UCOS_II的移植到S3C2440 ADS 1.2

一、新建工程
1.新建一个ARM Executable Image
2.创建uCOS_II文件夹，创建两个子文件夹，分别为ARM、SOURCE
ARM存放和平台相关的文件（"OS_CPU.H" "Os_cpu_a.s" "Os_cpu_c.c" ）
SOURCE下存入和平台无关的文件（"ucos_ii.h" "os_cfg.h" "os_core.c" "os_flag.c" "os_mbox.c" "os_mem.c" "os_mutex.c" "os_q.c" "os_sem.c" "os_task.c" "os_time.c" "os_tmr.c" ）
3.创建一个S3C2440文件夹，创建两个子文件夹，分别为INC、SRC
INC存放S3C2440相关头文件（"2440addr.h" "2440lib.h" "2440slib.h" "config.h" "Def1.h" "lcd.h" "mmu.h" "Option.h" "Target.h" "Timer.h" ）
SRC存放S3C2440相关源文件（"Timer.c" "2440init.s" "2440lib.c" "2440slib.s" "Font_Libs.c" "iphone.c" "lcd.c" "mmu.c" "nand.c" "Target.c" ）
4.创建一个app文件夹（app_cfg.h、main.c、Printf.c、Printf.h）
二、工程设置Edit->DebugRel Settings下
1.Target->Target Settings,Post-linker:ARM fromELF
2.Target->Access Paths选中Always Search User Paths（ucos_ii部分文件采用#include <>包涵，不修改这里找不到文件）
3.Language Settings下ARM Assembler、ARM C Compliler、ARM C++ Complier处理器设置成ARM920T
4.Language Settings下ARM C Compliler下Errors下去掉Implicit pointer c,ARM C Compliler下Warnings下去掉Unused declaration（-O1 -g+ -cpu ARM920T -Wx -Ec）
5.ARM Linker下,Output下RO Base设置成0x30000000,Options下Image entry point设置成0x30000000,Layout下Place at beginning of image下的Object/Symbol设置成2440init.o,Section设置成Init，Listings下选勾Image map、List file设置list.txt，勾上Sizes、Totals、Unused、Veneers

6.ARM fromELF下Output file name下填写输出的二进制

三、移植文件的修改

对OS_CPU.H的修改：

view plain copy to clipboard print ?

1. /*
2. *********************************************************************************************************
3. *ARM
4. *
5. *Method#1:NOTIMPLEMENTED
6. *Disable/Enableinterruptsusingsimpleinstructions.Aftercriticalsection,interrupts
7. *willbeenabledeveniftheyweredisabledbeforeenteringthecriticalsection.
8. *
9. *Method#2:NOTIMPLEMENTED
10. *Disable/Enableinterruptsbypreservingthestateofinterrupts.Inotherwords,if
11. *interruptsweredisabledbeforeenteringthecriticalsection,theywillbedisabledwhen
12. *leavingthecriticalsection.
13. *NOTIMPLEMENTED
14. *
15. *Method#3:Disable/Enableinterruptsbypreservingthestateofinterrupts.Generallyspeakingyou
16. *wouldstorethestateoftheinterruptdisableflaginthelocalvariable'cpu_sr'andthen
17. *disableinterrupts.'cpu_sr'isallocatedinallofuC/OS-II'sfunctionsthatneedto
18. *disableinterrupts.Youwouldrestoretheinterruptdisablestatebycopyingback'cpu_sr'
19. *intotheCPU'sstatusregister.Thisisthepreferedmethodtodisableinterrupts.
20. *********************************************************************************************************
21. */
23. #defineOS_CRITICAL_METHOD3
25. #ifOS_CRITICAL_METHOD==3
26. #defineOS_ENTER_CRITICAL()(cpu_sr=OSCPUSaveSR())/*Disableinterrupts*/
27. #defineOS_EXIT_CRITICAL()(OSCPURestoreSR(cpu_sr))/*Restoreinterrupts*/
28. #endif
30. /*
31. *********************************************************************************************************
32. *ARMMiscellaneous
33. *********************************************************************************************************
34. */
36. #defineOS_STK_GROWTH1/*StackgrowsfromHIGHtoLOWmemoryonARM*/
38. #defineOS_TASK_SW()OSCtxSw()

/* ********************************************************************************************************* * ARM * * Method #1: NOT IMPLEMENTED * Disable/Enable interrupts using simple instructions. After critical section, interrupts * will be enabled even if they were disabled before entering the critical section. * * Method #2: NOT IMPLEMENTED * Disable/Enable interrupts by preserving the state of interrupts. In other words, if * interrupts were disabled before entering the critical section, they will be disabled when * leaving the critical section. * NOT IMPLEMENTED * * Method #3: Disable/Enable interrupts by preserving the state of interrupts. Generally speaking you * would store the state of the interrupt disable flag in the local variable 'cpu_sr' and then * disable interrupts. 'cpu_sr' is allocated in all of uC/OS-II's functions that need to * disable interrupts. You would restore the interrupt disable state by copying back 'cpu_sr' * into the CPU's status register. This is the prefered method to disable interrupts. ********************************************************************************************************* */ #define OS_CRITICAL_METHOD 3 #if OS_CRITICAL_METHOD == 3 #define OS_ENTER_CRITICAL() (cpu_sr = OSCPUSaveSR()) /* Disable interrupts */ #define OS_EXIT_CRITICAL() (OSCPURestoreSR(cpu_sr)) /* Restore interrupts */ #endif /* ********************************************************************************************************* * ARM Miscellaneous ********************************************************************************************************* */ #define OS_STK_GROWTH 1 /* Stack grows from HIGH to LOW memory on ARM */ #define OS_TASK_SW() OSCtxSw()
对Os_cpu_c.c的修改：

view plain copy to clipboard print ?

1. /*
2. *********************************************************************************************************
3. *uC/OS-II
4. *TheReal-TimeKernel
5. *
6. *(c)Copyright1992-2003,Micrium,Inc.,Weston,FL
7. *AllRightsReserved
8. *
9. *ARM9Port
10. *
11. *File:OS_CPU_C.C
12. *********************************************************************************************************
13. */
15. //#defineOS_CPU_GLOBALS
16. #include"ucos_ii.h"
19. /*
20. *********************************************************************************************************
21. *INITIALIZEATASK'SSTACK
22. *
23. *Description:ThisfunctioniscalledbyeitherOSTaskCreate()orOSTaskCreateExt()toinitializethe
24. *stackframeofthetaskbeingcreated.Thisfunctionishighlyprocessorspecific.
25. *
26. *Arguments:taskisapointertothetaskcode
27. *
28. *p_argisapointertoausersupplieddataareathatwillbepassedtothetask
29. *whenthetaskfirstexecutes.
30. *
31. *ptosisapointertothetopofstack.Itisassumedthat'ptos'pointsto
32. *a'free'entryonthetaskstack.IfOS_STK_GROWTHissetto1then
33. *'ptos'willcontaintheHIGHESTvalidaddressofthestack.Similarly,if
34. *OS_STK_GROWTHissetto0,the'ptos'willcontainstheLOWESTvalidaddress
35. *ofthestack.
36. *
37. *optspecifiesoptionsthatcanbeusedtoalterthebehaviorofOSTaskStkInit().
38. *(seeuCOS_II.HforOS_TASK_OPT_???).
39. *
40. *Returns:Alwaysreturnsthelocationofthenewtop-of-stack'oncetheprocessorregistershave
41. *beenplacedonthestackintheproperorder.
42. *
43. *Note(s):1)Interruptsareenabledwhenyourtaskstartsexecuting.
44. *2)AlltasksruninSVCmode.
45. *********************************************************************************************************
46. */
48. OS_STK*OSTaskStkInit(void(*task)(void*pd),void*p_arg,OS_STK*ptos,INT16Uopt)
49. {
50. OS_STK*stk;
52. optopt=opt;/*'opt'isnotused,preventwarning*/
54. stk=ptos;/*Loadstackpointer*/
56. *(stk)=(OS_STK)task;/*EntryPoint*/
57. *(--stk)=(INT32U)0;/*LR*/
58. *(--stk)=(INT32U)0;/*R12*/
59. *(--stk)=(INT32U)0;/*R11*/
60. *(--stk)=(INT32U)0;/*R10*/
61. *(--stk)=(INT32U)0;/*R9*/
62. *(--stk)=(INT32U)0;/*R8*/
63. *(--stk)=(INT32U)0;/*R7*/
64. *(--stk)=(INT32U)0;/*R6*/
65. *(--stk)=(INT32U)0;/*R5*/
66. *(--stk)=(INT32U)0;/*R4*/
67. *(--stk)=(INT32U)0;/*R3*/
68. *(--stk)=(INT32U)0;/*R2*/
69. *(--stk)=(INT32U)0;/*R1*/
70. *(--stk)=(INT32U)p_arg;/*R0:argument*/
71. *(--stk)=(INT32U)0x00000013L;/*CPSR(SVCmode,EnablebothIRQandFIQinterrupts)*/
73. return(stk);
74. }
76. #ifOS_CPU_HOOKS_EN
77. /*
78. *********************************************************************************************************
79. *OSINITIALIZATIONHOOK
80. *(BEGINNING)
81. *
82. *Description:ThisfunctioniscalledbyOSInit()atthebeginningofOSInit().
83. *
84. *Arguments:none
85. *
86. *Note(s):1)Interruptsshouldbedisabledduringthiscall.
87. *********************************************************************************************************
88. */
89. #ifOS_VERSION>203
90. voidOSInitHookBegin(void)
91. {
92. }
93. #endif
95. /*
96. *********************************************************************************************************
97. *OSINITIALIZATIONHOOK
98. *(END)
99. *
100. *Description:ThisfunctioniscalledbyOSInit()attheendofOSInit().
101. *
102. *Arguments:none
103. *
104. *Note(s):1)Interruptsshouldbedisabledduringthiscall.
105. *********************************************************************************************************
106. */
107. #ifOS_VERSION>203
108. voidOSInitHookEnd(void)
109. {
110. }
111. #endif
114. /*
115. *********************************************************************************************************
116. *TASKCREATIONHOOK
117. *
118. *Description:Thisfunctioniscalledwhenataskiscreated.
119. *
120. *Arguments:ptcbisapointertothetaskcontrolblockofthetaskbeingcreated.
121. *
122. *Note(s):1)Interruptsaredisabledduringthiscall.
123. *********************************************************************************************************
124. */
125. voidOSTaskCreateHook(OS_TCB*ptcb)
126. {
127. ptcbptcb=ptcb;/*Preventcompilerwarning*/
128. }
131. /*
132. *********************************************************************************************************
133. *TASKDELETIONHOOK
134. *
135. *Description:Thisfunctioniscalledwhenataskisdeleted.
136. *
137. *Arguments:ptcbisapointertothetaskcontrolblockofthetaskbeingdeleted.
138. *
139. *Note(s):1)Interruptsaredisabledduringthiscall.
140. *********************************************************************************************************
141. */
142. voidOSTaskDelHook(OS_TCB*ptcb)
143. {
144. ptcbptcb=ptcb;/*Preventcompilerwarning*/
145. }
147. /*
148. *********************************************************************************************************
149. *TASKSWITCHHOOK
150. *
151. *Description:Thisfunctioniscalledwhenataskswitchisperformed.Thisallowsyoutoperformother
152. *operationsduringacontextswitch.
153. *
154. *Arguments:none
155. *
156. *Note(s):1)Interruptsaredisabledduringthiscall.
157. *2)Itisassumedthattheglobalpointer'OSTCBHighRdy'pointstotheTCBofthetaskthat
158. *willbe'switchedin'(i.e.thehighestprioritytask)and,'OSTCBCur'pointstothe
159. *taskbeingswitchedout(i.e.thepreemptedtask).
160. *********************************************************************************************************
161. */
162. voidOSTaskSwHook(void)
163. {
164. }
166. /*
167. *********************************************************************************************************
168. *STATISTICTASKHOOK
169. *
170. *Description:ThisfunctioniscalledeverysecondbyuC/OS-II'sstatisticstask.Thisallowsyour
171. *applicationtoaddfunctionalitytothestatisticstask.
172. *
173. *Arguments:none
174. *********************************************************************************************************
175. */
176. voidOSTaskStatHook(void)
177. {
178. }
180. /*
181. *********************************************************************************************************
182. *OSTCBInit()HOOK
183. *
184. *Description:ThisfunctioniscalledbyOSTCBInit()aftersettingupmostoftheTCB.
185. *
186. *Arguments:ptcbisapointertotheTCBofthetaskbeingcreated.
187. *
188. *Note(s):1)InterruptsmayormaynotbeENABLEDduringthiscall.
189. *********************************************************************************************************
190. */
191. #ifOS_VERSION>203
192. voidOSTCBInitHook(OS_TCB*ptcb)
193. {
194. ptcbptcb=ptcb;/*PreventCompilerwarning*/
195. }
196. #endif
199. /*
200. *********************************************************************************************************
201. *TICKHOOK
202. *
203. *Description:Thisfunctioniscalledeverytick.
204. *
205. *Arguments:none
206. *
207. *Note(s):1)InterruptsmayormaynotbeENABLEDduringthiscall.
208. *********************************************************************************************************
209. */
210. voidOSTimeTickHook(void)
211. {
212. }
215. /*
216. *********************************************************************************************************
217. *IDLETASKHOOK
218. *
219. *Description:Thisfunctioniscalledbytheidletask.Thishookhasbeenaddedtoallowyoutodo
220. *suchthingsasSTOPtheCPUtoconservepower.
221. *
222. *Arguments:none
223. *
224. *Note(s):1)Interruptsareenabledduringthiscall.
225. *********************************************************************************************************
226. */
227. #ifOS_VERSION>=251
228. voidOSTaskIdleHook(void)
229. {
230. }
231. #endif
233. #endif

/* ********************************************************************************************************* * uC/OS-II * The Real-Time Kernel * * (c) Copyright 1992-2003, Micrium, Inc., Weston, FL * All Rights Reserved * * ARM9 Port * * File : OS_CPU_C.C ********************************************************************************************************* */ //#define OS_CPU_GLOBALS #include "ucos_ii.h" /* ********************************************************************************************************* * INITIALIZE A TASK'S STACK * * Description: This function is called by either OSTaskCreate() or OSTaskCreateExt() to initialize the * stack frame of the task being created. This function is highly processor specific. * * Arguments : task is a pointer to the task code * * p_arg is a pointer to a user supplied data area that will be passed to the task * when the task first executes. * * ptos is a pointer to the top of stack. It is assumed that 'ptos' points to * a 'free' entry on the task stack. If OS_STK_GROWTH is set to 1 then * 'ptos' will contain the HIGHEST valid address of the stack. Similarly, if * OS_STK_GROWTH is set to 0, the 'ptos' will contains the LOWEST valid address * of the stack. * * opt specifies options that can be used to alter the behavior of OSTaskStkInit(). * (see uCOS_II.H for OS_TASK_OPT_???). * * Returns : Always returns the location of the new top-of-stack' once the processor registers have * been placed on the stack in the proper order. * * Note(s) : 1) Interrupts are enabled when your task starts executing. * 2) All tasks run in SVC mode. ********************************************************************************************************* */ OS_STK *OSTaskStkInit (void (*task)(void *pd), void *p_arg, OS_STK *ptos, INT16U opt) { OS_STK *stk; opt = opt; /* 'opt' is not used, prevent warning */ stk = ptos; /* Load stack pointer */ *(stk) = (OS_STK)task; /* Entry Point */ *(--stk) = (INT32U)0; /* LR */ *(--stk) = (INT32U)0; /* R12 */ *(--stk) = (INT32U)0; /* R11 */ *(--stk) = (INT32U)0; /* R10 */ *(--stk) = (INT32U)0; /* R9 */ *(--stk) = (INT32U)0; /* R8 */ *(--stk) = (INT32U)0; /* R7 */ *(--stk) = (INT32U)0; /* R6 */ *(--stk) = (INT32U)0; /* R5 */ *(--stk) = (INT32U)0; /* R4 */ *(--stk) = (INT32U)0; /* R3 */ *(--stk) = (INT32U)0; /* R2 */ *(--stk) = (INT32U)0; /* R1 */ *(--stk) = (INT32U)p_arg; /* R0 : argument */ *(--stk) = (INT32U)0x00000013L; /* CPSR (SVC mode, Enable both IRQ and FIQ interrupts) */ return (stk); } #if OS_CPU_HOOKS_EN /* ********************************************************************************************************* * OS INITIALIZATION HOOK * (BEGINNING) * * Description: This function is called by OSInit() at the beginning of OSInit(). * * Arguments : none * * Note(s) : 1) Interrupts should be disabled during this call. ********************************************************************************************************* */ #if OS_VERSION > 203 void OSInitHookBegin (void) { } #endif /* ********************************************************************************************************* * OS INITIALIZATION HOOK * (END) * * Description: This function is called by OSInit() at the end of OSInit(). * * Arguments : none * * Note(s) : 1) Interrupts should be disabled during this call. ********************************************************************************************************* */ #if OS_VERSION > 203 void OSInitHookEnd (void) { } #endif /* ********************************************************************************************************* * TASK CREATION HOOK * * Description: This function is called when a task is created. * * Arguments : ptcb is a pointer to the task control block of the task being created. * * Note(s) : 1) Interrupts are disabled during this call. ********************************************************************************************************* */ void OSTaskCreateHook (OS_TCB *ptcb) { ptcb = ptcb; /* Prevent compiler warning */ } /* ********************************************************************************************************* * TASK DELETION HOOK * * Description: This function is called when a task is deleted. * * Arguments : ptcb is a pointer to the task control block of the task being deleted. * * Note(s) : 1) Interrupts are disabled during this call. ********************************************************************************************************* */ void OSTaskDelHook (OS_TCB *ptcb) { ptcb = ptcb; /* Prevent compiler warning */ } /* ********************************************************************************************************* * TASK SWITCH HOOK * * Description: This function is called when a task switch is performed. This allows you to perform other * operations during a context switch. * * Arguments : none * * Note(s) : 1) Interrupts are disabled during this call. * 2) It is assumed that the global pointer 'OSTCBHighRdy' points to the TCB of the task that * will be 'switched in' (i.e. the highest priority task) and, 'OSTCBCur' points to the * task being switched out (i.e. the preempted task). ********************************************************************************************************* */ void OSTaskSwHook (void) { } /* ********************************************************************************************************* * STATISTIC TASK HOOK * * Description: This function is called every second by uC/OS-II's statistics task. This allows your * application to add functionality to the statistics task. * * Arguments : none ********************************************************************************************************* */ void OSTaskStatHook (void) { } /* ********************************************************************************************************* * OSTCBInit() HOOK * * Description: This function is called by OSTCBInit() after setting up most of the TCB. * * Arguments : ptcb is a pointer to the TCB of the task being created. * * Note(s) : 1) Interrupts may or may not be ENABLED during this call. ********************************************************************************************************* */ #if OS_VERSION > 203 void OSTCBInitHook (OS_TCB *ptcb) { ptcb = ptcb; /* Prevent Compiler warning */ } #endif /* ********************************************************************************************************* * TICK HOOK * * Description: This function is called every tick. * * Arguments : none * * Note(s) : 1) Interrupts may or may not be ENABLED during this call. ********************************************************************************************************* */ void OSTimeTickHook (void) { } /* ********************************************************************************************************* * IDLE TASK HOOK * * Description: This function is called by the idle task. This hook has been added to allow you to do * such things as STOP the CPU to conserve power. * * Arguments : none * * Note(s) : 1) Interrupts are enabled during this call. ********************************************************************************************************* */ #if OS_VERSION >= 251 void OSTaskIdleHook (void) { } #endif #endif
对Os_cpu_a.s的修改：

view plain copy to clipboard print ?

1. ;*********************************************************************************************************
2. ;uC/OS-II
3. ;TheReal-TimeKernel
4. ;
5. ;(c)Copyright1992-2003,JeanJ.Labrosse,Weston,FL
6. ;AllRightsReserved
7. ;
8. ;ARM920TPort
9. ;ADSv1.2Compiler
10. ;SamsungS3C2440A
11. ;
12. ;File:os_cpu_a.srefrencetoucosapplicationnoteforarmAN-1014
13. ;Des:S3C2440uC/OS-IIPort
14. ;by:tangxiaofengxidian503
15. ;History:
16. ;OSCtxSw(),OSIntCtxSw()OSStartHighRdy()OS_CPU_IRQ_ISR()OSTickISR()
17. ;*********************************************************************************************************/
19. SRCPNDEQU0x4a000000;Sourcepending
20. INTPNDEQU0x4a000010;Interruptrequeststatus
22. rEINTPENDEQU0x560000a8
23. INTOFFSETEQU0x4a000014
26. USERMODEEQU0x10
27. FIQMODEEQU0x11
28. IRQMODEEQU0x12
29. SVCMODEEQU0x13
30. ABORTMODEEQU0x17
31. UNDEFMODEEQU0x1b
32. MODEMASKEQU0x1f
33. NOINTEQU0xc0
35. ;*********************************************************************************************************
36. ;EXPORTandEXTERNALREFERENCES
37. ;*********************************************************************************************************/
38. IMPORTOSRunning
39. IMPORTOSTCBCur
40. IMPORTOSTCBHighRdy
41. IMPORTOSPrioCur
42. IMPORTOSPrioHighRdy
43. IMPORTOSIntNesting
46. IMPORTOSIntEnter
47. IMPORTOSIntExit
48. IMPORTOSTaskSwHook
49. IMPORTOSTimeTick
51. IMPORTHandleEINT0
54. EXPORTOSStartHighRdy
55. EXPORTOSCtxSw
56. EXPORTOSTickISR
57. EXPORTOSIntCtxSw
59. EXPORTOSCPUSaveSR
60. EXPORTOSCPURestoreSR
62. EXPORTOS_CPU_IRQ_ISR
65. AREAUCOS_ARM,CODE,READONLY
67. ;*********************************************************************************************************
68. ;STARTMULTITASKING
69. ;voidOSStartHighRdy(void)
70. ;
71. ;Thestackframeisassumedtolookasfollows:
72. ;
73. ;EntryPoint(TaskName)(Highmemory)
74. ;LR(R14)
75. ;R12
76. ;R11
77. ;R10
78. ;R9
79. ;R8
80. ;R7
81. ;R6
82. ;R5
83. ;R4
84. ;R3
85. ;R2
86. ;R1
87. ;R0:argument
88. ;OSTCBHighRdy->OSTCBStkPtr-->CPSR(Lowmemory)
89. ;
90. ;Note:OSStartHighRdy()MUST:
91. ;a)CallOSTaskSwHook()then,
92. ;b)SetOSRunningtoTRUE,
93. ;c)Switchtothehighestprioritytask.
94. ;***********************************************************************************************************/
95. OSStartHighRdy
96. ;----------------------------------------------------------------------------------
97. ;OSRunning=TRUE;
98. ;----------------------------------------------------------------------------------
100. MSRCPSR_cxsf,#SVCMODE|NOINT;SwitchtoSVCmodewithIRQ&FIQdisable
102. BLOSTaskSwHook;CalluserdefineTaskswitchhook
104. LDRR0,=OSRunning;OSRunning=TRUE
105. MOVR1,#1
106. STRBR1,[R0]
108. ;----------------------------------------------------------------------------------
109. ;SP=OSTCBHighRdy->OSTCBStkPtr;
110. ;----------------------------------------------------------------------------------
111. LDRR0,=OSTCBHighRdy
112. LDRR0,[R0]
113. LDRSP,[R0]
115. ;----------------------------------------------------------------------------------
116. ;Preparetoreturntopropermode
117. ;----------------------------------------------------------------------------------
118. LDMFDSP!,{R0}
119. MSRSPSR_cxsf,R0
120. LDMFDSP!,{R0-R12,LR,PC}^
123. ;**********************************************************************************************************
124. ;PERFORMACONTEXTSWITCH(Fromtasklevel)
125. ;voidOSCtxSw(void)
126. ;
127. ;Note(s):1)Uponentry:
128. ;OSTCBCurpointstotheOS_TCBofthetasktosuspend
129. ;OSTCBHighRdypointstotheOS_TCBofthetasktoresume
130. ;
131. ;2)Thestackframeofthetasktosuspendlooksasfollows:
132. ;
133. ;PC(Highmemory)
134. ;LR(R14)
135. ;R12
136. ;R11
137. ;R10
138. ;R9
139. ;R8
140. ;R7
141. ;R6
142. ;R5
143. ;R4
144. ;R3
145. ;R2
146. ;R1
147. ;R0
148. ;OSTCBCur->OSTCBStkPtr---->CPSR(Lowmemory)
149. ;
150. ;
151. ;3)Thestackframeofthetasktoresumelooksasfollows:
152. ;
153. ;PC(Highmemory)
154. ;LR(R14)
155. ;R12
156. ;R11
157. ;R10
158. ;R9
159. ;R8
160. ;R7
161. ;R6
162. ;R5
163. ;R4
164. ;R3
165. ;R2
166. ;R1
167. ;R0
168. ;OSTCBHighRdy->OSTCBStkPtr---->CPSR(Lowmemory)
169. ;*********************************************************************************************************/
170. OSCtxSw
172. STMFDSP!,{LR};PC
173. STMFDSP!,{R0-R12,LR};R0-R12LR
174. MRSR0,CPSR;PushCPSR
175. STMFDSP!,{R0}
177. ;----------------------------------------------------------------------------------
178. ;OSTCBCur->OSTCBStkPtr=SP
179. ;----------------------------------------------------------------------------------
180. LDRR0,=OSTCBCur
181. LDRR0,[R0]
182. STRSP,[R0]
184. ;----------------------------------------------------------------------------------
185. ;OSTaskSwHook();
186. ;---------------------------------------------------------------------------------
187. BLOSTaskSwHook
189. ;----------------------------------------------------------------------------------
190. ;OSTCBCur=OSTCBHighRdy;
191. ;----------------------------------------------------------------------------------
192. LDRR0,=OSTCBHighRdy
193. LDRR1,=OSTCBCur
194. LDRR0,[R0]
195. STRR0,[R1]
197. ;----------------------------------------------------------------------------------
198. ;OSPrioCur=OSPrioHighRdy;
199. ;----------------------------------------------------------------------------------
200. LDRR0,=OSPrioHighRdy
201. LDRR1,=OSPrioCur
202. LDRBR0,[R0]
203. STRBR0,[R1]
205. ;----------------------------------------------------------------------------------
206. ;OSTCBHighRdy->OSTCBStkPtr;
207. ;----------------------------------------------------------------------------------
208. LDRR0,=OSTCBHighRdy
209. LDRR0,[R0]
210. LDRSP,[R0]
212. ;----------------------------------------------------------------------------------
213. ;RestoreNewtaskcontext
214. ;----------------------------------------------------------------------------------
215. LDMFDSP!,{R0};POPCPSR
216. MSRSPSR_cxsf,R0
217. LDMFDSP!,{R0-R12,LR,PC}^
220. ;*********************************************************************************************************
221. ;TICKHANDLER
222. ;
223. ;Description:
224. ;ThishandlesalltheTimer0(INT_TIMER0)interruptwhichisusedtogeneratetheuC/OS-IItick.
225. ;*********************************************************************************************************/
227. OSTickISR
228. MOVR5,LR
229. MOVR1,#1
230. MOVR1,R1,LSL#10;Timer0SourcePendingReg.
231. LDRR0,=SRCPND
232. LDRR2,[R0]
233. ORRR1,R1,R2
234. STRR1,[R0]
236. LDRR0,=INTPND
237. LDRR1,[R0]
238. STRR1,[R0]
240. ;----------------------------------------------------------------------------------
241. ;OSTimeTick();
242. ;----------------------------------------------------------------------------------
243. BLOSTimeTick
246. MOVPC,R5;Return
248. ;*********************************************************************************************************
249. ;PERFORMACONTEXTSWITCH(FromanISR)
250. ;voidOSIntCtxSw(void)
251. ;
252. ;Description:1)Thiscodeperformsacontextswitchifahigherprioritytaskhasbeenmadeready-to-run
253. ;duringanISR.
254. ;
255. ;2)Thestackframeofthetasktosuspendlooksasfollows:
256. ;
257. ;PC(Highmemory)
258. ;LR(R14)
259. ;R12
260. ;R11
261. ;R10
262. ;R9
263. ;R8
264. ;R7
265. ;R6
266. ;R5
267. ;R4
268. ;R3
269. ;R2
270. ;R1
271. ;R0
272. ;
273. ;OSTCBCur->OSTCBStkPtr---->CPSR(Lowmemory)
274. ;
275. ;
276. ;3)Thestackframeofthetasktoresumelooksasfollows:
277. ;
278. ;PC(Highmemory)
279. ;LR(R14)
280. ;R12
281. ;R11
282. ;R10
283. ;R9
284. ;R8
285. ;R7
286. ;R6
287. ;R5
288. ;R4
289. ;R3
290. ;R2
291. ;R1
292. ;R0
293. ;OSTCBHighRdy->OSTCBStkPtr---->CPSR(Lowmemory)
294. ;*********************************************************************************************************/
295. OSIntCtxSw
296. ;----------------------------------------------------------------------------------
297. ;CallOSTaskSwHook();
298. ;----------------------------------------------------------------------------------
299. BLOSTaskSwHook
301. ;----------------------------------------------------------------------------------
302. ;OSTCBCur=OSTCBHighRdy;
303. ;----------------------------------------------------------------------------------
304. LDRR0,=OSTCBHighRdy
305. LDRR1,=OSTCBCur
306. LDRR0,[R0]
307. STRR0,[R1]
309. ;----------------------------------------------------------------------------------
310. ;OSPrioCur=OSPrioHighRdy;
311. ;----------------------------------------------------------------------------------
312. LDRR0,=OSPrioHighRdy
313. LDRR1,=OSPrioCur
314. LDRBR0,[R0]
315. STRBR0,[R1]
317. ;----------------------------------------------------------------------------------
318. ;SP=OSTCBHighRdy->OSTCBStkPtr;
319. ;----------------------------------------------------------------------------------
320. LDRR0,=OSTCBHighRdy
321. LDRR0,[R0]
322. LDRSP,[R0]
324. ;----------------------------------------------------------------------------------
325. ;RestoreNewTaskcontext
326. ;----------------------------------------------------------------------------------
327. LDMFDSP!,{R0};POPCPSR
328. MSRSPSR_cxsf,R0
329. LDMFDSP!,{R0-R12,LR,PC}^
333. OS_CPU_IRQ_ISR
335. STMFDSP!,{R1-R3};WewilluseR1-R3astemporaryregisters
336. ;----------------------------------------------------------------------------
337. ;R1--SP
338. ;R2--PC
339. ;R3--SPSR
340. ;------------------------------------------------------------------------
341. MOVR1,SP
342. ADDSP,SP,#12;AdjustIRQstackpointer
343. SUBR2,LR,#4;AdjustPCforreturnaddresstotask
345. MRSR3,SPSR;CopySPSR(TaskCPSR)
349. MSRCPSR_cxsf,#SVCMODE|NOINT;ChangetoSVCmode
351. ;SAVETASK''SCONTEXTONTOOLDTASK''SSTACK
353. STMFDSP!,{R2};Pushtask''sPC
354. STMFDSP!,{R4-R12,LR};Pushtask''sLR,R12-R4
356. LDMFDR1!,{R4-R6};LoadTask''sR1-R3fromIRQstack
357. STMFDSP!,{R4-R6};PushTask''sR1-R3toSVCstack
358. STMFDSP!,{R0};PushTask''sR0toSVCstack
360. STMFDSP!,{R3};Pushtask''sCPSR
362. LDRR0,=OSIntNesting;OSIntNesting++
363. LDRBR1,[R0]
364. ADDR1,R1,#1
365. STRBR1,[R0]
367. CMPR1,#1;if(OSIntNesting==1){
368. BNE%F1
370. LDRR4,=OSTCBCur;OSTCBHighRdy->OSTCBStkPtr=SP;
371. LDRR5,[R4]
372. STRSP,[R5];}
374. 1
375. MSRCPSR_c,#IRQMODE|NOINT;ChangetoIRQmodetouseIRQstacktohandleinterrupt
377. LDRR0,=INTOFFSET
378. LDRR0,[R0]
380. LDRR1,IRQIsrVect
381. MOVLR,PC;SaveLRbeforjumptotheCfunctionweneedreturnback
382. LDRPC,[R1,R0,LSL#2];CallOS_CPU_IRQ_ISR_handler();
384. MSRCPSR_c,#SVCMODE|NOINT;ChangetoSVCmode
385. BLOSIntExit;CallOSIntExit
387. LDMFDSP!,{R4};POPthetask''sCPSR
388. MSRSPSR_cxsf,R4
389. LDMFDSP!,{R0-R12,LR,PC}^;POPnewTask''scontext
391. IRQIsrVectDCDHandleEINT0
393. ;*********************************************************************************************************
394. ;CRITICALSECTIONMETHOD3FUNCTIONS
395. ;
396. ;Description:Disable/Enableinterruptsbypreservingthestateofinterrupts.Generallyspeakingyou
397. ;wouldstorethestateoftheinterruptdisableflaginthelocalvariable'cpu_sr'andthen
398. ;disableinterrupts.'cpu_sr'isallocatedinallofuC/OS-II''sfunctionsthatneedto
399. ;disableinterrupts.Youwouldrestoretheinterruptdisablestatebycopyingback'cpu_sr'
400. ;intotheCPU''sstatusregister.
401. ;
402. ;Prototypes:OS_CPU_SROSCPUSaveSR(void);
403. ;voidOSCPURestoreSR(OS_CPU_SRcpu_sr);
404. ;
405. ;
406. ;Note(s):1)Thesefunctionsareusedingenerallikethis:
407. ;
408. ;voidTask(void*p_arg)
409. ;{
410. ;#ifOS_CRITICAL_METHOD==3/*AllocatestorageforCPUstatusregister*/
411. ;OS_CPU_SRcpu_sr;
412. ;#endif
413. ;
414. ;:
415. ;:
416. ;OS_ENTER_CRITICAL();/*cpu_sr=OSCPUSaveSR();*/
417. ;:
418. ;:
419. ;OS_EXIT_CRITICAL();/*OSCPURestoreSR(cpu_sr);*/
420. ;:
421. ;:
422. ;}
423. ;
424. ;2)OSCPUSaveSR()isimplementedasrecommendedbyAtmel''sapplicationnote:
425. ;
426. ;"DisablingInterruptsatProcessorLevel"
427. ;*********************************************************************************************************
428. OSCPUSaveSR
429. MRSR0,CPSR;SetIRQandFIQbitsinCPSRtodisableallinterrupts
430. ORRR1,R0,#0xC0
431. MSRCPSR_c,R1
432. MRSR1,CPSR;ConfirmthatCPSRcontainstheproperinterruptdisableflags
433. ANDR1,R1,#0xC0
434. CMPR1,#0xC0
435. BNEOSCPUSaveSR;Notproperlydisabled(tryagain)
436. MOVPC,LR;Disabled,returntheoriginalCPSRcontentsinR0
438. OSCPURestoreSR
439. MSRCPSR_c,R0
440. MOVPC,LR
442. END

;********************************************************************************************************* ; uC/OS-II ; The Real-Time Kernel ; ; (c) Copyright 1992-2003, Jean J. Labrosse, Weston, FL ; All Rights Reserved ; ; ARM920T Port ; ADS v1.2 Compiler ; Samsung S3C2440A ; ; File : os_cpu_a.s refrence to ucos application note for arm AN-1014 ; Des : S3C2440 uC/OS-II Port ; by : tangxiaofeng xidian 503 ; History : ; OSCtxSw(), OSIntCtxSw() OSStartHighRdy() OS_CPU_IRQ_ISR() OSTickISR() ;******************************************************************************************************** */ SRCPND EQU 0x4a000000 ; Source pending INTPND EQU 0x4a000010 ; Interrupt request status rEINTPEND EQU 0x560000a8 INTOFFSET EQU 0x4a000014 USERMODE EQU 0x10 FIQMODE EQU 0x11 IRQMODE EQU 0x12 SVCMODE EQU 0x13 ABORTMODE EQU 0x17 UNDEFMODE EQU 0x1b MODEMASK EQU 0x1f NOINT EQU 0xc0 ;********************************************************************************************************* ; EXPORT and EXTERNAL REFERENCES ;*********************************************************************************************************/ IMPORT OSRunning IMPORT OSTCBCur IMPORT OSTCBHighRdy IMPORT OSPrioCur IMPORT OSPrioHighRdy IMPORT OSIntNesting IMPORT OSIntEnter IMPORT OSIntExit IMPORT OSTaskSwHook IMPORT OSTimeTick IMPORT HandleEINT0 EXPORT OSStartHighRdy EXPORT OSCtxSw EXPORT OSTickISR EXPORT OSIntCtxSw EXPORT OSCPUSaveSR EXPORT OSCPURestoreSR EXPORT OS_CPU_IRQ_ISR AREA UCOS_ARM, CODE, READONLY ;********************************************************************************************************* ; START MULTITASKING ; void OSStartHighRdy(void) ; ; The stack frame is assumed to look as follows: ; ; Entry Point(Task Name) (High memory) ; LR(R14) ; R12 ; R11 ; R10 ; R9 ; R8 ; R7 ; R6 ; R5 ; R4 ; R3 ; R2 ; R1 ; R0 : argument ; OSTCBHighRdy->OSTCBStkPtr --> CPSR (Low memory) ; ; Note : OSStartHighRdy() MUST: ; a) Call OSTaskSwHook() then, ; b) Set OSRunning to TRUE, ; c) Switch to the highest priority task. ;********************************************************************************************************** */ OSStartHighRdy ;---------------------------------------------------------------------------------- ; OSRunning = TRUE; ;---------------------------------------------------------------------------------- MSR CPSR_cxsf,#SVCMODE|NOINT ;Switch to SVC mode with IRQ&FIQ disable BL OSTaskSwHook ;Call user define Task switch hook LDR R0, =OSRunning ; OSRunning =TRUE MOV R1, #1 STRB R1, [R0] ;---------------------------------------------------------------------------------- ; SP = OSTCBHighRdy->OSTCBStkPtr; ;---------------------------------------------------------------------------------- LDR R0, =OSTCBHighRdy LDR R0, [R0] LDR SP, [R0] ;---------------------------------------------------------------------------------- ; Prepare to return to proper mode ;---------------------------------------------------------------------------------- LDMFD SP!, {R0} MSR SPSR_cxsf, R0 LDMFD SP!, {R0-R12, LR, PC}^ ;********************************************************************************************************** ; PERFORM A CONTEXT SWITCH (From task level) ; void OSCtxSw(void) ; ; Note(s): 1) Upon entry: ; OSTCBCur points to the OS_TCB of the task to suspend ; OSTCBHighRdy points to the OS_TCB of the task to resume ; ; 2) The stack frame of the task to suspend looks as follows: ; ; PC (High memory) ; LR(R14) ; R12 ; R11 ; R10 ; R9 ; R8 ; R7 ; R6 ; R5 ; R4 ; R3 ; R2 ; R1 ; R0 ; OSTCBCur->OSTCBStkPtr ----> CPSR (Low memory) ; ; ; 3) The stack frame of the task to resume looks as follows: ; ; PC (High memory) ; LR(R14) ; R12 ; R11 ; R10 ; R9 ; R8 ; R7 ; R6 ; R5 ; R4 ; R3 ; R2 ; R1 ; R0 ; OSTCBHighRdy->OSTCBStkPtr ----> CPSR (Low memory) ;*********************************************************************************************************/ OSCtxSw STMFD SP!, {LR} ;PC STMFD SP!, {R0-R12, LR} ;R0-R12 LR MRS R0, CPSR ;Push CPSR STMFD SP!, {R0} ;---------------------------------------------------------------------------------- ; OSTCBCur->OSTCBStkPtr = SP ;---------------------------------------------------------------------------------- LDR R0, =OSTCBCur LDR R0, [R0] STR SP, [R0] ;---------------------------------------------------------------------------------- ; OSTaskSwHook(); ;--------------------------------------------------------------------------------- BL OSTaskSwHook ;---------------------------------------------------------------------------------- ; OSTCBCur = OSTCBHighRdy; ;---------------------------------------------------------------------------------- LDR R0, =OSTCBHighRdy LDR R1, =OSTCBCur LDR R0, [R0] STR R0, [R1] ;---------------------------------------------------------------------------------- ; OSPrioCur = OSPrioHighRdy; ;---------------------------------------------------------------------------------- LDR R0, =OSPrioHighRdy LDR R1, =OSPrioCur LDRB R0, [R0] STRB R0, [R1] ;---------------------------------------------------------------------------------- ; OSTCBHighRdy->OSTCBStkPtr; ;---------------------------------------------------------------------------------- LDR R0, =OSTCBHighRdy LDR R0, [R0] LDR SP, [R0] ;---------------------------------------------------------------------------------- ;Restore New task context ;---------------------------------------------------------------------------------- LDMFD SP!, {R0} ;POP CPSR MSR SPSR_cxsf, R0 LDMFD SP!, {R0-R12, LR, PC}^ ;********************************************************************************************************* ; TICK HANDLER ; ; Description: ; This handles all the Timer0(INT_TIMER0) interrupt which is used to generate the uC/OS-II tick. ;*********************************************************************************************************/ OSTickISR MOV R5,LR MOV R1, #1 MOV R1, R1, LSL #10 ; Timer0 Source Pending Reg. LDR R0, =SRCPND LDR R2, [R0] ORR R1, R1,R2 STR R1, [R0] LDR R0, =INTPND LDR R1, [R0] STR R1, [R0] ;---------------------------------------------------------------------------------- ; OSTimeTick(); ;---------------------------------------------------------------------------------- BL OSTimeTick MOV PC, R5 ; Return ;********************************************************************************************************* ; PERFORM A CONTEXT SWITCH (From an ISR) ; void OSIntCtxSw(void) ; ; Description: 1) This code performs a context switch if a higher priority task has been made ready-to-run ; during an ISR. ; ; 2) The stack frame of the task to suspend looks as follows: ; ; PC (High memory) ; LR(R14) ; R12 ; R11 ; R10 ; R9 ; R8 ; R7 ; R6 ; R5 ; R4 ; R3 ; R2 ; R1 ; R0 ; ; OSTCBCur->OSTCBStkPtr ----> CPSR (Low memory) ; ; ; 3) The stack frame of the task to resume looks as follows: ; ; PC (High memory) ; LR(R14) ; R12 ; R11 ; R10 ; R9 ; R8 ; R7 ; R6 ; R5 ; R4 ; R3 ; R2 ; R1 ; R0 ; OSTCBHighRdy->OSTCBStkPtr ----> CPSR (Low memory) ;*********************************************************************************************************/ OSIntCtxSw ;---------------------------------------------------------------------------------- ; Call OSTaskSwHook(); ;---------------------------------------------------------------------------------- BL OSTaskSwHook ;---------------------------------------------------------------------------------- ; OSTCBCur = OSTCBHighRdy; ;---------------------------------------------------------------------------------- LDR R0, =OSTCBHighRdy LDR R1, =OSTCBCur LDR R0, [R0] STR R0, [R1] ;---------------------------------------------------------------------------------- ; OSPrioCur = OSPrioHighRdy; ;---------------------------------------------------------------------------------- LDR R0, =OSPrioHighRdy LDR R1, =OSPrioCur LDRB R0, [R0] STRB R0, [R1] ;---------------------------------------------------------------------------------- ; SP = OSTCBHighRdy->OSTCBStkPtr; ;---------------------------------------------------------------------------------- LDR R0, =OSTCBHighRdy LDR R0, [R0] LDR SP, [R0] ;---------------------------------------------------------------------------------- ; Restore New Task context ;---------------------------------------------------------------------------------- LDMFD SP!, {R0} ;POP CPSR MSR SPSR_cxsf, R0 LDMFD SP!, {R0-R12, LR, PC}^ OS_CPU_IRQ_ISR STMFD SP!, {R1-R3} ; We will use R1-R3 as temporary registers ;---------------------------------------------------------------------------- ; R1--SP ; R2--PC ; R3--SPSR ;------------------------------------------------------------------------ MOV R1, SP ADD SP, SP, #12 ;Adjust IRQ stack pointer SUB R2, LR, #4 ;Adjust PC for return address to task MRS R3, SPSR ; Copy SPSR (Task CPSR) MSR CPSR_cxsf, #SVCMODE|NOINT ;Change to SVC mode ; SAVE TASK''S CONTEXT ONTO OLD TASK''S STACK STMFD SP!, {R2} ; Push task''s PC STMFD SP!, {R4-R12, LR} ; Push task''s LR,R12-R4 LDMFD R1!, {R4-R6} ; Load Task''s R1-R3 from IRQ stack STMFD SP!, {R4-R6} ; Push Task''s R1-R3 to SVC stack STMFD SP!, {R0} ; Push Task''s R0 to SVC stack STMFD SP!, {R3} ; Push task''s CPSR LDR R0,=OSIntNesting ;OSIntNesting++ LDRB R1,[R0] ADD R1,R1,#1 STRB R1,[R0] CMP R1,#1 ;if(OSIntNesting==1){ BNE %F1 LDR R4,=OSTCBCur ;OSTCBHighRdy->OSTCBStkPtr=SP; LDR R5,[R4] STR SP,[R5] ;} 1 MSR CPSR_c,#IRQMODE|NOINT ;Change to IRQ mode to use IRQ stack to handle interrupt LDR R0, =INTOFFSET LDR R0, [R0] LDR R1, IRQIsrVect MOV LR, PC ; Save LR befor jump to the C function we need return back LDR PC, [R1, R0, LSL #2] ; Call OS_CPU_IRQ_ISR_handler(); MSR CPSR_c,#SVCMODE|NOINT ;Change to SVC mode BL OSIntExit ;Call OSIntExit LDMFD SP!,{R4} ;POP the task''s CPSR MSR SPSR_cxsf,R4 LDMFD SP!,{R0-R12,LR,PC}^ ;POP new Task''s context IRQIsrVect DCD HandleEINT0 ;********************************************************************************************************* ; CRITICAL SECTION METHOD 3 FUNCTIONS ; ; Description: Disable/Enable interrupts by preserving the state of interrupts. Generally speaking you ; would store the state of the interrupt disable flag in the local variable 'cpu_sr' and then ; disable interrupts. 'cpu_sr' is allocated in all of uC/OS-II''s functions that need to ; disable interrupts. You would restore the interrupt disable state by copying back 'cpu_sr' ; into the CPU''s status register. ; ; Prototypes : OS_CPU_SR OSCPUSaveSR(void); ; void OSCPURestoreSR(OS_CPU_SR cpu_sr); ; ; ; Note(s) : 1) These functions are used in general like this: ; ; void Task (void *p_arg) ; { ; #if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */ ; OS_CPU_SR cpu_sr; ; #endif ; ; : ; : ; OS_ENTER_CRITICAL(); /* cpu_sr = OSCPUSaveSR(); */ ; : ; : ; OS_EXIT_CRITICAL(); /* OSCPURestoreSR(cpu_sr); */ ; : ; : ; } ; ; 2) OSCPUSaveSR() is implemented as recommended by Atmel''s application note: ; ; "Disabling Interrupts at Processor Level" ;********************************************************************************************************* OSCPUSaveSR MRS R0, CPSR ; Set IRQ and FIQ bits in CPSR to disable all interrupts ORR R1, R0, #0xC0 MSR CPSR_c, R1 MRS R1, CPSR ; Confirm that CPSR contains the proper interrupt disable flags AND R1, R1, #0xC0 CMP R1, #0xC0 BNE OSCPUSaveSR ; Not properly disabled (try again) MOV PC, LR ; Disabled, return the original CPSR contents in R0 OSCPURestoreSR MSR CPSR_c, R0 MOV PC, LR END