第一讲、接口文件讲解
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接口移植的函数接口在文件中:
tx_initialize_low_level.s
该文件,按照文件顺序做了这些事情:
- 1、设置系统时钟,设置系统节拍数
SYSTEM_CLOCK EQU 6000000
SYSTICK_CYCLES EQU ((SYSTEM_CLOCK / 100) -1)
- 2、设置堆和栈
STACK_SIZE EQU 0x00000400
HEAP_SIZE EQU 0x00000000
AREA STACK, NOINIT, READWRITE, ALIGN=3
StackMem
SPACE STACK_SIZE
__initial_sp
AREA HEAP, NOINIT, READWRITE, ALIGN=3
__heap_base
HeapMem
SPACE HEAP_SIZE
__heap_limit
- 3、设置中断向量表
EXPORT __tx_vectors
__tx_vectors
DCD __initial_sp ; Reset and system stack ptr
DCD Reset_Handler ; Reset goes to startup function
DCD __tx_NMIHandler ; NMI
DCD __tx_BadHandler ; HardFault
DCD 0 ; MemManage
DCD 0 ; BusFault
DCD 0 ; UsageFault
DCD 0 ; 7
DCD 0 ; 8
DCD 0 ; 9
DCD 0 ; 10
DCD __tx_SVCallHandler ; SVCall
DCD __tx_DBGHandler ; Monitor
DCD 0 ; 13
DCD __tx_PendSVHandler ; PendSV
DCD __tx_SysTickHandler ; SysTick
DCD __tx_IntHandler ; Int 0
DCD __tx_IntHandler ; Int 1
DCD __tx_IntHandler ; Int 2
DCD __tx_IntHandler ; Int 3
- 4、设置复位函数
EXPORT Reset_Handler
Reset_Handler
CPSID i
IF {TARGET_FPU_VFP} = {TRUE}
LDR r0, =0xE000ED88 ; Pickup address of CPACR
LDR r1, [r0] ; Pickup CPACR
MOV32 r2, 0x00F00000 ; Build enable value
ORR r1, r1, r2 ; Or in enable value
STR r1, [r0] ; Setup CPACR
ENDIF
LDR r0, =__main
BX r0
- 5、编写函数:_tx_initialize_low_level()
会在内核初始化时候调用。
EXPORT _tx_initialize_low_level
_tx_initialize_low_level
;
; /* Disable interrupts during ThreadX initialization. */
;
CPSID i
;
; /* Set base of available memory to end of non-initialised RAM area. */
;
LDR r0, =_tx_initialize_unused_memory ; Build address of unused memory pointer
LDR r1, =|Image$$ZI$$Limit| ; Build first free address
ADD r1, r1, #4 ;
STR r1, [r0] ; Setup first unused memory pointer
;
; /* Setup Vector Table Offset Register. */
;
MOV r0, #0xE000E000 ; Build address of NVIC registers
LDR r1, =__tx_vectors ; Pickup address of vector table
STR r1, [r0, #0xD08] ; Set vector table address
;
; /* Enable the cycle count register. */
;
; LDR r0, =0xE0001000 ; Build address of DWT register
; LDR r1, [r0] ; Pickup the current value
; ORR r1, r1, #1 ; Set the CYCCNTENA bit
; STR r1, [r0] ; Enable the cycle count register
;
; /* Set system stack pointer from vector value. */
;
LDR r0, =_tx_thread_system_stack_ptr ; Build address of system stack pointer
LDR r1, =__tx_vectors ; Pickup address of vector table
LDR r1, [r1] ; Pickup reset stack pointer
STR r1, [r0] ; Save system stack pointer
;
; /* Configure SysTick. */
;
MOV r0, #0xE000E000 ; Build address of NVIC registers
LDR r1, =SYSTICK_CYCLES
STR r1, [r0, #0x14] ; Setup SysTick Reload Value
MOV r1, #0x7 ; Build SysTick Control Enable Value
STR r1, [r0, #0x10] ; Setup SysTick Control
;
; /* Configure handler priorities. */
;
LDR r1, =0x00000000 ; Rsrv, UsgF, BusF, MemM
STR r1, [r0, #0xD18] ; Setup System Handlers 4-7 Priority Registers
LDR r1, =0xFF000000 ; SVCl, Rsrv, Rsrv, Rsrv
STR r1, [r0, #0xD1C] ; Setup System Handlers 8-11 Priority Registers
; Note: SVC must be lowest priority, which is 0xFF
LDR r1, =0x40FF0000 ; SysT, PnSV, Rsrv, DbgM
STR r1, [r0, #0xD20] ; Setup System Handlers 12-15 Priority Registers
; Note: PnSV must be lowest priority, which is 0xFF
;
; /* Return to caller. */
;
BX lr
-
5.1、寻找RAM中首块可用地址传入tx_application_define函数供使用,也就是first_unused_memory指针的值
-
5.2、设置中断向量表偏移
-
5.3、设置系统主堆栈指针
-
5.4、配置滴答定时器
-
5.5、配置处理程序优先级
-
6、初始化堆栈
EXPORT __user_initial_stackheap
__user_initial_stackheap
LDR r0, =HeapMem
LDR r1, =(StackMem + STACK_SIZE)
LDR r2, =(HeapMem + HEAP_SIZE)
LDR r3, =StackMem
BX lr
- 7、编写中断向量表里面的函数,包括svc、systick等
第二讲、移植-修改
总结一下第一讲中的事情吧:
- 1、设置系统时钟,设置系统节拍数:后面初始化时候会用。
- 2、设置堆和栈
- 3、设置中断向量表
- 4、设置复位函数
- 5、编写函数:_tx_initialize_low_level()
- 6、初始化堆栈
- 7、编写中断向量表里面的函数,包括svc、systick等
毫无疑问,很明显,threadx越界了,作为一个rtos接管系统的PendSV和systick就足够了。其余的东西,rtos没必要或者说无权接管。
直接注释掉上面的:第二、第三、第四、第六项。同时,第七项,也进行全面注释,仅保留systick函数,同时导入外部systick函数名,与外部的systick函数进行对接。 再同时, 修改一下_tx_initialize_low_level()函数内的部分内容。 至此,完成接口对接。
2.1 注释:第二、第三、第四、第六项
这没什么说的,直接全部注释
2.2 注释:第七项
也全部注释,除了这个函数
EXPORT SysTick_Handler
SysTick_Handler
; VOID TimerInterruptHandler (VOID)
; {
;
PUSH {r0, lr}
BL _tx_timer_interrupt
POP {r0, lr}
BX LR
; }
这是systick函数,也就是rtos的时基。里面执行系统心跳任务。
2.3 修改_tx_initialize_low_level()函数
2.3.1 堆栈指针
LDR r1, =|Image$$ZI$$Limit| ; Build first free address
上面一句修改为下面一句:
LDR r1, =__initial_sp ; Build first free address
其中的__initial_sp定义在外部,需要导入。
2.3.1 中断向量表
LDR r1, =__tx_vectors ; Pickup address of vector table
上面一句修改为下面一句:
LDR r1, =__Vectors ; Pickup address of vector table
其中的__Vectors定义在外部,需要导入。
2.4 其余的
可能有些多余的量需要注释掉,一些没有的需要导入进来,自己稍作修改即可。
第三讲、完整的文件如下
;/**************************************************************************/
;/* */
;/* Copyright (c) Microsoft Corporation. All rights reserved. */
;/* */
;/**************************************************************************/
;
;
;/**************************************************************************/
;/**************************************************************************/
;/** */
;/** ThreadX Component */
;/** */
;/** Initialize */
;/** */
;/**************************************************************************/
;/**************************************************************************/
;
;
IMPORT _tx_thread_system_stack_ptr
IMPORT _tx_initialize_unused_memory
IMPORT _tx_thread_context_save
IMPORT _tx_thread_context_restore
IMPORT _tx_timer_interrupt
IMPORT __main
IMPORT __initial_sp
IMPORT __Vectors
IMPORT __tx_PendSVHandler
;
;
SYSTEM_CLOCK EQU 16800000
SYSTICK_CYCLES EQU ((SYSTEM_CLOCK / 100) -1)
;
AREA ||.text||, CODE, READONLY
PRESERVE8
;/**************************************************************************/
;/* */
;/* FUNCTION RELEASE */
;/* */
;/* _tx_initialize_low_level Cortex-M4/AC5 */
;/* 6.1 */
;/* AUTHOR */
;/* */
;/* William E. Lamie, Microsoft Corporation. */
;/* */
;/* DESCRIPTION */
;/* */
;/* This function is responsible for any low-level processor */
;/* initialization, including setting up interrupt vectors, setting */
;/* up a periodic timer interrupt source, saving the system stack */
;/* pointer for use in ISR processing later, and finding the first */
;/* available RAM memory address for tx_application_define. */
;/* */
;/* INPUT */
;/* */
;/* None */
;/* */
;/* OUTPUT */
;/* */
;/* None */
;/* */
;/* CALLS */
;/* */
;/* None */
;/* */
;/* CALLED BY */
;/* */
;/* _tx_initialize_kernel_enter ThreadX entry function */
;/* */
;/* RELEASE HISTORY */
;/* */
;/* DATE NAME DESCRIPTION */
;/* */
;/* 09-30-2020 William E. Lamie Initial Version 6.1 */
;/* */
;/**************************************************************************/
;VOID _tx_initialize_low_level(VOID)
;{
EXPORT _tx_initialize_low_level
_tx_initialize_low_level
;
; /* Disable interrupts during ThreadX initialization. */
;
CPSID i
;
; /* Set base of available memory to end of non-initialised RAM area. */
;
LDR r0, =_tx_initialize_unused_memory ; Build address of unused memory pointer
LDR r1, =__initial_sp ; Build first free address
ADD r1, r1, #4 ;
STR r1, [r0] ; Setup first unused memory pointer
;
; /* Setup Vector Table Offset Register. */
;
MOV r0, #0xE000E000 ; Build address of NVIC registers
LDR r1, =__Vectors ; Pickup address of vector table
STR r1, [r0, #0xD08] ; Set vector table address
;
; /* Enable the cycle count register. */
;
; LDR r0, =0xE0001000 ; Build address of DWT register
; LDR r1, [r0] ; Pickup the current value
; ORR r1, r1, #1 ; Set the CYCCNTENA bit
; STR r1, [r0] ; Enable the cycle count register
;
; /* Set system stack pointer from vector value. */
;
LDR r0, =_tx_thread_system_stack_ptr ; Build address of system stack pointer
LDR r1, =__Vectors ; Pickup address of vector table
LDR r1, [r1] ; Pickup reset stack pointer
STR r1, [r0] ; Save system stack pointer
;
; /* Configure SysTick. */
;
MOV r0, #0xE000E000 ; Build address of NVIC registers
LDR r1, =SYSTICK_CYCLES
STR r1, [r0, #0x14] ; Setup SysTick Reload Value
MOV r1, #0x7 ; Build SysTick Control Enable Value
STR r1, [r0, #0x10] ; Setup SysTick Control
;
; /* Configure handler priorities. */
;
LDR r1, =0x00000000 ; Rsrv, UsgF, BusF, MemM
STR r1, [r0, #0xD18] ; Setup System Handlers 4-7 Priority Registers
LDR r1, =0xFF000000 ; SVCl, Rsrv, Rsrv, Rsrv
STR r1, [r0, #0xD1C] ; Setup System Handlers 8-11 Priority Registers
; Note: SVC must be lowest priority, which is 0xFF
LDR r1, =0x40FF0000 ; SysT, PnSV, Rsrv, DbgM
STR r1, [r0, #0xD20] ; Setup System Handlers 12-15 Priority Registers
; Note: PnSV must be lowest priority, which is 0xFF
;
; /* Return to caller. */
;
BX lr
;}
EXPORT SysTick_Handler
SysTick_Handler
; VOID TimerInterruptHandler (VOID)
; {
;
PUSH {r0, lr}
BL _tx_timer_interrupt
POP {r0, lr}
BX LR
; }
ALIGN
LTORG
END