diff options
| -rw-r--r-- | CMakeLists.txt | 88 | ||||
| -rw-r--r-- | cmake/stm32.toolchain.cmake | 2 | ||||
| -rw-r--r-- | debug.h | 1 | ||||
| -rw-r--r-- | gdb-start | 17 | ||||
| -rw-r--r-- | include/init_high.h | 120 | ||||
| -rw-r--r-- | init_high.cpp | 285 | ||||
| -rw-r--r-- | init_high.h | 117 | ||||
| -rw-r--r-- | init_low.s | 2 | ||||
| -rw-r--r-- | os1.cpp | 285 | ||||
| -rw-r--r-- | os1_cm3.s | 56 | ||||
| -rw-r--r-- | playground.h | 6 | ||||
| -rw-r--r-- | serial1.cpp | 2 | ||||
| -rw-r--r-- | serial2.cpp | 23 | ||||
| -rw-r--r-- | test1.cpp | 7 |
14 files changed, 747 insertions, 264 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index 7c09d38..3094ff5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -23,25 +23,29 @@ endfunction() add_library(tinyprintf STATIC tinyprintf/tinyprintf.c tinyprintf/tinyprintf.h) target_include_directories(tinyprintf PUBLIC tinyprintf) +set(STM32F10X_STDPERIPH_LIB tmp/STM32F10x_StdPeriph_Lib_V3.5.0) +set(STM32F10X_STDPERIPH_DEFINES STM32F10X_MD USE_STDPERIPH_DRIVER) + ######################################################################################################### # test1 -add_executable(test1.elf test1.cpp init_low.s init_high.cpp init_high.h include/stm32f10x_conf.h +add_executable(test1.elf test1.cpp init_low.s init_high.cpp include/init_high.h include/stm32f10x_conf.h # http://www.sparetimelabs.com/tinyprintf/tinyprintf.php tinyprintf/tinyprintf.c tinyprintf/tinyprintf.h - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c + debug.cpp debug.h + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c ) target_include_directories(test1.elf PUBLIC include tinyprintf - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/CMSIS/CM3/CoreSupport - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/STM32F10x_StdPeriph_Driver/inc) -target_compile_definitions(test1.elf PUBLIC STM32F10X_MD USE_STDPERIPH_DRIVER) + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/inc) +target_compile_definitions(test1.elf PUBLIC ${STM32F10X_STDPERIPH_DEFINES}) target_compile_options(test1.elf PUBLIC "-O0") set_target_properties(test1.elf PROPERTIES LINK_FLAGS "-nostartfiles -T${CMAKE_SOURCE_DIR}/cmake/stm32.ld") @@ -50,23 +54,23 @@ add_extra_commands(test1.elf) ######################################################################################################### # serial1 -add_executable(serial1.elf serial1.cpp init_low.s init_high.cpp init_high.h include/stm32f10x_conf.h +add_executable(serial1.elf serial1.cpp init_low.s init_high.cpp include/init_high.h include/stm32f10x_conf.h debug.cpp debug.h # http://www.sparetimelabs.com/tinyprintf/tinyprintf.php tinyprintf/tinyprintf.c tinyprintf/tinyprintf.h - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c ) target_include_directories(serial1.elf PUBLIC include tinyprintf - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/CMSIS/CM3/CoreSupport - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/STM32F10x_StdPeriph_Driver/inc) -target_compile_definitions(serial1.elf PUBLIC STM32F10X_MD USE_STDPERIPH_DRIVER) + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/inc) +target_compile_definitions(serial1.elf PUBLIC ${STM32F10X_STDPERIPH_DEFINES}) set_target_properties(serial1.elf PROPERTIES LINK_FLAGS "-nostartfiles -T${CMAKE_SOURCE_DIR}/cmake/stm32.ld") add_extra_commands(serial1.elf) @@ -74,23 +78,49 @@ add_extra_commands(serial1.elf) ######################################################################################################### # serial2 -add_executable(serial2.elf serial2.cpp init_low.s init_high.cpp init_high.h include/stm32f10x_conf.h +add_executable(serial2.elf serial2.cpp init_low.s init_high.cpp include/init_high.h include/stm32f10x_conf.h + playground.h debug.cpp debug.h - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c ) target_link_libraries(serial2.elf tinyprintf) target_include_directories(serial2.elf PUBLIC include - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/CMSIS/CM3/CoreSupport - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x - tmp/STM32F10x_StdPeriph_Lib_V3.5.0/Libraries/STM32F10x_StdPeriph_Driver/inc) -target_compile_definitions(serial2.elf PUBLIC STM32F10X_MD USE_STDPERIPH_DRIVER) + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/inc) +target_compile_definitions(serial2.elf PUBLIC ${STM32F10X_STDPERIPH_DEFINES}) set_target_properties(serial2.elf PROPERTIES LINK_FLAGS "-nostartfiles -T${CMAKE_SOURCE_DIR}/cmake/stm32.ld") add_extra_commands(serial2.elf) + +######################################################################################################### +# os1 + +add_executable(os1.elf os1.cpp os1_cm3.s init_low.s init_high.cpp include/init_high.h include/stm32f10x_conf.h + playground.h + debug.cpp debug.h + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c + ) +target_link_libraries(os1.elf tinyprintf) + +target_include_directories(os1.elf PUBLIC + include + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/inc) +target_compile_definitions(os1.elf PUBLIC ${STM32F10X_STDPERIPH_DEFINES}) + +set_target_properties(os1.elf PROPERTIES LINK_FLAGS "-nostartfiles -T${CMAKE_SOURCE_DIR}/cmake/stm32.ld") +add_extra_commands(os1.elf) diff --git a/cmake/stm32.toolchain.cmake b/cmake/stm32.toolchain.cmake index b9acf62..fb1cc57 100644 --- a/cmake/stm32.toolchain.cmake +++ b/cmake/stm32.toolchain.cmake @@ -25,7 +25,7 @@ set(TARGET_FLAGS "-mcpu=cortex-m3 -mthumb") set(BASE_FLAGS "-Wall -g -ffunction-sections -fdata-sections ${TARGET_FLAGS}") set(CMAKE_C_FLAGS "${BASE_FLAGS}" CACHE STRING "c flags") # XXX Generate TIME_T dynamically. -set(CMAKE_CXX_FLAGS "${BASE_FLAGS} -fno-exceptions -fno-rtti -felide-constructors -std=gnu++0x" CACHE STRING "c++ flags") +set(CMAKE_CXX_FLAGS "${BASE_FLAGS} -fno-exceptions -fno-rtti -felide-constructors -std=c++14" CACHE STRING "c++ flags") #set(LINKER_FLAGS "-Os -Wl,--gc-sections ${TARGET_FLAGS} -T${TEENSY_ROOT}/mk20dx256.ld") #set(LINKER_FLAGS "-Os -Wl,--gc-sections ${TARGET_FLAGS}") @@ -5,6 +5,7 @@ extern "C" { #endif +__attribute__((format (printf, 1, 2))) void dbg_printf(const char *fmt, ...); void dbg_putc(void * junk, char); @@ -45,4 +45,21 @@ define flash_serial2 hbreak halt end +define flash_os1 + shell cd build && make os1.elf + + monitor arm semihosting enable + monitor reset halt + + set confirm off + file build/os1.elf + load build/os1.elf + set confirm on + + set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12 + monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480 + + echo Run this if first run:\n hbreak halt\n hbreak job1\n hbreak PendSV_Handler\n +end + monitor reset halt diff --git a/include/init_high.h b/include/init_high.h new file mode 100644 index 0000000..c6da514 --- /dev/null +++ b/include/init_high.h @@ -0,0 +1,120 @@ +#ifndef INIT_HIGH_H +#define INIT_HIGH_H + +extern "C" { + +void init_high(); + +/** + * Declare all the interrupt/event handlers as weak symbols and make them aliases of the default handler. + */ +extern void Default_Handler() __attribute__((weak)); + +extern void _Reset_Handler(); + +extern void NMI_Handler(); + +extern void HardFault_Handler(); + +extern void MemManage_Handler(); + +extern void BusFault_Handler(); + +extern void UsageFault_Handler(); + +extern void SVC_Handler(); + +extern void DebugMon_Handler(); + +extern void PendSV_Handler(); + +extern void SysTick_Handler(); + +extern void WWDG_IRQHandler(); + +extern void PVD_IRQHandler(); + +extern void TAMPER_IRQHandler(); + +extern void RTC_IRQHandler(); + +extern void FLASH_IRQHandler(); + +extern void RCC_IRQHandler(); + +extern void EXTI0_IRQHandler(); + +extern void EXTI1_IRQHandler(); + +extern void EXTI2_IRQHandler(); + +extern void EXTI3_IRQHandler(); + +extern void EXTI4_IRQHandler(); + +extern void DMA1_Channel1_IRQHandler(); + +extern void DMA1_Channel2_IRQHandler(); + +extern void DMA1_Channel3_IRQHandler(); + +extern void DMA1_Channel4_IRQHandler(); + +extern void DMA1_Channel5_IRQHandler(); + +extern void DMA1_Channel6_IRQHandler(); + +extern void DMA1_Channel7_IRQHandler(); + +extern void ADC1_2_IRQHandler(); + +extern void USB_HP_CAN1_TX_IRQHandler(); + +extern void USB_LP_CAN1_RX0_IRQHandler(); + +extern void CAN1_RX1_IRQHandler(); + +extern void CAN1_SCE_IRQHandler(); + +extern void EXTI9_5_IRQHandler(); + +extern void TIM1_BRK_IRQHandler(); + +extern void TIM1_UP_IRQHandler(); + +extern void TIM1_TRG_COM_IRQHandler(); + +extern void TIM1_CC_IRQHandler(); + +extern void TIM2_IRQHandler(); + +extern void TIM3_IRQHandler(); + +extern void TIM4_IRQHandler(); + +extern void I2C1_EV_IRQHandler(); + +extern void I2C1_ER_IRQHandler(); + +extern void I2C2_EV_IRQHandler(); + +extern void I2C2_ER_IRQHandler(); + +extern void SPI1_IRQHandler(); + +extern void SPI2_IRQHandler(); + +extern void USART1_IRQHandler(); + +extern void USART2_IRQHandler(); + +extern void USART3_IRQHandler(); + +extern void EXTI15_10_IRQHandler(); + +extern void RTCAlarm_IRQHandler(); + +extern void USBWakeUp_IRQHandler(); +} + +#endif diff --git a/init_high.cpp b/init_high.cpp index 48abe70..e1e7a12 100644 --- a/init_high.cpp +++ b/init_high.cpp @@ -1,4 +1,9 @@ -#include <stdint.h> +#include <cstdint> +#include <cstddef> +#include "stm32f10x.h" +#include "debug.h" +#include "init_high.h" +#include "playground.h" /** * Symbols that are defined by the linker @@ -6,154 +11,246 @@ extern uint32_t _copy_data_load, _copy_data_store, _copy_data_store_end; extern uint32_t _bss_start, _bss_end; -extern "C" { +extern int main(); -/** - * Declare all the interrupt/event handlers as weak symbols and make them aliases of the default handler. - */ +template<typename T, size_t N> +static inline +size_t SizeOfArray(const T(&)[N]) { + return N; +} + +void init_high() { + // Copy data from flash to ram + uint32_t *src = &_copy_data_load; + uint32_t *dest = &_copy_data_store; + uint32_t *end = &_copy_data_store_end; -void Default_Handler() __attribute__((weak)); + while (dest <= end) { + *dest++ = *src++; + } -void _Reset_Handler() __attribute__ ((weak, alias ("Default_Handler"))); + // Clear the BSS segment + dest = &_bss_start; + end = &_bss_end; + while (dest <= end) { + *dest++ = 0; + } -void NMI_Handler() __attribute__ ((weak, alias ("Default_Handler"))); + main(); +} -void HardFault_Handler() __attribute__ ((weak, alias ("Default_Handler"))); +__attribute__((used)) +struct { + uint32_t CFSR; + uint32_t HFSR; + uint32_t DFSR; + uint32_t AFSR; +// uint32_t MMAR; + uint32_t BFAR; +} Default_Handler_Info; + +__attribute__((used)) +void Default_Handler() { + Default_Handler_Info = { + CFSR: SCB->CFSR, + HFSR: SCB->HFSR, + DFSR: SCB->DFSR, + AFSR: SCB->AFSR, + BFAR: SCB->BFAR, + }; + + dbg_printf("Default handler:\n"); + + dbg_printf("HFSR: 0x%08lx\n", Default_Handler_Info.HFSR); + if (Default_Handler_Info.HFSR & SCB_HFSR_DEBUGEVT) { + dbg_printf(" HFSR.DEBUGEVT\n"); + } + if (Default_Handler_Info.HFSR & SCB_HFSR_FORCED) { + dbg_printf(" HFSR.FORCED\n"); + } + if (Default_Handler_Info.HFSR & SCB_HFSR_VECTTBL) { + dbg_printf(" HFSR.VECTTBL\n"); + } -void MemManage_Handler() __attribute__ ((weak, alias ("Default_Handler"))); + dbg_printf("CFSR: 0x%08lx\n", Default_Handler_Info.CFSR); + if (Default_Handler_Info.CFSR & SCB_CFSR_DIVBYZERO) { + dbg_printf(" UFSR.DIVBYZERO\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_UNALIGNED) { + dbg_printf(" UFSR.UNALIGED\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_NOCP) { + dbg_printf(" UFSR.NOCP\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_INVPC) { + dbg_printf(" UFSR.INVPC\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_INVSTATE) { + dbg_printf(" UFSR.INVSTATE\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_UNDEFINSTR) { + dbg_printf(" UFSR.UNDEFINSTR\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_BFARVALID) { + dbg_printf(" BFSR.BFARVALID\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_STKERR) { + dbg_printf(" BFSR.STKERR\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_UNSTKERR) { + dbg_printf(" BFSR.UNSTKERR\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_IMPRECISERR) { + dbg_printf(" BFSR.IMPRECISERR\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_IMPRECISERR) { + dbg_printf(" BFSR.IMPRECISERR\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_PRECISERR) { + dbg_printf(" BFSR.PRECISERR\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_IBUSERR) { + dbg_printf(" BFSR.IBUSERR\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_MMARVALID) { + dbg_printf(" MMFSR.MMARVALID\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_MSTKERR) { + dbg_printf(" MMFSR.MSTKERR\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_MUNSTKERR) { + dbg_printf(" MMFSR.MUNSTKERR\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_DACCVIOL) { + dbg_printf(" MMFSR.DACCVIOL\n"); + } + if (Default_Handler_Info.CFSR & SCB_CFSR_IACCVIOL) { + dbg_printf(" MMFSR.IACCVIOL\n"); + } + dbg_printf("DFSR: 0x%08lx\n", Default_Handler_Info.DFSR); + dbg_printf("AFSR: 0x%08lx\n", Default_Handler_Info.AFSR); -void BusFault_Handler() __attribute__ ((weak, alias ("Default_Handler"))); + if (Default_Handler_Info.CFSR & SCB_CFSR_BFARVALID) { + dbg_printf("BFAR: 0x%08lx\n", Default_Handler_Info.BFAR); + } else { + dbg_printf("BFAR: <invalid>\n"); + } -void UsageFault_Handler() __attribute__ ((weak, alias ("Default_Handler"))); + dbg_printf("NVIC:\n"); + for (size_t i = 0; i < SizeOfArray(NVIC->IABR); i++) { + dbg_printf(" IABR[%d]: 0x%08lx\n", i, NVIC->IABR[i]); + } -void SVC_Handler() __attribute__ ((weak, alias ("Default_Handler"))); + halt(); +} -void DebugMon_Handler() __attribute__ ((weak, alias ("Default_Handler"))); +void _Reset_Handler() __attribute__ ((weak, alias("Default_Handler"))); -void PendSV_Handler() __attribute__ ((weak, alias ("Default_Handler"))); +void NMI_Handler() __attribute__ ((weak, alias("Default_Handler"))); -void SysTick_Handler() __attribute__ ((weak, alias ("Default_Handler"))); +void HardFault_Handler() __attribute__ ((weak, alias("Default_Handler"))); -void WWDG_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void MemManage_Handler() __attribute__ ((weak, alias("Default_Handler"))); -void PVD_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void BusFault_Handler() __attribute__ ((weak, alias("Default_Handler"))); -void TAMPER_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void UsageFault_Handler() __attribute__ ((weak, alias("Default_Handler"))); -void RTC_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void SVC_Handler() __attribute__ ((weak, alias("Default_Handler"))); -void FLASH_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void DebugMon_Handler() __attribute__ ((weak, alias("Default_Handler"))); -void RCC_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void PendSV_Handler() __attribute__ ((weak, alias("Default_Handler"))); -void EXTI0_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void SysTick_Handler() __attribute__ ((weak, alias("Default_Handler"))); -void EXTI1_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void WWDG_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void EXTI2_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void PVD_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void EXTI3_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void TAMPER_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void EXTI4_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void RTC_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void DMA1_Channel1_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void FLASH_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void DMA1_Channel2_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void RCC_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void DMA1_Channel3_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void EXTI0_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void DMA1_Channel4_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void EXTI1_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void DMA1_Channel5_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void EXTI2_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void DMA1_Channel6_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void EXTI3_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void DMA1_Channel7_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void EXTI4_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void ADC1_2_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void DMA1_Channel1_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void USB_HP_CAN1_TX_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void DMA1_Channel2_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void USB_LP_CAN1_RX0_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void DMA1_Channel3_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void CAN1_RX1_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void DMA1_Channel4_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void CAN1_SCE_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void DMA1_Channel5_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void EXTI9_5_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void DMA1_Channel6_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void TIM1_BRK_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void DMA1_Channel7_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void TIM1_UP_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void ADC1_2_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void TIM1_TRG_COM_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void USB_HP_CAN1_TX_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void TIM1_CC_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void USB_LP_CAN1_RX0_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void TIM2_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void CAN1_RX1_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void TIM3_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void CAN1_SCE_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void TIM4_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void EXTI9_5_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void I2C1_EV_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void TIM1_BRK_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void I2C1_ER_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void TIM1_UP_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void I2C2_EV_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void TIM1_TRG_COM_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void I2C2_ER_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void TIM1_CC_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void SPI1_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void TIM2_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void SPI2_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void TIM3_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void USART1_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void TIM4_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void USART2_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void I2C1_EV_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void USART3_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void I2C1_ER_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void EXTI15_10_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void I2C2_EV_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void RTCAlarm_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); +void I2C2_ER_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void USBWakeUp_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); -} +void SPI1_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -extern int main(); +void SPI2_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -extern "C" int halt(); -extern "C" int init_high(); +void USART1_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -int init_high() { - // Copy data from flash to ram - uint32_t *src = &_copy_data_load; - uint32_t *dest = &_copy_data_store; - uint32_t *end = &_copy_data_store_end; +void USART2_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); - while (dest <= end) { - *dest++ = *src++; - } +void USART3_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); - // Clear the BSS segment - dest = &_bss_start; - end = &_bss_end; - while (dest <= end) { - *dest++ = 0; - } +void EXTI15_10_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); - return main(); -} +void RTCAlarm_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -void Default_Handler() { - halt(); -} +void USBWakeUp_IRQHandler() __attribute__ ((weak, alias("Default_Handler"))); -/* - * - */ -__attribute__((section(".isr_vectors"))) +__attribute__((section(".isr_vectors"), used)) uint32_t isr_vectors[74] = { (uint32_t) _Reset_Handler, (uint32_t) NMI_Handler, @@ -213,12 +310,12 @@ uint32_t isr_vectors[74] = { (uint32_t) EXTI15_10_IRQHandler, (uint32_t) RTCAlarm_IRQHandler, (uint32_t) USBWakeUp_IRQHandler, - (uint32_t)0, - (uint32_t)0, - (uint32_t)0, - (uint32_t)0, - (uint32_t)0, - (uint32_t)0, - (uint32_t)0, - (uint32_t)0 + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 }; diff --git a/init_high.h b/init_high.h deleted file mode 100644 index f80ac25..0000000 --- a/init_high.h +++ /dev/null @@ -1,117 +0,0 @@ -#ifndef INIT_HIGH_H -#define INIT_HIGH_H - -extern "C" { - -/** - * Declare all the interrupt/event handlers as weak symbols and make them aliases of the default handler. - */ - -void _Reset_Handler() __attribute__ ((weak, alias ("Default_Handler"))); - -void NMI_Handler() __attribute__ ((weak, alias ("Default_Handler"))); - -void HardFault_Handler() __attribute__ ((weak, alias ("Default_Handler"))); - -void MemManage_Handler() __attribute__ ((weak, alias ("Default_Handler"))); - -void BusFault_Handler() __attribute__ ((weak, alias ("Default_Handler"))); - -void UsageFault_Handler() __attribute__ ((weak, alias ("Default_Handler"))); - -void SVC_Handler() __attribute__ ((weak, alias ("Default_Handler"))); - -void DebugMon_Handler() __attribute__ ((weak, alias ("Default_Handler"))); - -void PendSV_Handler() __attribute__ ((weak, alias ("Default_Handler"))); - -void SysTick_Handler() __attribute__ ((weak, alias ("Default_Handler"))); - -void WWDG_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void PVD_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void TAMPER_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void RTC_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void FLASH_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void RCC_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void EXTI0_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void EXTI1_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void EXTI2_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void EXTI3_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void EXTI4_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void DMA1_Channel1_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void DMA1_Channel2_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void DMA1_Channel3_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void DMA1_Channel4_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void DMA1_Channel5_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void DMA1_Channel6_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void DMA1_Channel7_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void ADC1_2_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void USB_HP_CAN1_TX_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void USB_LP_CAN1_RX0_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void CAN1_RX1_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void CAN1_SCE_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void EXTI9_5_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void TIM1_BRK_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void TIM1_UP_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void TIM1_TRG_COM_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void TIM1_CC_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void TIM2_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void TIM3_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void TIM4_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void I2C1_EV_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void I2C1_ER_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void I2C2_EV_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void I2C2_ER_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void SPI1_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void SPI2_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void USART1_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void USART2_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void USART3_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void EXTI15_10_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void RTCAlarm_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); - -void USBWakeUp_IRQHandler() __attribute__ ((weak, alias ("Default_Handler"))); -} - -#endif INIT_HIGH_H @@ -2,7 +2,6 @@ .cpu cortex-m3 .thumb -/* VERY significant */ .section .text .thumb_func @@ -41,4 +40,3 @@ UsageFault_Handler: b halt .end - @@ -0,0 +1,285 @@ +#include <stdint.h> +#include <stm32f10x.h> +#include <stm32f10x_rcc.h> +#include <stm32f10x_gpio.h> + +#include "debug.h" +#include "tinyprintf.h" +#include "playground.h" + +extern "C" +__attribute__((naked, used)) +void HardFault_Handler_C(uint32_t *hardfault_args) { + dbg_printf("r0 = 0x%08lx (%lu)\n", hardfault_args[0], hardfault_args[0]); + dbg_printf("r1 = 0x%08lx (%lu)\n", hardfault_args[1], hardfault_args[1]); + dbg_printf("r2 = 0x%08lx (%lu)\n", hardfault_args[2], hardfault_args[2]); + dbg_printf("r3 = 0x%08lx (%lu)\n", hardfault_args[3], hardfault_args[3]); + dbg_printf("r12 = 0x%08lx (%lu)\n", hardfault_args[4], hardfault_args[4]); + dbg_printf("lr = 0x%08lx (%lu)\n", hardfault_args[5], hardfault_args[5]); + dbg_printf("pc = 0x%08lx (%lu)\n", hardfault_args[6], hardfault_args[6]); + dbg_printf("psr = 0x%08lx (%lu)\n", hardfault_args[7], hardfault_args[7]); + dbg_printf("\n"); + + halt(); +} + +enum class exc_return_t : uint32_t { + RETURN_TO_HANDLER_MODE_USE_MSP = 0xFFFFFFF1, + RETURN_TO_THREAD_MODE_USE_MSP = 0xFFFFFFF9, + RETURN_TO_THREAD_MODE_USE_PSP = 0xFFFFFFFD, +}; + +// This is used from assembly so order is important +struct task_t { + uint8_t *stack; + exc_return_t exc_return; + int flags; + + void init(uint8_t *stack) { + this->stack = stack; + flags = 0x01; + set_ready(); + } + + void deinit() { + flags = 0; + } + + bool is_ready() { + return (flags & 0x02) > 0; + } + + void set_ready() { + flags |= 0x02; + } +} __attribute__((packed)); + +const int max_task_count = 3; +const int stack_size = 100; + +task_t tasks[max_task_count]; +uint8_t stacks[max_task_count][stack_size]; +uint8_t task_count = 0; +int current_task; + +const unsigned int SYSTICK_FREQUENCY_HZ = 10; + +struct hardware_frame_t { + uint32_t r0; + uint32_t r1; + uint32_t r2; + uint32_t r3; + uint32_t r12; + uint32_t lr; + uint32_t pc; + uint32_t psr; +}; + +struct software_frame_t { + uint32_t r4; + uint32_t r5; + uint32_t r6; + uint32_t r7; + uint32_t r8; + uint32_t r9; + uint32_t r10; + uint32_t r11; +}; + +extern "C" +void SysTick_Handler() { + static bool on = true; + + if (on) { + GPIO_SetBits(GPIOB, GPIO_Pin_7); + } + else { + GPIO_ResetBits(GPIOB, GPIO_Pin_7); + } + + on = !on; + + SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; +} + +void thread_end() { +} + +volatile bool idle_task_run; + +void idle_task(const void *const) { + // trigger PendSV to run + SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; + + // wait for the PendSV handler to kick in. After the handler has completed it will do a context switch and + // this point shouldn't be reached. + + idle_task_run = true; + while (idle_task_run) { + GPIOB->BSRR = GPIO_Pin_6; + GPIOB->BRR = GPIO_Pin_6; + } +} + +static +void create_thread(void (task)(void const *const), bool create_sw); + +void osKernelInitialize() { + NVIC_SetPriority(SysTick_IRQn, 0xff); + NVIC_SetPriority(PendSV_IRQn, 0xff); + + SysTick_Config(SystemCoreClock / SYSTICK_FREQUENCY_HZ); + + GPIO_InitTypeDef init; + GPIO_StructInit(&init); + init.GPIO_Mode = GPIO_Mode_Out_PP; + init.GPIO_Pin = GPIO_Pin_6; + GPIO_Init(GPIOB, &init); + init.GPIO_Pin = GPIO_Pin_7; + GPIO_Init(GPIOB, &init); + + for (int i = 0; i < max_task_count; i++) { + tasks[i].flags = 0; + } + + create_thread(idle_task, false); + current_task = 0; +} + +void create_thread(void (task)(void const *const)) { + create_thread(task, true); +} + +static +void create_thread(void (task)(void const *const), bool create_sw) { + uint8_t *s = stacks[task_count] + stack_size; + + s -= sizeof(hardware_frame_t); + hardware_frame_t *hw = reinterpret_cast<hardware_frame_t *>(s); + + hw->r0 = 0x00000000; + hw->r1 = 0x01010101; + hw->r2 = 0x02020202; + hw->r3 = 0x03030303; + hw->r12 = 0x0c0c0c0c; + hw->lr = reinterpret_cast<uint32_t>(thread_end); + + hw->pc = reinterpret_cast<uint32_t>(task); + hw->psr = 0x01000000; + + if (create_sw) { + s -= sizeof(software_frame_t); + software_frame_t *sw = reinterpret_cast<software_frame_t *>(s); + + sw->r4 = 0x04040404; + sw->r5 = 0x05050505; + sw->r6 = 0x06060606; + sw->r7 = 0x07070707; + sw->r8 = 0x08080808; + sw->r9 = 0x09090909; + sw->r10 = 0x0a0a0a0a; + sw->r11 = 0x0b0b0b0b; + } + + task_t *t = &tasks[task_count]; + t->init(s); + t->exc_return = exc_return_t::RETURN_TO_THREAD_MODE_USE_PSP; + + task_count++; +} + +static +int find_first_ready_task() { + task_t *t; + int idx = current_task + 1; + do { + if (idx == max_task_count) { + idx = 1; + } else if (idx == current_task) { + return 0; + } + + t = &tasks[idx]; + } while (!t->is_ready()); + + return idx; +} + +__attribute__((used)) +task_t *select_next_task(uint8_t *current_stack) { + + task_t *t = &tasks[current_task]; + int new_task = find_first_ready_task(); + + if (new_task != current_task) { + t->stack = current_stack; + t = &tasks[new_task]; + current_task = new_task; + } + + return t; +} + +volatile bool run; + +extern "C" void do_first_context_switch(uint8_t *user_stack, void (task)(const void *const arg)); + +void osKernelStart() { + run = true; + + task_t &t = tasks[0]; + + do_first_context_switch(t.stack, idle_task); + + while (run) { + } +} + + +volatile bool run1 = true; + +void job1(void const *const) { + while (run1) { + GPIO_SetBits(GPIOB, GPIO_Pin_8); + GPIO_ResetBits(GPIOB, GPIO_Pin_8); + } +} + +volatile bool run2 = true; + +void job2(void const *const) { + while (run2) { + GPIO_SetBits(GPIOB, GPIO_Pin_5); + GPIO_ResetBits(GPIOB, GPIO_Pin_5); + } +} + +int main(void) { + SystemInit(); + + init_printf(nullptr, dbg_putc); + + RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO + | RCC_APB2Periph_USART1 + | RCC_APB2Periph_GPIOA + | RCC_APB2Periph_GPIOB + | RCC_APB2Periph_GPIOC, + ENABLE); + + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOB, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOB, DISABLE); + + // Make Port B's pin #5 the debug output pin + GPIO_InitTypeDef init; + GPIO_StructInit(&init); + init.GPIO_Mode = GPIO_Mode_Out_PP; + init.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_8; + GPIO_Init(GPIOB, &init); + + osKernelInitialize(); + create_thread(job1); + create_thread(job2); + osKernelStart(); + + return 0; +} diff --git a/os1_cm3.s b/os1_cm3.s new file mode 100644 index 0000000..a9083dc --- /dev/null +++ b/os1_cm3.s @@ -0,0 +1,56 @@ +.syntax unified +.cpu cortex-m3 +.thumb + +.section .text + +/* + +User threads use the process stack (PSP register), kernel and exception code use the main stack (MSP register). + +*/ + +.thumb_func +.global do_first_context_switch +// void do_first_context_switch(uint8_t *user_stack, void (task)(const void *arg)); +do_first_context_switch: + /* Set PSP to the user task's stack */ + msr psp, r0 + + // Set CONTROL.SPSEL=1 so that we run with two stacks + mov r0, #2 + msr control, r0 + isb + + // Restore the data from hardware_frame_t. + pop {r0 - r3, r12, lr} + // Pop PC and PSR. PSR is ignored, but we branch to the new PC + pop {r4, r5} + bx r4 + +/* +When this function is executed {r0-r3,r12,lr,pc} has been pushed to the stack pointed to by PSP. We push the rest of the +registers to the PSP. The current stack pointer is the MSP. + */ +.thumb_func +.global PendSV_Handler +PendSV_Handler: + // Save the rest of the context to the current process' stack + mrs r0, psp + stmdb r0!, {r4 - r11} + + // Call select_next_task_sp. after return, r0 points to a task_t + bl _Z16select_next_taskPh // task_t *select_next_task(uint8_t *current_stack) + + // load task_t.stack and task_t.lr into r1 and lr + ldm r0, {r1, lr} + + ldmia r1!, {r4 - r11} + msr psp, r1 + + // Return, let the CPU restore the hardware part of the context + bx lr +.pool +.size PendSV_Handler,.-PendSV_Handler + +.end diff --git a/playground.h b/playground.h new file mode 100644 index 0000000..824157b --- /dev/null +++ b/playground.h @@ -0,0 +1,6 @@ +#ifndef PLAYGROUND_H +#define PLAYGROUND_H + +extern "C" void halt(); + +#endif diff --git a/serial1.cpp b/serial1.cpp index 58ea536..85bd435 100644 --- a/serial1.cpp +++ b/serial1.cpp @@ -8,8 +8,6 @@ #include "tinyprintf.h" #include "debug.h" -int init_high(); - extern "C" void halt(); #include "stm32f10x_conf.h" diff --git a/serial2.cpp b/serial2.cpp index d53b254..c0259ea 100644 --- a/serial2.cpp +++ b/serial2.cpp @@ -7,22 +7,19 @@ #include "debug.h" #include "tinyprintf.h" - -int init_high(); - -extern "C" void halt(); +#include "playground.h" extern "C" -__attribute__((naked)) +__attribute__((naked, used)) void HardFault_Handler_C(uint32_t *hardfault_args) { - dbg_printf("r0 = 0x%08x (%d)\n", hardfault_args[0], hardfault_args[0]); - dbg_printf("r1 = 0x%08x (%d)\n", hardfault_args[1], hardfault_args[1]); - dbg_printf("r2 = 0x%08x (%d)\n", hardfault_args[2], hardfault_args[2]); - dbg_printf("r3 = 0x%08x (%d)\n", hardfault_args[3], hardfault_args[3]); - dbg_printf("r12 = 0x%08x (%d)\n", hardfault_args[4], hardfault_args[4]); - dbg_printf("lr = 0x%08x (%d)\n", hardfault_args[5], hardfault_args[5]); - dbg_printf("pc = 0x%08x (%d)\n", hardfault_args[6], hardfault_args[6]); - dbg_printf("psr = 0x%08x (%d)\n", hardfault_args[7], hardfault_args[7]); + dbg_printf("r0 = 0x%08lx (%lu)\n", hardfault_args[0], hardfault_args[0]); + dbg_printf("r1 = 0x%08lx (%lu)\n", hardfault_args[1], hardfault_args[1]); + dbg_printf("r2 = 0x%08lx (%lu)\n", hardfault_args[2], hardfault_args[2]); + dbg_printf("r3 = 0x%08lx (%lu)\n", hardfault_args[3], hardfault_args[3]); + dbg_printf("r12 = 0x%08lx (%lu)\n", hardfault_args[4], hardfault_args[4]); + dbg_printf("lr = 0x%08lx (%lu)\n", hardfault_args[5], hardfault_args[5]); + dbg_printf("pc = 0x%08lx (%lu)\n", hardfault_args[6], hardfault_args[6]); + dbg_printf("psr = 0x%08lx (%lu)\n", hardfault_args[7], hardfault_args[7]); dbg_printf("\n"); halt(); @@ -4,12 +4,7 @@ #include <stm32f10x_rcc.h> #include <stm32f10x_gpio.h> #include <stddef.h> - -int init_high(); - -extern "C" void halt(); - -#include "stm32f10x_conf.h" +#include "playground.h" extern "C" __attribute__((naked)) |