MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_NXP/TARGET_LPC2460/device/TOOLCHAIN_GCC_ARM/vector_functions.S@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* .include "vector_defns.h" */
sahilmgandhi 18:6a4db94011d3 2
sahilmgandhi 18:6a4db94011d3 3
sahilmgandhi 18:6a4db94011d3 4
sahilmgandhi 18:6a4db94011d3 5 .section .privileged_code, "ax"
sahilmgandhi 18:6a4db94011d3 6 .arm
sahilmgandhi 18:6a4db94011d3 7
sahilmgandhi 18:6a4db94011d3 8
sahilmgandhi 18:6a4db94011d3 9 .weak __mbed_fiq
sahilmgandhi 18:6a4db94011d3 10 .weak __mbed_undef
sahilmgandhi 18:6a4db94011d3 11 .weak __mbed_prefetch_abort
sahilmgandhi 18:6a4db94011d3 12 .weak __mbed_data_abort
sahilmgandhi 18:6a4db94011d3 13 .weak __mbed_irq
sahilmgandhi 18:6a4db94011d3 14 .weak __mbed_swi
sahilmgandhi 18:6a4db94011d3 15 .weak __mbed_dcc_irq
sahilmgandhi 18:6a4db94011d3 16 .weak __mbed_reset
sahilmgandhi 18:6a4db94011d3 17 .global __mbed_init_realmonitor
sahilmgandhi 18:6a4db94011d3 18 .weak SVC_Handler
sahilmgandhi 18:6a4db94011d3 19 .weak IRQ_Handler
sahilmgandhi 18:6a4db94011d3 20 /* .global __mbed_init */
sahilmgandhi 18:6a4db94011d3 21
sahilmgandhi 18:6a4db94011d3 22
sahilmgandhi 18:6a4db94011d3 23
sahilmgandhi 18:6a4db94011d3 24
sahilmgandhi 18:6a4db94011d3 25 __mbed_fiq:
sahilmgandhi 18:6a4db94011d3 26 B __mbed_fiq
sahilmgandhi 18:6a4db94011d3 27 __mbed_undef:
sahilmgandhi 18:6a4db94011d3 28 LDR PC, =0x7fffffa0
sahilmgandhi 18:6a4db94011d3 29 __mbed_prefetch_abort:
sahilmgandhi 18:6a4db94011d3 30 LDR PC, =0x7fffffb0
sahilmgandhi 18:6a4db94011d3 31 __mbed_data_abort:
sahilmgandhi 18:6a4db94011d3 32 LDR PC, =0x7fffffc0
sahilmgandhi 18:6a4db94011d3 33 __mbed_irq:
sahilmgandhi 18:6a4db94011d3 34 /*
sahilmgandhi 18:6a4db94011d3 35 If RTOS is enabled then goto RTOS IRQ handler
sahilmgandhi 18:6a4db94011d3 36 */
sahilmgandhi 18:6a4db94011d3 37 PUSH {R0}
sahilmgandhi 18:6a4db94011d3 38 LDR R0, =IRQ_Handler
sahilmgandhi 18:6a4db94011d3 39 CMP R0, #0
sahilmgandhi 18:6a4db94011d3 40 POP {R0}
sahilmgandhi 18:6a4db94011d3 41 BNE IRQ_Handler
sahilmgandhi 18:6a4db94011d3 42 /*
sahilmgandhi 18:6a4db94011d3 43 else use CMSIS IRQ handler
sahilmgandhi 18:6a4db94011d3 44 */
sahilmgandhi 18:6a4db94011d3 45 MSR CPSR_c, #0x1F|0x80|0x40
sahilmgandhi 18:6a4db94011d3 46
sahilmgandhi 18:6a4db94011d3 47 STMDB sp!, {r0-r3,r12,lr}
sahilmgandhi 18:6a4db94011d3 48
sahilmgandhi 18:6a4db94011d3 49 MOV r0, #0xFFFFFF00
sahilmgandhi 18:6a4db94011d3 50 LDR r0, [r0]
sahilmgandhi 18:6a4db94011d3 51
sahilmgandhi 18:6a4db94011d3 52 MOV lr, pc
sahilmgandhi 18:6a4db94011d3 53 BX r0
sahilmgandhi 18:6a4db94011d3 54
sahilmgandhi 18:6a4db94011d3 55 MOV r0, #0xFFFFFF00
sahilmgandhi 18:6a4db94011d3 56 STR r0, [r0]
sahilmgandhi 18:6a4db94011d3 57
sahilmgandhi 18:6a4db94011d3 58 LDMFD sp!,{r0-r3,r12,lr}
sahilmgandhi 18:6a4db94011d3 59
sahilmgandhi 18:6a4db94011d3 60 MSR CPSR_c, #0x12|0x80|0x40
sahilmgandhi 18:6a4db94011d3 61
sahilmgandhi 18:6a4db94011d3 62 SUBS pc, lr, #4
sahilmgandhi 18:6a4db94011d3 63
sahilmgandhi 18:6a4db94011d3 64 __mbed_swi:
sahilmgandhi 18:6a4db94011d3 65 /*
sahilmgandhi 18:6a4db94011d3 66 If RTOS is enabled then goto RTOS SVC handler
sahilmgandhi 18:6a4db94011d3 67 */
sahilmgandhi 18:6a4db94011d3 68 PUSH {R0}
sahilmgandhi 18:6a4db94011d3 69 LDR R0, =SVC_Handler
sahilmgandhi 18:6a4db94011d3 70 CMP R0, #0
sahilmgandhi 18:6a4db94011d3 71 POP {R0}
sahilmgandhi 18:6a4db94011d3 72 BNE SVC_Handler
sahilmgandhi 18:6a4db94011d3 73 /*
sahilmgandhi 18:6a4db94011d3 74 else use CMSIS SVC handler
sahilmgandhi 18:6a4db94011d3 75 */
sahilmgandhi 18:6a4db94011d3 76 STMFD sp!, {a4, r4, ip, lr}
sahilmgandhi 18:6a4db94011d3 77
sahilmgandhi 18:6a4db94011d3 78 LDR r4, =0x40000040
sahilmgandhi 18:6a4db94011d3 79
sahilmgandhi 18:6a4db94011d3 80 LDR a4, =0x00940000
sahilmgandhi 18:6a4db94011d3 81 LDR PC, =0x7ffff820
sahilmgandhi 18:6a4db94011d3 82
sahilmgandhi 18:6a4db94011d3 83 __mbed_dcc_irq:
sahilmgandhi 18:6a4db94011d3 84 LDMFD sp!,{r0-r3,r12,lr}
sahilmgandhi 18:6a4db94011d3 85
sahilmgandhi 18:6a4db94011d3 86 MSR CPSR_c, #0x12|0x80|0x40
sahilmgandhi 18:6a4db94011d3 87
sahilmgandhi 18:6a4db94011d3 88 SUB lr, lr, #4
sahilmgandhi 18:6a4db94011d3 89 STMFD sp!, {ip,lr}
sahilmgandhi 18:6a4db94011d3 90
sahilmgandhi 18:6a4db94011d3 91 LDR LR, =0xfffff000
sahilmgandhi 18:6a4db94011d3 92 STR LR, [LR, #0xf00]
sahilmgandhi 18:6a4db94011d3 93
sahilmgandhi 18:6a4db94011d3 94 LDR PC, =0x7fffffe0
sahilmgandhi 18:6a4db94011d3 95 /*
sahilmgandhi 18:6a4db94011d3 96 __mbed_reset is called after reset
sahilmgandhi 18:6a4db94011d3 97 we setup the stacks and realmonitor, then call Reset_Handler like on M3
sahilmgandhi 18:6a4db94011d3 98 */
sahilmgandhi 18:6a4db94011d3 99
sahilmgandhi 18:6a4db94011d3 100 .section .text, "ax"
sahilmgandhi 18:6a4db94011d3 101 .arm
sahilmgandhi 18:6a4db94011d3 102 .global Reset_handler
sahilmgandhi 18:6a4db94011d3 103 Reset_Handler:
sahilmgandhi 18:6a4db94011d3 104 .extern __libc_init_array
sahilmgandhi 18:6a4db94011d3 105 .extern SystemInit
sahilmgandhi 18:6a4db94011d3 106 .weak software_init_hook
sahilmgandhi 18:6a4db94011d3 107 LDR R0, =SystemInit
sahilmgandhi 18:6a4db94011d3 108 MOV LR, PC
sahilmgandhi 18:6a4db94011d3 109 BX R0
sahilmgandhi 18:6a4db94011d3 110
sahilmgandhi 18:6a4db94011d3 111 /* if (software_init_hook) // give control to the RTOS
sahilmgandhi 18:6a4db94011d3 112 software_init_hook(); // this will also call __libc_init_array
sahilmgandhi 18:6a4db94011d3 113 */
sahilmgandhi 18:6a4db94011d3 114 LDR R0, =software_init_hook
sahilmgandhi 18:6a4db94011d3 115 CMP R0, #0
sahilmgandhi 18:6a4db94011d3 116 BEQ nortos
sahilmgandhi 18:6a4db94011d3 117 ORR R0,R0,#1 /* set thumb address */
sahilmgandhi 18:6a4db94011d3 118 BX R0
sahilmgandhi 18:6a4db94011d3 119 /* else */
sahilmgandhi 18:6a4db94011d3 120 nortos:
sahilmgandhi 18:6a4db94011d3 121 LDR R0, =__libc_init_array
sahilmgandhi 18:6a4db94011d3 122 MOV LR, PC
sahilmgandhi 18:6a4db94011d3 123 BX R0
sahilmgandhi 18:6a4db94011d3 124
sahilmgandhi 18:6a4db94011d3 125 MSR CPSR_c, #0x1F /* enable irq */
sahilmgandhi 18:6a4db94011d3 126
sahilmgandhi 18:6a4db94011d3 127 LDR R0, =main
sahilmgandhi 18:6a4db94011d3 128 BX R0
sahilmgandhi 18:6a4db94011d3 129
sahilmgandhi 18:6a4db94011d3 130 __mbed_reset:
sahilmgandhi 18:6a4db94011d3 131 LDR R0, =( __SRAM_segment_end__ )
sahilmgandhi 18:6a4db94011d3 132
sahilmgandhi 18:6a4db94011d3 133 MSR CPSR_c, #0x1B|0x80|0x40
sahilmgandhi 18:6a4db94011d3 134 MOV SP, R0
sahilmgandhi 18:6a4db94011d3 135 SUB R0, R0, #0x00000040
sahilmgandhi 18:6a4db94011d3 136
sahilmgandhi 18:6a4db94011d3 137 MSR CPSR_c, #0x17|0x80|0x40
sahilmgandhi 18:6a4db94011d3 138 MOV SP, R0
sahilmgandhi 18:6a4db94011d3 139 SUB R0, R0, #0x00000040
sahilmgandhi 18:6a4db94011d3 140
sahilmgandhi 18:6a4db94011d3 141 MSR CPSR_c, #0x11|0x80|0x40
sahilmgandhi 18:6a4db94011d3 142 MOV SP, R0
sahilmgandhi 18:6a4db94011d3 143 SUB R0, R0, #0x00000040
sahilmgandhi 18:6a4db94011d3 144
sahilmgandhi 18:6a4db94011d3 145 MSR CPSR_c, #0x12|0x80|0x40
sahilmgandhi 18:6a4db94011d3 146 MOV SP, R0
sahilmgandhi 18:6a4db94011d3 147 SUB R0, R0, #0x00000040
sahilmgandhi 18:6a4db94011d3 148
sahilmgandhi 18:6a4db94011d3 149 MSR CPSR_c, #0x13|0x80|0x40
sahilmgandhi 18:6a4db94011d3 150 MOV SP, R0
sahilmgandhi 18:6a4db94011d3 151 SUB R0, R0, #0x00000040
sahilmgandhi 18:6a4db94011d3 152
sahilmgandhi 18:6a4db94011d3 153 /*
sahilmgandhi 18:6a4db94011d3 154 MSR CPSR_c, #0x10|0x80|0x40
sahilmgandhi 18:6a4db94011d3 155 MOV SP, R0
sahilmgandhi 18:6a4db94011d3 156 */
sahilmgandhi 18:6a4db94011d3 157 MSR CPSR_c, #0x1F|0x80|0x40
sahilmgandhi 18:6a4db94011d3 158 MOV SP, R0
sahilmgandhi 18:6a4db94011d3 159
sahilmgandhi 18:6a4db94011d3 160 MSR CPSR_c, #0x13|0x80|0x40 /* execute in Supervisor mode */
sahilmgandhi 18:6a4db94011d3 161
sahilmgandhi 18:6a4db94011d3 162 /* Relocate .data section (Copy from ROM to RAM) */
sahilmgandhi 18:6a4db94011d3 163 LDR R1, =__text_end__ /* _etext */
sahilmgandhi 18:6a4db94011d3 164 LDR R2, =__data_start__ /* _data */
sahilmgandhi 18:6a4db94011d3 165 LDR R3, =__data_end__ /* _edata */
sahilmgandhi 18:6a4db94011d3 166 CMP R2, R3
sahilmgandhi 18:6a4db94011d3 167 BEQ DataIsEmpty
sahilmgandhi 18:6a4db94011d3 168 LoopRel: CMP R2, R3
sahilmgandhi 18:6a4db94011d3 169 LDRLO R0, [R1], #4
sahilmgandhi 18:6a4db94011d3 170 STRLO R0, [R2], #4
sahilmgandhi 18:6a4db94011d3 171 BLO LoopRel
sahilmgandhi 18:6a4db94011d3 172 DataIsEmpty:
sahilmgandhi 18:6a4db94011d3 173
sahilmgandhi 18:6a4db94011d3 174 /* Clear .bss section (Zero init) */
sahilmgandhi 18:6a4db94011d3 175 MOV R0, #0
sahilmgandhi 18:6a4db94011d3 176 LDR R1, =__bss_start__
sahilmgandhi 18:6a4db94011d3 177 LDR R2, =__bss_end__
sahilmgandhi 18:6a4db94011d3 178 CMP R1,R2
sahilmgandhi 18:6a4db94011d3 179 BEQ BSSIsEmpty
sahilmgandhi 18:6a4db94011d3 180 LoopZI: CMP R1, R2
sahilmgandhi 18:6a4db94011d3 181 STRLO R0, [R1], #4
sahilmgandhi 18:6a4db94011d3 182 BLO LoopZI
sahilmgandhi 18:6a4db94011d3 183 BSSIsEmpty:
sahilmgandhi 18:6a4db94011d3 184
sahilmgandhi 18:6a4db94011d3 185
sahilmgandhi 18:6a4db94011d3 186 /* Init realmonitor */
sahilmgandhi 18:6a4db94011d3 187 /*
sahilmgandhi 18:6a4db94011d3 188 LDR R0, =__mbed_init_realmonitor
sahilmgandhi 18:6a4db94011d3 189 MOV LR, PC
sahilmgandhi 18:6a4db94011d3 190 BX R0
sahilmgandhi 18:6a4db94011d3 191 */
sahilmgandhi 18:6a4db94011d3 192
sahilmgandhi 18:6a4db94011d3 193 /* Go to Reset_Handler */
sahilmgandhi 18:6a4db94011d3 194 LDR R0, =Reset_Handler
sahilmgandhi 18:6a4db94011d3 195 BX R0