Mark Vandermeulen / FYDP_Final

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

Dependencies:   mbed

mbed/mbed-rtos/rtx/TARGET_M3/TOOLCHAIN_GCC/HAL_CM3.s@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_CM3.S
majik 0:964eb6a2ef00 5 * Purpose: Hardware Abstraction Layer for Cortex-M3
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 .file "HAL_CM3.S"
majik 0:964eb6a2ef00 36 .syntax unified
majik 0:964eb6a2ef00 37
majik 0:964eb6a2ef00 38 .equ TCB_TSTACK, 36
majik 0:964eb6a2ef00 39
majik 0:964eb6a2ef00 40
majik 0:964eb6a2ef00 41 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 42 * Functions
majik 0:964eb6a2ef00 43 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 44
majik 0:964eb6a2ef00 45 .thumb
majik 0:964eb6a2ef00 46
majik 0:964eb6a2ef00 47 .section ".text"
majik 0:964eb6a2ef00 48 .align 2
majik 0:964eb6a2ef00 49
majik 0:964eb6a2ef00 50
majik 0:964eb6a2ef00 51 /*--------------------------- rt_set_PSP ------------------------------------*/
majik 0:964eb6a2ef00 52
majik 0:964eb6a2ef00 53 # void rt_set_PSP (U32 stack);
majik 0:964eb6a2ef00 54
majik 0:964eb6a2ef00 55 .thumb_func
majik 0:964eb6a2ef00 56 .type rt_set_PSP, %function
majik 0:964eb6a2ef00 57 .global rt_set_PSP
majik 0:964eb6a2ef00 58 rt_set_PSP:
majik 0:964eb6a2ef00 59 .fnstart
majik 0:964eb6a2ef00 60 .cantunwind
majik 0:964eb6a2ef00 61
majik 0:964eb6a2ef00 62 MSR PSP,R0
majik 0:964eb6a2ef00 63 BX LR
majik 0:964eb6a2ef00 64
majik 0:964eb6a2ef00 65 .fnend
majik 0:964eb6a2ef00 66 .size rt_set_PSP, .-rt_set_PSP
majik 0:964eb6a2ef00 67
majik 0:964eb6a2ef00 68
majik 0:964eb6a2ef00 69 /*--------------------------- rt_get_PSP ------------------------------------*/
majik 0:964eb6a2ef00 70
majik 0:964eb6a2ef00 71 # U32 rt_get_PSP (void);
majik 0:964eb6a2ef00 72
majik 0:964eb6a2ef00 73 .thumb_func
majik 0:964eb6a2ef00 74 .type rt_get_PSP, %function
majik 0:964eb6a2ef00 75 .global rt_get_PSP
majik 0:964eb6a2ef00 76 rt_get_PSP:
majik 0:964eb6a2ef00 77 .fnstart
majik 0:964eb6a2ef00 78 .cantunwind
majik 0:964eb6a2ef00 79
majik 0:964eb6a2ef00 80 MRS R0,PSP
majik 0:964eb6a2ef00 81 BX LR
majik 0:964eb6a2ef00 82
majik 0:964eb6a2ef00 83 .fnend
majik 0:964eb6a2ef00 84 .size rt_get_PSP, .-rt_get_PSP
majik 0:964eb6a2ef00 85
majik 0:964eb6a2ef00 86
majik 0:964eb6a2ef00 87 /*--------------------------- os_set_env ------------------------------------*/
majik 0:964eb6a2ef00 88
majik 0:964eb6a2ef00 89 # void os_set_env (void);
majik 0:964eb6a2ef00 90 /* Switch to Unprivileged/Privileged Thread mode, use PSP. */
majik 0:964eb6a2ef00 91
majik 0:964eb6a2ef00 92 .thumb_func
majik 0:964eb6a2ef00 93 .type os_set_env, %function
majik 0:964eb6a2ef00 94 .global os_set_env
majik 0:964eb6a2ef00 95 os_set_env:
majik 0:964eb6a2ef00 96 .fnstart
majik 0:964eb6a2ef00 97 .cantunwind
majik 0:964eb6a2ef00 98
majik 0:964eb6a2ef00 99 MOV R0,SP /* PSP = MSP */
majik 0:964eb6a2ef00 100 MSR PSP,R0
majik 0:964eb6a2ef00 101 LDR R0,=os_flags
majik 0:964eb6a2ef00 102 LDRB R0,[R0]
majik 0:964eb6a2ef00 103 LSLS R0,#31
majik 0:964eb6a2ef00 104 ITE NE
majik 0:964eb6a2ef00 105 MOVNE R0,#0x02 /* Privileged Thread mode, use PSP */
majik 0:964eb6a2ef00 106 MOVEQ R0,#0x03 /* Unprivileged Thread mode, use PSP */
majik 0:964eb6a2ef00 107 MSR CONTROL,R0
majik 0:964eb6a2ef00 108 BX LR
majik 0:964eb6a2ef00 109
majik 0:964eb6a2ef00 110 .fnend
majik 0:964eb6a2ef00 111 .size os_set_env, .-os_set_env
majik 0:964eb6a2ef00 112
majik 0:964eb6a2ef00 113
majik 0:964eb6a2ef00 114 /*--------------------------- _alloc_box ------------------------------------*/
majik 0:964eb6a2ef00 115
majik 0:964eb6a2ef00 116 # void *_alloc_box (void *box_mem);
majik 0:964eb6a2ef00 117 /* Function wrapper for Unprivileged/Privileged mode. */
majik 0:964eb6a2ef00 118
majik 0:964eb6a2ef00 119 .thumb_func
majik 0:964eb6a2ef00 120 .type _alloc_box, %function
majik 0:964eb6a2ef00 121 .global _alloc_box
majik 0:964eb6a2ef00 122 _alloc_box:
majik 0:964eb6a2ef00 123 .fnstart
majik 0:964eb6a2ef00 124 .cantunwind
majik 0:964eb6a2ef00 125
majik 0:964eb6a2ef00 126 LDR R12,=rt_alloc_box
majik 0:964eb6a2ef00 127 MRS R3,IPSR
majik 0:964eb6a2ef00 128 LSLS R3,#24
majik 0:964eb6a2ef00 129 IT NE
majik 0:964eb6a2ef00 130 BXNE R12
majik 0:964eb6a2ef00 131 MRS R3,CONTROL
majik 0:964eb6a2ef00 132 LSLS R3,#31
majik 0:964eb6a2ef00 133 IT EQ
majik 0:964eb6a2ef00 134 BXEQ R12
majik 0:964eb6a2ef00 135 SVC 0
majik 0:964eb6a2ef00 136 BX LR
majik 0:964eb6a2ef00 137
majik 0:964eb6a2ef00 138 .fnend
majik 0:964eb6a2ef00 139 .size _alloc_box, .-_alloc_box
majik 0:964eb6a2ef00 140
majik 0:964eb6a2ef00 141
majik 0:964eb6a2ef00 142 /*--------------------------- _free_box -------------------------------------*/
majik 0:964eb6a2ef00 143
majik 0:964eb6a2ef00 144 # int _free_box (void *box_mem, void *box);
majik 0:964eb6a2ef00 145 /* Function wrapper for Unprivileged/Privileged mode. */
majik 0:964eb6a2ef00 146
majik 0:964eb6a2ef00 147 .thumb_func
majik 0:964eb6a2ef00 148 .type _free_box, %function
majik 0:964eb6a2ef00 149 .global _free_box
majik 0:964eb6a2ef00 150 _free_box:
majik 0:964eb6a2ef00 151 .fnstart
majik 0:964eb6a2ef00 152 .cantunwind
majik 0:964eb6a2ef00 153
majik 0:964eb6a2ef00 154 LDR R12,=rt_free_box
majik 0:964eb6a2ef00 155 MRS R3,IPSR
majik 0:964eb6a2ef00 156 LSLS R3,#24
majik 0:964eb6a2ef00 157 IT NE
majik 0:964eb6a2ef00 158 BXNE R12
majik 0:964eb6a2ef00 159 MRS R3,CONTROL
majik 0:964eb6a2ef00 160 LSLS R3,#31
majik 0:964eb6a2ef00 161 IT EQ
majik 0:964eb6a2ef00 162 BXEQ R12
majik 0:964eb6a2ef00 163 SVC 0
majik 0:964eb6a2ef00 164 BX LR
majik 0:964eb6a2ef00 165
majik 0:964eb6a2ef00 166 .fnend
majik 0:964eb6a2ef00 167 .size _free_box, .-_free_box
majik 0:964eb6a2ef00 168
majik 0:964eb6a2ef00 169
majik 0:964eb6a2ef00 170 /*-------------------------- SVC_Handler ------------------------------------*/
majik 0:964eb6a2ef00 171
majik 0:964eb6a2ef00 172 # void SVC_Handler (void);
majik 0:964eb6a2ef00 173
majik 0:964eb6a2ef00 174 .thumb_func
majik 0:964eb6a2ef00 175 .type SVC_Handler, %function
majik 0:964eb6a2ef00 176 .global SVC_Handler
majik 0:964eb6a2ef00 177 SVC_Handler:
majik 0:964eb6a2ef00 178 .fnstart
majik 0:964eb6a2ef00 179 .cantunwind
majik 0:964eb6a2ef00 180
majik 0:964eb6a2ef00 181 MRS R0,PSP /* Read PSP */
majik 0:964eb6a2ef00 182 LDR R1,[R0,#24] /* Read Saved PC from Stack */
majik 0:964eb6a2ef00 183 LDRB R1,[R1,#-2] /* Load SVC Number */
majik 0:964eb6a2ef00 184 CBNZ R1,SVC_User
majik 0:964eb6a2ef00 185
majik 0:964eb6a2ef00 186 LDM R0,{R0-R3,R12} /* Read R0-R3,R12 from stack */
majik 0:964eb6a2ef00 187 BLX R12 /* Call SVC Function */
majik 0:964eb6a2ef00 188
majik 0:964eb6a2ef00 189 MRS R12,PSP /* Read PSP */
majik 0:964eb6a2ef00 190 STM R12,{R0-R2} /* Store return values */
majik 0:964eb6a2ef00 191
majik 0:964eb6a2ef00 192 LDR R3,=os_tsk
majik 0:964eb6a2ef00 193 LDM R3,{R1,R2} /* os_tsk.run, os_tsk.new */
majik 0:964eb6a2ef00 194 CMP R1,R2
majik 0:964eb6a2ef00 195 BEQ SVC_Exit /* no task switch */
majik 0:964eb6a2ef00 196
majik 0:964eb6a2ef00 197 CBZ R1,SVC_Next /* Runtask deleted? */
majik 0:964eb6a2ef00 198 STMDB R12!,{R4-R11} /* Save Old context */
majik 0:964eb6a2ef00 199 STR R12,[R1,#TCB_TSTACK] /* Update os_tsk.run->tsk_stack */
majik 0:964eb6a2ef00 200
majik 0:964eb6a2ef00 201 PUSH {R2,R3}
majik 0:964eb6a2ef00 202 BL rt_stk_check /* Check for Stack overflow */
majik 0:964eb6a2ef00 203 POP {R2,R3}
majik 0:964eb6a2ef00 204
majik 0:964eb6a2ef00 205 SVC_Next:
majik 0:964eb6a2ef00 206 STR R2,[R3] /* os_tsk.run = os_tsk.new */
majik 0:964eb6a2ef00 207
majik 0:964eb6a2ef00 208 LDR R12,[R2,#TCB_TSTACK] /* os_tsk.new->tsk_stack */
majik 0:964eb6a2ef00 209 LDMIA R12!,{R4-R11} /* Restore New Context */
majik 0:964eb6a2ef00 210 MSR PSP,R12 /* Write PSP */
majik 0:964eb6a2ef00 211
majik 0:964eb6a2ef00 212 SVC_Exit:
majik 0:964eb6a2ef00 213 MVN LR,#~0xFFFFFFFD /* set EXC_RETURN value */
majik 0:964eb6a2ef00 214 BX LR
majik 0:964eb6a2ef00 215
majik 0:964eb6a2ef00 216 /*------------------- User SVC ------------------------------*/
majik 0:964eb6a2ef00 217
majik 0:964eb6a2ef00 218 SVC_User:
majik 0:964eb6a2ef00 219 PUSH {R4,LR} /* Save Registers */
majik 0:964eb6a2ef00 220 LDR R2,=SVC_Count
majik 0:964eb6a2ef00 221 LDR R2,[R2]
majik 0:964eb6a2ef00 222 CMP R1,R2
majik 0:964eb6a2ef00 223 BHI SVC_Done /* Overflow */
majik 0:964eb6a2ef00 224
majik 0:964eb6a2ef00 225 LDR R4,=SVC_Table-4
majik 0:964eb6a2ef00 226 LDR R4,[R4,R1,LSL #2] /* Load SVC Function Address */
majik 0:964eb6a2ef00 227
majik 0:964eb6a2ef00 228 LDM R0,{R0-R3,R12} /* Read R0-R3,R12 from stack */
majik 0:964eb6a2ef00 229 BLX R4 /* Call SVC Function */
majik 0:964eb6a2ef00 230
majik 0:964eb6a2ef00 231 MRS R12,PSP
majik 0:964eb6a2ef00 232 STM R12,{R0-R3} /* Function return values */
majik 0:964eb6a2ef00 233 SVC_Done:
majik 0:964eb6a2ef00 234 POP {R4,PC} /* RETI */
majik 0:964eb6a2ef00 235
majik 0:964eb6a2ef00 236 .fnend
majik 0:964eb6a2ef00 237 .size SVC_Handler, .-SVC_Handler
majik 0:964eb6a2ef00 238
majik 0:964eb6a2ef00 239
majik 0:964eb6a2ef00 240 /*-------------------------- PendSV_Handler ---------------------------------*/
majik 0:964eb6a2ef00 241
majik 0:964eb6a2ef00 242 # void PendSV_Handler (void);
majik 0:964eb6a2ef00 243
majik 0:964eb6a2ef00 244 .thumb_func
majik 0:964eb6a2ef00 245 .type PendSV_Handler, %function
majik 0:964eb6a2ef00 246 .global PendSV_Handler
majik 0:964eb6a2ef00 247 .global Sys_Switch
majik 0:964eb6a2ef00 248 PendSV_Handler:
majik 0:964eb6a2ef00 249 .fnstart
majik 0:964eb6a2ef00 250 .cantunwind
majik 0:964eb6a2ef00 251
majik 0:964eb6a2ef00 252 BL rt_pop_req
majik 0:964eb6a2ef00 253
majik 0:964eb6a2ef00 254 Sys_Switch:
majik 0:964eb6a2ef00 255 LDR R3,=os_tsk
majik 0:964eb6a2ef00 256 LDM R3,{R1,R2} /* os_tsk.run, os_tsk.new */
majik 0:964eb6a2ef00 257 CMP R1,R2
majik 0:964eb6a2ef00 258 BEQ Sys_Exit
majik 0:964eb6a2ef00 259
majik 0:964eb6a2ef00 260 MRS R12,PSP /* Read PSP */
majik 0:964eb6a2ef00 261 STMDB R12!,{R4-R11} /* Save Old context */
majik 0:964eb6a2ef00 262 STR R12,[R1,#TCB_TSTACK] /* Update os_tsk.run->tsk_stack */
majik 0:964eb6a2ef00 263
majik 0:964eb6a2ef00 264 PUSH {R2,R3}
majik 0:964eb6a2ef00 265 BL rt_stk_check /* Check for Stack overflow */
majik 0:964eb6a2ef00 266 POP {R2,R3}
majik 0:964eb6a2ef00 267
majik 0:964eb6a2ef00 268 STR R2,[R3] /* os_tsk.run = os_tsk.new */
majik 0:964eb6a2ef00 269
majik 0:964eb6a2ef00 270 LDR R12,[R2,#TCB_TSTACK] /* os_tsk.new->tsk_stack */
majik 0:964eb6a2ef00 271 LDMIA R12!,{R4-R11} /* Restore New Context */
majik 0:964eb6a2ef00 272 MSR PSP,R12 /* Write PSP */
majik 0:964eb6a2ef00 273
majik 0:964eb6a2ef00 274 Sys_Exit:
majik 0:964eb6a2ef00 275 MVN LR,#~0xFFFFFFFD /* set EXC_RETURN value */
majik 0:964eb6a2ef00 276 BX LR /* Return to Thread Mode */
majik 0:964eb6a2ef00 277
majik 0:964eb6a2ef00 278 .fnend
majik 0:964eb6a2ef00 279 .size PendSV_Handler, .-PendSV_Handler
majik 0:964eb6a2ef00 280
majik 0:964eb6a2ef00 281
majik 0:964eb6a2ef00 282 /*-------------------------- SysTick_Handler --------------------------------*/
majik 0:964eb6a2ef00 283
majik 0:964eb6a2ef00 284 # void SysTick_Handler (void);
majik 0:964eb6a2ef00 285
majik 0:964eb6a2ef00 286 .thumb_func
majik 0:964eb6a2ef00 287 .type SysTick_Handler, %function
majik 0:964eb6a2ef00 288 .global SysTick_Handler
majik 0:964eb6a2ef00 289 SysTick_Handler:
majik 0:964eb6a2ef00 290 .fnstart
majik 0:964eb6a2ef00 291 .cantunwind
majik 0:964eb6a2ef00 292
majik 0:964eb6a2ef00 293 BL rt_systick
majik 0:964eb6a2ef00 294 B Sys_Switch
majik 0:964eb6a2ef00 295
majik 0:964eb6a2ef00 296 .fnend
majik 0:964eb6a2ef00 297 .size SysTick_Handler, .-SysTick_Handler
majik 0:964eb6a2ef00 298
majik 0:964eb6a2ef00 299
majik 0:964eb6a2ef00 300 /*-------------------------- OS_Tick_Handler --------------------------------*/
majik 0:964eb6a2ef00 301
majik 0:964eb6a2ef00 302 # void OS_Tick_Handler (void);
majik 0:964eb6a2ef00 303
majik 0:964eb6a2ef00 304 .thumb_func
majik 0:964eb6a2ef00 305 .type OS_Tick_Handler, %function
majik 0:964eb6a2ef00 306 .global OS_Tick_Handler
majik 0:964eb6a2ef00 307 OS_Tick_Handler:
majik 0:964eb6a2ef00 308 .fnstart
majik 0:964eb6a2ef00 309 .cantunwind
majik 0:964eb6a2ef00 310
majik 0:964eb6a2ef00 311 BL os_tick_irqack
majik 0:964eb6a2ef00 312 BL rt_systick
majik 0:964eb6a2ef00 313 B Sys_Switch
majik 0:964eb6a2ef00 314
majik 0:964eb6a2ef00 315 .fnend
majik 0:964eb6a2ef00 316 .size OS_Tick_Handler, .-OS_Tick_Handler
majik 0:964eb6a2ef00 317
majik 0:964eb6a2ef00 318
majik 0:964eb6a2ef00 319 .end
majik 0:964eb6a2ef00 320
majik 0:964eb6a2ef00 321 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 322 * end of file
majik 0:964eb6a2ef00 323 *---------------------------------------------------------------------------*/