Mark Vandermeulen / FYDP_Final

Code for our FYDP -only one IMU works right now -RTOS is working

Dependencies:   mbed

mbed/mbed-rtos/rtx/HAL_CM.c@0:964eb6a2ef00, 2015-03-18 (annotated)

Committer:
majik
Date:
Wed Mar 18 22:23:48 2015 +0000
Revision:
0:964eb6a2ef00
This is our FYDP code, but only one IMU works with the RTOS.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:964eb6a2ef00 1 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 2 * RL-ARM - RTX
majik 0:964eb6a2ef00 3 *----------------------------------------------------------------------------
majik 0:964eb6a2ef00 4 * Name: HAL_CM.C
majik 0:964eb6a2ef00 5 * Purpose: Hardware Abstraction Layer for Cortex-M
majik 0:964eb6a2ef00 6 * Rev.: V4.60
majik 0:964eb6a2ef00 7 *----------------------------------------------------------------------------
majik 0:964eb6a2ef00 8 *
majik 0:964eb6a2ef00 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
majik 0:964eb6a2ef00 10 * All rights reserved.
majik 0:964eb6a2ef00 11 * Redistribution and use in source and binary forms, with or without
majik 0:964eb6a2ef00 12 * modification, are permitted provided that the following conditions are met:
majik 0:964eb6a2ef00 13 * - Redistributions of source code must retain the above copyright
majik 0:964eb6a2ef00 14 * notice, this list of conditions and the following disclaimer.
majik 0:964eb6a2ef00 15 * - Redistributions in binary form must reproduce the above copyright
majik 0:964eb6a2ef00 16 * notice, this list of conditions and the following disclaimer in the
majik 0:964eb6a2ef00 17 * documentation and/or other materials provided with the distribution.
majik 0:964eb6a2ef00 18 * - Neither the name of ARM nor the names of its contributors may be used
majik 0:964eb6a2ef00 19 * to endorse or promote products derived from this software without
majik 0:964eb6a2ef00 20 * specific prior written permission.
majik 0:964eb6a2ef00 21 *
majik 0:964eb6a2ef00 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
majik 0:964eb6a2ef00 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
majik 0:964eb6a2ef00 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
majik 0:964eb6a2ef00 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
majik 0:964eb6a2ef00 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
majik 0:964eb6a2ef00 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
majik 0:964eb6a2ef00 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
majik 0:964eb6a2ef00 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
majik 0:964eb6a2ef00 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
majik 0:964eb6a2ef00 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
majik 0:964eb6a2ef00 32 * POSSIBILITY OF SUCH DAMAGE.
majik 0:964eb6a2ef00 33 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 34
majik 0:964eb6a2ef00 35 #include "rt_TypeDef.h"
majik 0:964eb6a2ef00 36 #include "RTX_Conf.h"
majik 0:964eb6a2ef00 37 #include "rt_HAL_CM.h"
majik 0:964eb6a2ef00 38
majik 0:964eb6a2ef00 39
majik 0:964eb6a2ef00 40 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 41 * Global Variables
majik 0:964eb6a2ef00 42 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 43
majik 0:964eb6a2ef00 44 #ifdef DBG_MSG
majik 0:964eb6a2ef00 45 BIT dbg_msg;
majik 0:964eb6a2ef00 46 #endif
majik 0:964eb6a2ef00 47
majik 0:964eb6a2ef00 48 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 49 * Functions
majik 0:964eb6a2ef00 50 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 51
majik 0:964eb6a2ef00 52
majik 0:964eb6a2ef00 53 /*--------------------------- rt_init_stack ---------------------------------*/
majik 0:964eb6a2ef00 54
majik 0:964eb6a2ef00 55 void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
majik 0:964eb6a2ef00 56 /* Prepare TCB and saved context for a first time start of a task. */
majik 0:964eb6a2ef00 57 U32 *stk,i,size;
majik 0:964eb6a2ef00 58
majik 0:964eb6a2ef00 59 /* Prepare a complete interrupt frame for first task start */
majik 0:964eb6a2ef00 60 size = p_TCB->priv_stack >> 2;
majik 0:964eb6a2ef00 61
majik 0:964eb6a2ef00 62 /* Write to the top of stack. */
majik 0:964eb6a2ef00 63 stk = &p_TCB->stack[size];
majik 0:964eb6a2ef00 64
majik 0:964eb6a2ef00 65 /* Auto correct to 8-byte ARM stack alignment. */
majik 0:964eb6a2ef00 66 if ((U32)stk & 0x04) {
majik 0:964eb6a2ef00 67 stk--;
majik 0:964eb6a2ef00 68 }
majik 0:964eb6a2ef00 69
majik 0:964eb6a2ef00 70 stk -= 16;
majik 0:964eb6a2ef00 71
majik 0:964eb6a2ef00 72 /* Default xPSR and initial PC */
majik 0:964eb6a2ef00 73 stk[15] = INITIAL_xPSR;
majik 0:964eb6a2ef00 74 stk[14] = (U32)task_body;
majik 0:964eb6a2ef00 75
majik 0:964eb6a2ef00 76 /* Clear R4-R11,R0-R3,R12,LR registers. */
majik 0:964eb6a2ef00 77 for (i = 0; i < 14; i++) {
majik 0:964eb6a2ef00 78 stk[i] = 0;
majik 0:964eb6a2ef00 79 }
majik 0:964eb6a2ef00 80
majik 0:964eb6a2ef00 81 /* Assign a void pointer to R0. */
majik 0:964eb6a2ef00 82 stk[8] = (U32)p_TCB->msg;
majik 0:964eb6a2ef00 83
majik 0:964eb6a2ef00 84 /* Initial Task stack pointer. */
majik 0:964eb6a2ef00 85 p_TCB->tsk_stack = (U32)stk;
majik 0:964eb6a2ef00 86
majik 0:964eb6a2ef00 87 /* Task entry point. */
majik 0:964eb6a2ef00 88 p_TCB->ptask = task_body;
majik 0:964eb6a2ef00 89
majik 0:964eb6a2ef00 90 /* Set a magic word for checking of stack overflow.
majik 0:964eb6a2ef00 91 For the main thread (ID: 0x01) the stack is in a memory area shared with the
majik 0:964eb6a2ef00 92 heap, therefore the last word of the stack is a moving target.
majik 0:964eb6a2ef00 93 We want to do stack/heap collision detection instead.
majik 0:964eb6a2ef00 94 */
majik 0:964eb6a2ef00 95 if (p_TCB->task_id != 0x01)
majik 0:964eb6a2ef00 96 p_TCB->stack[0] = MAGIC_WORD;
majik 0:964eb6a2ef00 97 }
majik 0:964eb6a2ef00 98
majik 0:964eb6a2ef00 99
majik 0:964eb6a2ef00 100 /*--------------------------- rt_ret_val ----------------------------------*/
majik 0:964eb6a2ef00 101
majik 0:964eb6a2ef00 102 static __inline U32 *rt_ret_regs (P_TCB p_TCB) {
majik 0:964eb6a2ef00 103 /* Get pointer to task return value registers (R0..R3) in Stack */
majik 0:964eb6a2ef00 104 #if (__TARGET_FPU_VFP)
majik 0:964eb6a2ef00 105 if (p_TCB->stack_frame) {
majik 0:964eb6a2ef00 106 /* Extended Stack Frame: R4-R11,S16-S31,R0-R3,R12,LR,PC,xPSR,S0-S15,FPSCR */
majik 0:964eb6a2ef00 107 return (U32 *)(p_TCB->tsk_stack + 8*4 + 16*4);
majik 0:964eb6a2ef00 108 } else {
majik 0:964eb6a2ef00 109 /* Basic Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
majik 0:964eb6a2ef00 110 return (U32 *)(p_TCB->tsk_stack + 8*4);
majik 0:964eb6a2ef00 111 }
majik 0:964eb6a2ef00 112 #else
majik 0:964eb6a2ef00 113 /* Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
majik 0:964eb6a2ef00 114 return (U32 *)(p_TCB->tsk_stack + 8*4);
majik 0:964eb6a2ef00 115 #endif
majik 0:964eb6a2ef00 116 }
majik 0:964eb6a2ef00 117
majik 0:964eb6a2ef00 118 void rt_ret_val (P_TCB p_TCB, U32 v0) {
majik 0:964eb6a2ef00 119 U32 *ret;
majik 0:964eb6a2ef00 120
majik 0:964eb6a2ef00 121 ret = rt_ret_regs(p_TCB);
majik 0:964eb6a2ef00 122 ret[0] = v0;
majik 0:964eb6a2ef00 123 }
majik 0:964eb6a2ef00 124
majik 0:964eb6a2ef00 125 void rt_ret_val2(P_TCB p_TCB, U32 v0, U32 v1) {
majik 0:964eb6a2ef00 126 U32 *ret;
majik 0:964eb6a2ef00 127
majik 0:964eb6a2ef00 128 ret = rt_ret_regs(p_TCB);
majik 0:964eb6a2ef00 129 ret[0] = v0;
majik 0:964eb6a2ef00 130 ret[1] = v1;
majik 0:964eb6a2ef00 131 }
majik 0:964eb6a2ef00 132
majik 0:964eb6a2ef00 133
majik 0:964eb6a2ef00 134 /*--------------------------- dbg_init --------------------------------------*/
majik 0:964eb6a2ef00 135
majik 0:964eb6a2ef00 136 #ifdef DBG_MSG
majik 0:964eb6a2ef00 137 void dbg_init (void) {
majik 0:964eb6a2ef00 138 if ((DEMCR & DEMCR_TRCENA) &&
majik 0:964eb6a2ef00 139 (ITM_CONTROL & ITM_ITMENA) &&
majik 0:964eb6a2ef00 140 (ITM_ENABLE & (1UL << 31))) {
majik 0:964eb6a2ef00 141 dbg_msg = __TRUE;
majik 0:964eb6a2ef00 142 }
majik 0:964eb6a2ef00 143 }
majik 0:964eb6a2ef00 144 #endif
majik 0:964eb6a2ef00 145
majik 0:964eb6a2ef00 146 /*--------------------------- dbg_task_notify -------------------------------*/
majik 0:964eb6a2ef00 147
majik 0:964eb6a2ef00 148 #ifdef DBG_MSG
majik 0:964eb6a2ef00 149 void dbg_task_notify (P_TCB p_tcb, BOOL create) {
majik 0:964eb6a2ef00 150 while (ITM_PORT31_U32 == 0);
majik 0:964eb6a2ef00 151 ITM_PORT31_U32 = (U32)p_tcb->ptask;
majik 0:964eb6a2ef00 152 while (ITM_PORT31_U32 == 0);
majik 0:964eb6a2ef00 153 ITM_PORT31_U16 = (create << 8) | p_tcb->task_id;
majik 0:964eb6a2ef00 154 }
majik 0:964eb6a2ef00 155 #endif
majik 0:964eb6a2ef00 156
majik 0:964eb6a2ef00 157 /*--------------------------- dbg_task_switch -------------------------------*/
majik 0:964eb6a2ef00 158
majik 0:964eb6a2ef00 159 #ifdef DBG_MSG
majik 0:964eb6a2ef00 160 void dbg_task_switch (U32 task_id) {
majik 0:964eb6a2ef00 161 while (ITM_PORT31_U32 == 0);
majik 0:964eb6a2ef00 162 ITM_PORT31_U8 = task_id;
majik 0:964eb6a2ef00 163 }
majik 0:964eb6a2ef00 164 #endif
majik 0:964eb6a2ef00 165
majik 0:964eb6a2ef00 166
majik 0:964eb6a2ef00 167 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 168 * end of file
majik 0:964eb6a2ef00 169 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 170