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Microsoft's Azure RTOS ThreadX for Cortex-M23
Using the GNU Tools
1. Building the ThreadX run-time Library
An example .bat file is in the example_build directory.
Files tx_thread_stack_error_handler.c and tx_thread_stack_error_notify.c
replace the common files of the same name.
2. Demonstration System
No demonstration example is provided.
3. System Initialization
The entry point in ThreadX for the Cortex-M23 using gnu tools uses the standard GNU
Cortex-M23 reset sequence. From the reset vector the C runtime will be initialized.
The ThreadX tx_initialize_low_level.S file is responsible for setting up
various system data structures, the vector area, and a periodic timer interrupt
source.
In addition, _tx_initialize_low_level determines the first available
address for use by the application, which is supplied as the sole input
parameter to your application definition function, tx_application_define.
4. Register Usage and Stack Frames
The following defines the saved context stack frames for context switches
that occur as a result of interrupt handling or from thread-level API calls.
All suspended threads have the same stack frame in the Cortex-M23 version of
ThreadX. The top of the suspended thread's stack is pointed to by
tx_thread_stack_ptr in the associated thread control block TX_THREAD.
Stack Offset Stack Contents
0x00 LR Interrupted LR (LR at time of PENDSV)
0x04 r8
0x08 r9
0x0C r10
0x10 r11
0x14 r4
0x18 r5
0x1C r6
0x20 r7
0x24 r0 (Hardware stack starts here!!)
0x28 r1
0x2C r2
0x30 r3
0x34 r12
0x38 lr
0x3C pc
0x40 xPSR
5. Improving Performance
To make ThreadX and the application(s) run faster, you can enable
all compiler optimizations.
In addition, you can eliminate the ThreadX basic API error checking by
compiling your application code with the symbol TX_DISABLE_ERROR_CHECKING
defined.
6. Interrupt Handling
ThreadX provides complete and high-performance interrupt handling for Cortex-M23
targets. There are a certain set of requirements that are defined in the
following sub-sections:
6.1 Vector Area
The Cortex-M23 vectors start at the label __tx_vectors or similar. The application may modify
the vector area according to its needs. There is code in tx_initialize_low_level() that will
configure the vector base register.
6.2 Managed Interrupts
ISRs can be written completely in C (or assembly language) without any calls to
_tx_thread_context_save or _tx_thread_context_restore. These ISRs are allowed access to the
ThreadX API that is available to ISRs.
ISRs written in C will take the form (where "your_C_isr" is an entry in the vector table):
void your_C_isr(void)
{
/* ISR processing goes here, including any needed function calls. */
}
ISRs written in assembly language will take the form:
.global your_assembly_isr
.thumb_func
your_assembly_isr:
; VOID your_assembly_isr(VOID)
; {
PUSH {r0, lr}
;
; /* Do interrupt handler work here */
; /* BL <your interrupt routine in C> */
POP {r0, r1}
MOV lr, r1
BX lr
; }
Note: the Cortex-M23 requires exception handlers to be thumb labels, this implies bit 0 set.
To accomplish this, the declaration of the label has to be preceded by the assembler directive
.thumb_func to instruct the linker to create thumb labels. The label __tx_IntHandler needs to
be inserted in the correct location in the interrupt vector table. This table is typically
located in either your runtime startup file or in the tx_initialize_low_level.S file.
7. Revision History
For generic code revision information, please refer to the readme_threadx_generic.txt
file, which is included in your distribution. The following details the revision
information associated with this specific port of ThreadX:
06-02-2021 Release 6.1.7 changes:
tx_thread_secure_stack_initialize.S New file
tx_thread_schedule.S Added secure stack initialize to SVC hander
tx_thread_secure_stack.c Fixed stack pointer save, initialize in handler mode
04-02-2021 Release 6.1.6 changes:
tx_port.h Updated macro definition
tx_thread_schedule.s Added low power support
03-02-2021 The following files were changed/added for version 6.1.5:
tx_port.h Added ULONG64_DEFINED
12-31-2020 The following files were
changed/added for port specific version 6.1.3:
tx_port.h Remove unneeded include files,
use builtin functions,
modified comments.
tx_thread_secure_stack.c Remove unneeded include file,
use inline get/set functions,
modified comments.
09-30-2020 Initial ThreadX 6.1 version for Cortex-M23 using GNU tools.
Copyright(c) 1996-2020 Microsoft Corporation
https://azure.com/rtos
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