Mark Vandermeulen / FYDP_Final

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

Dependencies:   mbed

mbed/mbed-rtos/rtx/TARGET_M0/TOOLCHAIN_ARM/HAL_CM0.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_CM0.C
majik 0:964eb6a2ef00 5 * Purpose: Hardware Abstraction Layer for Cortex-M0
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_System.h"
majik 0:964eb6a2ef00 38 #include "rt_HAL_CM.h"
majik 0:964eb6a2ef00 39 #include "rt_Task.h"
majik 0:964eb6a2ef00 40 #include "rt_MemBox.h"
majik 0:964eb6a2ef00 41
majik 0:964eb6a2ef00 42
majik 0:964eb6a2ef00 43 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 44 * Functions
majik 0:964eb6a2ef00 45 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 46
majik 0:964eb6a2ef00 47
majik 0:964eb6a2ef00 48 /*--------------------------- rt_set_PSP ------------------------------------*/
majik 0:964eb6a2ef00 49
majik 0:964eb6a2ef00 50 __asm void rt_set_PSP (U32 stack) {
majik 0:964eb6a2ef00 51 MSR PSP,R0
majik 0:964eb6a2ef00 52 BX LR
majik 0:964eb6a2ef00 53 }
majik 0:964eb6a2ef00 54
majik 0:964eb6a2ef00 55
majik 0:964eb6a2ef00 56 /*--------------------------- rt_get_PSP ------------------------------------*/
majik 0:964eb6a2ef00 57
majik 0:964eb6a2ef00 58 __asm U32 rt_get_PSP (void) {
majik 0:964eb6a2ef00 59 MRS R0,PSP
majik 0:964eb6a2ef00 60 BX LR
majik 0:964eb6a2ef00 61 }
majik 0:964eb6a2ef00 62
majik 0:964eb6a2ef00 63
majik 0:964eb6a2ef00 64 /*--------------------------- os_set_env ------------------------------------*/
majik 0:964eb6a2ef00 65
majik 0:964eb6a2ef00 66 __asm void os_set_env (void) {
majik 0:964eb6a2ef00 67 /* Switch to Unprivileged/Privileged Thread mode, use PSP. */
majik 0:964eb6a2ef00 68 MOV R0,SP ; PSP = MSP
majik 0:964eb6a2ef00 69 MSR PSP,R0
majik 0:964eb6a2ef00 70 LDR R0,=__cpp(&os_flags)
majik 0:964eb6a2ef00 71 LDRB R0,[R0]
majik 0:964eb6a2ef00 72 LSLS R0,#31
majik 0:964eb6a2ef00 73 BNE PrivilegedE
majik 0:964eb6a2ef00 74 MOVS R0,#0x03 ; Unprivileged Thread mode, use PSP
majik 0:964eb6a2ef00 75 MSR CONTROL,R0
majik 0:964eb6a2ef00 76 BX LR
majik 0:964eb6a2ef00 77 PrivilegedE
majik 0:964eb6a2ef00 78 MOVS R0,#0x02 ; Privileged Thread mode, use PSP
majik 0:964eb6a2ef00 79 MSR CONTROL,R0
majik 0:964eb6a2ef00 80 BX LR
majik 0:964eb6a2ef00 81
majik 0:964eb6a2ef00 82 ALIGN
majik 0:964eb6a2ef00 83 }
majik 0:964eb6a2ef00 84
majik 0:964eb6a2ef00 85
majik 0:964eb6a2ef00 86 /*--------------------------- _alloc_box ------------------------------------*/
majik 0:964eb6a2ef00 87
majik 0:964eb6a2ef00 88 __asm void *_alloc_box (void *box_mem) {
majik 0:964eb6a2ef00 89 /* Function wrapper for Unprivileged/Privileged mode. */
majik 0:964eb6a2ef00 90 LDR R3,=__cpp(rt_alloc_box)
majik 0:964eb6a2ef00 91 MOV R12,R3
majik 0:964eb6a2ef00 92 MRS R3,IPSR
majik 0:964eb6a2ef00 93 LSLS R3,#24
majik 0:964eb6a2ef00 94 BNE PrivilegedA
majik 0:964eb6a2ef00 95 MRS R3,CONTROL
majik 0:964eb6a2ef00 96 LSLS R3,#31
majik 0:964eb6a2ef00 97 BEQ PrivilegedA
majik 0:964eb6a2ef00 98 SVC 0
majik 0:964eb6a2ef00 99 BX LR
majik 0:964eb6a2ef00 100 PrivilegedA
majik 0:964eb6a2ef00 101 BX R12
majik 0:964eb6a2ef00 102
majik 0:964eb6a2ef00 103 ALIGN
majik 0:964eb6a2ef00 104 }
majik 0:964eb6a2ef00 105
majik 0:964eb6a2ef00 106
majik 0:964eb6a2ef00 107 /*--------------------------- _free_box -------------------------------------*/
majik 0:964eb6a2ef00 108
majik 0:964eb6a2ef00 109 __asm int _free_box (void *box_mem, void *box) {
majik 0:964eb6a2ef00 110 /* Function wrapper for Unprivileged/Privileged mode. */
majik 0:964eb6a2ef00 111 LDR R3,=__cpp(rt_free_box)
majik 0:964eb6a2ef00 112 MOV R12,R3
majik 0:964eb6a2ef00 113 MRS R3,IPSR
majik 0:964eb6a2ef00 114 LSLS R3,#24
majik 0:964eb6a2ef00 115 BNE PrivilegedF
majik 0:964eb6a2ef00 116 MRS R3,CONTROL
majik 0:964eb6a2ef00 117 LSLS R3,#31
majik 0:964eb6a2ef00 118 BEQ PrivilegedF
majik 0:964eb6a2ef00 119 SVC 0
majik 0:964eb6a2ef00 120 BX LR
majik 0:964eb6a2ef00 121 PrivilegedF
majik 0:964eb6a2ef00 122 BX R12
majik 0:964eb6a2ef00 123
majik 0:964eb6a2ef00 124 ALIGN
majik 0:964eb6a2ef00 125 }
majik 0:964eb6a2ef00 126
majik 0:964eb6a2ef00 127
majik 0:964eb6a2ef00 128 /*-------------------------- SVC_Handler ------------------------------------*/
majik 0:964eb6a2ef00 129
majik 0:964eb6a2ef00 130 __asm void SVC_Handler (void) {
majik 0:964eb6a2ef00 131 PRESERVE8
majik 0:964eb6a2ef00 132
majik 0:964eb6a2ef00 133 IMPORT SVC_Count
majik 0:964eb6a2ef00 134 IMPORT SVC_Table
majik 0:964eb6a2ef00 135 IMPORT rt_stk_check
majik 0:964eb6a2ef00 136
majik 0:964eb6a2ef00 137 MRS R0,PSP ; Read PSP
majik 0:964eb6a2ef00 138 LDR R1,[R0,#24] ; Read Saved PC from Stack
majik 0:964eb6a2ef00 139 SUBS R1,R1,#2 ; Point to SVC Instruction
majik 0:964eb6a2ef00 140 LDRB R1,[R1] ; Load SVC Number
majik 0:964eb6a2ef00 141 CMP R1,#0
majik 0:964eb6a2ef00 142 BNE SVC_User ; User SVC Number > 0
majik 0:964eb6a2ef00 143
majik 0:964eb6a2ef00 144 MOV LR,R4
majik 0:964eb6a2ef00 145 LDMIA R0,{R0-R3,R4} ; Read R0-R3,R12 from stack
majik 0:964eb6a2ef00 146 MOV R12,R4
majik 0:964eb6a2ef00 147 MOV R4,LR
majik 0:964eb6a2ef00 148 BLX R12 ; Call SVC Function
majik 0:964eb6a2ef00 149
majik 0:964eb6a2ef00 150 MRS R3,PSP ; Read PSP
majik 0:964eb6a2ef00 151 STMIA R3!,{R0-R2} ; Store return values
majik 0:964eb6a2ef00 152
majik 0:964eb6a2ef00 153 LDR R3,=__cpp(&os_tsk)
majik 0:964eb6a2ef00 154 LDMIA R3!,{R1,R2} ; os_tsk.run, os_tsk.new
majik 0:964eb6a2ef00 155 CMP R1,R2
majik 0:964eb6a2ef00 156 BEQ SVC_Exit ; no task switch
majik 0:964eb6a2ef00 157
majik 0:964eb6a2ef00 158 SUBS R3,#8
majik 0:964eb6a2ef00 159 CMP R1,#0 ; Runtask deleted?
majik 0:964eb6a2ef00 160 BEQ SVC_Next
majik 0:964eb6a2ef00 161
majik 0:964eb6a2ef00 162 MRS R0,PSP ; Read PSP
majik 0:964eb6a2ef00 163 SUBS R0,R0,#32 ; Adjust Start Address
majik 0:964eb6a2ef00 164 STR R0,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
majik 0:964eb6a2ef00 165 STMIA R0!,{R4-R7} ; Save old context (R4-R7)
majik 0:964eb6a2ef00 166 MOV R4,R8
majik 0:964eb6a2ef00 167 MOV R5,R9
majik 0:964eb6a2ef00 168 MOV R6,R10
majik 0:964eb6a2ef00 169 MOV R7,R11
majik 0:964eb6a2ef00 170 STMIA R0!,{R4-R7} ; Save old context (R8-R11)
majik 0:964eb6a2ef00 171
majik 0:964eb6a2ef00 172 PUSH {R2,R3}
majik 0:964eb6a2ef00 173 BL rt_stk_check ; Check for Stack overflow
majik 0:964eb6a2ef00 174 POP {R2,R3}
majik 0:964eb6a2ef00 175
majik 0:964eb6a2ef00 176 SVC_Next
majik 0:964eb6a2ef00 177 STR R2,[R3] ; os_tsk.run = os_tsk.new
majik 0:964eb6a2ef00 178
majik 0:964eb6a2ef00 179 LDR R0,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
majik 0:964eb6a2ef00 180 ADDS R0,R0,#16 ; Adjust Start Address
majik 0:964eb6a2ef00 181 LDMIA R0!,{R4-R7} ; Restore new Context (R8-R11)
majik 0:964eb6a2ef00 182 MOV R8,R4
majik 0:964eb6a2ef00 183 MOV R9,R5
majik 0:964eb6a2ef00 184 MOV R10,R6
majik 0:964eb6a2ef00 185 MOV R11,R7
majik 0:964eb6a2ef00 186 MSR PSP,R0 ; Write PSP
majik 0:964eb6a2ef00 187 SUBS R0,R0,#32 ; Adjust Start Address
majik 0:964eb6a2ef00 188 LDMIA R0!,{R4-R7} ; Restore new Context (R4-R7)
majik 0:964eb6a2ef00 189
majik 0:964eb6a2ef00 190 SVC_Exit
majik 0:964eb6a2ef00 191 MOVS R0,#:NOT:0xFFFFFFFD ; Set EXC_RETURN value
majik 0:964eb6a2ef00 192 MVNS R0,R0
majik 0:964eb6a2ef00 193 BX R0 ; RETI to Thread Mode, use PSP
majik 0:964eb6a2ef00 194
majik 0:964eb6a2ef00 195 /*------------------- User SVC ------------------------------*/
majik 0:964eb6a2ef00 196
majik 0:964eb6a2ef00 197 SVC_User
majik 0:964eb6a2ef00 198 PUSH {R4,LR} ; Save Registers
majik 0:964eb6a2ef00 199 LDR R2,=SVC_Count
majik 0:964eb6a2ef00 200 LDR R2,[R2]
majik 0:964eb6a2ef00 201 CMP R1,R2
majik 0:964eb6a2ef00 202 BHI SVC_Done ; Overflow
majik 0:964eb6a2ef00 203
majik 0:964eb6a2ef00 204 LDR R4,=SVC_Table-4
majik 0:964eb6a2ef00 205 LSLS R1,R1,#2
majik 0:964eb6a2ef00 206 LDR R4,[R4,R1] ; Load SVC Function Address
majik 0:964eb6a2ef00 207 MOV LR,R4
majik 0:964eb6a2ef00 208
majik 0:964eb6a2ef00 209 LDMIA R0,{R0-R3,R4} ; Read R0-R3,R12 from stack
majik 0:964eb6a2ef00 210 MOV R12,R4
majik 0:964eb6a2ef00 211 BLX LR ; Call SVC Function
majik 0:964eb6a2ef00 212
majik 0:964eb6a2ef00 213 MRS R4,PSP ; Read PSP
majik 0:964eb6a2ef00 214 STMIA R4!,{R0-R3} ; Function return values
majik 0:964eb6a2ef00 215 SVC_Done
majik 0:964eb6a2ef00 216 POP {R4,PC} ; RETI
majik 0:964eb6a2ef00 217
majik 0:964eb6a2ef00 218 ALIGN
majik 0:964eb6a2ef00 219 }
majik 0:964eb6a2ef00 220
majik 0:964eb6a2ef00 221
majik 0:964eb6a2ef00 222 /*-------------------------- PendSV_Handler ---------------------------------*/
majik 0:964eb6a2ef00 223
majik 0:964eb6a2ef00 224 __asm void PendSV_Handler (void) {
majik 0:964eb6a2ef00 225 PRESERVE8
majik 0:964eb6a2ef00 226
majik 0:964eb6a2ef00 227 BL __cpp(rt_pop_req)
majik 0:964eb6a2ef00 228
majik 0:964eb6a2ef00 229 Sys_Switch
majik 0:964eb6a2ef00 230 LDR R3,=__cpp(&os_tsk)
majik 0:964eb6a2ef00 231 LDMIA R3!,{R1,R2} ; os_tsk.run, os_tsk.new
majik 0:964eb6a2ef00 232 CMP R1,R2
majik 0:964eb6a2ef00 233 BEQ Sys_Exit ; no task switch
majik 0:964eb6a2ef00 234
majik 0:964eb6a2ef00 235 SUBS R3,#8
majik 0:964eb6a2ef00 236
majik 0:964eb6a2ef00 237 MRS R0,PSP ; Read PSP
majik 0:964eb6a2ef00 238 SUBS R0,R0,#32 ; Adjust Start Address
majik 0:964eb6a2ef00 239 STR R0,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
majik 0:964eb6a2ef00 240 STMIA R0!,{R4-R7} ; Save old context (R4-R7)
majik 0:964eb6a2ef00 241 MOV R4,R8
majik 0:964eb6a2ef00 242 MOV R5,R9
majik 0:964eb6a2ef00 243 MOV R6,R10
majik 0:964eb6a2ef00 244 MOV R7,R11
majik 0:964eb6a2ef00 245 STMIA R0!,{R4-R7} ; Save old context (R8-R11)
majik 0:964eb6a2ef00 246
majik 0:964eb6a2ef00 247 PUSH {R2,R3}
majik 0:964eb6a2ef00 248 BL rt_stk_check ; Check for Stack overflow
majik 0:964eb6a2ef00 249 POP {R2,R3}
majik 0:964eb6a2ef00 250
majik 0:964eb6a2ef00 251 STR R2,[R3] ; os_tsk.run = os_tsk.new
majik 0:964eb6a2ef00 252
majik 0:964eb6a2ef00 253 LDR R0,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
majik 0:964eb6a2ef00 254 ADDS R0,R0,#16 ; Adjust Start Address
majik 0:964eb6a2ef00 255 LDMIA R0!,{R4-R7} ; Restore new Context (R8-R11)
majik 0:964eb6a2ef00 256 MOV R8,R4
majik 0:964eb6a2ef00 257 MOV R9,R5
majik 0:964eb6a2ef00 258 MOV R10,R6
majik 0:964eb6a2ef00 259 MOV R11,R7
majik 0:964eb6a2ef00 260 MSR PSP,R0 ; Write PSP
majik 0:964eb6a2ef00 261 SUBS R0,R0,#32 ; Adjust Start Address
majik 0:964eb6a2ef00 262 LDMIA R0!,{R4-R7} ; Restore new Context (R4-R7)
majik 0:964eb6a2ef00 263
majik 0:964eb6a2ef00 264 Sys_Exit
majik 0:964eb6a2ef00 265 MOVS R0,#:NOT:0xFFFFFFFD ; Set EXC_RETURN value
majik 0:964eb6a2ef00 266 MVNS R0,R0
majik 0:964eb6a2ef00 267 BX R0 ; RETI to Thread Mode, use PSP
majik 0:964eb6a2ef00 268
majik 0:964eb6a2ef00 269 ALIGN
majik 0:964eb6a2ef00 270 }
majik 0:964eb6a2ef00 271
majik 0:964eb6a2ef00 272
majik 0:964eb6a2ef00 273 /*-------------------------- SysTick_Handler --------------------------------*/
majik 0:964eb6a2ef00 274
majik 0:964eb6a2ef00 275 __asm void SysTick_Handler (void) {
majik 0:964eb6a2ef00 276 PRESERVE8
majik 0:964eb6a2ef00 277
majik 0:964eb6a2ef00 278 BL __cpp(rt_systick)
majik 0:964eb6a2ef00 279 B Sys_Switch
majik 0:964eb6a2ef00 280
majik 0:964eb6a2ef00 281 ALIGN
majik 0:964eb6a2ef00 282 }
majik 0:964eb6a2ef00 283
majik 0:964eb6a2ef00 284
majik 0:964eb6a2ef00 285 /*-------------------------- OS_Tick_Handler --------------------------------*/
majik 0:964eb6a2ef00 286
majik 0:964eb6a2ef00 287 __asm void OS_Tick_Handler (void) {
majik 0:964eb6a2ef00 288 PRESERVE8
majik 0:964eb6a2ef00 289
majik 0:964eb6a2ef00 290 BL __cpp(os_tick_irqack)
majik 0:964eb6a2ef00 291 BL __cpp(rt_systick)
majik 0:964eb6a2ef00 292 B Sys_Switch
majik 0:964eb6a2ef00 293
majik 0:964eb6a2ef00 294 ALIGN
majik 0:964eb6a2ef00 295 }
majik 0:964eb6a2ef00 296
majik 0:964eb6a2ef00 297
majik 0:964eb6a2ef00 298 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 299 * end of file
majik 0:964eb6a2ef00 300 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 301