/* taskArchLib.c - ARM-specific task management routines */ /* Copyright 1996-2002 Wind River Systems, Inc. */ #include "copyright_wrs.h" /* modification history -------------------- 01e,16jan02,to initialize fpStatus 01d,04sep98,cdp make Thumb support dependent on ARM_THUMB. 01c,27oct97,kkk took out "***EOF***" line from end of file. 01b,05jun97,cdp added Thumb (ARM7TDMI_T) support. 01a,09may96,cdp written, based on 68K version */ /* DESCRIPTION This library provides an interface to ARM-specific task management routines. SEE ALSO: taskLib */ /* LINTLIBRARY */ #include "vxWorks.h" #include "taskArchLib.h" #include "taskLib.h" #include "regs.h" #include "private/taskLibP.h" #include "private/windLibP.h" #include "string.h" /* globals */ REG_INDEX taskRegName[] = { {"r0", REG_SET_G_REG_OFFSET(0)}, {"r1", REG_SET_G_REG_OFFSET(1)}, {"r2", REG_SET_G_REG_OFFSET(2)}, {"r3", REG_SET_G_REG_OFFSET(3)}, {"r4", REG_SET_G_REG_OFFSET(4)}, {"r5", REG_SET_G_REG_OFFSET(5)}, {"r6", REG_SET_G_REG_OFFSET(6)}, {"r7", REG_SET_G_REG_OFFSET(7)}, {"r8", REG_SET_G_REG_OFFSET(8)}, {"r9", REG_SET_G_REG_OFFSET(9)}, {"r10", REG_SET_G_REG_OFFSET(10)}, {"r11/fp", REG_SET_G_REG_OFFSET(11)}, {"r12/ip", REG_SET_G_REG_OFFSET(12)}, {"r13/sp", REG_SET_G_REG_OFFSET(13)}, {"r14/lr", REG_SET_G_REG_OFFSET(14)}, {"pc", REG_SET_PC_OFFSET}, {"cpsr", REG_SET_CPSR_OFFSET}, {NULL, NULL}, }; /******************************************************************************* * * taskRegsInit - initialize a task's registers * * During task initialization this routine is called to initialize the specified * task's registers to the default values. * * NOMANUAL * ARGSUSED */ void taskRegsInit ( WIND_TCB *pTcb, /* pointer TCB to initialize */ char *pStackBase /* bottom of task's stack */ ) { /* clear registers to 0 - note: this clears fp */ bzero((char *) &pTcb->regs, sizeof(REG_SET)); /* create a CPSR and a PC pointing to vxTaskEntry */ #if (ARM_THUMB) pTcb->regs.cpsr = MODE_SVC32 | T_BIT; #else pTcb->regs.cpsr = MODE_SVC32; #endif pTcb->regs.pc = (INSTR *)((UINT32)&vxTaskEntry & ~1); /* initial stack pointer is just below MAX_TASK_ARGS task arguments */ pTcb->regs.spReg = (int) (pStackBase - (MAX_TASK_ARGS * sizeof (int))); /* initialize fpStatus for fplib */ pTcb->fpStatus = 0; } /******************************************************************************* * * taskArgsSet - set a task's arguments * * During task initialization this routine is called to push the specified * arguments onto the task's stack. * * NOMANUAL * ARGSUSED */ void taskArgsSet ( WIND_TCB *pTcb, /* pointer TCB to initialize */ char *pStackBase, /* bottom of task's stack */ int pArgs[] /* array of startup arguments */ ) { FAST int i; FAST int *sp; /* * Push task args onto the stack so they are availble for taskRestart(). * Args 0..3 will be loaded into r0..r3 in vxTaskEntry. */ sp = (int *) pStackBase; /* start at bottom of stack */ for (i = MAX_TASK_ARGS - 1; i >= 0; --i) *--sp = pArgs[i]; /* put arguments onto stack */ } /******************************************************************************* * * taskRtnValueSet - set a task's subroutine return value * * This routine sets register r0, the return code, to the specified value. It * may only be called for tasks other than the executing task. * * NOMANUAL * ARGSUSED */ void taskRtnValueSet ( WIND_TCB *pTcb, /* pointer TCB for return value */ int returnValue /* return value to fill into WIND_TCB */ ) { pTcb->regs.r[0] = returnValue; } /******************************************************************************* * * taskArgsGet - get a task's arguments * * This routine is utilized during task restart to recover the original task * arguments. * * NOMANUAL * ARGSUSED */ void taskArgsGet ( WIND_TCB *pTcb, /* pointer TCB to initialize */ char *pStackBase, /* bottom of task's stack */ int pArgs[] /* array of arguments to fill */ ) { FAST int i; FAST int *sp; /* retrieve args from base of stack */ sp = (int *) pStackBase; /* start at bottom of stack */ for (i = MAX_TASK_ARGS - 1; i >= 0; --i) pArgs[i] = *--sp; /* fill arguments from stack */ }
