Bose Automation / mbed-rtos

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Dependents:   mbed_USBserial

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rtx/rt_HAL_CM.h@32:1e1e7730b6c8, 2014-06-16 (annotated)

Committer:
jvanhook
Date:
Mon Jun 16 15:36:29 2014 +0000
Revision:
32:1e1e7730b6c8
Parent:
31:015df9e602b6 
dfsdfgsdf

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 6:350b53afb889 1 /*----------------------------------------------------------------------------
emilmont 6:350b53afb889 2 * RL-ARM - RTX
emilmont 6:350b53afb889 3 *----------------------------------------------------------------------------
emilmont 6:350b53afb889 4 * Name: RT_HAL_CM.H
emilmont 6:350b53afb889 5 * Purpose: Hardware Abstraction Layer for Cortex-M definitions
emilmont 6:350b53afb889 6 * Rev.: V4.60
emilmont 6:350b53afb889 7 *----------------------------------------------------------------------------
emilmont 6:350b53afb889 8 *
emilmont 6:350b53afb889 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
emilmont 6:350b53afb889 10 * All rights reserved.
emilmont 6:350b53afb889 11 * Redistribution and use in source and binary forms, with or without
emilmont 6:350b53afb889 12 * modification, are permitted provided that the following conditions are met:
emilmont 6:350b53afb889 13 * - Redistributions of source code must retain the above copyright
emilmont 6:350b53afb889 14 * notice, this list of conditions and the following disclaimer.
emilmont 6:350b53afb889 15 * - Redistributions in binary form must reproduce the above copyright
emilmont 6:350b53afb889 16 * notice, this list of conditions and the following disclaimer in the
emilmont 6:350b53afb889 17 * documentation and/or other materials provided with the distribution.
mbed_official 31:015df9e602b6 18 * - Neither the name of ARM nor the names of its contributors may be used
mbed_official 31:015df9e602b6 19 * to endorse or promote products derived from this software without
emilmont 6:350b53afb889 20 * specific prior written permission.
emilmont 6:350b53afb889 21 *
mbed_official 31:015df9e602b6 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official 31:015df9e602b6 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
emilmont 6:350b53afb889 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
emilmont 6:350b53afb889 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
emilmont 6:350b53afb889 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbed_official 31:015df9e602b6 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbed_official 31:015df9e602b6 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbed_official 31:015df9e602b6 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbed_official 31:015df9e602b6 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
emilmont 6:350b53afb889 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
emilmont 6:350b53afb889 32 * POSSIBILITY OF SUCH DAMAGE.
emilmont 6:350b53afb889 33 *---------------------------------------------------------------------------*/
emilmont 6:350b53afb889 34
emilmont 6:350b53afb889 35 /* Definitions */
emilmont 6:350b53afb889 36 #define INITIAL_xPSR 0x01000000
emilmont 6:350b53afb889 37 #define DEMCR_TRCENA 0x01000000
emilmont 6:350b53afb889 38 #define ITM_ITMENA 0x00000001
emilmont 6:350b53afb889 39 #define MAGIC_WORD 0xE25A2EA5
emilmont 6:350b53afb889 40
emilmont 6:350b53afb889 41 #if defined (__CC_ARM) /* ARM Compiler */
emilmont 6:350b53afb889 42
emilmont 6:350b53afb889 43 #if ((__TARGET_ARCH_7_M || __TARGET_ARCH_7E_M) && !NO_EXCLUSIVE_ACCESS)
emilmont 6:350b53afb889 44 #define __USE_EXCLUSIVE_ACCESS
emilmont 6:350b53afb889 45 #else
emilmont 6:350b53afb889 46 #undef __USE_EXCLUSIVE_ACCESS
emilmont 6:350b53afb889 47 #endif
emilmont 6:350b53afb889 48
emilmont 6:350b53afb889 49 #elif defined (__GNUC__) /* GNU Compiler */
emilmont 6:350b53afb889 50
emilmont 6:350b53afb889 51 #undef __USE_EXCLUSIVE_ACCESS
emilmont 6:350b53afb889 52
emilmont 10:fcb1f103f7a1 53 #if defined (__CORTEX_M0) || defined (__CORTEX_M0PLUS)
emilmont 6:350b53afb889 54 #define __TARGET_ARCH_6S_M 1
emilmont 6:350b53afb889 55 #else
emilmont 6:350b53afb889 56 #define __TARGET_ARCH_6S_M 0
emilmont 6:350b53afb889 57 #endif
emilmont 6:350b53afb889 58
emilmont 6:350b53afb889 59 #if defined (__VFP_FP__) && !defined(__SOFTFP__)
emilmont 6:350b53afb889 60 #define __TARGET_FPU_VFP 1
emilmont 6:350b53afb889 61 #else
emilmont 6:350b53afb889 62 #define __TARGET_FPU_VFP 0
emilmont 6:350b53afb889 63 #endif
emilmont 6:350b53afb889 64
emilmont 6:350b53afb889 65 #define __inline inline
emilmont 6:350b53afb889 66 #define __weak __attribute__((weak))
emilmont 6:350b53afb889 67
emilmont 6:350b53afb889 68 #ifndef __CMSIS_GENERIC
emilmont 6:350b53afb889 69
emilmont 6:350b53afb889 70 __attribute__((always_inline)) static inline void __enable_irq(void)
emilmont 6:350b53afb889 71 {
emilmont 6:350b53afb889 72 __asm volatile ("cpsie i");
emilmont 6:350b53afb889 73 }
emilmont 6:350b53afb889 74
emilmont 6:350b53afb889 75 __attribute__((always_inline)) static inline U32 __disable_irq(void)
emilmont 6:350b53afb889 76 {
emilmont 6:350b53afb889 77 U32 result;
emilmont 6:350b53afb889 78
emilmont 6:350b53afb889 79 __asm volatile ("mrs %0, primask" : "=r" (result));
emilmont 6:350b53afb889 80 __asm volatile ("cpsid i");
emilmont 6:350b53afb889 81 return(result & 1);
emilmont 6:350b53afb889 82 }
emilmont 6:350b53afb889 83
emilmont 6:350b53afb889 84 #endif
emilmont 6:350b53afb889 85
emilmont 6:350b53afb889 86 __attribute__(( always_inline)) static inline U8 __clz(U32 value)
emilmont 6:350b53afb889 87 {
emilmont 6:350b53afb889 88 U8 result;
mbed_official 31:015df9e602b6 89
emilmont 6:350b53afb889 90 __asm volatile ("clz %0, %1" : "=r" (result) : "r" (value));
emilmont 6:350b53afb889 91 return(result);
emilmont 6:350b53afb889 92 }
emilmont 6:350b53afb889 93
emilmont 6:350b53afb889 94 #elif defined (__ICCARM__) /* IAR Compiler */
emilmont 6:350b53afb889 95
emilmont 6:350b53afb889 96 #undef __USE_EXCLUSIVE_ACCESS
emilmont 6:350b53afb889 97
emilmont 6:350b53afb889 98 #if (__CORE__ == __ARM6M__)
emilmont 6:350b53afb889 99 #define __TARGET_ARCH_6S_M 1
emilmont 6:350b53afb889 100 #else
emilmont 6:350b53afb889 101 #define __TARGET_ARCH_6S_M 0
emilmont 6:350b53afb889 102 #endif
emilmont 6:350b53afb889 103
emilmont 6:350b53afb889 104 #if defined __ARMVFP__
emilmont 6:350b53afb889 105 #define __TARGET_FPU_VFP 1
emilmont 6:350b53afb889 106 #else
emilmont 6:350b53afb889 107 #define __TARGET_FPU_VFP 0
emilmont 6:350b53afb889 108 #endif
emilmont 6:350b53afb889 109
emilmont 6:350b53afb889 110 #define __inline inline
emilmont 6:350b53afb889 111
emilmont 6:350b53afb889 112 #ifndef __CMSIS_GENERIC
emilmont 6:350b53afb889 113
emilmont 6:350b53afb889 114 static inline void __enable_irq(void)
emilmont 6:350b53afb889 115 {
emilmont 6:350b53afb889 116 __asm volatile ("cpsie i");
emilmont 6:350b53afb889 117 }
emilmont 6:350b53afb889 118
emilmont 6:350b53afb889 119 static inline U32 __disable_irq(void)
emilmont 6:350b53afb889 120 {
emilmont 6:350b53afb889 121 U32 result;
mbed_official 31:015df9e602b6 122
emilmont 6:350b53afb889 123 __asm volatile ("mrs %0, primask" : "=r" (result));
emilmont 6:350b53afb889 124 __asm volatile ("cpsid i");
emilmont 6:350b53afb889 125 return(result & 1);
emilmont 6:350b53afb889 126 }
emilmont 6:350b53afb889 127
emilmont 6:350b53afb889 128 #endif
emilmont 6:350b53afb889 129
emilmont 6:350b53afb889 130 static inline U8 __clz(U32 value)
emilmont 6:350b53afb889 131 {
emilmont 6:350b53afb889 132 U8 result;
mbed_official 31:015df9e602b6 133
emilmont 6:350b53afb889 134 __asm volatile ("clz %0, %1" : "=r" (result) : "r" (value));
emilmont 6:350b53afb889 135 return(result);
emilmont 6:350b53afb889 136 }
emilmont 6:350b53afb889 137
emilmont 6:350b53afb889 138 #endif
emilmont 6:350b53afb889 139
emilmont 6:350b53afb889 140 /* NVIC registers */
emilmont 6:350b53afb889 141 #define NVIC_ST_CTRL (*((volatile U32 *)0xE000E010))
emilmont 6:350b53afb889 142 #define NVIC_ST_RELOAD (*((volatile U32 *)0xE000E014))
emilmont 6:350b53afb889 143 #define NVIC_ST_CURRENT (*((volatile U32 *)0xE000E018))
emilmont 6:350b53afb889 144 #define NVIC_ISER ((volatile U32 *)0xE000E100)
emilmont 6:350b53afb889 145 #define NVIC_ICER ((volatile U32 *)0xE000E180)
emilmont 6:350b53afb889 146 #if (__TARGET_ARCH_6S_M)
emilmont 6:350b53afb889 147 #define NVIC_IP ((volatile U32 *)0xE000E400)
emilmont 6:350b53afb889 148 #else
emilmont 6:350b53afb889 149 #define NVIC_IP ((volatile U8 *)0xE000E400)
emilmont 6:350b53afb889 150 #endif
emilmont 6:350b53afb889 151 #define NVIC_INT_CTRL (*((volatile U32 *)0xE000ED04))
emilmont 6:350b53afb889 152 #define NVIC_AIR_CTRL (*((volatile U32 *)0xE000ED0C))
emilmont 6:350b53afb889 153 #define NVIC_SYS_PRI2 (*((volatile U32 *)0xE000ED1C))
emilmont 6:350b53afb889 154 #define NVIC_SYS_PRI3 (*((volatile U32 *)0xE000ED20))
emilmont 6:350b53afb889 155
emilmont 6:350b53afb889 156 #define OS_PEND_IRQ() NVIC_INT_CTRL = (1<<28)
emilmont 6:350b53afb889 157 #define OS_PENDING ((NVIC_INT_CTRL >> 26) & (1<<2 | 1))
emilmont 6:350b53afb889 158 #define OS_UNPEND(fl) NVIC_INT_CTRL = (*fl = OS_PENDING) << 25
emilmont 6:350b53afb889 159 #define OS_PEND(fl,p) NVIC_INT_CTRL = (fl | p<<2) << 26
emilmont 6:350b53afb889 160 #define OS_LOCK() NVIC_ST_CTRL = 0x0005
emilmont 6:350b53afb889 161 #define OS_UNLOCK() NVIC_ST_CTRL = 0x0007
emilmont 6:350b53afb889 162
emilmont 6:350b53afb889 163 #define OS_X_PENDING ((NVIC_INT_CTRL >> 28) & 1)
emilmont 6:350b53afb889 164 #define OS_X_UNPEND(fl) NVIC_INT_CTRL = (*fl = OS_X_PENDING) << 27
emilmont 6:350b53afb889 165 #define OS_X_PEND(fl,p) NVIC_INT_CTRL = (fl | p) << 28
emilmont 6:350b53afb889 166 #if (__TARGET_ARCH_6S_M)
emilmont 6:350b53afb889 167 #define OS_X_INIT(n) NVIC_IP[n>>2] |= 0xFF << (8*(n & 0x03)); \
emilmont 6:350b53afb889 168 NVIC_ISER[n>>5] = 1 << (n & 0x1F)
emilmont 6:350b53afb889 169 #else
emilmont 6:350b53afb889 170 #define OS_X_INIT(n) NVIC_IP[n] = 0xFF; \
emilmont 6:350b53afb889 171 NVIC_ISER[n>>5] = 1 << (n & 0x1F)
emilmont 6:350b53afb889 172 #endif
emilmont 6:350b53afb889 173 #define OS_X_LOCK(n) NVIC_ICER[n>>5] = 1 << (n & 0x1F)
emilmont 6:350b53afb889 174 #define OS_X_UNLOCK(n) NVIC_ISER[n>>5] = 1 << (n & 0x1F)
emilmont 6:350b53afb889 175
emilmont 6:350b53afb889 176 /* Core Debug registers */
emilmont 6:350b53afb889 177 #define DEMCR (*((volatile U32 *)0xE000EDFC))
emilmont 6:350b53afb889 178
emilmont 6:350b53afb889 179 /* ITM registers */
emilmont 6:350b53afb889 180 #define ITM_CONTROL (*((volatile U32 *)0xE0000E80))
emilmont 6:350b53afb889 181 #define ITM_ENABLE (*((volatile U32 *)0xE0000E00))
emilmont 6:350b53afb889 182 #define ITM_PORT30_U32 (*((volatile U32 *)0xE0000078))
emilmont 6:350b53afb889 183 #define ITM_PORT31_U32 (*((volatile U32 *)0xE000007C))
emilmont 6:350b53afb889 184 #define ITM_PORT31_U16 (*((volatile U16 *)0xE000007C))
emilmont 6:350b53afb889 185 #define ITM_PORT31_U8 (*((volatile U8 *)0xE000007C))
emilmont 6:350b53afb889 186
emilmont 6:350b53afb889 187 /* Variables */
emilmont 6:350b53afb889 188 extern BIT dbg_msg;
emilmont 6:350b53afb889 189
emilmont 6:350b53afb889 190 /* Functions */
emilmont 6:350b53afb889 191 #ifdef __USE_EXCLUSIVE_ACCESS
emilmont 6:350b53afb889 192 #define rt_inc(p) while(__strex((__ldrex(p)+1),p))
emilmont 6:350b53afb889 193 #define rt_dec(p) while(__strex((__ldrex(p)-1),p))
emilmont 6:350b53afb889 194 #else
emilmont 6:350b53afb889 195 #define rt_inc(p) __disable_irq();(*p)++;__enable_irq();
emilmont 6:350b53afb889 196 #define rt_dec(p) __disable_irq();(*p)--;__enable_irq();
emilmont 6:350b53afb889 197 #endif
emilmont 6:350b53afb889 198
emilmont 6:350b53afb889 199 __inline static U32 rt_inc_qi (U32 size, U8 *count, U8 *first) {
emilmont 6:350b53afb889 200 U32 cnt,c2;
emilmont 6:350b53afb889 201 #ifdef __USE_EXCLUSIVE_ACCESS
emilmont 6:350b53afb889 202 do {
emilmont 6:350b53afb889 203 if ((cnt = __ldrex(count)) == size) {
emilmont 6:350b53afb889 204 __clrex();
emilmont 6:350b53afb889 205 return (cnt); }
emilmont 6:350b53afb889 206 } while (__strex(cnt+1, count));
emilmont 6:350b53afb889 207 do {
emilmont 6:350b53afb889 208 c2 = (cnt = __ldrex(first)) + 1;
emilmont 6:350b53afb889 209 if (c2 == size) c2 = 0;
emilmont 6:350b53afb889 210 } while (__strex(c2, first));
emilmont 6:350b53afb889 211 #else
emilmont 6:350b53afb889 212 __disable_irq();
emilmont 6:350b53afb889 213 if ((cnt = *count) < size) {
emilmont 6:350b53afb889 214 *count = cnt+1;
emilmont 6:350b53afb889 215 c2 = (cnt = *first) + 1;
emilmont 6:350b53afb889 216 if (c2 == size) c2 = 0;
mbed_official 31:015df9e602b6 217 *first = c2;
emilmont 6:350b53afb889 218 }
emilmont 6:350b53afb889 219 __enable_irq ();
emilmont 6:350b53afb889 220 #endif
emilmont 6:350b53afb889 221 return (cnt);
emilmont 6:350b53afb889 222 }
emilmont 6:350b53afb889 223
emilmont 6:350b53afb889 224 __inline static void rt_systick_init (void) {
emilmont 6:350b53afb889 225 NVIC_ST_RELOAD = os_trv;
emilmont 6:350b53afb889 226 NVIC_ST_CURRENT = 0;
emilmont 6:350b53afb889 227 NVIC_ST_CTRL = 0x0007;
emilmont 6:350b53afb889 228 NVIC_SYS_PRI3 |= 0xFF000000;
emilmont 6:350b53afb889 229 }
emilmont 6:350b53afb889 230
emilmont 6:350b53afb889 231 __inline static void rt_svc_init (void) {
emilmont 6:350b53afb889 232 #if !(__TARGET_ARCH_6S_M)
emilmont 6:350b53afb889 233 int sh,prigroup;
emilmont 6:350b53afb889 234 #endif
emilmont 6:350b53afb889 235 NVIC_SYS_PRI3 |= 0x00FF0000;
emilmont 6:350b53afb889 236 #if (__TARGET_ARCH_6S_M)
emilmont 6:350b53afb889 237 NVIC_SYS_PRI2 |= (NVIC_SYS_PRI3<<(8+1)) & 0xFC000000;
emilmont 6:350b53afb889 238 #else
emilmont 6:350b53afb889 239 sh = 8 - __clz (~((NVIC_SYS_PRI3 << 8) & 0xFF000000));
emilmont 6:350b53afb889 240 prigroup = ((NVIC_AIR_CTRL >> 8) & 0x07);
emilmont 6:350b53afb889 241 if (prigroup >= sh) {
emilmont 6:350b53afb889 242 sh = prigroup + 1;
emilmont 6:350b53afb889 243 }
emilmont 6:350b53afb889 244 NVIC_SYS_PRI2 = ((0xFEFFFFFF << sh) & 0xFF000000) | (NVIC_SYS_PRI2 & 0x00FFFFFF);
emilmont 6:350b53afb889 245 #endif
emilmont 6:350b53afb889 246 }
emilmont 6:350b53afb889 247
emilmont 6:350b53afb889 248 extern void rt_set_PSP (U32 stack);
emilmont 6:350b53afb889 249 extern U32 rt_get_PSP (void);
emilmont 6:350b53afb889 250 extern void os_set_env (void);
emilmont 6:350b53afb889 251 extern void *_alloc_box (void *box_mem);
emilmont 6:350b53afb889 252 extern int _free_box (void *box_mem, void *box);
emilmont 6:350b53afb889 253
emilmont 6:350b53afb889 254 extern void rt_init_stack (P_TCB p_TCB, FUNCP task_body);
emilmont 6:350b53afb889 255 extern void rt_ret_val (P_TCB p_TCB, U32 v0);
emilmont 6:350b53afb889 256 extern void rt_ret_val2 (P_TCB p_TCB, U32 v0, U32 v1);
emilmont 6:350b53afb889 257
emilmont 6:350b53afb889 258 extern void dbg_init (void);
emilmont 6:350b53afb889 259 extern void dbg_task_notify (P_TCB p_tcb, BOOL create);
emilmont 6:350b53afb889 260 extern void dbg_task_switch (U32 task_id);
emilmont 6:350b53afb889 261
emilmont 6:350b53afb889 262 #ifdef DBG_MSG
emilmont 6:350b53afb889 263 #define DBG_INIT() dbg_init()
emilmont 6:350b53afb889 264 #define DBG_TASK_NOTIFY(p_tcb,create) if (dbg_msg) dbg_task_notify(p_tcb,create)
emilmont 7:80173c64d05d 265 #define DBG_TASK_SWITCH(task_id) if (dbg_msg && (os_tsk.new_tsk != os_tsk.run)) \
emilmont 6:350b53afb889 266 dbg_task_switch(task_id)
emilmont 6:350b53afb889 267 #else
emilmont 6:350b53afb889 268 #define DBG_INIT()
emilmont 6:350b53afb889 269 #define DBG_TASK_NOTIFY(p_tcb,create)
emilmont 6:350b53afb889 270 #define DBG_TASK_SWITCH(task_id)
emilmont 6:350b53afb889 271 #endif
emilmont 6:350b53afb889 272
emilmont 6:350b53afb889 273 /*----------------------------------------------------------------------------
emilmont 6:350b53afb889 274 * end of file
emilmont 6:350b53afb889 275 *---------------------------------------------------------------------------*/
emilmont 6:350b53afb889 276