scmRTOS_test - Program to control an accelerometer, motors and a…

Users » jberry » Code » scmRTOS_test

Greg Kuhn / Mbed 2 deprecated scmRTOS_test

Program to control an accelerometer, motors and a rangefinder using the ScmRTOS ported to mbed. (Work in progress and buggy)

Dependencies: mbed

scmRTOS/CortexM3/OS_Target_cpp.cpp@0:9b057566f9ee, 2010-11-01 (annotated)

Committer:: jberry
Date:: Mon Nov 01 20:39:01 2010 +0000
Revision:: 0:9b057566f9ee

Who changed what in which revision?

User	Revision	Line number	New contents of line
jberry	0:9b057566f9ee	1	//******************************************************************************
jberry	0:9b057566f9ee	2	//*
jberry	0:9b057566f9ee	3	//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
jberry	0:9b057566f9ee	4	//*
jberry	0:9b057566f9ee	5	//* NICKNAME: scmRTOS
jberry	0:9b057566f9ee	6	//*
jberry	0:9b057566f9ee	7	//* PROCESSOR: ARM Cortex-M3
jberry	0:9b057566f9ee	8	//*
jberry	0:9b057566f9ee	9	//* TOOLKIT: EWARM (IAR Systems)
jberry	0:9b057566f9ee	10	//*
jberry	0:9b057566f9ee	11	//* PURPOSE: Target Dependent Stuff Source
jberry	0:9b057566f9ee	12	//*
jberry	0:9b057566f9ee	13	//* Version: 3.10
jberry	0:9b057566f9ee	14	//*
jberry	0:9b057566f9ee	15	//* $Revision: 195 $
jberry	0:9b057566f9ee	16	//* $Date:: 2008-06-19 #$
jberry	0:9b057566f9ee	17	//*
jberry	0:9b057566f9ee	18	//* Copyright (c) 2003-2010, Harry E. Zhurov
jberry	0:9b057566f9ee	19	//*
jberry	0:9b057566f9ee	20	//* Permission is hereby granted, free of charge, to any person
jberry	0:9b057566f9ee	21	//* obtaining a copy of this software and associated documentation
jberry	0:9b057566f9ee	22	//* files (the "Software"), to deal in the Software without restriction,
jberry	0:9b057566f9ee	23	//* including without limitation the rights to use, copy, modify, merge,
jberry	0:9b057566f9ee	24	//* publish, distribute, sublicense, and/or sell copies of the Software,
jberry	0:9b057566f9ee	25	//* and to permit persons to whom the Software is furnished to do so,
jberry	0:9b057566f9ee	26	//* subject to the following conditions:
jberry	0:9b057566f9ee	27	//*
jberry	0:9b057566f9ee	28	//* The above copyright notice and this permission notice shall be included
jberry	0:9b057566f9ee	29	//* in all copies or substantial portions of the Software.
jberry	0:9b057566f9ee	30	//*
jberry	0:9b057566f9ee	31	//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
jberry	0:9b057566f9ee	32	//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
jberry	0:9b057566f9ee	33	//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
jberry	0:9b057566f9ee	34	//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
jberry	0:9b057566f9ee	35	//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
jberry	0:9b057566f9ee	36	//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
jberry	0:9b057566f9ee	37	//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
jberry	0:9b057566f9ee	38	//*
jberry	0:9b057566f9ee	39	//* =================================================================
jberry	0:9b057566f9ee	40	//* See http://scmrtos.sourceforge.net for documentation, latest
jberry	0:9b057566f9ee	41	//* information, license and contact details.
jberry	0:9b057566f9ee	42	//* =================================================================
jberry	0:9b057566f9ee	43	//*
jberry	0:9b057566f9ee	44	//******************************************************************************
jberry	0:9b057566f9ee	45	//* Ported by Andrey Chuikin, Copyright (c) 2008-2010
jberry	0:9b057566f9ee	46
jberry	0:9b057566f9ee	47
jberry	0:9b057566f9ee	48	#include <scmRTOS.h>
jberry	0:9b057566f9ee	49
jberry	0:9b057566f9ee	50	using namespace OS;
jberry	0:9b057566f9ee	51
jberry	0:9b057566f9ee	52	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	53	//
jberry	0:9b057566f9ee	54	// OS Process's constructor
jberry	0:9b057566f9ee	55	//
jberry	0:9b057566f9ee	56	// Performs:
jberry	0:9b057566f9ee	57	// * initializing process data;
jberry	0:9b057566f9ee	58	// * registering of the process in kernel;
jberry	0:9b057566f9ee	59	// * preparing stack frame;
jberry	0:9b057566f9ee	60	//
jberry	0:9b057566f9ee	61	//
jberry	0:9b057566f9ee	62	TBaseProcess::TBaseProcess(TStackItem* Stack, TPriority pr, void (*exec)())
jberry	0:9b057566f9ee	63	: StackPointer(Stack)
jberry	0:9b057566f9ee	64	, Timeout(0)
jberry	0:9b057566f9ee	65	, Priority(pr)
jberry	0:9b057566f9ee	66	{
jberry	0:9b057566f9ee	67	Kernel.RegisterProcess(this);
jberry	0:9b057566f9ee	68
jberry	0:9b057566f9ee	69	//---------------------------------------------------------------
jberry	0:9b057566f9ee	70	//
jberry	0:9b057566f9ee	71	// Prepare Process Stack Frame
jberry	0:9b057566f9ee	72	//
jberry	0:9b057566f9ee	73	*(--StackPointer) = 0x01000000L; // xPSR
jberry	0:9b057566f9ee	74	*(--StackPointer) = reinterpret_cast<dword>(exec); // Entry Point
jberry	0:9b057566f9ee	75	StackPointer -= 14; // emulate "push R14,R12,R3,R2,R1,R0,R11-R4"
jberry	0:9b057566f9ee	76
jberry	0:9b057566f9ee	77	// The code below can be used for debug purpose. In this case comment
jberry	0:9b057566f9ee	78	// line above and uncomment block below.
jberry	0:9b057566f9ee	79	/*
jberry	0:9b057566f9ee	80	*(--StackPointer) = 0xFFFFFFFEL; // R14 (LR) (init value will cause fault if ever used)
jberry	0:9b057566f9ee	81	*(--StackPointer) = 0x12121212L; // R12
jberry	0:9b057566f9ee	82	*(--StackPointer) = 0x03030303L; // R3
jberry	0:9b057566f9ee	83	*(--StackPointer) = 0x02020202L; // R2
jberry	0:9b057566f9ee	84	*(--StackPointer) = 0x01010101L; // R1
jberry	0:9b057566f9ee	85	*(--StackPointer) = 0x00000000L; // R0
jberry	0:9b057566f9ee	86
jberry	0:9b057566f9ee	87	// Remaining registers saved on process stack
jberry	0:9b057566f9ee	88	*(--StackPointer) = 0x11111111L; // R11
jberry	0:9b057566f9ee	89	*(--StackPointer) = 0x10101010L; // R10
jberry	0:9b057566f9ee	90	*(--StackPointer) = 0x09090909L; // R9
jberry	0:9b057566f9ee	91	*(--StackPointer) = 0x08080808L; // R8
jberry	0:9b057566f9ee	92	*(--StackPointer) = 0x07070707L; // R7
jberry	0:9b057566f9ee	93	*(--StackPointer) = 0x06060606L; // R6
jberry	0:9b057566f9ee	94	*(--StackPointer) = 0x05050505L; // R5
jberry	0:9b057566f9ee	95	*(--StackPointer) = 0x04040404L; // R4
jberry	0:9b057566f9ee	96	*/
jberry	0:9b057566f9ee	97	}
jberry	0:9b057566f9ee	98	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	99	//
jberry	0:9b057566f9ee	100	// Idle Process
jberry	0:9b057566f9ee	101	//
jberry	0:9b057566f9ee	102	typedef process<prIDLE, scmRTOS_IDLE_PROCESS_STACK_SIZE> TIdleProcess;
jberry	0:9b057566f9ee	103
jberry	0:9b057566f9ee	104	TIdleProcess IdleProcess;
jberry	0:9b057566f9ee	105
jberry	0:9b057566f9ee	106	template<> OS_PROCESS void TIdleProcess::Exec()
jberry	0:9b057566f9ee	107	{
jberry	0:9b057566f9ee	108	for(;;)
jberry	0:9b057566f9ee	109	{
jberry	0:9b057566f9ee	110	#if scmRTOS_IDLE_HOOK_ENABLE == 1
jberry	0:9b057566f9ee	111	IdleProcessUserHook();
jberry	0:9b057566f9ee	112	#endif
jberry	0:9b057566f9ee	113	}
jberry	0:9b057566f9ee	114	}
jberry	0:9b057566f9ee	115	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	116	OS_INTERRUPT void OS::SysTick_Handler()
jberry	0:9b057566f9ee	117	{
jberry	0:9b057566f9ee	118	scmRTOS_ISRW_TYPE ISR;
jberry	0:9b057566f9ee	119
jberry	0:9b057566f9ee	120	Kernel.SystemTimer();
jberry	0:9b057566f9ee	121
jberry	0:9b057566f9ee	122	#if scmRTOS_SYSTIMER_NEST_INTS_ENABLE == 0
jberry	0:9b057566f9ee	123	DISABLE_NESTED_INTERRUPTS();
jberry	0:9b057566f9ee	124	#endif
jberry	0:9b057566f9ee	125
jberry	0:9b057566f9ee	126	#if scmRTOS_SYSTIMER_HOOK_ENABLE == 1
jberry	0:9b057566f9ee	127	SystemTimerUserHook();
jberry	0:9b057566f9ee	128	#endif
jberry	0:9b057566f9ee	129	}
jberry	0:9b057566f9ee	130	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	131

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Nov 2010
Imports:	6
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	1

scmRTOS/CortexM3/OS_Target_cpp.cpp@0:9b057566f9ee, 2010-11-01 (annotated)

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