cpu.c

[詳解]

/** @file
    @brief      Cortex-M3 CPU制御

    @date       2018.08.11
    @author     Takashi SHUDO
*/

#include "asm-Cortex-M3.h"
#include "task/task.h"
#include "tkprintf.h"

void setup_task(void *sp, int stack_size, void (* process)(void),
                struct st_tcb *tcb)
{
        union st_regs *regs;

        // 割り込み処理時のレジスタをスタックに待避した状態
        tcb->sp = (void *)((unsigned int)sp + stack_size - sizeof(union st_regs));
        regs = (union st_regs *)tcb->sp;

        regs->name.r0 = (unsigned int)tcb; /* task() 第1引数 */
        regs->name.r1 = 1;
        regs->name.r2 = 2;
        regs->name.r3 = 3;
        regs->name.r4 = 4;
        regs->name.r5 = 5;
        regs->name.r6 = 6;
        regs->name.r7 = 7;
        regs->name.r8 = 8;
        regs->name.r9 = 9;
        regs->name.r10 = 10;
        regs->name.r11 = 11;
        regs->name.r12 = 12;
        regs->name.sp = (unsigned int)tcb->sp;
        regs->name.lr = (unsigned int)process;
        regs->name.ilr = 0xFFFFFFF9;
        regs->name.pc = (unsigned int)process;
        regs->name.xpsr = 0x01000000;   // Thumb状態
}

void disp_regs(void *sp)
{
        union st_regs *regs = (union st_regs *)sp;

        tkprintf("xPSR= %08lX\n", regs->name.xpsr);
        tkprintf("R0  = %08lX    ", regs->name.r0);
        tkprintf("R1  = %08lX    ", regs->name.r1);
        tkprintf("R2  = %08lX    ", regs->name.r2);
        tkprintf("R3  = %08lX    ", regs->name.r3);
        tkprintf("\n");
        tkprintf("R4  = %08lX    ", regs->name.r4);
        tkprintf("R5  = %08lX    ", regs->name.r5);
        tkprintf("R6  = %08lX    ", regs->name.r6);
        tkprintf("R7  = %08lX    ", regs->name.r7);
        tkprintf("\n");
        tkprintf("R8  = %08lX    ", regs->name.r8);
        tkprintf("R9  = %08lX    ", regs->name.r9);
        tkprintf("R10 = %08lX    ", regs->name.r10);
        tkprintf("R11 = %08lX    ", regs->name.r11);
        tkprintf("\n");
        tkprintf("R12 = %08lX    ", regs->name.r12);
        tkprintf("SP  = %08lX    ", regs->name.sp);
        tkprintf("LR  = %08lX    ", regs->name.lr);
        tkprintf("PC  = %08lX    ", regs->name.pc);
        tkprintf("\n");
}

void dispatch(struct st_tcb *otcb, struct st_tcb *tcb)
{
        extern void _dispatch(void *sp);

        if(((union st_regs *)(tcb->sp))->name.pc >= 0x20000000) {
                SYSERR_PRINT("Stack Error ?\n");
                disp_task_info();
                disp_regs(tcb->sp);
                disp_debug_info();
                print_queues();
        }

        _dispatch(tcb->sp);
}