Mark Vandermeulen / FYDP_Final

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

Dependencies:   mbed

mbed/mbed-rtos/rtx/RTX_Conf_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: RTX_Conf_CM.C
majik 0:964eb6a2ef00 5 * Purpose: Configuration of CMSIS RTX Kernel 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 "cmsis_os.h"
majik 0:964eb6a2ef00 36
majik 0:964eb6a2ef00 37
majik 0:964eb6a2ef00 38 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 39 * RTX User configuration part BEGIN
majik 0:964eb6a2ef00 40 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 41
majik 0:964eb6a2ef00 42 //-------- <<< Use Configuration Wizard in Context Menu >>> -----------------
majik 0:964eb6a2ef00 43 //
majik 0:964eb6a2ef00 44 // <h>Thread Configuration
majik 0:964eb6a2ef00 45 // =======================
majik 0:964eb6a2ef00 46 //
majik 0:964eb6a2ef00 47 // <o>Number of concurrent running threads <0-250>
majik 0:964eb6a2ef00 48 // <i> Defines max. number of threads that will run at the same time.
majik 0:964eb6a2ef00 49 // counting "main", but not counting "osTimerThread"
majik 0:964eb6a2ef00 50 // <i> Default: 6
majik 0:964eb6a2ef00 51 #ifndef OS_TASKCNT
majik 0:964eb6a2ef00 52 # if defined(TARGET_LPC1768) || defined(TARGET_LPC2368) || defined(TARGET_LPC4088) || defined(TARGET_LPC1347) || defined(TARGET_K64F) \
majik 0:964eb6a2ef00 53 || defined(TARGET_KL46Z) || defined(TARGET_STM32F407) || defined(TARGET_F407VG) || defined(TARGET_STM32F303VC) || defined(TARGET_LPC1549) || defined(TARGET_LPC11U68)
majik 0:964eb6a2ef00 54 # define OS_TASKCNT 14
majik 0:964eb6a2ef00 55 # elif defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501) || defined(TARGET_LPC1114) \
majik 0:964eb6a2ef00 56 || defined(TARGET_LPC812) || defined(TARGET_KL25Z) || defined(TARGET_KL05Z) || defined(TARGET_STM32F100RB) || defined(TARGET_STM32F051R8)
majik 0:964eb6a2ef00 57 # define OS_TASKCNT 6
majik 0:964eb6a2ef00 58 # else
majik 0:964eb6a2ef00 59 # error "no target defined"
majik 0:964eb6a2ef00 60 # endif
majik 0:964eb6a2ef00 61 #endif
majik 0:964eb6a2ef00 62
majik 0:964eb6a2ef00 63 // <o>Scheduler (+ interrupts) stack size [bytes] <64-4096:8><#/4>
majik 0:964eb6a2ef00 64 #ifndef OS_SCHEDULERSTKSIZE
majik 0:964eb6a2ef00 65 # if defined(TARGET_LPC1768) || defined(TARGET_LPC2368) || defined(TARGET_LPC4088) || defined(TARGET_LPC1347) || defined(TARGET_K64F) \
majik 0:964eb6a2ef00 66 || defined(TARGET_KL46Z) || defined(TARGET_STM32F407) || defined(TARGET_F407VG) || defined(TARGET_STM32F303VC) || defined(TARGET_LPC1549) || defined(TARGET_LPC11U68)
majik 0:964eb6a2ef00 67 # define OS_SCHEDULERSTKSIZE 256
majik 0:964eb6a2ef00 68 # elif defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501) || defined(TARGET_LPC1114) \
majik 0:964eb6a2ef00 69 || defined(TARGET_LPC812) || defined(TARGET_KL25Z) || defined(TARGET_KL05Z) || defined(TARGET_STM32F100RB) || defined(TARGET_STM32F051R8)
majik 0:964eb6a2ef00 70 # define OS_SCHEDULERSTKSIZE 128
majik 0:964eb6a2ef00 71 # else
majik 0:964eb6a2ef00 72 # error "no target defined"
majik 0:964eb6a2ef00 73 # endif
majik 0:964eb6a2ef00 74 #endif
majik 0:964eb6a2ef00 75
majik 0:964eb6a2ef00 76 // <o>Idle stack size [bytes] <64-4096:8><#/4>
majik 0:964eb6a2ef00 77 // <i> Defines default stack size for the Idle thread.
majik 0:964eb6a2ef00 78 #ifndef OS_IDLESTKSIZE
majik 0:964eb6a2ef00 79 #define OS_IDLESTKSIZE 128
majik 0:964eb6a2ef00 80 #endif
majik 0:964eb6a2ef00 81
majik 0:964eb6a2ef00 82 // <o>Timer Thread stack size [bytes] <64-4096:8><#/4>
majik 0:964eb6a2ef00 83 // <i> Defines stack size for Timer thread.
majik 0:964eb6a2ef00 84 // <i> Default: 200
majik 0:964eb6a2ef00 85 #ifndef OS_TIMERSTKSZ
majik 0:964eb6a2ef00 86 #define OS_TIMERSTKSZ WORDS_STACK_SIZE
majik 0:964eb6a2ef00 87 #endif
majik 0:964eb6a2ef00 88
majik 0:964eb6a2ef00 89 // <q>Check for stack overflow
majik 0:964eb6a2ef00 90 // <i> Includes the stack checking code for stack overflow.
majik 0:964eb6a2ef00 91 // <i> Note that additional code reduces the Kernel performance.
majik 0:964eb6a2ef00 92 #ifndef OS_STKCHECK
majik 0:964eb6a2ef00 93 #define OS_STKCHECK 1
majik 0:964eb6a2ef00 94 #endif
majik 0:964eb6a2ef00 95
majik 0:964eb6a2ef00 96 // <o>Processor mode for thread execution
majik 0:964eb6a2ef00 97 // <0=> Unprivileged mode
majik 0:964eb6a2ef00 98 // <1=> Privileged mode
majik 0:964eb6a2ef00 99 // <i> Default: Privileged mode
majik 0:964eb6a2ef00 100 #ifndef OS_RUNPRIV
majik 0:964eb6a2ef00 101 #define OS_RUNPRIV 1
majik 0:964eb6a2ef00 102 #endif
majik 0:964eb6a2ef00 103
majik 0:964eb6a2ef00 104 // </h>
majik 0:964eb6a2ef00 105 // <h>SysTick Timer Configuration
majik 0:964eb6a2ef00 106 // ==============================
majik 0:964eb6a2ef00 107 //
majik 0:964eb6a2ef00 108 // <o>Timer clock value [Hz] <1-1000000000>
majik 0:964eb6a2ef00 109 // <i> Defines the timer clock value.
majik 0:964eb6a2ef00 110 // <i> Default: 6000000 (6MHz)
majik 0:964eb6a2ef00 111 #ifndef OS_CLOCK
majik 0:964eb6a2ef00 112 # if defined(TARGET_LPC1768) || defined(TARGET_LPC2368)
majik 0:964eb6a2ef00 113 # define OS_CLOCK 96000000
majik 0:964eb6a2ef00 114
majik 0:964eb6a2ef00 115 # elif defined(TARGET_LPC1347) || defined(TARGET_STM32F303VC) || defined(TARGET_LPC1549)
majik 0:964eb6a2ef00 116 # define OS_CLOCK 72000000
majik 0:964eb6a2ef00 117
majik 0:964eb6a2ef00 118 # elif defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501) || defined(TARGET_LPC1114) || defined(TARGET_KL25Z) || defined(TARGET_KL05Z) || defined(TARGET_KL46Z) || defined(TARGET_STM32F051R8) || defined(TARGET_LPC11U68)
majik 0:964eb6a2ef00 119 # define OS_CLOCK 48000000
majik 0:964eb6a2ef00 120
majik 0:964eb6a2ef00 121 # elif defined(TARGET_LPC812)
majik 0:964eb6a2ef00 122 # define OS_CLOCK 36000000
majik 0:964eb6a2ef00 123
majik 0:964eb6a2ef00 124 # elif defined(TARGET_STM32F100RB)
majik 0:964eb6a2ef00 125 # define OS_CLOCK 24000000
majik 0:964eb6a2ef00 126
majik 0:964eb6a2ef00 127 # elif defined(TARGET_LPC4088) || defined(TARGET_K64F)
majik 0:964eb6a2ef00 128 # define OS_CLOCK 120000000
majik 0:964eb6a2ef00 129
majik 0:964eb6a2ef00 130 # elif defined(TARGET_STM32F407) || defined(TARGET_F407VG)
majik 0:964eb6a2ef00 131 # define OS_CLOCK 168000000
majik 0:964eb6a2ef00 132
majik 0:964eb6a2ef00 133 # else
majik 0:964eb6a2ef00 134 # error "no target defined"
majik 0:964eb6a2ef00 135 # endif
majik 0:964eb6a2ef00 136 #endif
majik 0:964eb6a2ef00 137
majik 0:964eb6a2ef00 138 // <o>Timer tick value [us] <1-1000000>
majik 0:964eb6a2ef00 139 // <i> Defines the timer tick value.
majik 0:964eb6a2ef00 140 // <i> Default: 1000 (1ms)
majik 0:964eb6a2ef00 141 #ifndef OS_TICK
majik 0:964eb6a2ef00 142 #define OS_TICK 1000
majik 0:964eb6a2ef00 143 #endif
majik 0:964eb6a2ef00 144
majik 0:964eb6a2ef00 145 // </h>
majik 0:964eb6a2ef00 146
majik 0:964eb6a2ef00 147 // <h>System Configuration
majik 0:964eb6a2ef00 148 // =======================
majik 0:964eb6a2ef00 149 //
majik 0:964eb6a2ef00 150 // <e>Round-Robin Thread switching
majik 0:964eb6a2ef00 151 // ===============================
majik 0:964eb6a2ef00 152 //
majik 0:964eb6a2ef00 153 // <i> Enables Round-Robin Thread switching.
majik 0:964eb6a2ef00 154 #ifndef OS_ROBIN
majik 0:964eb6a2ef00 155 #define OS_ROBIN 1
majik 0:964eb6a2ef00 156 #endif
majik 0:964eb6a2ef00 157
majik 0:964eb6a2ef00 158 // <o>Round-Robin Timeout [ticks] <1-1000>
majik 0:964eb6a2ef00 159 // <i> Defines how long a thread will execute before a thread switch.
majik 0:964eb6a2ef00 160 // <i> Default: 5
majik 0:964eb6a2ef00 161 #ifndef OS_ROBINTOUT
majik 0:964eb6a2ef00 162 #define OS_ROBINTOUT 5
majik 0:964eb6a2ef00 163 #endif
majik 0:964eb6a2ef00 164
majik 0:964eb6a2ef00 165 // </e>
majik 0:964eb6a2ef00 166
majik 0:964eb6a2ef00 167 // <e>User Timers
majik 0:964eb6a2ef00 168 // ==============
majik 0:964eb6a2ef00 169 // <i> Enables user Timers
majik 0:964eb6a2ef00 170 #ifndef OS_TIMERS
majik 0:964eb6a2ef00 171 #define OS_TIMERS 1
majik 0:964eb6a2ef00 172 #endif
majik 0:964eb6a2ef00 173
majik 0:964eb6a2ef00 174 // <o>Timer Thread Priority
majik 0:964eb6a2ef00 175 // <1=> Low
majik 0:964eb6a2ef00 176 // <2=> Below Normal
majik 0:964eb6a2ef00 177 // <3=> Normal
majik 0:964eb6a2ef00 178 // <4=> Above Normal
majik 0:964eb6a2ef00 179 // <5=> High
majik 0:964eb6a2ef00 180 // <6=> Realtime (highest)
majik 0:964eb6a2ef00 181 // <i> Defines priority for Timer Thread
majik 0:964eb6a2ef00 182 // <i> Default: High
majik 0:964eb6a2ef00 183 #ifndef OS_TIMERPRIO
majik 0:964eb6a2ef00 184 #define OS_TIMERPRIO 5
majik 0:964eb6a2ef00 185 #endif
majik 0:964eb6a2ef00 186
majik 0:964eb6a2ef00 187 // <o>Timer Callback Queue size <1-32>
majik 0:964eb6a2ef00 188 // <i> Number of concurrent active timer callback functions.
majik 0:964eb6a2ef00 189 // <i> Default: 4
majik 0:964eb6a2ef00 190 #ifndef OS_TIMERCBQSZ
majik 0:964eb6a2ef00 191 #define OS_TIMERCBQS 4
majik 0:964eb6a2ef00 192 #endif
majik 0:964eb6a2ef00 193
majik 0:964eb6a2ef00 194 // </e>
majik 0:964eb6a2ef00 195
majik 0:964eb6a2ef00 196 // <o>ISR FIFO Queue size<4=> 4 entries <8=> 8 entries
majik 0:964eb6a2ef00 197 // <12=> 12 entries <16=> 16 entries
majik 0:964eb6a2ef00 198 // <24=> 24 entries <32=> 32 entries
majik 0:964eb6a2ef00 199 // <48=> 48 entries <64=> 64 entries
majik 0:964eb6a2ef00 200 // <96=> 96 entries
majik 0:964eb6a2ef00 201 // <i> ISR functions store requests to this buffer,
majik 0:964eb6a2ef00 202 // <i> when they are called from the interrupt handler.
majik 0:964eb6a2ef00 203 // <i> Default: 16 entries
majik 0:964eb6a2ef00 204 #ifndef OS_FIFOSZ
majik 0:964eb6a2ef00 205 #define OS_FIFOSZ 16
majik 0:964eb6a2ef00 206 #endif
majik 0:964eb6a2ef00 207
majik 0:964eb6a2ef00 208 // </h>
majik 0:964eb6a2ef00 209
majik 0:964eb6a2ef00 210 //------------- <<< end of configuration section >>> -----------------------
majik 0:964eb6a2ef00 211
majik 0:964eb6a2ef00 212 // Standard library system mutexes
majik 0:964eb6a2ef00 213 // ===============================
majik 0:964eb6a2ef00 214 // Define max. number system mutexes that are used to protect
majik 0:964eb6a2ef00 215 // the arm standard runtime library. For microlib they are not used.
majik 0:964eb6a2ef00 216 #ifndef OS_MUTEXCNT
majik 0:964eb6a2ef00 217 #define OS_MUTEXCNT 12
majik 0:964eb6a2ef00 218 #endif
majik 0:964eb6a2ef00 219
majik 0:964eb6a2ef00 220 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 221 * RTX User configuration part END
majik 0:964eb6a2ef00 222 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 223
majik 0:964eb6a2ef00 224 #define OS_TRV ((uint32_t)(((double)OS_CLOCK*(double)OS_TICK)/1E6)-1)
majik 0:964eb6a2ef00 225
majik 0:964eb6a2ef00 226
majik 0:964eb6a2ef00 227 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 228 * OS Idle daemon
majik 0:964eb6a2ef00 229 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 230 void os_idle_demon (void) {
majik 0:964eb6a2ef00 231 /* The idle demon is a system thread, running when no other thread is */
majik 0:964eb6a2ef00 232 /* ready to run. */
majik 0:964eb6a2ef00 233
majik 0:964eb6a2ef00 234 /* Sleep: ideally, we should put the chip to sleep.
majik 0:964eb6a2ef00 235 Unfortunately, this usually requires disconnecting the interface chip (debugger).
majik 0:964eb6a2ef00 236 This can be done, but it would break the local file system.
majik 0:964eb6a2ef00 237 */
majik 0:964eb6a2ef00 238 for (;;) {
majik 0:964eb6a2ef00 239 // sleep();
majik 0:964eb6a2ef00 240 }
majik 0:964eb6a2ef00 241 }
majik 0:964eb6a2ef00 242
majik 0:964eb6a2ef00 243 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 244 * RTX Errors
majik 0:964eb6a2ef00 245 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 246 extern void mbed_die(void);
majik 0:964eb6a2ef00 247
majik 0:964eb6a2ef00 248 void os_error (uint32_t err_code) {
majik 0:964eb6a2ef00 249 /* This function is called when a runtime error is detected. Parameter */
majik 0:964eb6a2ef00 250 /* 'err_code' holds the runtime error code (defined in RTX_Conf.h). */
majik 0:964eb6a2ef00 251 mbed_die();
majik 0:964eb6a2ef00 252 }
majik 0:964eb6a2ef00 253
majik 0:964eb6a2ef00 254 void sysThreadError(osStatus status) {
majik 0:964eb6a2ef00 255 if (status != osOK) {
majik 0:964eb6a2ef00 256 mbed_die();
majik 0:964eb6a2ef00 257 }
majik 0:964eb6a2ef00 258 }
majik 0:964eb6a2ef00 259
majik 0:964eb6a2ef00 260 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 261 * RTX Configuration Functions
majik 0:964eb6a2ef00 262 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 263
majik 0:964eb6a2ef00 264 #include "RTX_CM_lib.h"
majik 0:964eb6a2ef00 265
majik 0:964eb6a2ef00 266 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 267 * end of file
majik 0:964eb6a2ef00 268 *---------------------------------------------------------------------------*/