readme_threadx.txt
1 Microsoft's Azure RTOS ThreadX for Cortex-A35
2
3 Using the ARM Compiler 6 & DS
4
51. Import the ThreadX Projects
6
7In order to build the ThreadX library and the ThreadX SMP demonstration, first import
8the 'tx' and 'sample_threadx' projects (located in the "example_build" directory)
9into your DS workspace.
10
11
122. Building the ThreadX run-time Library
13
14Building the ThreadX library is easy; simply select the Eclipse project file
15"tx" and then select the build button. You should now observe the compilation
16and assembly of the ThreadX library. This project build produces the ThreadX
17library file tx.a.
18
19
203. Demonstration System
21
22The ThreadX demonstration is designed to execute under the DS debugger on the
23Base_A35x1 Bare Metal simulator.
24
25Building the demonstration is easy; simply select the sample_threadx project, and
26select the build button. Next, in the sample_threadx project, right-click on the
27sample_threadx.launch file and select 'Debug As -> sample_threadx'. The debugger is
28setup for the Cortex-A35 FVP, so selecting "Debug" will launch the FVP, load
29the sample_threadx.axf ELF file and run to the entry point. You are now ready to execute
30the ThreadX SMP demonstration.
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32
334. System Initialization
34
35The entry point in ThreadX for the Cortex-A35 using AC6 tools is at label
36start64. This is defined within the AC6 compiler's startup code. In addition,
37this is where all static and global pre-set C variable initialization processing
38takes place.
39
40The ThreadX tx_initialize_low_level.s file is responsible for determining the
41first available RAM address for use by the application, which is supplied as the
42sole input parameter to your application definition function, tx_application_define.
43
44
455. Register Usage and Stack Frames
46
47The 64-bit AC6 compiler assumes that registers x0-x18 are scratch registers
48for each function. All other registers used by a C function must be preserved
49by the function. ThreadX takes advantage of this in situations where a context
50switch happens as a result of making a ThreadX service call (which is itself a
51C function). In such cases, the saved context of a thread is only the
52non-scratch registers.
53
54The following defines the saved context stack frames for context switches
55that occur as a result of interrupt handling or from thread-level API calls.
56All suspended threads have one of these two types of stack frames. The top
57of the suspended thread's stack is pointed to by tx_thread_stack_ptr in the
58associated thread control block TX_THREAD.
59
60
61FP not enabled and TX_THREAD.tx_thread_fp_enable == 0:
62
63 Offset Interrupted Stack Frame Non-Interrupt Stack Frame
64
65 0x000 SPSR DAIF
66 0x008 ELR 0
67 0x010 x28 x27
68 0x018 reserved x28
69 0x020 x26 x25
70 0x028 x27 x26
71 0x030 x24 x23
72 0x038 x25 x24
73 0x040 x22 x21
74 0x048 x23 x22
75 0x050 x20 x19
76 0x058 x21 x20
77 0x060 x18 x29
78 0x068 x19 x30
79 0x070 x16
80 0x078 x17
81 0x080 x14
82 0x088 x15
83 0x090 x12
84 0x098 x13
85 0x0A0 x10
86 0x0A8 x11
87 0x0B0 x8
88 0x0B8 x9
89 0x0C0 x6
90 0x0C8 x7
91 0x0D0 x4
92 0x0D8 x5
93 0x0E0 x2
94 0x0E8 x3
95 0x0F0 x0
96 0x0F8 x1
97 0x100 x29
98 0x108 x30
99
100
101FP enabled and TX_THREAD.tx_thread_fp_enable == 1:
102
103 Offset Interrupted Stack Frame Non-Interrupt Stack Frame
104
105 0x000 SPSR DAIF
106 0x008 ELR 0
107 0x010 FPSR FPSR
108 0x018 FPCR FPCR
109 0x020 q30 q14
110 0x030 q31 q15
111 0x040 q28 q12
112 0x050 q29 q13
113 0x060 q26 q10
114 0x070 q27 q11
115 0x080 q24 q8
116 0x090 q25 q9
117 0x0A0 q22 x27
118 0x0A8 x28
119 0x0B0 q23 x25
120 0x0B8 x26
121 0x0C0 q20 x23
122 0x0C8 x24
123 0x0D0 q21 x21
124 0x0D8 x22
125 0x0E0 q18 x19
126 0x0E8 x20
127 0x0F0 q19 x29
128 0x0F8 x30
129 0x100 q16
130 0x110 q17
131 0x120 q14
132 0x130 q15
133 0x140 q12
134 0x150 q13
135 0x160 q10
136 0x170 q11
137 0x180 q8
138 0x190 q9
139 0x1A0 q6
140 0x1B0 q7
141 0x1C0 q4
142 0x1D0 q5
143 0x1E0 q2
144 0x1F0 q3
145 0x200 q0
146 0x210 q1
147 0x220 x28
148 0x228 reserved
149 0x230 x26
150 0x238 x27
151 0x240 x24
152 0x248 x25
153 0x250 x22
154 0x258 x23
155 0x260 x20
156 0x268 x21
157 0x270 x18
158 0x278 x19
159 0x280 x16
160 0x288 x17
161 0x290 x14
162 0x298 x15
163 0x2A0 x12
164 0x2A8 x13
165 0x2B0 x10
166 0x2B8 x11
167 0x2C0 x8
168 0x2C8 x9
169 0x2D0 x6
170 0x2D8 x7
171 0x2E0 x4
172 0x2E8 x5
173 0x2F0 x2
174 0x2F8 x3
175 0x300 x0
176 0x308 x1
177 0x310 x29
178 0x318 x30
179
180
181
1826. Improving Performance
183
184The distribution version of ThreadX is built without any compiler optimizations.
185This makes it easy to debug because you can trace or set breakpoints inside of
186ThreadX itself. Of course, this costs some performance. To make it run faster,
187you can change the project settings to the desired compiler optimization level.
188
189In addition, you can eliminate the ThreadX basic API error checking by
190compiling your application code with the symbol TX_DISABLE_ERROR_CHECKING
191defined.
192
193
1947. Interrupt Handling
195
196ThreadX provides complete and high-performance interrupt handling for Cortex-A35
197targets. Interrupts handlers for the 64-bit mode of the Cortex-A35 have the following
198format:
199
200 .global irq_handler
201irq_handler:
202 MSR SPSel, 0
203 STP x29, x30, [sp, #-16]!
204 BL _tx_thread_context_save
205
206 /* Your ISR call goes here! */
207 BL application_isr_handler
208
209 B _tx_thread_context_restore
210
211By default, ThreadX assumes EL3 level of execution. Running and taking exceptions in EL1
212and EL2 can be done by simply building the ThreadX library with either EL1 or EL2 defined.
213
214
2158. ThreadX Timer Interrupt
216
217ThreadX requires a periodic interrupt source to manage all time-slicing, thread sleeps,
218timeouts, and application timers. Without such a timer interrupt source, these services
219are not functional. However, all other ThreadX services are operational without a
220periodic timer source.
221
222
2239. ARM FP Support
224
225By default, FP support is disabled for each thread. If saving the context of the FP registers
226is needed, the following API call must be made from the context of the application thread - before
227the FP usage:
228
229void tx_thread_fp_enable(void);
230
231After this API is called in the application, FP registers will be saved/restored for this thread if it
232is preempted via an interrupt. All other suspension of the this thread will not require the FP registers
233to be saved/restored.
234
235To disable FP register context saving, simply call the following API:
236
237void tx_thread_fp_disable(void);
238
239
24010. Revision History
241
242For generic code revision information, please refer to the readme_threadx_generic.txt
243file, which is included in your distribution. The following details the revision
244information associated with this specific port of ThreadX:
245
24604-02-2021 Release 6.1.6 changes:
247 tx_port.h Updated macro definition
248
24909-30-2020 Initial ThreadX 6.1 version for Cortex-A35 using AC6 tools.
250
251
252Copyright(c) 1996-2020 Microsoft Corporation
253
254
255https://azure.com/rtos
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257
