From 1fbf7d26029744a671706ffbcb0a91dd650f29bd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E9=9B=B6=E4=B8=AD=E6=96=AD=E5=BB=B6=E8=BF=9F=E7=9A=84RTOS?= Date: Fri, 14 Aug 2026 12:01:48 +0000 Subject: [PATCH] =?UTF-8?q?update=20CosyOS-=E7=A7=BB=E6=A4=8D=E6=96=87?= =?UTF-8?q?=E4=BB=B6.?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: 零中断延迟的RTOS --- Port/port_x32/Cortex-M/port_cmx_s.c | 425 ++++++++++++++++++++++++++++ 1 file changed, 425 insertions(+) create mode 100644 Port/port_x32/Cortex-M/port_cmx_s.c diff --git a/Port/port_x32/Cortex-M/port_cmx_s.c b/Port/port_x32/Cortex-M/port_cmx_s.c new file mode 100644 index 00000000..fb71d5c3 --- /dev/null +++ b/Port/port_x32/Cortex-M/port_cmx_s.c @@ -0,0 +1,425 @@ +/**************************************************************************//** + * @item CosyOS-III Port + * @file port_cmx_s.c + * @brief CMSIS Cortex-M Core Port File for Arm / GNU / IAR Compiler + * @author 迟凯峰 + * @version v3.0.7 + * @date 2026.08.14 + ******************************************************************************/ + +#include "os_var.h" +#ifdef __PORT_CMX_H + +#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) \ + || (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) \ + || (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) \ + || (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) \ + || (defined (__ARM_ARCH_8_1M_MAIN__) && (__ARM_ARCH_8_1M_MAIN__ == 1))) +#define __CMX_ISA 7 +#else +#define __CMX_ISA 6 +#endif + + +/* + * Arm Compiler 4/5 + */ +#if (defined ( __CC_ARM )) + +/* PendSV软中断 */ +__ASM void OS_PendSV_Handler(void) +{ + IMPORT sPendSV_Handler + IMPORT s_task_current + IMPORT s_task_news + PRESERVE8 + THUMB + + push {lr} + bl sPendSV_Handler +/* 直接返回吗？*/ + #if (__CMX_ISA == 6) + cmp r0, #0 + beq __RETURN + #else + cbz r0, __RETURN + #endif +/* 保护现场吗？*/ + ldr r1, =s_task_current + subs r0, #1 + #if (__CMX_ISA == 6) + cmp r0, #0 + beq __RESTORE + #else + cbz r0, __RESTORE + #endif + mrs r0, psp + isb +/* 任务PC监控 */ + #if (SYSCFG_TASKPC_MONITOR == 1) + IMPORT s_pc + ldr r2, [r0,#24] + ldr r3, =s_pc + str r2, [r3] + #endif +/* 保护现场 */ + #if (MCUCFG_ASPEN_LSPEN == 1) + vstmdb r0!, {s16-s31} + #endif + #if (__CMX_ISA == 6) + subs r0, #32 + ldr r2, [r1] + str r0, [r2] + stmia r0!, {r4-r7} + mov r4, r8 + mov r5, r9 + mov r6, r10 + mov r7, r11 + stmia r0!, {r4-r7} + #else + stmdb r0!, {r4-r11} + ldr r2, [r1] + str r0, [r2] + #endif + dsb +/* 恢复现场 */ +__RESTORE ldr r3, =s_task_news + ldr r3, [r3] + str r3, [r1] + ldr r0, [r3] + #if (__CMX_ISA == 6) + adds r0, #16 + ldmia r0!, {r4-r7} + mov r11, r7 + mov r10, r6 + mov r9, r5 + mov r8, r4 + mov r1, r0 + subs r1, #32 + ldmia r1!, {r4-r7} + #else + ldmia r0!, {r4-r11} + #endif + #if (MCUCFG_ASPEN_LSPEN == 1) + vldmia r0!, {s16-s31} + #endif + msr psp, r0 +/* 返回 */ +__RETURN pop {pc} + + ALIGN +} + + +/* 中断FIFO服务装载器 */ +#if (SYSCFG_PENDSVFIFO_DEPTH > 0) +__ASM void mPendSV_FIFOLoader(void *sv) +{ + IMPORT mPendSV_FIFO_0 + IMPORT mPendSV_FIFO_1 + IMPORT m_fifo_lock + THUMB +/* FIFO选择 */ + ldr r2, =m_fifo_lock + ldrb r3, [r2] + #if (__CMX_ISA == 6) + cmp r3, #0 + beq __FIFO1 + #else + cbz r3, __FIFO1 + #endif +__FIFO0 ldr r1, =mPendSV_FIFO_0 + b __OVERFLOW1 +__FIFO1 ldr r1, =mPendSV_FIFO_1 +/* 计数溢出 */ +__OVERFLOW1 + #if (0) // 正常情况下计数器难以溢出，默认关闭防护以提高装载效率。 + #if (MCUCFG_PENDSVFIFO_MUTEX == 0xFF) + ldrh r2, [r1] + ldr r3, =0x8000 + #else + ldr r2, [r1] + ldr r3, =0x80000000 + #endif + cmp r2, r3 + bhi __OVER + #endif +/* FIFO计数 */ + /* 关闭总中断 */ + #if (MCUCFG_PENDSVFIFO_MUTEX == 0) + #if (MCUCFG_PENDSVFIFO_XXXXX == 1) + mrs r3, primask // cycle:4 + #endif + cpsid i // cycle:1 + ldr r2, [r1] // cycle:2 + adds r2, #1 // cycle:1 + str r2, [r1] // cycle:2 + #if (MCUCFG_PENDSVFIFO_XXXXX == 1) + msr primask, r3 // cycle:4 + #else + cpsie i // cycle:1 + #endif + + /* 互斥访问指令 */ + #elif (MCUCFG_PENDSVFIFO_MUTEX == 1) +__LOOP ldrex r2, [r1] + adds r2, #1 + strex r3, r2, [r1] + cmp r3, #0 + bne __LOOP + + /* 互斥访问机制 */ + #elif (MCUCFG_PENDSVFIFO_MUTEX == 0xFF) + IMPORT mPendSV_FIFO_X + #define rx mPendSV_FIFO_rx + ldrh r3, [r1, #2] // 查询独占访问标志 + cmp r3, #0 + beq __WHOLE +/* 已打断 *///不会被打断：8 + ldrh r2, [r1] + adds r2, #1 + strh r2, [r1] + ldr rx, =mPendSV_FIFO_X // 重设 rx + b __OVERFLOW2 +/* 未打断 *///可能被打断：14 +__WHOLE push {rx} // 保护 rx + movs r2, #1 + strh r2, [r1, #2] // 设置独占访问标志 +__LOOP mov rx, r1 + ldrh r2, [rx] + adds r2, #1 + strh r2, [rx] + cmp rx, r1 + bne __LOOP + strh r3, [r1, #2] // 清除独占访问标志 + pop {rx} // 恢复 rx + #undef rx + #endif +/* FIFO溢出 */ +__OVERFLOW2 cmp r2, #SYSCFG_PENDSVFIFO_DEPTH + bhi __OVER +/* FIFO装载 */ + lsls r2, r2, #2 + str r0, [r1, r2] + +__OVER bx lr + + ALIGN +} +#endif + + +/* + * IAR Compiler + * GNU Compiler + * Arm Compiler 6.6 LTM / above 6.10.1 (armclang) + */ +#elif ((defined ( __GNUC__ )) \ + || (defined ( __ICCARM__ )) \ + || (defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050))) + +#if !defined (__ICCARM__) +s_u8_t sPendSV_Handler(void); +extern s_taskctrl_tsp s_task_news; +#else +#include "os_handler.c" +#endif + +/* PendSV软中断 */ +void OS_PendSV_Handler(void) +{ + #if defined (__GNUC__) + __ASM volatile(".syntax unified"); + #endif + #if !defined (__ICCARM__) + __ASM volatile(".THUMB"); + #endif + __ASM volatile( + "push {lr} \n" + "bl sPendSV_Handler \n" +/* 直接返回吗？*/ + #if ((__CMX_ISA == 6) || defined (__ICCARM__)) + "cmp r0, #0 \n" + "beq __RETURN \n" + #else + "cbz r0, __RETURN \n" + #endif +/* 保护现场吗？*/ + "ldr r1, =s_task_current \n" + "subs r0, #1 \n" + #if ((__CMX_ISA == 6) || defined (__ICCARM__)) + "cmp r0, #0 \n" + "beq __RESTORE \n" + #else + "cbz r0, __RESTORE \n" + #endif + "mrs r0, psp \n" + "isb \n" +/* 任务PC监控 */ + #if (SYSCFG_TASKPC_MONITOR == 1) + "ldr r2, [r0,#24] \n" + "ldr r3, =s_pc \n" + "str r2, [r3] \n" + #endif +/* 保护现场 */ + #if (MCUCFG_ASPEN_LSPEN == 1) + "vstmdb r0!, {s16-s31} \n" + #endif + #if (__CMX_ISA == 6) + "subs r0, #32 \n" + "ldr r2, [r1] \n" + "str r0, [r2] \n" + "stmia r0!, {r4-r7} \n" + "mov r4, r8 \n" + "mov r5, r9 \n" + "mov r6, r10 \n" + "mov r7, r11 \n" + "stmia r0!, {r4-r7} \n" + #else + "stmdb r0!, {r4-r11} \n" + "ldr r2, [r1] \n" + "str r0, [r2] \n" + #endif + "dsb \n" +/* 恢复现场 */ +"__RESTORE: ldr r3, =s_task_news \n" + "ldr r3, [r3] \n" + "str r3, [r1] \n" + "ldr r0, [r3] \n" + #if (__CMX_ISA == 6) + "adds r0, #16 \n" + "ldmia r0!, {r4-r7} \n" + "mov r11, r7 \n" + "mov r10, r6 \n" + "mov r9, r5 \n" + "mov r8, r4 \n" + "mov r1, r0 \n" + "subs r1, #32 \n" + "ldmia r1!, {r4-r7} \n" + #else + "ldmia r0!, {r4-r11} \n" + #endif + #if (MCUCFG_ASPEN_LSPEN == 1) + "vldmia r0!, {s16-s31} \n" + #endif + "msr psp, r0 \n" +/* 返回 */ +"__RETURN: pop {pc}" + ); + #if !defined (__ICCARM__) + __ASM volatile(".ALIGN"); + #endif +} + + +/* 中断FIFO服务装载器 */ +#if (SYSCFG_PENDSVFIFO_DEPTH > 0) +void mPendSV_FIFOLoader(void *sv) +{ + #if defined (__GNUC__) + __ASM volatile(".syntax unified"); + #endif + #if !defined (__ICCARM__) + __ASM volatile(".THUMB"); + #endif + __ASM volatile( +/* FIFO选择 */ + "ldr r2, =m_fifo_lock \n" + "ldrb r3, [r2] \n" + #if ((__CMX_ISA == 6) || defined (__ICCARM__)) + "cmp r3, #0 \n" + "beq __FIFO1 \n" + #else + "cbz r3, __FIFO1 \n" + #endif +"__FIFO0: ldr r1, =mPendSV_FIFO_0 \n" + "b __OVERFLOW1 \n" +"__FIFO1: ldr r1, =mPendSV_FIFO_1 \n" +/* 计数溢出 */ +"__OVERFLOW1: \n" + #if (0) // 正常情况下计数器难以溢出，默认关闭防护以提高装载效率。 + #if (MCUCFG_PENDSVFIFO_MUTEX == 0xFF) + "ldrh r2, [r1] \n" + "ldr r3, =0x8000 \n" + #else + "ldr r2, [r1] \n" + "ldr r3, =0x80000000 \n" + #endif + "cmp r2, r3 \n" + "bhi __OVER \n" + #endif +/* FIFO计数 */ + /* 关闭总中断 */ + #if (MCUCFG_PENDSVFIFO_MUTEX == 0) + #if (MCUCFG_PENDSVFIFO_XXXXX == 1) + "mrs r3, primask \n" // cycle:4 + #endif + "cpsid i \n" // cycle:1 + "ldr r2, [r1] \n" // cycle:2 + "adds r2, #1 \n" // cycle:1 + "str r2, [r1] \n" // cycle:2 + #if (MCUCFG_PENDSVFIFO_XXXXX == 1) + "msr primask, r3 \n" // cycle:4 + #else + "cpsie i \n" // cycle:1 + #endif + + /* 互斥访问指令 */ + #elif (MCUCFG_PENDSVFIFO_MUTEX == 1) +"__LOOP: ldrex r2, [r1] \n" + "adds r2, #1 \n" + "strex r3, r2, [r1] \n" + "cmp r3, #0 \n" + "bne __LOOP \n" + + /* 互斥访问机制 */ + #elif (MCUCFG_PENDSVFIFO_MUTEX == 0xFF) + #define rx mPendSV_FIFO_rx + "ldrh r3, [r1, #2] \n" + "cmp r3, #0 \n" + "beq __WHOLE \n" + + "ldrh r2, "sDefStr([r1] \n) + "adds r2, #1 \n" + "strh r2, "sDefStr([r1] \n) + "ldr "sDefStr(rx)", =mPendSV_FIFO_X \n" + "b __OVERFLOW2 \n" + +"__WHOLE: push "sDefStr({rx} \n) + "movs r2, #1 \n" + "strh r2, [r1, #2] \n" +"__LOOP: mov "sDefStr(rx)", r1 \n" + "ldrh r2, "sDefStr([rx] \n) + "adds r2, #1 \n" + "strh r2, "sDefStr([rx] \n) + "cmp "sDefStr(rx)", r1 \n" + "bne __LOOP \n" + "strh r3, [r1, #2] \n" + "pop "sDefStr({rx} \n) + #undef rx + #endif +/* FIFO溢出 */ +"__OVERFLOW2: cmp r2, #"sDefStr(SYSCFG_PENDSVFIFO_DEPTH \n) + "bhi __OVER \n" +/* FIFO装载 */ + "lsls r2, r2, #2 \n" + "str r0, [r1, r2] \n" + +"__OVER: bx lr" + ); + #if !defined (__ICCARM__) + __ASM volatile(".ALIGN"); + #endif +} +#endif + + +/* + * Unknown Compiler + */ +#else + + #error Unknown compiler. +#endif + +#endif