132 lines
3.7 KiB
C
132 lines
3.7 KiB
C
/*
|
|
* Copyright (c) 2013-2014 Wind River Systems, Inc.
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*/
|
|
|
|
/**
|
|
* @file
|
|
* @brief New thread creation for ARM Cortex-M
|
|
*
|
|
* Core thread related primitives for the ARM Cortex-M processor architecture.
|
|
*/
|
|
|
|
#include <kernel.h>
|
|
#include <toolchain.h>
|
|
#include <kernel_structs.h>
|
|
#include <wait_q.h>
|
|
#ifdef CONFIG_INIT_STACKS
|
|
#include <string.h>
|
|
#endif /* CONFIG_INIT_STACKS */
|
|
|
|
#if defined(CONFIG_THREAD_MONITOR)
|
|
/*
|
|
* Add a thread to the kernel's list of active threads.
|
|
*/
|
|
static ALWAYS_INLINE void thread_monitor_init(struct tcs *tcs)
|
|
{
|
|
unsigned int key;
|
|
|
|
key = irq_lock();
|
|
tcs->next_thread = _kernel.threads;
|
|
_kernel.threads = tcs;
|
|
irq_unlock(key);
|
|
}
|
|
#else
|
|
#define thread_monitor_init(tcs) \
|
|
do {/* do nothing */ \
|
|
} while ((0))
|
|
#endif /* CONFIG_THREAD_MONITOR */
|
|
|
|
/**
|
|
*
|
|
* @brief Intialize a new thread from its stack space
|
|
*
|
|
* The control structure (TCS) is put at the lower address of the stack. An
|
|
* initial context, to be "restored" by __pendsv(), is put at the other end of
|
|
* the stack, and thus reusable by the stack when not needed anymore.
|
|
*
|
|
* The initial context is an exception stack frame (ESF) since exiting the
|
|
* PendSV exception will want to pop an ESF. Interestingly, even if the lsb of
|
|
* an instruction address to jump to must always be set since the CPU always
|
|
* runs in thumb mode, the ESF expects the real address of the instruction,
|
|
* with the lsb *not* set (instructions are always aligned on 16 bit halfwords).
|
|
* Since the compiler automatically sets the lsb of function addresses, we have
|
|
* to unset it manually before storing it in the 'pc' field of the ESF.
|
|
*
|
|
* <options> is currently unused.
|
|
*
|
|
* @param pStackMem the aligned stack memory
|
|
* @param stackSize stack size in bytes
|
|
* @param pEntry the entry point
|
|
* @param parameter1 entry point to the first param
|
|
* @param parameter2 entry point to the second param
|
|
* @param parameter3 entry point to the third param
|
|
* @param priority thread priority
|
|
* @param options thread options: K_ESSENTIAL, K_FP_REGS
|
|
*
|
|
* @return N/A
|
|
*/
|
|
|
|
void _new_thread(char *pStackMem, size_t stackSize,
|
|
_thread_entry_t pEntry,
|
|
void *parameter1, void *parameter2, void *parameter3,
|
|
int priority, unsigned options)
|
|
{
|
|
_ASSERT_VALID_PRIO(priority, pEntry);
|
|
|
|
__ASSERT(!((uint32_t)pStackMem & (STACK_ALIGN - 1)),
|
|
"stack is not aligned properly\n"
|
|
"%d-byte alignment required\n", STACK_ALIGN);
|
|
|
|
char *stackEnd = pStackMem + stackSize;
|
|
struct __esf *pInitCtx;
|
|
struct tcs *tcs = (struct tcs *) pStackMem;
|
|
|
|
#ifdef CONFIG_INIT_STACKS
|
|
memset(pStackMem, 0xaa, stackSize);
|
|
#endif
|
|
|
|
/* carve the thread entry struct from the "base" of the stack */
|
|
|
|
pInitCtx = (struct __esf *)(STACK_ROUND_DOWN(stackEnd) -
|
|
sizeof(struct __esf));
|
|
|
|
pInitCtx->pc = ((uint32_t)_thread_entry) & 0xfffffffe;
|
|
pInitCtx->a1 = (uint32_t)pEntry;
|
|
pInitCtx->a2 = (uint32_t)parameter1;
|
|
pInitCtx->a3 = (uint32_t)parameter2;
|
|
pInitCtx->a4 = (uint32_t)parameter3;
|
|
pInitCtx->xpsr =
|
|
0x01000000UL; /* clear all, thumb bit is 1, even if RO */
|
|
|
|
_init_thread_base(&tcs->base, priority, _THREAD_PRESTART, options);
|
|
|
|
/* static threads overwrite it afterwards with real value */
|
|
tcs->init_data = NULL;
|
|
tcs->fn_abort = NULL;
|
|
|
|
#ifdef CONFIG_THREAD_CUSTOM_DATA
|
|
/* Initialize custom data field (value is opaque to kernel) */
|
|
|
|
tcs->custom_data = NULL;
|
|
#endif
|
|
|
|
#ifdef CONFIG_THREAD_MONITOR
|
|
/*
|
|
* In debug mode tcs->entry give direct access to the thread entry
|
|
* and the corresponding parameters.
|
|
*/
|
|
tcs->entry = (struct __thread_entry *)(pInitCtx);
|
|
#endif
|
|
|
|
tcs->callee_saved.psp = (uint32_t)pInitCtx;
|
|
tcs->arch.basepri = 0;
|
|
|
|
/* swap_return_value can contain garbage */
|
|
|
|
/* initial values in all other registers/TCS entries are irrelevant */
|
|
|
|
thread_monitor_init(tcs);
|
|
}
|