Mark Vandermeulen / FYDP_Final

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

Dependencies:   mbed

mbed/mbed-rtos/rtx/TARGET_M4/TOOLCHAIN_ARM/HAL_CM4.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_CM4.C
majik 0:964eb6a2ef00 5 * Purpose: Hardware Abstraction Layer for Cortex-M4
majik 0:964eb6a2ef00 6 * Rev.: V4.70
majik 0:964eb6a2ef00 7 *----------------------------------------------------------------------------
majik 0:964eb6a2ef00 8 *
majik 0:964eb6a2ef00 9 * Copyright (c) 1999-2009 KEIL, 2009-2013 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 MOVNE R0,#0x02 ; Privileged Thread mode, use PSP
majik 0:964eb6a2ef00 74 MOVEQ R0,#0x03 ; Unprivileged Thread mode, use PSP
majik 0:964eb6a2ef00 75 MSR CONTROL,R0
majik 0:964eb6a2ef00 76 BX LR
majik 0:964eb6a2ef00 77
majik 0:964eb6a2ef00 78 ALIGN
majik 0:964eb6a2ef00 79 }
majik 0:964eb6a2ef00 80
majik 0:964eb6a2ef00 81
majik 0:964eb6a2ef00 82 /*--------------------------- _alloc_box ------------------------------------*/
majik 0:964eb6a2ef00 83
majik 0:964eb6a2ef00 84 __asm void *_alloc_box (void *box_mem) {
majik 0:964eb6a2ef00 85 /* Function wrapper for Unprivileged/Privileged mode. */
majik 0:964eb6a2ef00 86 LDR R12,=__cpp(rt_alloc_box)
majik 0:964eb6a2ef00 87 MRS R3,IPSR
majik 0:964eb6a2ef00 88 LSLS R3,#24
majik 0:964eb6a2ef00 89 BXNE R12
majik 0:964eb6a2ef00 90 MRS R3,CONTROL
majik 0:964eb6a2ef00 91 LSLS R3,#31
majik 0:964eb6a2ef00 92 BXEQ R12
majik 0:964eb6a2ef00 93 SVC 0
majik 0:964eb6a2ef00 94 BX LR
majik 0:964eb6a2ef00 95
majik 0:964eb6a2ef00 96 ALIGN
majik 0:964eb6a2ef00 97 }
majik 0:964eb6a2ef00 98
majik 0:964eb6a2ef00 99
majik 0:964eb6a2ef00 100 /*--------------------------- _free_box -------------------------------------*/
majik 0:964eb6a2ef00 101
majik 0:964eb6a2ef00 102 __asm int _free_box (void *box_mem, void *box) {
majik 0:964eb6a2ef00 103 /* Function wrapper for Unprivileged/Privileged mode. */
majik 0:964eb6a2ef00 104 LDR R12,=__cpp(rt_free_box)
majik 0:964eb6a2ef00 105 MRS R3,IPSR
majik 0:964eb6a2ef00 106 LSLS R3,#24
majik 0:964eb6a2ef00 107 BXNE R12
majik 0:964eb6a2ef00 108 MRS R3,CONTROL
majik 0:964eb6a2ef00 109 LSLS R3,#31
majik 0:964eb6a2ef00 110 BXEQ R12
majik 0:964eb6a2ef00 111 SVC 0
majik 0:964eb6a2ef00 112 BX LR
majik 0:964eb6a2ef00 113
majik 0:964eb6a2ef00 114 ALIGN
majik 0:964eb6a2ef00 115 }
majik 0:964eb6a2ef00 116
majik 0:964eb6a2ef00 117
majik 0:964eb6a2ef00 118 /*-------------------------- SVC_Handler ------------------------------------*/
majik 0:964eb6a2ef00 119
majik 0:964eb6a2ef00 120 __asm void SVC_Handler (void) {
majik 0:964eb6a2ef00 121 PRESERVE8
majik 0:964eb6a2ef00 122
majik 0:964eb6a2ef00 123 IMPORT SVC_Count
majik 0:964eb6a2ef00 124 IMPORT SVC_Table
majik 0:964eb6a2ef00 125 IMPORT rt_stk_check
majik 0:964eb6a2ef00 126
majik 0:964eb6a2ef00 127 #ifdef IFX_XMC4XXX
majik 0:964eb6a2ef00 128 EXPORT SVC_Handler_Veneer
majik 0:964eb6a2ef00 129 SVC_Handler_Veneer
majik 0:964eb6a2ef00 130 #endif
majik 0:964eb6a2ef00 131
majik 0:964eb6a2ef00 132 MRS R0,PSP ; Read PSP
majik 0:964eb6a2ef00 133 LDR R1,[R0,#24] ; Read Saved PC from Stack
majik 0:964eb6a2ef00 134 LDRB R1,[R1,#-2] ; Load SVC Number
majik 0:964eb6a2ef00 135 CBNZ R1,SVC_User
majik 0:964eb6a2ef00 136
majik 0:964eb6a2ef00 137 LDM R0,{R0-R3,R12} ; Read R0-R3,R12 from stack
majik 0:964eb6a2ef00 138 PUSH {R4,LR} ; Save EXC_RETURN
majik 0:964eb6a2ef00 139 BLX R12 ; Call SVC Function
majik 0:964eb6a2ef00 140 POP {R4,LR} ; Restore EXC_RETURN
majik 0:964eb6a2ef00 141
majik 0:964eb6a2ef00 142 MRS R12,PSP ; Read PSP
majik 0:964eb6a2ef00 143 STM R12,{R0-R2} ; Store return values
majik 0:964eb6a2ef00 144
majik 0:964eb6a2ef00 145 LDR R3,=__cpp(&os_tsk)
majik 0:964eb6a2ef00 146 LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
majik 0:964eb6a2ef00 147 CMP R1,R2
majik 0:964eb6a2ef00 148 #ifdef IFX_XMC4XXX
majik 0:964eb6a2ef00 149 PUSHEQ {LR}
majik 0:964eb6a2ef00 150 POPEQ {PC}
majik 0:964eb6a2ef00 151 #else
majik 0:964eb6a2ef00 152 BXEQ LR ; RETI, no task switch
majik 0:964eb6a2ef00 153 #endif
majik 0:964eb6a2ef00 154
majik 0:964eb6a2ef00 155 CBZ R1,SVC_Next ; Runtask deleted?
majik 0:964eb6a2ef00 156 TST LR,#0x10 ; is it extended frame?
majik 0:964eb6a2ef00 157 VSTMDBEQ R12!,{S16-S31} ; yes, stack also VFP hi-regs
majik 0:964eb6a2ef00 158 MOVEQ R0,#0x01 ; os_tsk->stack_frame val
majik 0:964eb6a2ef00 159 MOVNE R0,#0x00
majik 0:964eb6a2ef00 160 STRB R0,[R1,#TCB_STACKF] ; os_tsk.run->stack_frame = val
majik 0:964eb6a2ef00 161 STMDB R12!,{R4-R11} ; Save Old context
majik 0:964eb6a2ef00 162 STR R12,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
majik 0:964eb6a2ef00 163
majik 0:964eb6a2ef00 164 PUSH {R2,R3}
majik 0:964eb6a2ef00 165 BL rt_stk_check ; Check for Stack overflow
majik 0:964eb6a2ef00 166 POP {R2,R3}
majik 0:964eb6a2ef00 167
majik 0:964eb6a2ef00 168 SVC_Next
majik 0:964eb6a2ef00 169 STR R2,[R3] ; os_tsk.run = os_tsk.new
majik 0:964eb6a2ef00 170
majik 0:964eb6a2ef00 171 LDR R12,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
majik 0:964eb6a2ef00 172 LDMIA R12!,{R4-R11} ; Restore New Context
majik 0:964eb6a2ef00 173 LDRB R0,[R2,#TCB_STACKF] ; Stack Frame
majik 0:964eb6a2ef00 174 CMP R0,#0 ; Basic/Extended Stack Frame
majik 0:964eb6a2ef00 175 VLDMIANE R12!,{S16-S31} ; restore VFP hi-registers
majik 0:964eb6a2ef00 176 MVNNE LR,#:NOT:0xFFFFFFED ; set EXC_RETURN value
majik 0:964eb6a2ef00 177 MVNEQ LR,#:NOT:0xFFFFFFFD
majik 0:964eb6a2ef00 178 MSR PSP,R12 ; Write PSP
majik 0:964eb6a2ef00 179
majik 0:964eb6a2ef00 180 SVC_Exit
majik 0:964eb6a2ef00 181 #ifdef IFX_XMC4XXX
majik 0:964eb6a2ef00 182 PUSH {LR}
majik 0:964eb6a2ef00 183 POP {PC}
majik 0:964eb6a2ef00 184 #else
majik 0:964eb6a2ef00 185 BX LR
majik 0:964eb6a2ef00 186 #endif
majik 0:964eb6a2ef00 187
majik 0:964eb6a2ef00 188 /*------------------- User SVC ------------------------------*/
majik 0:964eb6a2ef00 189
majik 0:964eb6a2ef00 190 SVC_User
majik 0:964eb6a2ef00 191 PUSH {R4,LR} ; Save Registers
majik 0:964eb6a2ef00 192 LDR R2,=SVC_Count
majik 0:964eb6a2ef00 193 LDR R2,[R2]
majik 0:964eb6a2ef00 194 CMP R1,R2
majik 0:964eb6a2ef00 195 BHI SVC_Done ; Overflow
majik 0:964eb6a2ef00 196
majik 0:964eb6a2ef00 197 LDR R4,=SVC_Table-4
majik 0:964eb6a2ef00 198 LDR R4,[R4,R1,LSL #2] ; Load SVC Function Address
majik 0:964eb6a2ef00 199
majik 0:964eb6a2ef00 200 LDM R0,{R0-R3,R12} ; Read R0-R3,R12 from stack
majik 0:964eb6a2ef00 201 BLX R4 ; Call SVC Function
majik 0:964eb6a2ef00 202
majik 0:964eb6a2ef00 203 MRS R12,PSP
majik 0:964eb6a2ef00 204 STM R12,{R0-R3} ; Function return values
majik 0:964eb6a2ef00 205 SVC_Done
majik 0:964eb6a2ef00 206 POP {R4,PC} ; RETI
majik 0:964eb6a2ef00 207
majik 0:964eb6a2ef00 208 ALIGN
majik 0:964eb6a2ef00 209 }
majik 0:964eb6a2ef00 210
majik 0:964eb6a2ef00 211
majik 0:964eb6a2ef00 212 /*-------------------------- PendSV_Handler ---------------------------------*/
majik 0:964eb6a2ef00 213
majik 0:964eb6a2ef00 214 __asm void PendSV_Handler (void) {
majik 0:964eb6a2ef00 215 PRESERVE8
majik 0:964eb6a2ef00 216
majik 0:964eb6a2ef00 217 #ifdef IFX_XMC4XXX
majik 0:964eb6a2ef00 218 EXPORT PendSV_Handler_Veneer
majik 0:964eb6a2ef00 219 PendSV_Handler_Veneer
majik 0:964eb6a2ef00 220 #endif
majik 0:964eb6a2ef00 221
majik 0:964eb6a2ef00 222 PUSH {R4,LR} ; Save EXC_RETURN
majik 0:964eb6a2ef00 223 BL __cpp(rt_pop_req)
majik 0:964eb6a2ef00 224
majik 0:964eb6a2ef00 225 Sys_Switch
majik 0:964eb6a2ef00 226 POP {R4,LR} ; Restore EXC_RETURN
majik 0:964eb6a2ef00 227
majik 0:964eb6a2ef00 228 LDR R3,=__cpp(&os_tsk)
majik 0:964eb6a2ef00 229 LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
majik 0:964eb6a2ef00 230 CMP R1,R2
majik 0:964eb6a2ef00 231 #ifdef IFX_XMC4XXX
majik 0:964eb6a2ef00 232 PUSHEQ {LR}
majik 0:964eb6a2ef00 233 POPEQ {PC}
majik 0:964eb6a2ef00 234 #else
majik 0:964eb6a2ef00 235 BXEQ LR ; RETI, no task switch
majik 0:964eb6a2ef00 236 #endif
majik 0:964eb6a2ef00 237
majik 0:964eb6a2ef00 238 MRS R12,PSP ; Read PSP
majik 0:964eb6a2ef00 239 TST LR,#0x10 ; is it extended frame?
majik 0:964eb6a2ef00 240 VSTMDBEQ R12!,{S16-S31} ; yes, stack also VFP hi-regs
majik 0:964eb6a2ef00 241 MOVEQ R0,#0x01 ; os_tsk->stack_frame val
majik 0:964eb6a2ef00 242 MOVNE R0,#0x00
majik 0:964eb6a2ef00 243 STRB R0,[R1,#TCB_STACKF] ; os_tsk.run->stack_frame = val
majik 0:964eb6a2ef00 244 STMDB R12!,{R4-R11} ; Save Old context
majik 0:964eb6a2ef00 245 STR R12,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
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 R12,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
majik 0:964eb6a2ef00 254 LDMIA R12!,{R4-R11} ; Restore New Context
majik 0:964eb6a2ef00 255 LDRB R0,[R2,#TCB_STACKF] ; Stack Frame
majik 0:964eb6a2ef00 256 CMP R0,#0 ; Basic/Extended Stack Frame
majik 0:964eb6a2ef00 257 VLDMIANE R12!,{S16-S31} ; restore VFP hi-regs
majik 0:964eb6a2ef00 258 MVNNE LR,#:NOT:0xFFFFFFED ; set EXC_RETURN value
majik 0:964eb6a2ef00 259 MVNEQ LR,#:NOT:0xFFFFFFFD
majik 0:964eb6a2ef00 260 MSR PSP,R12 ; Write PSP
majik 0:964eb6a2ef00 261
majik 0:964eb6a2ef00 262 Sys_Exit
majik 0:964eb6a2ef00 263 #ifdef IFX_XMC4XXX
majik 0:964eb6a2ef00 264 PUSH {LR}
majik 0:964eb6a2ef00 265 POP {PC}
majik 0:964eb6a2ef00 266 #else
majik 0:964eb6a2ef00 267 BX LR ; Return to Thread Mode
majik 0:964eb6a2ef00 268 #endif
majik 0:964eb6a2ef00 269
majik 0:964eb6a2ef00 270 ALIGN
majik 0:964eb6a2ef00 271 }
majik 0:964eb6a2ef00 272
majik 0:964eb6a2ef00 273
majik 0:964eb6a2ef00 274 /*-------------------------- SysTick_Handler --------------------------------*/
majik 0:964eb6a2ef00 275
majik 0:964eb6a2ef00 276 __asm void SysTick_Handler (void) {
majik 0:964eb6a2ef00 277 PRESERVE8
majik 0:964eb6a2ef00 278
majik 0:964eb6a2ef00 279 #ifdef IFX_XMC4XXX
majik 0:964eb6a2ef00 280 EXPORT SysTick_Handler_Veneer
majik 0:964eb6a2ef00 281 SysTick_Handler_Veneer
majik 0:964eb6a2ef00 282 #endif
majik 0:964eb6a2ef00 283
majik 0:964eb6a2ef00 284 PUSH {R4,LR} ; Save EXC_RETURN
majik 0:964eb6a2ef00 285 BL __cpp(rt_systick)
majik 0:964eb6a2ef00 286 B Sys_Switch
majik 0:964eb6a2ef00 287
majik 0:964eb6a2ef00 288 ALIGN
majik 0:964eb6a2ef00 289 }
majik 0:964eb6a2ef00 290
majik 0:964eb6a2ef00 291
majik 0:964eb6a2ef00 292 /*-------------------------- OS_Tick_Handler --------------------------------*/
majik 0:964eb6a2ef00 293
majik 0:964eb6a2ef00 294 __asm void OS_Tick_Handler (void) {
majik 0:964eb6a2ef00 295 PRESERVE8
majik 0:964eb6a2ef00 296
majik 0:964eb6a2ef00 297 PUSH {R4,LR} ; Save EXC_RETURN
majik 0:964eb6a2ef00 298 BL __cpp(os_tick_irqack)
majik 0:964eb6a2ef00 299 BL __cpp(rt_systick)
majik 0:964eb6a2ef00 300 B Sys_Switch
majik 0:964eb6a2ef00 301
majik 0:964eb6a2ef00 302 ALIGN
majik 0:964eb6a2ef00 303 }
majik 0:964eb6a2ef00 304
majik 0:964eb6a2ef00 305
majik 0:964eb6a2ef00 306 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 307 * end of file
majik 0:964eb6a2ef00 308 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 309