cmsis_rtos_IMU_test1 - Test1 of cmsis and IMU/AHRS (sensor BMA180,HMC588…

Users » caroe » Code » cmsis_rtos_IMU_test1

Bo Carøe / Mbed 2 deprecated cmsis_rtos_IMU_test1

Test1 of cmsis and IMU/AHRS (sensor BMA180,HMC5883,ITG3200) IMU/AHRS is not ok

rtos/RTX_CM_lib.h@0:cb04b53e6f9b, 2012-06-11 (annotated)

Committer:: caroe
Date:: Mon Jun 11 12:02:30 2012 +0000
Revision:: 0:cb04b53e6f9b

Who changed what in which revision?

User	Revision	Line number	New contents of line
caroe	0:cb04b53e6f9b	1	/*----------------------------------------------------------------------------
caroe	0:cb04b53e6f9b	2	* RL-ARM - RTX
caroe	0:cb04b53e6f9b	3	*----------------------------------------------------------------------------
caroe	0:cb04b53e6f9b	4	* Name: RTX_CM_LIB.H
caroe	0:cb04b53e6f9b	5	* Purpose: RTX Kernel System Configuration
caroe	0:cb04b53e6f9b	6	* Rev.: V4.21
caroe	0:cb04b53e6f9b	7	*----------------------------------------------------------------------------
caroe	0:cb04b53e6f9b	8	*
caroe	0:cb04b53e6f9b	9	* Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
caroe	0:cb04b53e6f9b	10	* All rights reserved.
caroe	0:cb04b53e6f9b	11	* Redistribution and use in source and binary forms, with or without
caroe	0:cb04b53e6f9b	12	* modification, are permitted provided that the following conditions are met:
caroe	0:cb04b53e6f9b	13	* - Redistributions of source code must retain the above copyright
caroe	0:cb04b53e6f9b	14	* notice, this list of conditions and the following disclaimer.
caroe	0:cb04b53e6f9b	15	* - Redistributions in binary form must reproduce the above copyright
caroe	0:cb04b53e6f9b	16	* notice, this list of conditions and the following disclaimer in the
caroe	0:cb04b53e6f9b	17	* documentation and/or other materials provided with the distribution.
caroe	0:cb04b53e6f9b	18	* - Neither the name of ARM nor the names of its contributors may be used
caroe	0:cb04b53e6f9b	19	* to endorse or promote products derived from this software without
caroe	0:cb04b53e6f9b	20	* specific prior written permission.
caroe	0:cb04b53e6f9b	21	*
caroe	0:cb04b53e6f9b	22	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
caroe	0:cb04b53e6f9b	23	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
caroe	0:cb04b53e6f9b	24	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
caroe	0:cb04b53e6f9b	25	* ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
caroe	0:cb04b53e6f9b	26	* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
caroe	0:cb04b53e6f9b	27	* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
caroe	0:cb04b53e6f9b	28	* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
caroe	0:cb04b53e6f9b	29	* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
caroe	0:cb04b53e6f9b	30	* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
caroe	0:cb04b53e6f9b	31	* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
caroe	0:cb04b53e6f9b	32	* POSSIBILITY OF SUCH DAMAGE.
caroe	0:cb04b53e6f9b	33	---------------------------------------------------------------------------/
caroe	0:cb04b53e6f9b	34
caroe	0:cb04b53e6f9b	35	#if defined (__CC_ARM)
caroe	0:cb04b53e6f9b	36	#pragma O3
caroe	0:cb04b53e6f9b	37	#define __USED __attribute__((used))
caroe	0:cb04b53e6f9b	38	#elif defined (__GNUC__)
caroe	0:cb04b53e6f9b	39	#pragma GCC optimize ("O3")
caroe	0:cb04b53e6f9b	40	#define __USED __attribute__((used))
caroe	0:cb04b53e6f9b	41	#elif defined (__ICCARM__)
caroe	0:cb04b53e6f9b	42	#define __USED __root
caroe	0:cb04b53e6f9b	43	#endif
caroe	0:cb04b53e6f9b	44
caroe	0:cb04b53e6f9b	45
caroe	0:cb04b53e6f9b	46	/*----------------------------------------------------------------------------
caroe	0:cb04b53e6f9b	47	* Definitions
caroe	0:cb04b53e6f9b	48	---------------------------------------------------------------------------/
caroe	0:cb04b53e6f9b	49
caroe	0:cb04b53e6f9b	50	#define _declare_box(pool,size,cnt) uint32_t pool[(((size)+3)/4)*(cnt) + 3]
caroe	0:cb04b53e6f9b	51	#define _declare_box8(pool,size,cnt) uint64_t pool[(((size)+7)/8)*(cnt) + 2]
caroe	0:cb04b53e6f9b	52
caroe	0:cb04b53e6f9b	53	#define OS_TCB_SIZE 48
caroe	0:cb04b53e6f9b	54	#define OS_TMR_SIZE 8
caroe	0:cb04b53e6f9b	55
caroe	0:cb04b53e6f9b	56	#if defined (__CC_ARM) && !defined (__MICROLIB)
caroe	0:cb04b53e6f9b	57
caroe	0:cb04b53e6f9b	58	typedef void *OS_ID;
caroe	0:cb04b53e6f9b	59	typedef uint32_t OS_TID;
caroe	0:cb04b53e6f9b	60	typedef uint32_t OS_MUT[3];
caroe	0:cb04b53e6f9b	61	typedef uint32_t OS_RESULT;
caroe	0:cb04b53e6f9b	62
caroe	0:cb04b53e6f9b	63	#define runtask_id() rt_tsk_self()
caroe	0:cb04b53e6f9b	64	#define mutex_init(m) rt_mut_init(m)
caroe	0:cb04b53e6f9b	65	#define mutex_wait(m) os_mut_wait(m,0xFFFF)
caroe	0:cb04b53e6f9b	66	#define mutex_rel(m) os_mut_release(m)
caroe	0:cb04b53e6f9b	67
caroe	0:cb04b53e6f9b	68	extern OS_TID rt_tsk_self (void);
caroe	0:cb04b53e6f9b	69	extern void rt_mut_init (OS_ID mutex);
caroe	0:cb04b53e6f9b	70	extern OS_RESULT rt_mut_release (OS_ID mutex);
caroe	0:cb04b53e6f9b	71	extern OS_RESULT rt_mut_wait (OS_ID mutex, uint16_t timeout);
caroe	0:cb04b53e6f9b	72
caroe	0:cb04b53e6f9b	73	#define os_mut_wait(mutex,timeout) _os_mut_wait((uint32_t)rt_mut_wait,mutex,timeout)
caroe	0:cb04b53e6f9b	74	#define os_mut_release(mutex) _os_mut_release((uint32_t)rt_mut_release,mutex)
caroe	0:cb04b53e6f9b	75
caroe	0:cb04b53e6f9b	76	OS_RESULT _os_mut_release (uint32_t p, OS_ID mutex) __svc_indirect(0);
caroe	0:cb04b53e6f9b	77	OS_RESULT _os_mut_wait (uint32_t p, OS_ID mutex, uint16_t timeout) __svc_indirect(0);
caroe	0:cb04b53e6f9b	78
caroe	0:cb04b53e6f9b	79	#endif
caroe	0:cb04b53e6f9b	80
caroe	0:cb04b53e6f9b	81
caroe	0:cb04b53e6f9b	82	/*----------------------------------------------------------------------------
caroe	0:cb04b53e6f9b	83	* Global Variables
caroe	0:cb04b53e6f9b	84	---------------------------------------------------------------------------/
caroe	0:cb04b53e6f9b	85
caroe	0:cb04b53e6f9b	86	#if (OS_TIMERS != 0)
caroe	0:cb04b53e6f9b	87	#define OS_TASK_CNT (OS_TASKCNT + 1)
caroe	0:cb04b53e6f9b	88	#define OS_PRIV_CNT (OS_PRIVCNT + 2)
caroe	0:cb04b53e6f9b	89	#define OS_STACK_SZ (4*(OS_PRIVSTKSIZE+OS_MAINSTKSIZE+OS_TIMERSTKSZ))
caroe	0:cb04b53e6f9b	90	#else
caroe	0:cb04b53e6f9b	91	#define OS_TASK_CNT OS_TASKCNT
caroe	0:cb04b53e6f9b	92	#define OS_PRIV_CNT (OS_PRIVCNT + 1)
caroe	0:cb04b53e6f9b	93	#define OS_STACK_SZ (4*(OS_PRIVSTKSIZE+OS_MAINSTKSIZE))
caroe	0:cb04b53e6f9b	94	#endif
caroe	0:cb04b53e6f9b	95
caroe	0:cb04b53e6f9b	96	extern uint16_t const os_maxtaskrun = OS_TASK_CNT;
caroe	0:cb04b53e6f9b	97	extern uint32_t const os_stackinfo = (OS_STKCHECK<<24)\| (OS_PRIV_CNT<<16) \| (OS_STKSIZE*4);
caroe	0:cb04b53e6f9b	98	extern uint32_t const os_rrobin = (OS_ROBIN << 16) \| OS_ROBINTOUT;
caroe	0:cb04b53e6f9b	99	extern uint32_t const os_trv = OS_TRV;
caroe	0:cb04b53e6f9b	100	extern uint8_t const os_flags = OS_RUNPRIV;
caroe	0:cb04b53e6f9b	101
caroe	0:cb04b53e6f9b	102	/* Export following defines to uVision debugger. */
caroe	0:cb04b53e6f9b	103	extern __USED uint32_t const os_clockrate = OS_TICK;
caroe	0:cb04b53e6f9b	104	extern __USED uint32_t const os_timernum = 0;
caroe	0:cb04b53e6f9b	105
caroe	0:cb04b53e6f9b	106	/* Memory pool for TCB allocation */
caroe	0:cb04b53e6f9b	107	_declare_box (mp_tcb, OS_TCB_SIZE, OS_TASK_CNT);
caroe	0:cb04b53e6f9b	108	extern uint16_t const mp_tcb_size = sizeof(mp_tcb);
caroe	0:cb04b53e6f9b	109
caroe	0:cb04b53e6f9b	110	/* Memory pool for System stack allocation (+os_idle_demon). */
caroe	0:cb04b53e6f9b	111	_declare_box8 (mp_stk, OS_STKSIZE*4, OS_TASK_CNT-OS_PRIV_CNT+1);
caroe	0:cb04b53e6f9b	112	extern uint32_t const mp_stk_size = sizeof(mp_stk);
caroe	0:cb04b53e6f9b	113
caroe	0:cb04b53e6f9b	114	/* Memory pool for user specified stack allocation (+main, +timer) */
caroe	0:cb04b53e6f9b	115	uint64_t os_stack_mem[2+OS_PRIV_CNT+(OS_STACK_SZ/8)];
caroe	0:cb04b53e6f9b	116	extern uint32_t const os_stack_sz = sizeof(os_stack_mem);
caroe	0:cb04b53e6f9b	117
caroe	0:cb04b53e6f9b	118	#ifndef OS_FIFOSZ
caroe	0:cb04b53e6f9b	119	#define OS_FIFOSZ 16
caroe	0:cb04b53e6f9b	120	#endif
caroe	0:cb04b53e6f9b	121
caroe	0:cb04b53e6f9b	122	/* Fifo Queue buffer for ISR requests.*/
caroe	0:cb04b53e6f9b	123	uint32_t os_fifo[OS_FIFOSZ*2+1];
caroe	0:cb04b53e6f9b	124	extern uint8_t const os_fifo_size = OS_FIFOSZ;
caroe	0:cb04b53e6f9b	125
caroe	0:cb04b53e6f9b	126	/* An array of Active task pointers. */
caroe	0:cb04b53e6f9b	127	void *os_active_TCB[OS_TASK_CNT];
caroe	0:cb04b53e6f9b	128
caroe	0:cb04b53e6f9b	129	/* User Timers Resources */
caroe	0:cb04b53e6f9b	130	#if (OS_TIMERS != 0)
caroe	0:cb04b53e6f9b	131	extern void osTimerThread (void const *argument);
caroe	0:cb04b53e6f9b	132	osThreadDef(osTimerThread, (osPriority)(OS_TIMERPRIO-3), 1, 4*OS_TIMERSTKSZ);
caroe	0:cb04b53e6f9b	133	osThreadId osThreadId_osTimerThread;
caroe	0:cb04b53e6f9b	134	osMessageQDef(osTimerMessageQ, OS_TIMERCBQS, void *);
caroe	0:cb04b53e6f9b	135	osMessageQId osMessageQId_osTimerMessageQ;
caroe	0:cb04b53e6f9b	136	#else
caroe	0:cb04b53e6f9b	137	osThreadDef_t os_thread_def_osTimerThread = { NULL };
caroe	0:cb04b53e6f9b	138	osThreadId osThreadId_osTimerThread;
caroe	0:cb04b53e6f9b	139	osMessageQDef(osTimerMessageQ, 0, void *);
caroe	0:cb04b53e6f9b	140	osMessageQId osMessageQId_osTimerMessageQ;
caroe	0:cb04b53e6f9b	141	#endif
caroe	0:cb04b53e6f9b	142
caroe	0:cb04b53e6f9b	143	/* Legacy RTX User Timers not used */
caroe	0:cb04b53e6f9b	144	uint32_t os_tmr = 0;
caroe	0:cb04b53e6f9b	145	extern uint32_t const *m_tmr = NULL;
caroe	0:cb04b53e6f9b	146	extern uint16_t const mp_tmr_size = 0;
caroe	0:cb04b53e6f9b	147
caroe	0:cb04b53e6f9b	148	#if defined (__CC_ARM) && !defined (__MICROLIB)
caroe	0:cb04b53e6f9b	149	/* A memory space for arm standard library. */
caroe	0:cb04b53e6f9b	150	static uint32_t std_libspace[OS_TASK_CNT][96/4];
caroe	0:cb04b53e6f9b	151	static OS_MUT std_libmutex[OS_MUTEXCNT];
caroe	0:cb04b53e6f9b	152	static uint32_t nr_mutex;
caroe	0:cb04b53e6f9b	153	extern void *__libspace_start;
caroe	0:cb04b53e6f9b	154	#endif
caroe	0:cb04b53e6f9b	155
caroe	0:cb04b53e6f9b	156
caroe	0:cb04b53e6f9b	157	/*----------------------------------------------------------------------------
caroe	0:cb04b53e6f9b	158	* RTX Optimizations (empty functions)
caroe	0:cb04b53e6f9b	159	---------------------------------------------------------------------------/
caroe	0:cb04b53e6f9b	160
caroe	0:cb04b53e6f9b	161	#if OS_ROBIN == 0
caroe	0:cb04b53e6f9b	162	void rt_init_robin (void) {;}
caroe	0:cb04b53e6f9b	163	void rt_chk_robin (void) {;}
caroe	0:cb04b53e6f9b	164	#endif
caroe	0:cb04b53e6f9b	165
caroe	0:cb04b53e6f9b	166	#if OS_STKCHECK == 0
caroe	0:cb04b53e6f9b	167	void rt_stk_check (void) {;}
caroe	0:cb04b53e6f9b	168	#endif
caroe	0:cb04b53e6f9b	169
caroe	0:cb04b53e6f9b	170
caroe	0:cb04b53e6f9b	171	/*----------------------------------------------------------------------------
caroe	0:cb04b53e6f9b	172	* Standard Library multithreading interface
caroe	0:cb04b53e6f9b	173	---------------------------------------------------------------------------/
caroe	0:cb04b53e6f9b	174
caroe	0:cb04b53e6f9b	175	#if defined (__CC_ARM) && !defined (__MICROLIB)
caroe	0:cb04b53e6f9b	176
caroe	0:cb04b53e6f9b	177	/--------------------------- __user_perthread_libspace ---------------------/
caroe	0:cb04b53e6f9b	178
caroe	0:cb04b53e6f9b	179	void *__user_perthread_libspace (void) {
caroe	0:cb04b53e6f9b	180	/* Provide a separate libspace for each task. */
caroe	0:cb04b53e6f9b	181	uint32_t idx;
caroe	0:cb04b53e6f9b	182
caroe	0:cb04b53e6f9b	183	idx = runtask_id ();
caroe	0:cb04b53e6f9b	184	if (idx == 0) {
caroe	0:cb04b53e6f9b	185	/* RTX not running yet. */
caroe	0:cb04b53e6f9b	186	return (&__libspace_start);
caroe	0:cb04b53e6f9b	187	}
caroe	0:cb04b53e6f9b	188	return ((void *)&std_libspace[idx-1]);
caroe	0:cb04b53e6f9b	189	}
caroe	0:cb04b53e6f9b	190
caroe	0:cb04b53e6f9b	191	/--------------------------- _mutex_initialize -----------------------------/
caroe	0:cb04b53e6f9b	192
caroe	0:cb04b53e6f9b	193	int _mutex_initialize (OS_ID *mutex) {
caroe	0:cb04b53e6f9b	194	/* Allocate and initialize a system mutex. */
caroe	0:cb04b53e6f9b	195
caroe	0:cb04b53e6f9b	196	if (nr_mutex >= OS_MUTEXCNT) {
caroe	0:cb04b53e6f9b	197	/* If you are here, you need to increase the number OS_MUTEXCNT. */
caroe	0:cb04b53e6f9b	198	for (;;);
caroe	0:cb04b53e6f9b	199	}
caroe	0:cb04b53e6f9b	200	*mutex = &std_libmutex[nr_mutex++];
caroe	0:cb04b53e6f9b	201	mutex_init (*mutex);
caroe	0:cb04b53e6f9b	202	return (1);
caroe	0:cb04b53e6f9b	203	}
caroe	0:cb04b53e6f9b	204
caroe	0:cb04b53e6f9b	205
caroe	0:cb04b53e6f9b	206	/--------------------------- _mutex_acquire --------------------------------/
caroe	0:cb04b53e6f9b	207
caroe	0:cb04b53e6f9b	208	__attribute__((used)) void _mutex_acquire (OS_ID *mutex) {
caroe	0:cb04b53e6f9b	209	/* Acquire a system mutex, lock stdlib resources. */
caroe	0:cb04b53e6f9b	210	if (runtask_id ()) {
caroe	0:cb04b53e6f9b	211	/* RTX running, acquire a mutex. */
caroe	0:cb04b53e6f9b	212	mutex_wait (*mutex);
caroe	0:cb04b53e6f9b	213	}
caroe	0:cb04b53e6f9b	214	}
caroe	0:cb04b53e6f9b	215
caroe	0:cb04b53e6f9b	216
caroe	0:cb04b53e6f9b	217	/--------------------------- _mutex_release --------------------------------/
caroe	0:cb04b53e6f9b	218
caroe	0:cb04b53e6f9b	219	__attribute__((used)) void _mutex_release (OS_ID *mutex) {
caroe	0:cb04b53e6f9b	220	/* Release a system mutex, unlock stdlib resources. */
caroe	0:cb04b53e6f9b	221	if (runtask_id ()) {
caroe	0:cb04b53e6f9b	222	/* RTX runnning, release a mutex. */
caroe	0:cb04b53e6f9b	223	mutex_rel (*mutex);
caroe	0:cb04b53e6f9b	224	}
caroe	0:cb04b53e6f9b	225	}
caroe	0:cb04b53e6f9b	226
caroe	0:cb04b53e6f9b	227	#endif
caroe	0:cb04b53e6f9b	228
caroe	0:cb04b53e6f9b	229
caroe	0:cb04b53e6f9b	230	/*----------------------------------------------------------------------------
caroe	0:cb04b53e6f9b	231	* RTX Startup
caroe	0:cb04b53e6f9b	232	---------------------------------------------------------------------------/
caroe	0:cb04b53e6f9b	233
caroe	0:cb04b53e6f9b	234	/* Main Thread definition */
caroe	0:cb04b53e6f9b	235	extern int main (void);
caroe	0:cb04b53e6f9b	236	osThreadDef_t os_thread_def_main = {(os_pthread)main, osPriorityNormal, 1, 4*OS_MAINSTKSIZE };
caroe	0:cb04b53e6f9b	237
caroe	0:cb04b53e6f9b	238
caroe	0:cb04b53e6f9b	239	#if defined (__CC_ARM)
caroe	0:cb04b53e6f9b	240
caroe	0:cb04b53e6f9b	241	typedef void PROC();
caroe	0:cb04b53e6f9b	242
caroe	0:cb04b53e6f9b	243	extern const size_t SHT$$INIT_ARRAY$$Base[];
caroe	0:cb04b53e6f9b	244	extern const size_t SHT$$INIT_ARRAY$$Limit[];
caroe	0:cb04b53e6f9b	245
caroe	0:cb04b53e6f9b	246	void cpp_init(void) {
caroe	0:cb04b53e6f9b	247	const size_t *base = SHT$$INIT_ARRAY$$Base;
caroe	0:cb04b53e6f9b	248	const size_t *lim = SHT$$INIT_ARRAY$$Limit;
caroe	0:cb04b53e6f9b	249
caroe	0:cb04b53e6f9b	250	for (; base != lim; ++base) {
caroe	0:cb04b53e6f9b	251	PROC proc = (PROC)((const char)base + base);
caroe	0:cb04b53e6f9b	252	(*proc)();
caroe	0:cb04b53e6f9b	253	}
caroe	0:cb04b53e6f9b	254	}
caroe	0:cb04b53e6f9b	255
caroe	0:cb04b53e6f9b	256	// void $Super$$__cpp_initialize__aeabi_(void);
caroe	0:cb04b53e6f9b	257	void $Sub$$__cpp_initialize__aeabi_(void) {}
caroe	0:cb04b53e6f9b	258
caroe	0:cb04b53e6f9b	259	void $Super$$main(void);
caroe	0:cb04b53e6f9b	260	void $Sub$$main(void) {
caroe	0:cb04b53e6f9b	261	// $Super$$__cpp_initialize__aeabi_();
caroe	0:cb04b53e6f9b	262	cpp_init();
caroe	0:cb04b53e6f9b	263
caroe	0:cb04b53e6f9b	264	$Super$$main();
caroe	0:cb04b53e6f9b	265	}
caroe	0:cb04b53e6f9b	266
caroe	0:cb04b53e6f9b	267	#ifdef __MICROLIB
caroe	0:cb04b53e6f9b	268	void _main_init (void) __attribute__((section(".ARM.Collect$$$$000000FF")));
caroe	0:cb04b53e6f9b	269	void _main_init (void) {
caroe	0:cb04b53e6f9b	270	osKernelStart(&os_thread_def_main, NULL);
caroe	0:cb04b53e6f9b	271	for (;;);
caroe	0:cb04b53e6f9b	272	}
caroe	0:cb04b53e6f9b	273	#else
caroe	0:cb04b53e6f9b	274	__asm void __rt_entry (void) {
caroe	0:cb04b53e6f9b	275
caroe	0:cb04b53e6f9b	276	IMPORT __user_setup_stackheap
caroe	0:cb04b53e6f9b	277	IMPORT __rt_lib_init
caroe	0:cb04b53e6f9b	278	IMPORT os_thread_def_main
caroe	0:cb04b53e6f9b	279	IMPORT osKernelStart
caroe	0:cb04b53e6f9b	280	IMPORT exit
caroe	0:cb04b53e6f9b	281
caroe	0:cb04b53e6f9b	282	BL __user_setup_stackheap
caroe	0:cb04b53e6f9b	283	MOV R1,R2
caroe	0:cb04b53e6f9b	284	BL __rt_lib_init
caroe	0:cb04b53e6f9b	285	LDR R0,=os_thread_def_main
caroe	0:cb04b53e6f9b	286	MOVS R1,#0
caroe	0:cb04b53e6f9b	287	BL osKernelStart
caroe	0:cb04b53e6f9b	288	BL exit
caroe	0:cb04b53e6f9b	289
caroe	0:cb04b53e6f9b	290	ALIGN
caroe	0:cb04b53e6f9b	291	}
caroe	0:cb04b53e6f9b	292	#endif
caroe	0:cb04b53e6f9b	293
caroe	0:cb04b53e6f9b	294	#elif defined (__GNUC__)
caroe	0:cb04b53e6f9b	295
caroe	0:cb04b53e6f9b	296	#ifdef __CS3__
caroe	0:cb04b53e6f9b	297
caroe	0:cb04b53e6f9b	298	/* CS3 start_c routine.
caroe	0:cb04b53e6f9b	299	*
caroe	0:cb04b53e6f9b	300	* Copyright (c) 2006, 2007 CodeSourcery Inc
caroe	0:cb04b53e6f9b	301	*
caroe	0:cb04b53e6f9b	302	* The authors hereby grant permission to use, copy, modify, distribute,
caroe	0:cb04b53e6f9b	303	* and license this software and its documentation for any purpose, provided
caroe	0:cb04b53e6f9b	304	* that existing copyright notices are retained in all copies and that this
caroe	0:cb04b53e6f9b	305	* notice is included verbatim in any distributions. No written agreement,
caroe	0:cb04b53e6f9b	306	* license, or royalty fee is required for any of the authorized uses.
caroe	0:cb04b53e6f9b	307	* Modifications to this software may be copyrighted by their authors
caroe	0:cb04b53e6f9b	308	* and need not follow the licensing terms described here, provided that
caroe	0:cb04b53e6f9b	309	* the new terms are clearly indicated on the first page of each file where
caroe	0:cb04b53e6f9b	310	* they apply.
caroe	0:cb04b53e6f9b	311	*/
caroe	0:cb04b53e6f9b	312
caroe	0:cb04b53e6f9b	313	#include "cs3.h"
caroe	0:cb04b53e6f9b	314
caroe	0:cb04b53e6f9b	315	extern void __libc_init_array (void);
caroe	0:cb04b53e6f9b	316
caroe	0:cb04b53e6f9b	317	__attribute ((noreturn)) void __cs3_start_c (void){
caroe	0:cb04b53e6f9b	318	unsigned regions = __cs3_region_num;
caroe	0:cb04b53e6f9b	319	const struct __cs3_region *rptr = __cs3_regions;
caroe	0:cb04b53e6f9b	320
caroe	0:cb04b53e6f9b	321	/* Initialize memory */
caroe	0:cb04b53e6f9b	322	for (regions = __cs3_region_num, rptr = __cs3_regions; regions--; rptr++) {
caroe	0:cb04b53e6f9b	323	long long src = (long long )rptr->init;
caroe	0:cb04b53e6f9b	324	long long dst = (long long )rptr->data;
caroe	0:cb04b53e6f9b	325	unsigned limit = rptr->init_size;
caroe	0:cb04b53e6f9b	326	unsigned count;
caroe	0:cb04b53e6f9b	327
caroe	0:cb04b53e6f9b	328	if (src != dst)
caroe	0:cb04b53e6f9b	329	for (count = 0; count != limit; count += sizeof (long long))
caroe	0:cb04b53e6f9b	330	dst++ = src++;
caroe	0:cb04b53e6f9b	331	else
caroe	0:cb04b53e6f9b	332	dst = (long long )((char )dst + limit);
caroe	0:cb04b53e6f9b	333	limit = rptr->zero_size;
caroe	0:cb04b53e6f9b	334	for (count = 0; count != limit; count += sizeof (long long))
caroe	0:cb04b53e6f9b	335	*dst++ = 0;
caroe	0:cb04b53e6f9b	336	}
caroe	0:cb04b53e6f9b	337
caroe	0:cb04b53e6f9b	338	/* Run initializers. */
caroe	0:cb04b53e6f9b	339	__libc_init_array ();
caroe	0:cb04b53e6f9b	340
caroe	0:cb04b53e6f9b	341	osKernelStart(&os_thread_def_main, NULL);
caroe	0:cb04b53e6f9b	342	for (;;);
caroe	0:cb04b53e6f9b	343	}
caroe	0:cb04b53e6f9b	344
caroe	0:cb04b53e6f9b	345	#else
caroe	0:cb04b53e6f9b	346
caroe	0:cb04b53e6f9b	347	__attribute__((naked)) void software_init_hook (void) {
caroe	0:cb04b53e6f9b	348	__asm (
caroe	0:cb04b53e6f9b	349	".syntax unified\n"
caroe	0:cb04b53e6f9b	350	".thumb\n"
caroe	0:cb04b53e6f9b	351	"movs r0,#0\n"
caroe	0:cb04b53e6f9b	352	"movs r1,#0\n"
caroe	0:cb04b53e6f9b	353	"mov r4,r0\n"
caroe	0:cb04b53e6f9b	354	"mov r5,r1\n"
caroe	0:cb04b53e6f9b	355	"ldr r0,= __libc_fini_array\n"
caroe	0:cb04b53e6f9b	356	"bl atexit\n"
caroe	0:cb04b53e6f9b	357	"bl __libc_init_array\n"
caroe	0:cb04b53e6f9b	358	"mov r0,r4\n"
caroe	0:cb04b53e6f9b	359	"mov r1,r5\n"
caroe	0:cb04b53e6f9b	360	"ldr r0,=os_thread_def_main\n"
caroe	0:cb04b53e6f9b	361	"movs r1,#0\n"
caroe	0:cb04b53e6f9b	362	"bl osKernelStart\n"
caroe	0:cb04b53e6f9b	363	"bl exit\n"
caroe	0:cb04b53e6f9b	364	);
caroe	0:cb04b53e6f9b	365	}
caroe	0:cb04b53e6f9b	366
caroe	0:cb04b53e6f9b	367	#endif
caroe	0:cb04b53e6f9b	368
caroe	0:cb04b53e6f9b	369	#elif defined (__ICCARM__)
caroe	0:cb04b53e6f9b	370
caroe	0:cb04b53e6f9b	371	extern int __low_level_init(void);
caroe	0:cb04b53e6f9b	372	extern void __iar_data_init3(void);
caroe	0:cb04b53e6f9b	373	extern void exit(int arg);
caroe	0:cb04b53e6f9b	374
caroe	0:cb04b53e6f9b	375	__noreturn __stackless void __cmain(void) {
caroe	0:cb04b53e6f9b	376	int a;
caroe	0:cb04b53e6f9b	377
caroe	0:cb04b53e6f9b	378	if (__low_level_init() != 0) {
caroe	0:cb04b53e6f9b	379	__iar_data_init3();
caroe	0:cb04b53e6f9b	380	}
caroe	0:cb04b53e6f9b	381	a = osKernelStart(&os_thread_def_main, NULL);
caroe	0:cb04b53e6f9b	382	exit(a);
caroe	0:cb04b53e6f9b	383	}
caroe	0:cb04b53e6f9b	384
caroe	0:cb04b53e6f9b	385	#endif
caroe	0:cb04b53e6f9b	386
caroe	0:cb04b53e6f9b	387
caroe	0:cb04b53e6f9b	388	/*----------------------------------------------------------------------------
caroe	0:cb04b53e6f9b	389	* end of file
caroe	0:cb04b53e6f9b	390	---------------------------------------------------------------------------/
caroe	0:cb04b53e6f9b	391

Repository toolbox

Export to desktop IDE

Build repository

Repository details

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	11 Jun 2012
Imports:	247
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	6

rtos/RTX_CM_lib.h@0:cb04b53e6f9b, 2012-06-11 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning