/* * Copyright (c) 2006-2018, RT-Thread Development Team * * SPDX-License-Identifier: Apache-2.0 * * Change Logs: * Date Author Notes */ .extern main /* 引入外部C入口 */ .extern rt_interrupt_enter .extern rt_interrupt_leave .extern rt_thread_switch_interrupt_flag .extern rt_interrupt_from_thread .extern rt_interrupt_to_thread .extern rt_hw_trap_irq .global start .global endless_loop .global rt_hw_context_switch_interrupt_do /* Standard definitions of Mode bits and Interrupt (I & F) flags in PSRs */ .set MODE_USR, 0x10 /* User Mode */ .set MODE_FIQ, 0x11 /* FIQ Mode */ .set MODE_IRQ, 0x12 /* IRQ Mode */ .set MODE_SVC, 0x13 /* Supervisor Mode */ .set MODE_ABT, 0x17 /* Abort Mode */ .set MODE_UND, 0x1B /* Undefined Mode */ .set MODE_SYS, 0x1F /* System Mode */ .equ I_BIT, 0x80 /* when I bit is set, IRQ is disabled */ .equ F_BIT, 0x40 /* when F bit is set, FIQ is disabled */ .equ I_Bit, 0x80 /* when I bit is set, IRQ is disabled */ .equ F_Bit, 0x40 /* when F bit is set, FIQ is disabled */ /* VPBDIV definitions*/ .equ VPBDIV, 0xE01FC100 .set VPBDIV_VALUE, 0x00000000 /* Phase Locked Loop (PLL) definitions*/ .equ PLL_BASE, 0xE01FC080 /* PLL Base Address */ .equ PLLCON_OFS, 0x00 /* PLL Control Offset */ .equ PLLCFG_OFS, 0x04 /* PLL Configuration Offset */ .equ PLLSTAT_OFS, 0x08 /* PLL Status Offset */ .equ PLLFEED_OFS, 0x0C /* PLL Feed Offset */ .equ PLLCON_PLLE, (1<<0) /* PLL Enable */ .equ PLLCON_PLLC, (1<<1) /* PLL Connect */ .equ PLLCFG_MSEL, (0x1F<<0) /* PLL Multiplier */ .equ PLLCFG_PSEL, (0x03<<5) /* PLL Divider */ .equ PLLSTAT_PLOCK, (1<<10) /* PLL Lock Status */ .equ PLLCFG_Val, 0x00000024 /* MSEL: PLL Multiplier Selection, PSEL: PLL Divider Selection */ .equ MEMMAP, 0xE01FC040 /*Memory Mapping Control*/ /* Memory Accelerator Module (MAM) definitions*/ .equ MAM_BASE, 0xE01FC000 .equ MAMCR_OFS, 0x00 .equ MAMTIM_OFS, 0x04 .equ MAMCR_Val, 0x00000002 .equ MAMTIM_Val, 0x00000004 .equ VICIntEnClr, 0xFFFFF014 .equ VICIntSelect, 0xFFFFF00C /************* 目标配置结束 *************/ /* Setup the operating mode & stack.*/ /* --------------------------------- */ .global _reset _reset: .code 32 .align 0 /************************* PLL_SETUP **********************************/ ldr r0, =PLL_BASE mov r1, #0xAA mov r2, #0x55 /* Configure and Enable PLL */ mov r3, #PLLCFG_Val str r3, [r0, #PLLCFG_OFS] mov r3, #PLLCON_PLLE str r3, [r0, #PLLCON_OFS] str r1, [r0, #PLLFEED_OFS] str r2, [r0, #PLLFEED_OFS] /* Wait until PLL Locked */ PLL_Locked_loop: ldr r3, [r0, #PLLSTAT_OFS] ands r3, r3, #PLLSTAT_PLOCK beq PLL_Locked_loop /* Switch to PLL Clock */ mov r3, #(PLLCON_PLLE|PLLCON_PLLC) str r3, [r0, #PLLCON_OFS] str r1, [r0, #PLLFEED_OFS] str R2, [r0, #PLLFEED_OFS] /************************* PLL_SETUP **********************************/ /************************ Setup VPBDIV ********************************/ ldr r0, =VPBDIV ldr r1, =VPBDIV_VALUE str r1, [r0] /************************ Setup VPBDIV ********************************/ /************** Setup MAM **************/ ldr r0, =MAM_BASE mov r1, #MAMTIM_Val str r1, [r0, #MAMTIM_OFS] mov r1, #MAMCR_Val str r1, [r0, #MAMCR_OFS] /************** Setup MAM **************/ /************************ setup stack *********************************/ ldr r0, .undefined_stack_top sub r0, r0, #4 msr CPSR_c, #MODE_UND|I_BIT|F_BIT /* Undefined Instruction Mode */ mov sp, r0 ldr r0, .abort_stack_top sub r0, r0, #4 msr CPSR_c, #MODE_ABT|I_BIT|F_BIT /* Abort Mode */ mov sp, r0 ldr r0, .fiq_stack_top sub r0, r0, #4 msr CPSR_c, #MODE_FIQ|I_BIT|F_BIT /* FIQ Mode */ mov sp, r0 ldr r0, .irq_stack_top sub r0, r0, #4 msr CPSR_c, #MODE_IRQ|I_BIT|F_BIT /* IRQ Mode */ mov sp, r0 ldr r0, .svc_stack_top sub r0, r0, #4 msr CPSR_c, #MODE_SVC|I_BIT|F_BIT /* Supervisor Mode */ mov sp, r0 /************************ setup stack ********************************/ /* copy .data to SRAM */ ldr r1, =_sidata /* .data start in image */ ldr r2, =_edata /* .data end in image */ ldr r3, =_sdata /* sram data start */ data_loop: ldr r0, [r1, #0] str r0, [r3] add r1, r1, #4 add r3, r3, #4 cmp r3, r2 /* check if data to clear */ blo data_loop /* loop until done */ /* clear .bss */ mov r0,#0 /* get a zero */ ldr r1,=__bss_start /* bss start */ ldr r2,=__bss_end /* bss end */ bss_loop: cmp r1,r2 /* check if data to clear */ strlo r0,[r1],#4 /* clear 4 bytes */ blo bss_loop /* loop until done */ /* call C++ constructors of global objects */ ldr r0, =__ctors_start__ ldr r1, =__ctors_end__ ctor_loop: cmp r0, r1 beq ctor_end ldr r2, [r0], #4 stmfd sp!, {r0-r1} mov lr, pc bx r2 ldmfd sp!, {r0-r1} b ctor_loop ctor_end: /* enter C code */ bl main .align 0 .undefined_stack_top: .word _undefined_stack_top .abort_stack_top: .word _abort_stack_top .fiq_stack_top: .word _fiq_stack_top .irq_stack_top: .word _irq_stack_top .svc_stack_top: .word _svc_stack_top /*********************** END Clear BSS ******************************/ .section .init,"ax" .code 32 .align 0 .globl _start _start: ldr pc, __start /* reset - _start */ ldr pc, _undf /* undefined - _undf */ ldr pc, _swi /* SWI - _swi */ ldr pc, _pabt /* program abort - _pabt */ ldr pc, _dabt /* data abort - _dabt */ .word 0xB8A06F58 /* reserved */ ldr pc, __IRQ_Handler /* IRQ - read the VIC */ ldr pc, _fiq /* FIQ - _fiq */ __start:.word _reset _undf: .word __undf /* undefined */ _swi: .word __swi /* SWI */ _pabt: .word __pabt /* program abort */ _dabt: .word __dabt /* data abort */ temp1: .word 0 __IRQ_Handler: .word IRQ_Handler _fiq: .word __fiq /* FIQ */ __undf: b . /* undefined */ __swi : b . __pabt: b . /* program abort */ __dabt: b . /* data abort */ __fiq : b . /* FIQ */ /* IRQ入口 */ IRQ_Handler : stmfd sp!, {r0-r12,lr} /* 对R0 – R12，LR寄存器压栈 */ bl rt_interrupt_enter /* 通知RT-Thread进入中断模式 */ bl rt_hw_trap_irq /* 相应中断服务例程处理 */ bl rt_interrupt_leave /* ; 通知RT-Thread要离开中断模式 */ /* 如果设置了rt_thread_switch_interrupt_flag，进行中断中的线程上下文处理 */ ldr r0, =rt_thread_switch_interrupt_flag ldr r1, [r0] cmp r1, #1 beq rt_hw_context_switch_interrupt_do /* 中断中切换发生 */ /* 如果跳转了，将不会回来 */ ldmfd sp!, {r0-r12,lr} /* 恢复栈 */ subs pc, lr, #4 /* 从IRQ中返回 */ /* * void rt_hw_context_switch_interrupt_do(rt_base_t flag) * 中断结束后的上下文切换 */ rt_hw_context_switch_interrupt_do: mov r1, #0 /* clear flag */ /* 清楚中断中切换标志 */ str r1, [r0] /* */ ldmfd sp!, {r0-r12,lr}/* reload saved registers */ /* 先恢复被中断线程的上下文 */ stmfd sp!, {r0-r3} /* save r0-r3 */ /* 对R0 – R3压栈，因为后面会用到 */ mov r1, sp /* 把此处的栈值保存到R1 */ add sp, sp, #16 /* restore sp */ /* 恢复IRQ的栈，后面会跳出IRQ模式 */ sub r2, lr, #4 /* save old task's pc to r2 */ /* 保存切换出线程的PC到R2 */ mrs r3, spsr /* disable interrupt 保存中断前的CPSR到R3寄存器 */ /* 获得SPSR寄存器值 */ orr r0, r3, #I_BIT|F_BIT msr spsr_c, r0 /* 关闭SPSR中的IRQ/FIQ中断 */ ldr r0, =.+8 /* 把当前地址+8载入到R0寄存器中 switch to interrupted task's stack */ movs pc, r0 /* 退出IRQ模式，由于SPSR被设置成关中断模式 */ /* 所以从IRQ返回后，中断并没有打开 ; R0寄存器中的位置实际就是下一条指令， ; 即PC继续往下走 ; 此时 ; 模式已经换成中断前的SVC模式， ; SP寄存器也是SVC模式下的栈寄存器 ; R1保存IRQ模式下的栈指针 ; R2保存切换出线程的PC ; R3保存切换出线程的CPSR */ stmfd sp!, {r2} /* push old task's pc */ /* 保存切换出任务的PC */ stmfd sp!, {r4-r12,lr}/* push old task's lr,r12-r4 */ /* 保存R4 – R12，LR寄存器 */ mov r4, r1 /* Special optimised code below */ /* R1保存有压栈R0 – R3处的栈位置 */ mov r5, r3 /* R3切换出线程的CPSR */ ldmfd r4!, {r0-r3} /* 恢复R0 – R3 */ stmfd sp!, {r0-r3} /* push old task's r3-r0 */ /* R0 – R3压栈到切换出线程 */ stmfd sp!, {r5} /* push old task's psr */ /* 切换出线程CPSR压栈 */ mrs r4, spsr stmfd sp!, {r4} /* push old task's spsr */ /* 切换出线程SPSR压栈 */ ldr r4, =rt_interrupt_from_thread ldr r5, [r4] str sp, [r5] /* store sp in preempted tasks's TCB */ /* 保存切换出线程的SP指针 */ ldr r6, =rt_interrupt_to_thread ldr r6, [r6] ldr sp, [r6] /* get new task's stack pointer */ /* 获得切换到线程的栈 */ ldmfd sp!, {r4} /* pop new task's spsr */ /* 恢复SPSR */ msr SPSR_cxsf, r4 ldmfd sp!, {r4} /* pop new task's psr */ /* 恢复CPSR */ msr CPSR_cxsf, r4 ldmfd sp!, {r0-r12,lr,pc} /* pop new task's r0-r12,lr & pc */ /* 恢复R0 – R12，LR及PC寄存器 */ /* 代码加密功能 */ #if defined(CODE_PROTECTION) .org 0x01FC .word 0x87654321 #endif