_zero()
* \see _mem_alloc_system_zero_from()
* \see _mem_alloc_zero()
* \see _mem_alloc_zero_from()
* \see _mem_alloc_align()
* \see _mem_alloc_align_from()
* \see _mem_alloc_at()
* \see MQX_INITIALIZATION_STRUCT
* \see TASK_TEMPLATE_STRUCT
*/
_mqx_uint _mqx
(
register MQX_INITIALIZATION_STRUCT_PTR mqx_init
)
{ /* Body */
KERNEL_DATA_STRUCT_PTR kernel_data;
TASK_TEMPLATE_STRUCT_PTR template_ptr;
TD_STRUCT_PTR td_ptr;
_mqx_uint result;
pointer stack_ptr;
pointer sys_td_stack_ptr;
uchar_ptr sys_stack_base_ptr;
#if MQX_EXIT_ENABLED || MQX_CRIPPLED_EVALUATION
/* Setup a longjmp buffer using setjmp, so that if an error occurs
* in mqx initialization, we can perform a longjmp to this location.
*
* Also _mqx_exit will use this jumpbuffer to longjmp to here in order
* to cleanly exit MQX.
*/
if ( MQX_SETJMP( _mqx_exit_jump_buffer_internal ) ) {
_GET_KERNEL_DATA(kernel_data);
_int_set_vector_table(kernel_data->USERS_VBR);
return kernel_data->USERS_ERROR;
} /* Endif */
#endif
/*
* The kernel data structure starts at the start of kernel memory,
* as specified in the initialization structure. Make sure address
* specified is aligned
*/
kernel_data = (KERNEL_DATA_STRUCT_PTR) _ALIGN_ADDR_TO_HIGHER_MEM(mqx_init->START_OF_KERNEL_MEMORY);
/* Set the global pointer to the kernel data structure */
_SET_KERNEL_DATA(kernel_data);
/* The following assignments are done to force the linker to include
* the symbols, which are required by TAD.
* Note that we should use address of the variable so it is not optimized
* as direct constant assignment when optimization level is high.
* Note that counter will be immediately reset to zero on the subsequent
* _mem_zero call. */
*(volatile pointer*) kernel_data = (pointer) & _mqx_version_number;
*(volatile pointer*) kernel_data = (pointer) & _mqx_vendor;
/* Initialize the kernel data to zero. */
_mem_zero((pointer) kernel_data, (_mem_size) sizeof(KERNEL_DATA_STRUCT));
#if MQX_CHECK_ERRORS && MQX_VERIFY_KERNEL_DATA
/* Verify that kernel data can be read and written correcly without
* errors. This is necessary during BSP development to validate the
* DRAM controller is initialized properly.
*/
#ifndef PSP_KERNEL_DATA_VERIFY_ENABLE
#define PSP_KERNEL_DATA_VERIFY_ENABLE 0
#endif /* PSP_KERNEL_DATA_VERIFY_ENABLE */
if (PSP_KERNEL_DATA_VERIFY_ENABLE) {
/* This memory check is dangerous, because can destroy boot stack
* stack which is used !!! -> MQX will failed !
* Set PSP_KERNEL_DATA_VERIFY_ENABLE to 1
* only if your boot stack is out of MQX memory heap
*/
result = _mem_verify((uchar_ptr)kernel_data + sizeof(KERNEL_DATA_STRUCT),
mqx_init->END_OF_KERNEL_MEMORY);
if ( result != MQX_OK ) {
_mqx_exit(result); /* RETURN TO USER */
}
}
#endif /* MQX_CHECK_ERRORS && MQX_VERIFY_KERNEL_DATA */
/* Copy the MQX initialization structure into kernel data. */
kernel_data->INIT = *mqx_init;
kernel_data->INIT.START_OF_KERNEL_MEMORY = (pointer) kernel_data;
kernel_data->INIT.END_OF_KERNEL_MEMORY = (pointer) _ALIGN_ADDR_TO_LOWER_MEM(kernel_data->INIT.END_OF_KERNEL_MEMORY);
/* init kernel data structures */
_mqx_init_kernel_data_internal();
/* Initialize the memory resource manager for the kernel */
result = _mem_init_internal();
#if MQX_CHECK_ERRORS
if ( result != MQX_OK ) {
_mqx_exit(result); /* RETURN TO USER */
} /* Endif */
#endif
#if MQX_USE_INTERRUPTS
/* Now obtain the interrupt stack */
if (kernel_data->INIT.INTERRUPT_STACK_LOCATION) {
stack_ptr = kernel_data->INIT.INTERRUPT_STACK_LOCATION;
result = kernel_data->INIT.INTERRUPT_STACK_SIZE;
}
else {
if ( kernel_data->INIT.INTERRUPT_STACK_SIZE < PSP_MINSTACKSIZE ) {
kernel_data->INIT.INTERRUPT_STACK_SIZE = PSP_MINSTACKSIZE;
} /* Endif */
#if PSP_STACK_ALIGNMENT
result = kernel_data->INIT.INTERRUPT_STACK_SIZE + PSP_STACK_ALIGNMENT + 1;
#else
result = kernel_data->INIT.INTERRUPT_STACK_SIZE;
#endif
stack_ptr = _mem_alloc_system((_mem_size)result);
#if MQX_CHECK_MEMORY_ALLOCATION_ERRORS
if (stack_ptr == NULL) {
_mqx_exit(MQX_OUT_OF_MEMORY); /* RETURN TO USER */
} /* Endif */
#endif
_mem_set_type(stack_ptr, MEM_TYPE_INTERRUPT_STACK);
} /* Endif */
#if MQX_MONITOR_STACK
_task_fill_stack_internal((_mqx_uint_ptr)stack_ptr, result);
#endif
kernel_data->INTERRUPT_STACK_PTR = _GET_STACK_BASE(stack_ptr, result);
#endif
/*
* Set the stack for the system TD, in case the idle task gets blocked
* by an exception or if idle task is not used.
*/
result = PSP_MINSTACKSIZE;
sys_td_stack_ptr = _mem_alloc_system((_mem_size) result);
#if MQX_CHECK_MEMORY_ALLOCATION_ERRORS
if (sys_td_stack_ptr == NULL) {
_mqx_exit(MQX_OUT_OF_MEMORY); /* RETURN TO USER */
} /* Endif */
#endif
_mem_set_type(sys_td_stack_ptr, MEM_TYPE_SYSTEM_STACK);
sys_stack_base_ptr = (uchar_ptr) _GET_STACK_BASE(sys_td_stack_ptr, result);
td_ptr = SYSTEM_TD_PTR(kernel_data);
td_ptr->STACK_PTR = (pointer)(sys_stack_base_ptr - sizeof(PSP_STACK_START_STRUCT));
td_ptr->STACK_BASE = sys_stack_base_ptr;
#if MQX_TD_HAS_STACK_LIMIT
td_ptr->STACK_LIMIT = _GET_STACK_LIMIT(sys_td_stack_ptr, result);
#endif
_mqx_system_stack = td_ptr->STACK_PTR;
/* Build the MQX ready to run queues */
result = _psp_init_readyqs();
#if MQX_CHECK_MEMORY_ALLOCATION_ERRORS
if ( result != MQX_OK ) {
_mqx_exit(result); /* RETURN TO USER */
} /* Endif */
#endif
#if MQX_USE_COMPONENTS
/* Create a light wait semaphore for component creation */
_lwsem_create((LWSEM_STRUCT_PTR)&kernel_data->COMPONENT_CREATE_LWSEM, 1);
#endif
/* Create a light wait semaphore for task creation/destruction creation */
_lwsem_create((LWSEM_STRUCT_PTR) & kernel_data->TASK_CREATE_LWSEM, 1);
/* Call bsp to enable timers and other devices */
result = _bsp_enable_card();
#if MQX_CHECK_ERRORS
if ( result != MQX_OK ) {
_mqx_exit(result); /* RETURN TO USER */
} /* Endif */
#endif
#if MQX_HAS_TIME_SLICE
/* Set the kernel default time slice value */
PSP_ADD_TICKS_TO_TICK_STRUCT(&kernel_data->SCHED_TIME_SLICE,
MQX_DEFAULT_TIME_SLICE, &kernel_data->SCHED_TIME_SLICE);
#endif
/* Create the idle task */
#if MQX_USE_IDLE_TASK
td_ptr = _task_init_internal(
(TASK_TEMPLATE_STRUCT_PTR)&kernel_data->IDLE_TASK_TEMPLATE,
kernel_data->ACTIVE_PTR->TASK_ID, MQX_IDLE_TASK_PARAMETER, TRUE, NULL, 0);
#if MQX_CHECK_MEMORY_ALLOCATION_ERRORS
if (td_ptr == NULL) {
_mqx_exit(MQX_OUT_OF_MEMORY);
} /* Endif */
#endif
_task_ready_internal(td_ptr);
#endif
/* Check here for auto-create tasks, and create them here */
template_ptr = kernel_data->INIT.TASK_TEMPLATE_LIST;
while (template_ptr->TASK_TEMPLATE_INDEX) {
if (template_ptr->TASK_ATTRIBUTES & MQX_AUTO_START_TASK) {
td_ptr = _task_init_internal(template_ptr, kernel_data->ACTIVE_PTR->TASK_ID,
template_ptr->CREATION_PARAMETER, FALSE, NULL, 0);
#if MQX_CHECK_MEMORY_ALLOCATION_ERRORS
if (td_ptr == NULL) {
_mqx_exit(MQX_OUT_OF_MEMORY);
} /* Endif */
#endif
_task_ready_internal(td_ptr);
} /* Endif */
++template_ptr;
} /* Endwhile */
_sched_start_internal(); /* WILL NEVER RETURN FROM HERE */
return MQX_OK; /* To satisfy lint */
} /* Endbody */
/*!
* \brief Initializes MQXLite on the processor.
*
* The function does the following:
* \n - Initializes kernel data.
* \n - Creates the interrupt stack.
* \n - Creates the ready queues.
* \n - Creates a lightweight semaphore for task creation/destruction.
* \n - Initializes interrupts.
* \n - Initializes system timer.
*
* \param[in] mqx_init Pointer to the MQXLITE initialization structure for the
* processor.
*
* \return MQX_OK
* \return Initialization error code
*
* \warning Must be called exactly once per processor.
*
* \see _mqxlite
* \see _mqx_exit
* \see MQXLITE_INITIALIZATION_STRUCT
*/
_mqx_uint _mqxlite_init
(
MQXLITE_INITIALIZATION_STRUCT const * mqx_init
)
{ /* Body */
KERNEL_DATA_STRUCT_PTR kernel_data;
pointer stack_ptr;
_mqx_uint result = MQX_OK;
/*
* The kernel data structure starts at the start of kernel memory,
* as specified in the initialization structure. Make sure address
* specified is aligned
*/
kernel_data = (KERNEL_DATA_STRUCT_PTR) (mqx_init->START_OF_KERNEL_MEMORY);
/* Set the global pointer to the kernel data structure */
_SET_KERNEL_DATA(kernel_data);
/* The following assignments are done to force the linker to include
* the symbols, which are required by TAD.
* Note that we should use address of the variable so it is not optimized
* as direct constant assignment when optimization level is high.
* Note that counter will be immediately reset to zero on the subsequent
* _mem_zero call. */
{
MQX_INITIALIZATION_STRUCT * MQX_init_struct_ptr;
*(volatile pointer*) kernel_data = (pointer) & _mqx_version_number;
*(volatile pointer*) kernel_data = (pointer) & _mqx_vendor;
*(volatile pointer*) kernel_data = (pointer) & _mqx_path;
*(volatile pointer*) kernel_data = (pointer) & _mqxlite_version_number;
*(volatile pointer*) kernel_data = (pointer) & MQX_init_struct_ptr;
}
/* Initialize the kernel data to zero. */
_mem_zero((pointer) kernel_data, (_mem_size) sizeof(KERNEL_DATA_STRUCT));
#if MQX_CHECK_ERRORS && MQX_VERIFY_KERNEL_DATA
/* Verify that kernel data can be read and written correctly without
* errors. This is necessary during BSP development to validate the
* DRAM controller is initialized properly.
*/
if (PSP_KERNEL_DATA_VERIFY_ENABLE) {
/* This memory check is dangerous, because can destroy boot stack
* stack which is used !!! -> MQX will failed !
* Set PSP_KERNEL_DATA_VERIFY_ENABLE to 1
* only if your boot stack is out of MQX memory heap
*/
result = _mem_verify((uchar_ptr)kernel_data + sizeof(KERNEL_DATA_STRUCT),
mqx_init->END_OF_KERNEL_MEMORY);
if ( result != MQX_OK ) {
return (result); /* RETURN TO USER */
}
}
#endif /* MQX_CHECK_ERRORS && MQX_VERIFY_KERNEL_DATA */
/* Copy the MQX initialization structure into kernel data. */
kernel_data->INIT = *mqx_init;
/* init kernel data structures */
_mqx_init_kernel_data_internal();
#if MQX_USE_LWMEM == 1
/**
* Initialize lightweight memory pool for dynamic memory allocation
*/
{
/* Extern symbols defined in linker command file */
extern char __heap_addr[];
extern char __heap_size[];
KERNEL_DATA_STRUCT * kernel_data;
LWMEM_POOL_STRUCT * pool_ptr;
void * start_addr;
_GET_KERNEL_DATA(kernel_data);
pool_ptr = (LWMEM_POOL_STRUCT *) __heap_addr;
kernel_data->KERNEL_LWMEM_POOL = pool_ptr;
start_addr = (void *)((char *) __heap_addr + sizeof(LWMEM_POOL_STRUCT));
_lwmem_create_pool(pool_ptr, start_addr, (_mem_size)__heap_size);
}
#endif
#if MQX_USE_INTERRUPTS
/* Now obtain the interrupt stack */
if (kernel_data->INIT.INTERRUPT_STACK_LOCATION) {
stack_ptr = kernel_data->INIT.INTERRUPT_STACK_LOCATION;
result = kernel_data->INIT.INTERRUPT_STACK_SIZE;
}
else
{
return (MQX_INVALID_PARAMETER);
} /* Endif */
#if MQX_MONITOR_STACK
_task_fill_stack_internal((_mqx_uint_ptr)stack_ptr, result);
#endif
kernel_data->INTERRUPT_STACK_PTR = _GET_STACK_BASE(stack_ptr, result);
#endif /* MQX_USE_INTERRUPTS */
#if MQX_USE_IDLE_TASK == 0
{
/*
* Set the stack for the system TD, in case the idle task gets blocked
* by an exception or if idle task is not used.
*/
TD_STRUCT_PTR td_ptr;
uchar_ptr stack_base_ptr;
stack_base_ptr = (uchar_ptr) _GET_STACK_BASE(mqx_system_stack, PSP_MINSTACKSIZE);
td_ptr = SYSTEM_TD_PTR(kernel_data);
td_ptr->STACK_PTR = (pointer)(stack_base_ptr - sizeof(PSP_STACK_START_STRUCT));
td_ptr->STACK_BASE = stack_base_ptr;
#if MQX_TD_HAS_STACK_LIMIT
td_ptr->STACK_LIMIT = _GET_STACK_LIMIT(mqx_system_stack, PSP_MINSTACKSIZE);
#endif
_mqx_system_stack = td_ptr->STACK_PTR;
}
#endif /* MQX_USE_IDLE_TASK */
/* Build the MQX ready to run queues */
result = _psp_init_readyqs();
#if MQX_CHECK_MEMORY_ALLOCATION_ERRORS
if ( result != MQX_OK ) {
return (result); /* RETURN TO USER */
} /* Endif */
#endif
#if MQX_USE_COMPONENTS
/* Create a light wait semaphore for component creation */
_lwsem_create((LWSEM_STRUCT_PTR)&kernel_data->COMPONENT_CREATE_LWSEM, 1);
#endif
/* Create a light wait semaphore for task creation/destruction creation */
_lwsem_create((LWSEM_STRUCT_PTR) & kernel_data->TASK_CREATE_LWSEM, 1);
/* Set the CPU type */
_mqx_set_cpu_type(MQX_CPU);
result = _psp_int_init(FIRST_INTERRUPT_VECTOR_USED, LAST_INTERRUPT_VECTOR_USED);
if (result != MQX_OK) {
return(result); /* RETURN TO USER */
}
/* set possible new interrupt vector table
* if MQX_ROM_VECTORS = 0 switch to ram interrupt table which
* was initialized in _psp_int_init)
*/
_int_set_vector_table((uint32_t)(&__vect_table));
/*
* Initialize System Timer and Ticks parameters in kernel_data structure
*/
system_timer_init(NULL);
return MQX_OK; /* To satisfy lint */
} /* Endbody */