Hiruka Hana / Gyro_Accelerometre

Programme gyro_accelero avec acquisition accelero + calcul téta

Dependents:   Gyro_Accelerometre2

rtx/TARGET_ARM7/HAL_CM.c@0:07281ea3b26b, 2018-02-20 (annotated)

Committer:
SandrineO
Date:
Tue Feb 20 15:58:26 2018 +0000
Revision:
0:07281ea3b26b
temps r?el

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SandrineO 0:07281ea3b26b 1 /*----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 2 * RL-ARM - RTX
SandrineO 0:07281ea3b26b 3 *----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 4 * Name: HAL_CM.C
SandrineO 0:07281ea3b26b 5 * Purpose: Hardware Abstraction Layer for ARM7TDMI
SandrineO 0:07281ea3b26b 6 * Rev.: V1.0
SandrineO 0:07281ea3b26b 7 *----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 8 *
SandrineO 0:07281ea3b26b 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
SandrineO 0:07281ea3b26b 10 * All rights reserved.
SandrineO 0:07281ea3b26b 11 * Redistribution and use in source and binary forms, with or without
SandrineO 0:07281ea3b26b 12 * modification, are permitted provided that the following conditions are met:
SandrineO 0:07281ea3b26b 13 * - Redistributions of source code must retain the above copyright
SandrineO 0:07281ea3b26b 14 * notice, this list of conditions and the following disclaimer.
SandrineO 0:07281ea3b26b 15 * - Redistributions in binary form must reproduce the above copyright
SandrineO 0:07281ea3b26b 16 * notice, this list of conditions and the following disclaimer in the
SandrineO 0:07281ea3b26b 17 * documentation and/or other materials provided with the distribution.
SandrineO 0:07281ea3b26b 18 * - Neither the name of ARM nor the names of its contributors may be used
SandrineO 0:07281ea3b26b 19 * to endorse or promote products derived from this software without
SandrineO 0:07281ea3b26b 20 * specific prior written permission.
SandrineO 0:07281ea3b26b 21 *
SandrineO 0:07281ea3b26b 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
SandrineO 0:07281ea3b26b 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
SandrineO 0:07281ea3b26b 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
SandrineO 0:07281ea3b26b 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
SandrineO 0:07281ea3b26b 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
SandrineO 0:07281ea3b26b 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SandrineO 0:07281ea3b26b 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
SandrineO 0:07281ea3b26b 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
SandrineO 0:07281ea3b26b 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
SandrineO 0:07281ea3b26b 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
SandrineO 0:07281ea3b26b 32 * POSSIBILITY OF SUCH DAMAGE.
SandrineO 0:07281ea3b26b 33 *---------------------------------------------------------------------------*/
SandrineO 0:07281ea3b26b 34
SandrineO 0:07281ea3b26b 35 #include "rt_TypeDef.h"
SandrineO 0:07281ea3b26b 36 #include "RTX_Conf.h"
SandrineO 0:07281ea3b26b 37 #include "rt_HAL_CM.h"
SandrineO 0:07281ea3b26b 38
SandrineO 0:07281ea3b26b 39
SandrineO 0:07281ea3b26b 40 /*----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 41 * Global Variables
SandrineO 0:07281ea3b26b 42 *---------------------------------------------------------------------------*/
SandrineO 0:07281ea3b26b 43
SandrineO 0:07281ea3b26b 44 #ifdef DBG_MSG
SandrineO 0:07281ea3b26b 45 BIT dbg_msg;
SandrineO 0:07281ea3b26b 46 #endif
SandrineO 0:07281ea3b26b 47
SandrineO 0:07281ea3b26b 48 /*----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 49 * Functions
SandrineO 0:07281ea3b26b 50 *---------------------------------------------------------------------------*/
SandrineO 0:07281ea3b26b 51
SandrineO 0:07281ea3b26b 52
SandrineO 0:07281ea3b26b 53 /*--------------------------- rt_init_stack ---------------------------------*/
SandrineO 0:07281ea3b26b 54
SandrineO 0:07281ea3b26b 55 void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
SandrineO 0:07281ea3b26b 56 /* Prepare TCB and saved context for a first time start of a task. */
SandrineO 0:07281ea3b26b 57 U32 *stk,i,size;
SandrineO 0:07281ea3b26b 58
SandrineO 0:07281ea3b26b 59 /* Prepare a complete interrupt frame for first task start */
SandrineO 0:07281ea3b26b 60 size = p_TCB->priv_stack >> 2;
SandrineO 0:07281ea3b26b 61
SandrineO 0:07281ea3b26b 62 /* Write to the top of stack. */
SandrineO 0:07281ea3b26b 63 stk = &p_TCB->stack[size];
SandrineO 0:07281ea3b26b 64
SandrineO 0:07281ea3b26b 65 /* Auto correct to 8-byte ARM stack alignment. */
SandrineO 0:07281ea3b26b 66 if ((U32)stk & 0x04) {
SandrineO 0:07281ea3b26b 67 stk--;
SandrineO 0:07281ea3b26b 68 }
SandrineO 0:07281ea3b26b 69
SandrineO 0:07281ea3b26b 70 stk -= 16;
SandrineO 0:07281ea3b26b 71
SandrineO 0:07281ea3b26b 72 /* Default xPSR and initial PC */
SandrineO 0:07281ea3b26b 73 stk[15] = (U32)task_body + 4; /* add 4 byte offset because SUB PC, LR - 4 */
SandrineO 0:07281ea3b26b 74 stk[0] = INITIAL_xPSR;
SandrineO 0:07281ea3b26b 75
SandrineO 0:07281ea3b26b 76 /* Clear R0-R13/LR registers. */
SandrineO 0:07281ea3b26b 77 for (i = 1; i < 14; i++) {
SandrineO 0:07281ea3b26b 78 stk[i] = 0;
SandrineO 0:07281ea3b26b 79 }
SandrineO 0:07281ea3b26b 80
SandrineO 0:07281ea3b26b 81 /* Assign a void pointer to R0. */
SandrineO 0:07281ea3b26b 82 stk[TCB_STACK_R0_OFFSET_DWORDS] = (U32)p_TCB->msg;
SandrineO 0:07281ea3b26b 83
SandrineO 0:07281ea3b26b 84 /* Initial Task stack pointer. */
SandrineO 0:07281ea3b26b 85 p_TCB->tsk_stack = (U32)stk;
SandrineO 0:07281ea3b26b 86
SandrineO 0:07281ea3b26b 87 /* Task entry point. */
SandrineO 0:07281ea3b26b 88 p_TCB->ptask = task_body;
SandrineO 0:07281ea3b26b 89
SandrineO 0:07281ea3b26b 90 /* Set a magic word for checking of stack overflow.
SandrineO 0:07281ea3b26b 91 For the main thread (ID: 0x01) the stack is in a memory area shared with the
SandrineO 0:07281ea3b26b 92 heap, therefore the last word of the stack is a moving target.
SandrineO 0:07281ea3b26b 93 We want to do stack/heap collision detection instead.
SandrineO 0:07281ea3b26b 94 */
SandrineO 0:07281ea3b26b 95 if (p_TCB->task_id != 0x01)
SandrineO 0:07281ea3b26b 96 p_TCB->stack[0] = MAGIC_WORD;
SandrineO 0:07281ea3b26b 97 }
SandrineO 0:07281ea3b26b 98
SandrineO 0:07281ea3b26b 99
SandrineO 0:07281ea3b26b 100 /*--------------------------- rt_ret_val ----------------------------------*/
SandrineO 0:07281ea3b26b 101
SandrineO 0:07281ea3b26b 102 static __inline U32 *rt_ret_regs (P_TCB p_TCB) {
SandrineO 0:07281ea3b26b 103 /* Get pointer to task return value registers (R0..R3) in Stack */
SandrineO 0:07281ea3b26b 104
SandrineO 0:07281ea3b26b 105 /* Stack Frame: CPSR,R0-R13,PC */
SandrineO 0:07281ea3b26b 106 return (U32 *)(p_TCB->tsk_stack + TCB_STACK_R0_OFFSET_BYTES);
SandrineO 0:07281ea3b26b 107 }
SandrineO 0:07281ea3b26b 108
SandrineO 0:07281ea3b26b 109 void rt_ret_val (P_TCB p_TCB, U32 v0) {
SandrineO 0:07281ea3b26b 110 U32 *ret;
SandrineO 0:07281ea3b26b 111
SandrineO 0:07281ea3b26b 112 ret = rt_ret_regs(p_TCB);
SandrineO 0:07281ea3b26b 113 ret[0] = v0;
SandrineO 0:07281ea3b26b 114 }
SandrineO 0:07281ea3b26b 115
SandrineO 0:07281ea3b26b 116 void rt_ret_val2(P_TCB p_TCB, U32 v0, U32 v1) {
SandrineO 0:07281ea3b26b 117 U32 *ret;
SandrineO 0:07281ea3b26b 118
SandrineO 0:07281ea3b26b 119 ret = rt_ret_regs(p_TCB);
SandrineO 0:07281ea3b26b 120 ret[0] = v0;
SandrineO 0:07281ea3b26b 121 ret[1] = v1;
SandrineO 0:07281ea3b26b 122 }
SandrineO 0:07281ea3b26b 123
SandrineO 0:07281ea3b26b 124
SandrineO 0:07281ea3b26b 125 /*--------------------------- dbg_init --------------------------------------*/
SandrineO 0:07281ea3b26b 126
SandrineO 0:07281ea3b26b 127 #ifdef DBG_MSG
SandrineO 0:07281ea3b26b 128 void dbg_init (void) {
SandrineO 0:07281ea3b26b 129 if ((DEMCR & DEMCR_TRCENA) &&
SandrineO 0:07281ea3b26b 130 (ITM_CONTROL & ITM_ITMENA) &&
SandrineO 0:07281ea3b26b 131 (ITM_ENABLE & (1UL << 31))) {
SandrineO 0:07281ea3b26b 132 dbg_msg = __TRUE;
SandrineO 0:07281ea3b26b 133 }
SandrineO 0:07281ea3b26b 134 }
SandrineO 0:07281ea3b26b 135 #endif
SandrineO 0:07281ea3b26b 136
SandrineO 0:07281ea3b26b 137 /*--------------------------- dbg_task_notify -------------------------------*/
SandrineO 0:07281ea3b26b 138
SandrineO 0:07281ea3b26b 139 #ifdef DBG_MSG
SandrineO 0:07281ea3b26b 140 void dbg_task_notify (P_TCB p_tcb, BOOL create) {
SandrineO 0:07281ea3b26b 141 while (ITM_PORT31_U32 == 0);
SandrineO 0:07281ea3b26b 142 ITM_PORT31_U32 = (U32)p_tcb->ptask;
SandrineO 0:07281ea3b26b 143 while (ITM_PORT31_U32 == 0);
SandrineO 0:07281ea3b26b 144 ITM_PORT31_U16 = (create << 8) | p_tcb->task_id;
SandrineO 0:07281ea3b26b 145 }
SandrineO 0:07281ea3b26b 146 #endif
SandrineO 0:07281ea3b26b 147
SandrineO 0:07281ea3b26b 148 /*--------------------------- dbg_task_switch -------------------------------*/
SandrineO 0:07281ea3b26b 149
SandrineO 0:07281ea3b26b 150 #ifdef DBG_MSG
SandrineO 0:07281ea3b26b 151 void dbg_task_switch (U32 task_id) {
SandrineO 0:07281ea3b26b 152 while (ITM_PORT31_U32 == 0);
SandrineO 0:07281ea3b26b 153 ITM_PORT31_U8 = task_id;
SandrineO 0:07281ea3b26b 154 }
SandrineO 0:07281ea3b26b 155 #endif
SandrineO 0:07281ea3b26b 156
SandrineO 0:07281ea3b26b 157
SandrineO 0:07281ea3b26b 158 /*----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 159 * end of file
SandrineO 0:07281ea3b26b 160 *---------------------------------------------------------------------------*/
SandrineO 0:07281ea3b26b 161