Ankit Patel / Mbed 2 deprecated Robot_Control_UDP_Wifi

Control a robot over the internet using UDP and a Wifly module (WiFi).

Dependencies:   Motor TextLCD WiflyInterface mbed-rtos mbed

mbed-rtos/rtx/HAL_CM.c@0:c0dc3a76f3d4, 2013-10-17 (annotated)

Committer:
apatel336
Date:
Thu Oct 17 13:27:56 2013 +0000
Revision:
0:c0dc3a76f3d4
Initial Release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
apatel336 0:c0dc3a76f3d4 1 /*----------------------------------------------------------------------------
apatel336 0:c0dc3a76f3d4 2 * RL-ARM - RTX
apatel336 0:c0dc3a76f3d4 3 *----------------------------------------------------------------------------
apatel336 0:c0dc3a76f3d4 4 * Name: HAL_CM.C
apatel336 0:c0dc3a76f3d4 5 * Purpose: Hardware Abstraction Layer for Cortex-M
apatel336 0:c0dc3a76f3d4 6 * Rev.: V4.60
apatel336 0:c0dc3a76f3d4 7 *----------------------------------------------------------------------------
apatel336 0:c0dc3a76f3d4 8 *
apatel336 0:c0dc3a76f3d4 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
apatel336 0:c0dc3a76f3d4 10 * All rights reserved.
apatel336 0:c0dc3a76f3d4 11 * Redistribution and use in source and binary forms, with or without
apatel336 0:c0dc3a76f3d4 12 * modification, are permitted provided that the following conditions are met:
apatel336 0:c0dc3a76f3d4 13 * - Redistributions of source code must retain the above copyright
apatel336 0:c0dc3a76f3d4 14 * notice, this list of conditions and the following disclaimer.
apatel336 0:c0dc3a76f3d4 15 * - Redistributions in binary form must reproduce the above copyright
apatel336 0:c0dc3a76f3d4 16 * notice, this list of conditions and the following disclaimer in the
apatel336 0:c0dc3a76f3d4 17 * documentation and/or other materials provided with the distribution.
apatel336 0:c0dc3a76f3d4 18 * - Neither the name of ARM nor the names of its contributors may be used
apatel336 0:c0dc3a76f3d4 19 * to endorse or promote products derived from this software without
apatel336 0:c0dc3a76f3d4 20 * specific prior written permission.
apatel336 0:c0dc3a76f3d4 21 *
apatel336 0:c0dc3a76f3d4 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
apatel336 0:c0dc3a76f3d4 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
apatel336 0:c0dc3a76f3d4 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
apatel336 0:c0dc3a76f3d4 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
apatel336 0:c0dc3a76f3d4 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
apatel336 0:c0dc3a76f3d4 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
apatel336 0:c0dc3a76f3d4 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
apatel336 0:c0dc3a76f3d4 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
apatel336 0:c0dc3a76f3d4 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
apatel336 0:c0dc3a76f3d4 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
apatel336 0:c0dc3a76f3d4 32 * POSSIBILITY OF SUCH DAMAGE.
apatel336 0:c0dc3a76f3d4 33 *---------------------------------------------------------------------------*/
apatel336 0:c0dc3a76f3d4 34
apatel336 0:c0dc3a76f3d4 35 #include "rt_TypeDef.h"
apatel336 0:c0dc3a76f3d4 36 #include "RTX_Conf.h"
apatel336 0:c0dc3a76f3d4 37 #include "rt_HAL_CM.h"
apatel336 0:c0dc3a76f3d4 38
apatel336 0:c0dc3a76f3d4 39
apatel336 0:c0dc3a76f3d4 40 /*----------------------------------------------------------------------------
apatel336 0:c0dc3a76f3d4 41 * Global Variables
apatel336 0:c0dc3a76f3d4 42 *---------------------------------------------------------------------------*/
apatel336 0:c0dc3a76f3d4 43
apatel336 0:c0dc3a76f3d4 44 #ifdef DBG_MSG
apatel336 0:c0dc3a76f3d4 45 BIT dbg_msg;
apatel336 0:c0dc3a76f3d4 46 #endif
apatel336 0:c0dc3a76f3d4 47
apatel336 0:c0dc3a76f3d4 48 /*----------------------------------------------------------------------------
apatel336 0:c0dc3a76f3d4 49 * Functions
apatel336 0:c0dc3a76f3d4 50 *---------------------------------------------------------------------------*/
apatel336 0:c0dc3a76f3d4 51
apatel336 0:c0dc3a76f3d4 52
apatel336 0:c0dc3a76f3d4 53 /*--------------------------- rt_init_stack ---------------------------------*/
apatel336 0:c0dc3a76f3d4 54
apatel336 0:c0dc3a76f3d4 55 void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
apatel336 0:c0dc3a76f3d4 56 /* Prepare TCB and saved context for a first time start of a task. */
apatel336 0:c0dc3a76f3d4 57 U32 *stk,i,size;
apatel336 0:c0dc3a76f3d4 58
apatel336 0:c0dc3a76f3d4 59 /* Prepare a complete interrupt frame for first task start */
apatel336 0:c0dc3a76f3d4 60 size = p_TCB->priv_stack >> 2;
apatel336 0:c0dc3a76f3d4 61
apatel336 0:c0dc3a76f3d4 62 /* Write to the top of stack. */
apatel336 0:c0dc3a76f3d4 63 stk = &p_TCB->stack[size];
apatel336 0:c0dc3a76f3d4 64
apatel336 0:c0dc3a76f3d4 65 /* Auto correct to 8-byte ARM stack alignment. */
apatel336 0:c0dc3a76f3d4 66 if ((U32)stk & 0x04) {
apatel336 0:c0dc3a76f3d4 67 stk--;
apatel336 0:c0dc3a76f3d4 68 }
apatel336 0:c0dc3a76f3d4 69
apatel336 0:c0dc3a76f3d4 70 stk -= 16;
apatel336 0:c0dc3a76f3d4 71
apatel336 0:c0dc3a76f3d4 72 /* Default xPSR and initial PC */
apatel336 0:c0dc3a76f3d4 73 stk[15] = INITIAL_xPSR;
apatel336 0:c0dc3a76f3d4 74 stk[14] = (U32)task_body;
apatel336 0:c0dc3a76f3d4 75
apatel336 0:c0dc3a76f3d4 76 /* Clear R4-R11,R0-R3,R12,LR registers. */
apatel336 0:c0dc3a76f3d4 77 for (i = 0; i < 14; i++) {
apatel336 0:c0dc3a76f3d4 78 stk[i] = 0;
apatel336 0:c0dc3a76f3d4 79 }
apatel336 0:c0dc3a76f3d4 80
apatel336 0:c0dc3a76f3d4 81 /* Assign a void pointer to R0. */
apatel336 0:c0dc3a76f3d4 82 stk[8] = (U32)p_TCB->msg;
apatel336 0:c0dc3a76f3d4 83
apatel336 0:c0dc3a76f3d4 84 /* Initial Task stack pointer. */
apatel336 0:c0dc3a76f3d4 85 p_TCB->tsk_stack = (U32)stk;
apatel336 0:c0dc3a76f3d4 86
apatel336 0:c0dc3a76f3d4 87 /* Task entry point. */
apatel336 0:c0dc3a76f3d4 88 p_TCB->ptask = task_body;
apatel336 0:c0dc3a76f3d4 89
apatel336 0:c0dc3a76f3d4 90 /* Set a magic word for checking of stack overflow.
apatel336 0:c0dc3a76f3d4 91 For the main thread (ID: 0x01) the stack is in a memory area shared with the
apatel336 0:c0dc3a76f3d4 92 heap, therefore the last word of the stack is a moving target.
apatel336 0:c0dc3a76f3d4 93 We want to do stack/heap collision detection instead.
apatel336 0:c0dc3a76f3d4 94 */
apatel336 0:c0dc3a76f3d4 95 if (p_TCB->task_id != 0x01)
apatel336 0:c0dc3a76f3d4 96 p_TCB->stack[0] = MAGIC_WORD;
apatel336 0:c0dc3a76f3d4 97 }
apatel336 0:c0dc3a76f3d4 98
apatel336 0:c0dc3a76f3d4 99
apatel336 0:c0dc3a76f3d4 100 /*--------------------------- rt_ret_val ----------------------------------*/
apatel336 0:c0dc3a76f3d4 101
apatel336 0:c0dc3a76f3d4 102 static __inline U32 *rt_ret_regs (P_TCB p_TCB) {
apatel336 0:c0dc3a76f3d4 103 /* Get pointer to task return value registers (R0..R3) in Stack */
apatel336 0:c0dc3a76f3d4 104 #if (__TARGET_FPU_VFP)
apatel336 0:c0dc3a76f3d4 105 if (p_TCB->stack_frame) {
apatel336 0:c0dc3a76f3d4 106 /* Extended Stack Frame: R4-R11,S16-S31,R0-R3,R12,LR,PC,xPSR,S0-S15,FPSCR */
apatel336 0:c0dc3a76f3d4 107 return (U32 *)(p_TCB->tsk_stack + 8*4 + 16*4);
apatel336 0:c0dc3a76f3d4 108 } else {
apatel336 0:c0dc3a76f3d4 109 /* Basic Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
apatel336 0:c0dc3a76f3d4 110 return (U32 *)(p_TCB->tsk_stack + 8*4);
apatel336 0:c0dc3a76f3d4 111 }
apatel336 0:c0dc3a76f3d4 112 #else
apatel336 0:c0dc3a76f3d4 113 /* Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
apatel336 0:c0dc3a76f3d4 114 return (U32 *)(p_TCB->tsk_stack + 8*4);
apatel336 0:c0dc3a76f3d4 115 #endif
apatel336 0:c0dc3a76f3d4 116 }
apatel336 0:c0dc3a76f3d4 117
apatel336 0:c0dc3a76f3d4 118 void rt_ret_val (P_TCB p_TCB, U32 v0) {
apatel336 0:c0dc3a76f3d4 119 U32 *ret;
apatel336 0:c0dc3a76f3d4 120
apatel336 0:c0dc3a76f3d4 121 ret = rt_ret_regs(p_TCB);
apatel336 0:c0dc3a76f3d4 122 ret[0] = v0;
apatel336 0:c0dc3a76f3d4 123 }
apatel336 0:c0dc3a76f3d4 124
apatel336 0:c0dc3a76f3d4 125 void rt_ret_val2(P_TCB p_TCB, U32 v0, U32 v1) {
apatel336 0:c0dc3a76f3d4 126 U32 *ret;
apatel336 0:c0dc3a76f3d4 127
apatel336 0:c0dc3a76f3d4 128 ret = rt_ret_regs(p_TCB);
apatel336 0:c0dc3a76f3d4 129 ret[0] = v0;
apatel336 0:c0dc3a76f3d4 130 ret[1] = v1;
apatel336 0:c0dc3a76f3d4 131 }
apatel336 0:c0dc3a76f3d4 132
apatel336 0:c0dc3a76f3d4 133
apatel336 0:c0dc3a76f3d4 134 /*--------------------------- dbg_init --------------------------------------*/
apatel336 0:c0dc3a76f3d4 135
apatel336 0:c0dc3a76f3d4 136 #ifdef DBG_MSG
apatel336 0:c0dc3a76f3d4 137 void dbg_init (void) {
apatel336 0:c0dc3a76f3d4 138 if ((DEMCR & DEMCR_TRCENA) &&
apatel336 0:c0dc3a76f3d4 139 (ITM_CONTROL & ITM_ITMENA) &&
apatel336 0:c0dc3a76f3d4 140 (ITM_ENABLE & (1UL << 31))) {
apatel336 0:c0dc3a76f3d4 141 dbg_msg = __TRUE;
apatel336 0:c0dc3a76f3d4 142 }
apatel336 0:c0dc3a76f3d4 143 }
apatel336 0:c0dc3a76f3d4 144 #endif
apatel336 0:c0dc3a76f3d4 145
apatel336 0:c0dc3a76f3d4 146 /*--------------------------- dbg_task_notify -------------------------------*/
apatel336 0:c0dc3a76f3d4 147
apatel336 0:c0dc3a76f3d4 148 #ifdef DBG_MSG
apatel336 0:c0dc3a76f3d4 149 void dbg_task_notify (P_TCB p_tcb, BOOL create) {
apatel336 0:c0dc3a76f3d4 150 while (ITM_PORT31_U32 == 0);
apatel336 0:c0dc3a76f3d4 151 ITM_PORT31_U32 = (U32)p_tcb->ptask;
apatel336 0:c0dc3a76f3d4 152 while (ITM_PORT31_U32 == 0);
apatel336 0:c0dc3a76f3d4 153 ITM_PORT31_U16 = (create << 8) | p_tcb->task_id;
apatel336 0:c0dc3a76f3d4 154 }
apatel336 0:c0dc3a76f3d4 155 #endif
apatel336 0:c0dc3a76f3d4 156
apatel336 0:c0dc3a76f3d4 157 /*--------------------------- dbg_task_switch -------------------------------*/
apatel336 0:c0dc3a76f3d4 158
apatel336 0:c0dc3a76f3d4 159 #ifdef DBG_MSG
apatel336 0:c0dc3a76f3d4 160 void dbg_task_switch (U32 task_id) {
apatel336 0:c0dc3a76f3d4 161 while (ITM_PORT31_U32 == 0);
apatel336 0:c0dc3a76f3d4 162 ITM_PORT31_U8 = task_id;
apatel336 0:c0dc3a76f3d4 163 }
apatel336 0:c0dc3a76f3d4 164 #endif
apatel336 0:c0dc3a76f3d4 165
apatel336 0:c0dc3a76f3d4 166
apatel336 0:c0dc3a76f3d4 167 /*----------------------------------------------------------------------------
apatel336 0:c0dc3a76f3d4 168 * end of file
apatel336 0:c0dc3a76f3d4 169 *---------------------------------------------------------------------------*/
apatel336 0:c0dc3a76f3d4 170