Mark Vandermeulen / FYDP_Final

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

Dependencies:   mbed

mbed/mbed-rtos/rtx/rt_MemBox.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: RT_MEMBOX.C
majik 0:964eb6a2ef00 5 * Purpose: Interface functions for fixed memory block management system
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_MemBox.h"
majik 0:964eb6a2ef00 39 #include "rt_HAL_CM.h"
majik 0:964eb6a2ef00 40
majik 0:964eb6a2ef00 41 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 42 * Global Functions
majik 0:964eb6a2ef00 43 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 44
majik 0:964eb6a2ef00 45
majik 0:964eb6a2ef00 46 /*--------------------------- _init_box -------------------------------------*/
majik 0:964eb6a2ef00 47
majik 0:964eb6a2ef00 48 int _init_box (void *box_mem, U32 box_size, U32 blk_size) {
majik 0:964eb6a2ef00 49 /* Initialize memory block system, returns 0 if OK, 1 if fails. */
majik 0:964eb6a2ef00 50 void *end;
majik 0:964eb6a2ef00 51 void *blk;
majik 0:964eb6a2ef00 52 void *next;
majik 0:964eb6a2ef00 53 U32 sizeof_bm;
majik 0:964eb6a2ef00 54
majik 0:964eb6a2ef00 55 /* Create memory structure. */
majik 0:964eb6a2ef00 56 if (blk_size & BOX_ALIGN_8) {
majik 0:964eb6a2ef00 57 /* Memory blocks 8-byte aligned. */
majik 0:964eb6a2ef00 58 blk_size = ((blk_size & ~BOX_ALIGN_8) + 7) & ~7;
majik 0:964eb6a2ef00 59 sizeof_bm = (sizeof (struct OS_BM) + 7) & ~7;
majik 0:964eb6a2ef00 60 }
majik 0:964eb6a2ef00 61 else {
majik 0:964eb6a2ef00 62 /* Memory blocks 4-byte aligned. */
majik 0:964eb6a2ef00 63 blk_size = (blk_size + 3) & ~3;
majik 0:964eb6a2ef00 64 sizeof_bm = sizeof (struct OS_BM);
majik 0:964eb6a2ef00 65 }
majik 0:964eb6a2ef00 66 if (blk_size == 0) {
majik 0:964eb6a2ef00 67 return (1);
majik 0:964eb6a2ef00 68 }
majik 0:964eb6a2ef00 69 if ((blk_size + sizeof_bm) > box_size) {
majik 0:964eb6a2ef00 70 return (1);
majik 0:964eb6a2ef00 71 }
majik 0:964eb6a2ef00 72 /* Create a Memory structure. */
majik 0:964eb6a2ef00 73 blk = ((U8 *) box_mem) + sizeof_bm;
majik 0:964eb6a2ef00 74 ((P_BM) box_mem)->free = blk;
majik 0:964eb6a2ef00 75 end = ((U8 *) box_mem) + box_size;
majik 0:964eb6a2ef00 76 ((P_BM) box_mem)->end = end;
majik 0:964eb6a2ef00 77 ((P_BM) box_mem)->blk_size = blk_size;
majik 0:964eb6a2ef00 78
majik 0:964eb6a2ef00 79 /* Link all free blocks using offsets. */
majik 0:964eb6a2ef00 80 end = ((U8 *) end) - blk_size;
majik 0:964eb6a2ef00 81 while (1) {
majik 0:964eb6a2ef00 82 next = ((U8 *) blk) + blk_size;
majik 0:964eb6a2ef00 83 if (next > end) break;
majik 0:964eb6a2ef00 84 *((void **)blk) = next;
majik 0:964eb6a2ef00 85 blk = next;
majik 0:964eb6a2ef00 86 }
majik 0:964eb6a2ef00 87 /* end marker */
majik 0:964eb6a2ef00 88 *((void **)blk) = 0;
majik 0:964eb6a2ef00 89 return (0);
majik 0:964eb6a2ef00 90 }
majik 0:964eb6a2ef00 91
majik 0:964eb6a2ef00 92 /*--------------------------- rt_alloc_box ----------------------------------*/
majik 0:964eb6a2ef00 93
majik 0:964eb6a2ef00 94 void *rt_alloc_box (void *box_mem) {
majik 0:964eb6a2ef00 95 /* Allocate a memory block and return start address. */
majik 0:964eb6a2ef00 96 void **free;
majik 0:964eb6a2ef00 97 #ifndef __USE_EXCLUSIVE_ACCESS
majik 0:964eb6a2ef00 98 int irq_dis;
majik 0:964eb6a2ef00 99
majik 0:964eb6a2ef00 100 irq_dis = __disable_irq ();
majik 0:964eb6a2ef00 101 free = ((P_BM) box_mem)->free;
majik 0:964eb6a2ef00 102 if (free) {
majik 0:964eb6a2ef00 103 ((P_BM) box_mem)->free = *free;
majik 0:964eb6a2ef00 104 }
majik 0:964eb6a2ef00 105 if (!irq_dis) __enable_irq ();
majik 0:964eb6a2ef00 106 #else
majik 0:964eb6a2ef00 107 do {
majik 0:964eb6a2ef00 108 if ((free = (void **)__ldrex(&((P_BM) box_mem)->free)) == 0) {
majik 0:964eb6a2ef00 109 __clrex();
majik 0:964eb6a2ef00 110 break;
majik 0:964eb6a2ef00 111 }
majik 0:964eb6a2ef00 112 } while (__strex((U32)*free, &((P_BM) box_mem)->free));
majik 0:964eb6a2ef00 113 #endif
majik 0:964eb6a2ef00 114 return (free);
majik 0:964eb6a2ef00 115 }
majik 0:964eb6a2ef00 116
majik 0:964eb6a2ef00 117
majik 0:964eb6a2ef00 118 /*--------------------------- _calloc_box -----------------------------------*/
majik 0:964eb6a2ef00 119
majik 0:964eb6a2ef00 120 void *_calloc_box (void *box_mem) {
majik 0:964eb6a2ef00 121 /* Allocate a 0-initialized memory block and return start address. */
majik 0:964eb6a2ef00 122 void *free;
majik 0:964eb6a2ef00 123 U32 *p;
majik 0:964eb6a2ef00 124 U32 i;
majik 0:964eb6a2ef00 125
majik 0:964eb6a2ef00 126 free = _alloc_box (box_mem);
majik 0:964eb6a2ef00 127 if (free) {
majik 0:964eb6a2ef00 128 p = free;
majik 0:964eb6a2ef00 129 for (i = ((P_BM) box_mem)->blk_size; i; i -= 4) {
majik 0:964eb6a2ef00 130 *p = 0;
majik 0:964eb6a2ef00 131 p++;
majik 0:964eb6a2ef00 132 }
majik 0:964eb6a2ef00 133 }
majik 0:964eb6a2ef00 134 return (free);
majik 0:964eb6a2ef00 135 }
majik 0:964eb6a2ef00 136
majik 0:964eb6a2ef00 137
majik 0:964eb6a2ef00 138 /*--------------------------- rt_free_box -----------------------------------*/
majik 0:964eb6a2ef00 139
majik 0:964eb6a2ef00 140 int rt_free_box (void *box_mem, void *box) {
majik 0:964eb6a2ef00 141 /* Free a memory block, returns 0 if OK, 1 if box does not belong to box_mem */
majik 0:964eb6a2ef00 142 #ifndef __USE_EXCLUSIVE_ACCESS
majik 0:964eb6a2ef00 143 int irq_dis;
majik 0:964eb6a2ef00 144 #endif
majik 0:964eb6a2ef00 145
majik 0:964eb6a2ef00 146 if (box < box_mem || box >= ((P_BM) box_mem)->end) {
majik 0:964eb6a2ef00 147 return (1);
majik 0:964eb6a2ef00 148 }
majik 0:964eb6a2ef00 149
majik 0:964eb6a2ef00 150 #ifndef __USE_EXCLUSIVE_ACCESS
majik 0:964eb6a2ef00 151 irq_dis = __disable_irq ();
majik 0:964eb6a2ef00 152 *((void **)box) = ((P_BM) box_mem)->free;
majik 0:964eb6a2ef00 153 ((P_BM) box_mem)->free = box;
majik 0:964eb6a2ef00 154 if (!irq_dis) __enable_irq ();
majik 0:964eb6a2ef00 155 #else
majik 0:964eb6a2ef00 156 do {
majik 0:964eb6a2ef00 157 *((void **)box) = (void *)__ldrex(&((P_BM) box_mem)->free);
majik 0:964eb6a2ef00 158 } while (__strex ((U32)box, &((P_BM) box_mem)->free));
majik 0:964eb6a2ef00 159 #endif
majik 0:964eb6a2ef00 160 return (0);
majik 0:964eb6a2ef00 161 }
majik 0:964eb6a2ef00 162
majik 0:964eb6a2ef00 163 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 164 * end of file
majik 0:964eb6a2ef00 165 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 166