Junichi Katsu / Mbed 2 deprecated WallbotWii

うおーるぼっとをWiiリモコンでコントロールする新しいプログラムです。 以前のものより、Wiiリモコンが早く繋がる様になりました。 It is a program which controls A with the Wii remote. ※ A Bluetooth dongle and a Wii remote control are needed.

Dependencies:   USBHost mbed FATFileSystem mbed-rtos

USBHost/mbed-rtos/rtx/LPC1768/ARM/HAL_CM3.c@0:fccb789424fc, 2013-06-10 (annotated)

Committer:
jksoft
Date:
Mon Jun 10 16:01:50 2013 +0000
Revision:
0:fccb789424fc
1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:fccb789424fc 1 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 2 * RL-ARM - RTX
jksoft 0:fccb789424fc 3 *----------------------------------------------------------------------------
jksoft 0:fccb789424fc 4 * Name: HAL_CM3.C
jksoft 0:fccb789424fc 5 * Purpose: Hardware Abstraction Layer for Cortex-M3
jksoft 0:fccb789424fc 6 * Rev.: V4.60
jksoft 0:fccb789424fc 7 *----------------------------------------------------------------------------
jksoft 0:fccb789424fc 8 *
jksoft 0:fccb789424fc 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
jksoft 0:fccb789424fc 10 * All rights reserved.
jksoft 0:fccb789424fc 11 * Redistribution and use in source and binary forms, with or without
jksoft 0:fccb789424fc 12 * modification, are permitted provided that the following conditions are met:
jksoft 0:fccb789424fc 13 * - Redistributions of source code must retain the above copyright
jksoft 0:fccb789424fc 14 * notice, this list of conditions and the following disclaimer.
jksoft 0:fccb789424fc 15 * - Redistributions in binary form must reproduce the above copyright
jksoft 0:fccb789424fc 16 * notice, this list of conditions and the following disclaimer in the
jksoft 0:fccb789424fc 17 * documentation and/or other materials provided with the distribution.
jksoft 0:fccb789424fc 18 * - Neither the name of ARM nor the names of its contributors may be used
jksoft 0:fccb789424fc 19 * to endorse or promote products derived from this software without
jksoft 0:fccb789424fc 20 * specific prior written permission.
jksoft 0:fccb789424fc 21 *
jksoft 0:fccb789424fc 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
jksoft 0:fccb789424fc 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
jksoft 0:fccb789424fc 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
jksoft 0:fccb789424fc 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
jksoft 0:fccb789424fc 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
jksoft 0:fccb789424fc 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
jksoft 0:fccb789424fc 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
jksoft 0:fccb789424fc 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
jksoft 0:fccb789424fc 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
jksoft 0:fccb789424fc 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
jksoft 0:fccb789424fc 32 * POSSIBILITY OF SUCH DAMAGE.
jksoft 0:fccb789424fc 33 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 34
jksoft 0:fccb789424fc 35 #include "rt_TypeDef.h"
jksoft 0:fccb789424fc 36 #include "RTX_Config.h"
jksoft 0:fccb789424fc 37 #include "rt_System.h"
jksoft 0:fccb789424fc 38 #include "rt_HAL_CM.h"
jksoft 0:fccb789424fc 39 #include "rt_Task.h"
jksoft 0:fccb789424fc 40 #include "rt_MemBox.h"
jksoft 0:fccb789424fc 41
jksoft 0:fccb789424fc 42
jksoft 0:fccb789424fc 43 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 44 * Functions
jksoft 0:fccb789424fc 45 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 46
jksoft 0:fccb789424fc 47
jksoft 0:fccb789424fc 48 /*--------------------------- rt_set_PSP ------------------------------------*/
jksoft 0:fccb789424fc 49
jksoft 0:fccb789424fc 50 __asm void rt_set_PSP (U32 stack) {
jksoft 0:fccb789424fc 51 MSR PSP,R0
jksoft 0:fccb789424fc 52 BX LR
jksoft 0:fccb789424fc 53 }
jksoft 0:fccb789424fc 54
jksoft 0:fccb789424fc 55
jksoft 0:fccb789424fc 56 /*--------------------------- rt_get_PSP ------------------------------------*/
jksoft 0:fccb789424fc 57
jksoft 0:fccb789424fc 58 __asm U32 rt_get_PSP (void) {
jksoft 0:fccb789424fc 59 MRS R0,PSP
jksoft 0:fccb789424fc 60 BX LR
jksoft 0:fccb789424fc 61 }
jksoft 0:fccb789424fc 62
jksoft 0:fccb789424fc 63
jksoft 0:fccb789424fc 64 /*--------------------------- os_set_env ------------------------------------*/
jksoft 0:fccb789424fc 65
jksoft 0:fccb789424fc 66 __asm void os_set_env (void) {
jksoft 0:fccb789424fc 67 /* Switch to Unprivileged/Privileged Thread mode, use PSP. */
jksoft 0:fccb789424fc 68 MOV R0,SP ; PSP = MSP
jksoft 0:fccb789424fc 69 MSR PSP,R0
jksoft 0:fccb789424fc 70 LDR R0,=__cpp(&os_flags)
jksoft 0:fccb789424fc 71 LDRB R0,[R0]
jksoft 0:fccb789424fc 72 LSLS R0,#31
jksoft 0:fccb789424fc 73 MOVNE R0,#0x02 ; Privileged Thread mode, use PSP
jksoft 0:fccb789424fc 74 MOVEQ R0,#0x03 ; Unprivileged Thread mode, use PSP
jksoft 0:fccb789424fc 75 MSR CONTROL,R0
jksoft 0:fccb789424fc 76 BX LR
jksoft 0:fccb789424fc 77
jksoft 0:fccb789424fc 78 ALIGN
jksoft 0:fccb789424fc 79 }
jksoft 0:fccb789424fc 80
jksoft 0:fccb789424fc 81
jksoft 0:fccb789424fc 82 /*--------------------------- _alloc_box ------------------------------------*/
jksoft 0:fccb789424fc 83
jksoft 0:fccb789424fc 84 __asm void *_alloc_box (void *box_mem) {
jksoft 0:fccb789424fc 85 /* Function wrapper for Unprivileged/Privileged mode. */
jksoft 0:fccb789424fc 86 LDR R12,=__cpp(rt_alloc_box)
jksoft 0:fccb789424fc 87 MRS R3,IPSR
jksoft 0:fccb789424fc 88 LSLS R3,#24
jksoft 0:fccb789424fc 89 BXNE R12
jksoft 0:fccb789424fc 90 MRS R3,CONTROL
jksoft 0:fccb789424fc 91 LSLS R3,#31
jksoft 0:fccb789424fc 92 BXEQ R12
jksoft 0:fccb789424fc 93 SVC 0
jksoft 0:fccb789424fc 94 BX LR
jksoft 0:fccb789424fc 95
jksoft 0:fccb789424fc 96 ALIGN
jksoft 0:fccb789424fc 97 }
jksoft 0:fccb789424fc 98
jksoft 0:fccb789424fc 99
jksoft 0:fccb789424fc 100 /*--------------------------- _free_box -------------------------------------*/
jksoft 0:fccb789424fc 101
jksoft 0:fccb789424fc 102 __asm int _free_box (void *box_mem, void *box) {
jksoft 0:fccb789424fc 103 /* Function wrapper for Unprivileged/Privileged mode. */
jksoft 0:fccb789424fc 104 LDR R12,=__cpp(rt_free_box)
jksoft 0:fccb789424fc 105 MRS R3,IPSR
jksoft 0:fccb789424fc 106 LSLS R3,#24
jksoft 0:fccb789424fc 107 BXNE R12
jksoft 0:fccb789424fc 108 MRS R3,CONTROL
jksoft 0:fccb789424fc 109 LSLS R3,#31
jksoft 0:fccb789424fc 110 BXEQ R12
jksoft 0:fccb789424fc 111 SVC 0
jksoft 0:fccb789424fc 112 BX LR
jksoft 0:fccb789424fc 113
jksoft 0:fccb789424fc 114 ALIGN
jksoft 0:fccb789424fc 115 }
jksoft 0:fccb789424fc 116
jksoft 0:fccb789424fc 117
jksoft 0:fccb789424fc 118 /*-------------------------- SVC_Handler ------------------------------------*/
jksoft 0:fccb789424fc 119
jksoft 0:fccb789424fc 120 __asm void SVC_Handler (void) {
jksoft 0:fccb789424fc 121 PRESERVE8
jksoft 0:fccb789424fc 122
jksoft 0:fccb789424fc 123 IMPORT SVC_Count
jksoft 0:fccb789424fc 124 IMPORT SVC_Table
jksoft 0:fccb789424fc 125 IMPORT rt_stk_check
jksoft 0:fccb789424fc 126
jksoft 0:fccb789424fc 127 MRS R0,PSP ; Read PSP
jksoft 0:fccb789424fc 128 LDR R1,[R0,#24] ; Read Saved PC from Stack
jksoft 0:fccb789424fc 129 LDRB R1,[R1,#-2] ; Load SVC Number
jksoft 0:fccb789424fc 130 CBNZ R1,SVC_User
jksoft 0:fccb789424fc 131
jksoft 0:fccb789424fc 132 LDM R0,{R0-R3,R12} ; Read R0-R3,R12 from stack
jksoft 0:fccb789424fc 133 BLX R12 ; Call SVC Function
jksoft 0:fccb789424fc 134
jksoft 0:fccb789424fc 135 MRS R12,PSP ; Read PSP
jksoft 0:fccb789424fc 136 STM R12,{R0-R2} ; Store return values
jksoft 0:fccb789424fc 137
jksoft 0:fccb789424fc 138 LDR R3,=__cpp(&os_tsk)
jksoft 0:fccb789424fc 139 LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
jksoft 0:fccb789424fc 140 CMP R1,R2
jksoft 0:fccb789424fc 141 BEQ SVC_Exit ; no task switch
jksoft 0:fccb789424fc 142
jksoft 0:fccb789424fc 143 CBZ R1,SVC_Next ; Runtask deleted?
jksoft 0:fccb789424fc 144 STMDB R12!,{R4-R11} ; Save Old context
jksoft 0:fccb789424fc 145 STR R12,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
jksoft 0:fccb789424fc 146
jksoft 0:fccb789424fc 147 PUSH {R2,R3}
jksoft 0:fccb789424fc 148 BL rt_stk_check ; Check for Stack overflow
jksoft 0:fccb789424fc 149 POP {R2,R3}
jksoft 0:fccb789424fc 150
jksoft 0:fccb789424fc 151 SVC_Next
jksoft 0:fccb789424fc 152 STR R2,[R3] ; os_tsk.run = os_tsk.new
jksoft 0:fccb789424fc 153
jksoft 0:fccb789424fc 154 LDR R12,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
jksoft 0:fccb789424fc 155 LDMIA R12!,{R4-R11} ; Restore New Context
jksoft 0:fccb789424fc 156 MSR PSP,R12 ; Write PSP
jksoft 0:fccb789424fc 157
jksoft 0:fccb789424fc 158 SVC_Exit
jksoft 0:fccb789424fc 159 MVN LR,#:NOT:0xFFFFFFFD ; set EXC_RETURN value
jksoft 0:fccb789424fc 160 BX LR
jksoft 0:fccb789424fc 161
jksoft 0:fccb789424fc 162 /*------------------- User SVC ------------------------------*/
jksoft 0:fccb789424fc 163
jksoft 0:fccb789424fc 164 SVC_User
jksoft 0:fccb789424fc 165 PUSH {R4,LR} ; Save Registers
jksoft 0:fccb789424fc 166 LDR R2,=SVC_Count
jksoft 0:fccb789424fc 167 LDR R2,[R2]
jksoft 0:fccb789424fc 168 CMP R1,R2
jksoft 0:fccb789424fc 169 BHI SVC_Done ; Overflow
jksoft 0:fccb789424fc 170
jksoft 0:fccb789424fc 171 LDR R4,=SVC_Table-4
jksoft 0:fccb789424fc 172 LDR R4,[R4,R1,LSL #2] ; Load SVC Function Address
jksoft 0:fccb789424fc 173
jksoft 0:fccb789424fc 174 LDM R0,{R0-R3,R12} ; Read R0-R3,R12 from stack
jksoft 0:fccb789424fc 175 BLX R4 ; Call SVC Function
jksoft 0:fccb789424fc 176
jksoft 0:fccb789424fc 177 MRS R12,PSP
jksoft 0:fccb789424fc 178 STM R12,{R0-R3} ; Function return values
jksoft 0:fccb789424fc 179 SVC_Done
jksoft 0:fccb789424fc 180 POP {R4,PC} ; RETI
jksoft 0:fccb789424fc 181
jksoft 0:fccb789424fc 182 ALIGN
jksoft 0:fccb789424fc 183 }
jksoft 0:fccb789424fc 184
jksoft 0:fccb789424fc 185
jksoft 0:fccb789424fc 186 /*-------------------------- PendSV_Handler ---------------------------------*/
jksoft 0:fccb789424fc 187
jksoft 0:fccb789424fc 188 __asm void PendSV_Handler (void) {
jksoft 0:fccb789424fc 189 PRESERVE8
jksoft 0:fccb789424fc 190
jksoft 0:fccb789424fc 191 BL __cpp(rt_pop_req)
jksoft 0:fccb789424fc 192
jksoft 0:fccb789424fc 193 Sys_Switch
jksoft 0:fccb789424fc 194 LDR R3,=__cpp(&os_tsk)
jksoft 0:fccb789424fc 195 LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
jksoft 0:fccb789424fc 196 CMP R1,R2
jksoft 0:fccb789424fc 197 BEQ Sys_Exit
jksoft 0:fccb789424fc 198
jksoft 0:fccb789424fc 199 MRS R12,PSP ; Read PSP
jksoft 0:fccb789424fc 200 STMDB R12!,{R4-R11} ; Save Old context
jksoft 0:fccb789424fc 201 STR R12,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
jksoft 0:fccb789424fc 202
jksoft 0:fccb789424fc 203 PUSH {R2,R3}
jksoft 0:fccb789424fc 204 BL rt_stk_check ; Check for Stack overflow
jksoft 0:fccb789424fc 205 POP {R2,R3}
jksoft 0:fccb789424fc 206
jksoft 0:fccb789424fc 207 STR R2,[R3] ; os_tsk.run = os_tsk.new
jksoft 0:fccb789424fc 208
jksoft 0:fccb789424fc 209 LDR R12,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
jksoft 0:fccb789424fc 210 LDMIA R12!,{R4-R11} ; Restore New Context
jksoft 0:fccb789424fc 211 MSR PSP,R12 ; Write PSP
jksoft 0:fccb789424fc 212
jksoft 0:fccb789424fc 213 Sys_Exit
jksoft 0:fccb789424fc 214 MVN LR,#:NOT:0xFFFFFFFD ; set EXC_RETURN value
jksoft 0:fccb789424fc 215 BX LR ; Return to Thread Mode
jksoft 0:fccb789424fc 216
jksoft 0:fccb789424fc 217 ALIGN
jksoft 0:fccb789424fc 218 }
jksoft 0:fccb789424fc 219
jksoft 0:fccb789424fc 220
jksoft 0:fccb789424fc 221 /*-------------------------- SysTick_Handler --------------------------------*/
jksoft 0:fccb789424fc 222
jksoft 0:fccb789424fc 223 __asm void SysTick_Handler (void) {
jksoft 0:fccb789424fc 224 PRESERVE8
jksoft 0:fccb789424fc 225
jksoft 0:fccb789424fc 226 BL __cpp(rt_systick)
jksoft 0:fccb789424fc 227 B Sys_Switch
jksoft 0:fccb789424fc 228
jksoft 0:fccb789424fc 229 ALIGN
jksoft 0:fccb789424fc 230 }
jksoft 0:fccb789424fc 231
jksoft 0:fccb789424fc 232
jksoft 0:fccb789424fc 233 /*-------------------------- OS_Tick_Handler --------------------------------*/
jksoft 0:fccb789424fc 234
jksoft 0:fccb789424fc 235 __asm void OS_Tick_Handler (void) {
jksoft 0:fccb789424fc 236 PRESERVE8
jksoft 0:fccb789424fc 237
jksoft 0:fccb789424fc 238 BL __cpp(os_tick_irqack)
jksoft 0:fccb789424fc 239 BL __cpp(rt_systick)
jksoft 0:fccb789424fc 240 B Sys_Switch
jksoft 0:fccb789424fc 241
jksoft 0:fccb789424fc 242 ALIGN
jksoft 0:fccb789424fc 243 }
jksoft 0:fccb789424fc 244
jksoft 0:fccb789424fc 245
jksoft 0:fccb789424fc 246 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 247 * end of file
jksoft 0:fccb789424fc 248 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 249