| /* |
| * Copyright (c) 2013-2014 Wind River Systems, Inc. |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| /** |
| * @file |
| * @brief New thread creation for ARM Cortex-M |
| * |
| * Core thread related primitives for the ARM Cortex-M processor architecture. |
| */ |
| |
| #include <kernel.h> |
| #include <toolchain.h> |
| #include <kernel_structs.h> |
| #include <wait_q.h> |
| #ifdef CONFIG_INIT_STACKS |
| #include <string.h> |
| #endif /* CONFIG_INIT_STACKS */ |
| |
| #if defined(CONFIG_THREAD_MONITOR) |
| /* |
| * Add a thread to the kernel's list of active threads. |
| */ |
| static ALWAYS_INLINE void thread_monitor_init(struct tcs *tcs) |
| { |
| unsigned int key; |
| |
| key = irq_lock(); |
| tcs->next_thread = _kernel.threads; |
| _kernel.threads = tcs; |
| irq_unlock(key); |
| } |
| #else |
| #define thread_monitor_init(tcs) \ |
| do {/* do nothing */ \ |
| } while ((0)) |
| #endif /* CONFIG_THREAD_MONITOR */ |
| |
| /** |
| * |
| * @brief Intialize a new thread from its stack space |
| * |
| * The control structure (TCS) is put at the lower address of the stack. An |
| * initial context, to be "restored" by __pendsv(), is put at the other end of |
| * the stack, and thus reusable by the stack when not needed anymore. |
| * |
| * The initial context is an exception stack frame (ESF) since exiting the |
| * PendSV exception will want to pop an ESF. Interestingly, even if the lsb of |
| * an instruction address to jump to must always be set since the CPU always |
| * runs in thumb mode, the ESF expects the real address of the instruction, |
| * with the lsb *not* set (instructions are always aligned on 16 bit halfwords). |
| * Since the compiler automatically sets the lsb of function addresses, we have |
| * to unset it manually before storing it in the 'pc' field of the ESF. |
| * |
| * <options> is currently unused. |
| * |
| * @param pStackMem the aligned stack memory |
| * @param stackSize stack size in bytes |
| * @param pEntry the entry point |
| * @param parameter1 entry point to the first param |
| * @param parameter2 entry point to the second param |
| * @param parameter3 entry point to the third param |
| * @param priority thread priority |
| * @param options thread options: K_ESSENTIAL, K_FP_REGS |
| * |
| * @return N/A |
| */ |
| |
| void _new_thread(char *pStackMem, size_t stackSize, |
| _thread_entry_t pEntry, |
| void *parameter1, void *parameter2, void *parameter3, |
| int priority, unsigned options) |
| { |
| _ASSERT_VALID_PRIO(priority, pEntry); |
| |
| __ASSERT(!((uint32_t)pStackMem & (STACK_ALIGN - 1)), |
| "stack is not aligned properly\n" |
| "%d-byte alignment required\n", STACK_ALIGN); |
| |
| char *stackEnd = pStackMem + stackSize; |
| struct __esf *pInitCtx; |
| struct tcs *tcs = (struct tcs *) pStackMem; |
| |
| #ifdef CONFIG_INIT_STACKS |
| memset(pStackMem, 0xaa, stackSize); |
| #endif |
| |
| /* carve the thread entry struct from the "base" of the stack */ |
| |
| pInitCtx = (struct __esf *)(STACK_ROUND_DOWN(stackEnd) - |
| sizeof(struct __esf)); |
| |
| pInitCtx->pc = ((uint32_t)_thread_entry) & 0xfffffffe; |
| pInitCtx->a1 = (uint32_t)pEntry; |
| pInitCtx->a2 = (uint32_t)parameter1; |
| pInitCtx->a3 = (uint32_t)parameter2; |
| pInitCtx->a4 = (uint32_t)parameter3; |
| pInitCtx->xpsr = |
| 0x01000000UL; /* clear all, thumb bit is 1, even if RO */ |
| |
| _init_thread_base(&tcs->base, priority, _THREAD_PRESTART, options); |
| |
| /* static threads overwrite it afterwards with real value */ |
| tcs->init_data = NULL; |
| tcs->fn_abort = NULL; |
| |
| #ifdef CONFIG_THREAD_CUSTOM_DATA |
| /* Initialize custom data field (value is opaque to kernel) */ |
| |
| tcs->custom_data = NULL; |
| #endif |
| |
| #ifdef CONFIG_THREAD_MONITOR |
| /* |
| * In debug mode tcs->entry give direct access to the thread entry |
| * and the corresponding parameters. |
| */ |
| tcs->entry = (struct __thread_entry *)(pInitCtx); |
| #endif |
| |
| tcs->callee_saved.psp = (uint32_t)pInitCtx; |
| tcs->arch.basepri = 0; |
| |
| /* swap_return_value can contain garbage */ |
| |
| /* initial values in all other registers/TCS entries are irrelevant */ |
| |
| thread_monitor_init(tcs); |
| } |