Project5_Software / RTOS

Versie 0.2 Het versturen via de NRF werkt nog niet helemaal omdat er per 4 bytes verstuurd moet worden. Wordt gefixt d.m.v. dynamic stuff!

Dependencies:   BufferedSerial

Dependents:   rtos_basic rtos_basic

Fork of mbed-rtos by mbed official

rtx/TARGET_CORTEX_M/TARGET_M0P/TOOLCHAIN_ARM/HAL_CM0.c@49:77c8e4604045, 2014-11-06 (annotated)

Committer:
mbed_official
Date:
Thu Nov 06 13:00:11 2014 +0000
Revision:
49:77c8e4604045
Synchronized with git revision 7b90c2ba137baaf9769219e0e8a7b8e8d1299c4f



Full URL: https://github.com/mbedmicro/mbed/commit/7b90c2ba137baaf9769219e0e8a7b8e8d1299c4f/



This target is not yet tested, so it can't be released as part of the official

SDK build for now.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 49:77c8e4604045 1 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 2 * RL-ARM - RTX
mbed_official 49:77c8e4604045 3 *----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 4 * Name: HAL_CM0.C
mbed_official 49:77c8e4604045 5 * Purpose: Hardware Abstraction Layer for Cortex-M0
mbed_official 49:77c8e4604045 6 * Rev.: V4.60
mbed_official 49:77c8e4604045 7 *----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 8 *
mbed_official 49:77c8e4604045 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
mbed_official 49:77c8e4604045 10 * All rights reserved.
mbed_official 49:77c8e4604045 11 * Redistribution and use in source and binary forms, with or without
mbed_official 49:77c8e4604045 12 * modification, are permitted provided that the following conditions are met:
mbed_official 49:77c8e4604045 13 * - Redistributions of source code must retain the above copyright
mbed_official 49:77c8e4604045 14 * notice, this list of conditions and the following disclaimer.
mbed_official 49:77c8e4604045 15 * - Redistributions in binary form must reproduce the above copyright
mbed_official 49:77c8e4604045 16 * notice, this list of conditions and the following disclaimer in the
mbed_official 49:77c8e4604045 17 * documentation and/or other materials provided with the distribution.
mbed_official 49:77c8e4604045 18 * - Neither the name of ARM nor the names of its contributors may be used
mbed_official 49:77c8e4604045 19 * to endorse or promote products derived from this software without
mbed_official 49:77c8e4604045 20 * specific prior written permission.
mbed_official 49:77c8e4604045 21 *
mbed_official 49:77c8e4604045 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official 49:77c8e4604045 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official 49:77c8e4604045 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbed_official 49:77c8e4604045 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbed_official 49:77c8e4604045 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbed_official 49:77c8e4604045 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbed_official 49:77c8e4604045 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbed_official 49:77c8e4604045 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbed_official 49:77c8e4604045 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbed_official 49:77c8e4604045 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official 49:77c8e4604045 32 * POSSIBILITY OF SUCH DAMAGE.
mbed_official 49:77c8e4604045 33 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 34
mbed_official 49:77c8e4604045 35 #include "rt_TypeDef.h"
mbed_official 49:77c8e4604045 36 #include "RTX_Conf.h"
mbed_official 49:77c8e4604045 37 #include "rt_System.h"
mbed_official 49:77c8e4604045 38 #include "rt_HAL_CM.h"
mbed_official 49:77c8e4604045 39 #include "rt_Task.h"
mbed_official 49:77c8e4604045 40 #include "rt_MemBox.h"
mbed_official 49:77c8e4604045 41
mbed_official 49:77c8e4604045 42
mbed_official 49:77c8e4604045 43 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 44 * Functions
mbed_official 49:77c8e4604045 45 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 46
mbed_official 49:77c8e4604045 47
mbed_official 49:77c8e4604045 48 /*--------------------------- rt_set_PSP ------------------------------------*/
mbed_official 49:77c8e4604045 49
mbed_official 49:77c8e4604045 50 __asm void rt_set_PSP (U32 stack) {
mbed_official 49:77c8e4604045 51 MSR PSP,R0
mbed_official 49:77c8e4604045 52 BX LR
mbed_official 49:77c8e4604045 53 }
mbed_official 49:77c8e4604045 54
mbed_official 49:77c8e4604045 55
mbed_official 49:77c8e4604045 56 /*--------------------------- rt_get_PSP ------------------------------------*/
mbed_official 49:77c8e4604045 57
mbed_official 49:77c8e4604045 58 __asm U32 rt_get_PSP (void) {
mbed_official 49:77c8e4604045 59 MRS R0,PSP
mbed_official 49:77c8e4604045 60 BX LR
mbed_official 49:77c8e4604045 61 }
mbed_official 49:77c8e4604045 62
mbed_official 49:77c8e4604045 63
mbed_official 49:77c8e4604045 64 /*--------------------------- os_set_env ------------------------------------*/
mbed_official 49:77c8e4604045 65
mbed_official 49:77c8e4604045 66 __asm void os_set_env (void) {
mbed_official 49:77c8e4604045 67 /* Switch to Unprivileged/Privileged Thread mode, use PSP. */
mbed_official 49:77c8e4604045 68 MOV R0,SP ; PSP = MSP
mbed_official 49:77c8e4604045 69 MSR PSP,R0
mbed_official 49:77c8e4604045 70 LDR R0,=__cpp(&os_flags)
mbed_official 49:77c8e4604045 71 LDRB R0,[R0]
mbed_official 49:77c8e4604045 72 LSLS R0,#31
mbed_official 49:77c8e4604045 73 BNE PrivilegedE
mbed_official 49:77c8e4604045 74 MOVS R0,#0x03 ; Unprivileged Thread mode, use PSP
mbed_official 49:77c8e4604045 75 MSR CONTROL,R0
mbed_official 49:77c8e4604045 76 BX LR
mbed_official 49:77c8e4604045 77 PrivilegedE
mbed_official 49:77c8e4604045 78 MOVS R0,#0x02 ; Privileged Thread mode, use PSP
mbed_official 49:77c8e4604045 79 MSR CONTROL,R0
mbed_official 49:77c8e4604045 80 BX LR
mbed_official 49:77c8e4604045 81
mbed_official 49:77c8e4604045 82 ALIGN
mbed_official 49:77c8e4604045 83 }
mbed_official 49:77c8e4604045 84
mbed_official 49:77c8e4604045 85
mbed_official 49:77c8e4604045 86 /*--------------------------- _alloc_box ------------------------------------*/
mbed_official 49:77c8e4604045 87
mbed_official 49:77c8e4604045 88 __asm void *_alloc_box (void *box_mem) {
mbed_official 49:77c8e4604045 89 /* Function wrapper for Unprivileged/Privileged mode. */
mbed_official 49:77c8e4604045 90 LDR R3,=__cpp(rt_alloc_box)
mbed_official 49:77c8e4604045 91 MOV R12,R3
mbed_official 49:77c8e4604045 92 MRS R3,IPSR
mbed_official 49:77c8e4604045 93 LSLS R3,#24
mbed_official 49:77c8e4604045 94 BNE PrivilegedA
mbed_official 49:77c8e4604045 95 MRS R3,CONTROL
mbed_official 49:77c8e4604045 96 LSLS R3,#31
mbed_official 49:77c8e4604045 97 BEQ PrivilegedA
mbed_official 49:77c8e4604045 98 SVC 0
mbed_official 49:77c8e4604045 99 BX LR
mbed_official 49:77c8e4604045 100 PrivilegedA
mbed_official 49:77c8e4604045 101 BX R12
mbed_official 49:77c8e4604045 102
mbed_official 49:77c8e4604045 103 ALIGN
mbed_official 49:77c8e4604045 104 }
mbed_official 49:77c8e4604045 105
mbed_official 49:77c8e4604045 106
mbed_official 49:77c8e4604045 107 /*--------------------------- _free_box -------------------------------------*/
mbed_official 49:77c8e4604045 108
mbed_official 49:77c8e4604045 109 __asm int _free_box (void *box_mem, void *box) {
mbed_official 49:77c8e4604045 110 /* Function wrapper for Unprivileged/Privileged mode. */
mbed_official 49:77c8e4604045 111 LDR R3,=__cpp(rt_free_box)
mbed_official 49:77c8e4604045 112 MOV R12,R3
mbed_official 49:77c8e4604045 113 MRS R3,IPSR
mbed_official 49:77c8e4604045 114 LSLS R3,#24
mbed_official 49:77c8e4604045 115 BNE PrivilegedF
mbed_official 49:77c8e4604045 116 MRS R3,CONTROL
mbed_official 49:77c8e4604045 117 LSLS R3,#31
mbed_official 49:77c8e4604045 118 BEQ PrivilegedF
mbed_official 49:77c8e4604045 119 SVC 0
mbed_official 49:77c8e4604045 120 BX LR
mbed_official 49:77c8e4604045 121 PrivilegedF
mbed_official 49:77c8e4604045 122 BX R12
mbed_official 49:77c8e4604045 123
mbed_official 49:77c8e4604045 124 ALIGN
mbed_official 49:77c8e4604045 125 }
mbed_official 49:77c8e4604045 126
mbed_official 49:77c8e4604045 127
mbed_official 49:77c8e4604045 128 /*-------------------------- SVC_Handler ------------------------------------*/
mbed_official 49:77c8e4604045 129
mbed_official 49:77c8e4604045 130 __asm void SVC_Handler (void) {
mbed_official 49:77c8e4604045 131 PRESERVE8
mbed_official 49:77c8e4604045 132
mbed_official 49:77c8e4604045 133 IMPORT SVC_Count
mbed_official 49:77c8e4604045 134 IMPORT SVC_Table
mbed_official 49:77c8e4604045 135 IMPORT rt_stk_check
mbed_official 49:77c8e4604045 136
mbed_official 49:77c8e4604045 137 MRS R0,PSP ; Read PSP
mbed_official 49:77c8e4604045 138 LDR R1,[R0,#24] ; Read Saved PC from Stack
mbed_official 49:77c8e4604045 139 SUBS R1,R1,#2 ; Point to SVC Instruction
mbed_official 49:77c8e4604045 140 LDRB R1,[R1] ; Load SVC Number
mbed_official 49:77c8e4604045 141 CMP R1,#0
mbed_official 49:77c8e4604045 142 BNE SVC_User ; User SVC Number > 0
mbed_official 49:77c8e4604045 143
mbed_official 49:77c8e4604045 144 MOV LR,R4
mbed_official 49:77c8e4604045 145 LDMIA R0,{R0-R3,R4} ; Read R0-R3,R12 from stack
mbed_official 49:77c8e4604045 146 MOV R12,R4
mbed_official 49:77c8e4604045 147 MOV R4,LR
mbed_official 49:77c8e4604045 148 BLX R12 ; Call SVC Function
mbed_official 49:77c8e4604045 149
mbed_official 49:77c8e4604045 150 MRS R3,PSP ; Read PSP
mbed_official 49:77c8e4604045 151 STMIA R3!,{R0-R2} ; Store return values
mbed_official 49:77c8e4604045 152
mbed_official 49:77c8e4604045 153 LDR R3,=__cpp(&os_tsk)
mbed_official 49:77c8e4604045 154 LDMIA R3!,{R1,R2} ; os_tsk.run, os_tsk.new
mbed_official 49:77c8e4604045 155 CMP R1,R2
mbed_official 49:77c8e4604045 156 BEQ SVC_Exit ; no task switch
mbed_official 49:77c8e4604045 157
mbed_official 49:77c8e4604045 158 SUBS R3,#8
mbed_official 49:77c8e4604045 159 CMP R1,#0 ; Runtask deleted?
mbed_official 49:77c8e4604045 160 BEQ SVC_Next
mbed_official 49:77c8e4604045 161
mbed_official 49:77c8e4604045 162 MRS R0,PSP ; Read PSP
mbed_official 49:77c8e4604045 163 SUBS R0,R0,#32 ; Adjust Start Address
mbed_official 49:77c8e4604045 164 STR R0,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
mbed_official 49:77c8e4604045 165 STMIA R0!,{R4-R7} ; Save old context (R4-R7)
mbed_official 49:77c8e4604045 166 MOV R4,R8
mbed_official 49:77c8e4604045 167 MOV R5,R9
mbed_official 49:77c8e4604045 168 MOV R6,R10
mbed_official 49:77c8e4604045 169 MOV R7,R11
mbed_official 49:77c8e4604045 170 STMIA R0!,{R4-R7} ; Save old context (R8-R11)
mbed_official 49:77c8e4604045 171
mbed_official 49:77c8e4604045 172 PUSH {R2,R3}
mbed_official 49:77c8e4604045 173 BL rt_stk_check ; Check for Stack overflow
mbed_official 49:77c8e4604045 174 POP {R2,R3}
mbed_official 49:77c8e4604045 175
mbed_official 49:77c8e4604045 176 SVC_Next
mbed_official 49:77c8e4604045 177 STR R2,[R3] ; os_tsk.run = os_tsk.new
mbed_official 49:77c8e4604045 178
mbed_official 49:77c8e4604045 179 LDR R0,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
mbed_official 49:77c8e4604045 180 ADDS R0,R0,#16 ; Adjust Start Address
mbed_official 49:77c8e4604045 181 LDMIA R0!,{R4-R7} ; Restore new Context (R8-R11)
mbed_official 49:77c8e4604045 182 MOV R8,R4
mbed_official 49:77c8e4604045 183 MOV R9,R5
mbed_official 49:77c8e4604045 184 MOV R10,R6
mbed_official 49:77c8e4604045 185 MOV R11,R7
mbed_official 49:77c8e4604045 186 MSR PSP,R0 ; Write PSP
mbed_official 49:77c8e4604045 187 SUBS R0,R0,#32 ; Adjust Start Address
mbed_official 49:77c8e4604045 188 LDMIA R0!,{R4-R7} ; Restore new Context (R4-R7)
mbed_official 49:77c8e4604045 189
mbed_official 49:77c8e4604045 190 SVC_Exit
mbed_official 49:77c8e4604045 191 MOVS R0,#:NOT:0xFFFFFFFD ; Set EXC_RETURN value
mbed_official 49:77c8e4604045 192 MVNS R0,R0
mbed_official 49:77c8e4604045 193 BX R0 ; RETI to Thread Mode, use PSP
mbed_official 49:77c8e4604045 194
mbed_official 49:77c8e4604045 195 /*------------------- User SVC ------------------------------*/
mbed_official 49:77c8e4604045 196
mbed_official 49:77c8e4604045 197 SVC_User
mbed_official 49:77c8e4604045 198 PUSH {R4,LR} ; Save Registers
mbed_official 49:77c8e4604045 199 LDR R2,=SVC_Count
mbed_official 49:77c8e4604045 200 LDR R2,[R2]
mbed_official 49:77c8e4604045 201 CMP R1,R2
mbed_official 49:77c8e4604045 202 BHI SVC_Done ; Overflow
mbed_official 49:77c8e4604045 203
mbed_official 49:77c8e4604045 204 LDR R4,=SVC_Table-4
mbed_official 49:77c8e4604045 205 LSLS R1,R1,#2
mbed_official 49:77c8e4604045 206 LDR R4,[R4,R1] ; Load SVC Function Address
mbed_official 49:77c8e4604045 207 MOV LR,R4
mbed_official 49:77c8e4604045 208
mbed_official 49:77c8e4604045 209 LDMIA R0,{R0-R3,R4} ; Read R0-R3,R12 from stack
mbed_official 49:77c8e4604045 210 MOV R12,R4
mbed_official 49:77c8e4604045 211 BLX LR ; Call SVC Function
mbed_official 49:77c8e4604045 212
mbed_official 49:77c8e4604045 213 MRS R4,PSP ; Read PSP
mbed_official 49:77c8e4604045 214 STMIA R4!,{R0-R3} ; Function return values
mbed_official 49:77c8e4604045 215 SVC_Done
mbed_official 49:77c8e4604045 216 POP {R4,PC} ; RETI
mbed_official 49:77c8e4604045 217
mbed_official 49:77c8e4604045 218 ALIGN
mbed_official 49:77c8e4604045 219 }
mbed_official 49:77c8e4604045 220
mbed_official 49:77c8e4604045 221
mbed_official 49:77c8e4604045 222 /*-------------------------- PendSV_Handler ---------------------------------*/
mbed_official 49:77c8e4604045 223
mbed_official 49:77c8e4604045 224 __asm void PendSV_Handler (void) {
mbed_official 49:77c8e4604045 225 PRESERVE8
mbed_official 49:77c8e4604045 226
mbed_official 49:77c8e4604045 227 BL __cpp(rt_pop_req)
mbed_official 49:77c8e4604045 228
mbed_official 49:77c8e4604045 229 Sys_Switch
mbed_official 49:77c8e4604045 230 LDR R3,=__cpp(&os_tsk)
mbed_official 49:77c8e4604045 231 LDMIA R3!,{R1,R2} ; os_tsk.run, os_tsk.new
mbed_official 49:77c8e4604045 232 CMP R1,R2
mbed_official 49:77c8e4604045 233 BEQ Sys_Exit ; no task switch
mbed_official 49:77c8e4604045 234
mbed_official 49:77c8e4604045 235 SUBS R3,#8
mbed_official 49:77c8e4604045 236
mbed_official 49:77c8e4604045 237 MRS R0,PSP ; Read PSP
mbed_official 49:77c8e4604045 238 SUBS R0,R0,#32 ; Adjust Start Address
mbed_official 49:77c8e4604045 239 STR R0,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
mbed_official 49:77c8e4604045 240 STMIA R0!,{R4-R7} ; Save old context (R4-R7)
mbed_official 49:77c8e4604045 241 MOV R4,R8
mbed_official 49:77c8e4604045 242 MOV R5,R9
mbed_official 49:77c8e4604045 243 MOV R6,R10
mbed_official 49:77c8e4604045 244 MOV R7,R11
mbed_official 49:77c8e4604045 245 STMIA R0!,{R4-R7} ; Save old context (R8-R11)
mbed_official 49:77c8e4604045 246
mbed_official 49:77c8e4604045 247 PUSH {R2,R3}
mbed_official 49:77c8e4604045 248 BL rt_stk_check ; Check for Stack overflow
mbed_official 49:77c8e4604045 249 POP {R2,R3}
mbed_official 49:77c8e4604045 250
mbed_official 49:77c8e4604045 251 STR R2,[R3] ; os_tsk.run = os_tsk.new
mbed_official 49:77c8e4604045 252
mbed_official 49:77c8e4604045 253 LDR R0,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
mbed_official 49:77c8e4604045 254 ADDS R0,R0,#16 ; Adjust Start Address
mbed_official 49:77c8e4604045 255 LDMIA R0!,{R4-R7} ; Restore new Context (R8-R11)
mbed_official 49:77c8e4604045 256 MOV R8,R4
mbed_official 49:77c8e4604045 257 MOV R9,R5
mbed_official 49:77c8e4604045 258 MOV R10,R6
mbed_official 49:77c8e4604045 259 MOV R11,R7
mbed_official 49:77c8e4604045 260 MSR PSP,R0 ; Write PSP
mbed_official 49:77c8e4604045 261 SUBS R0,R0,#32 ; Adjust Start Address
mbed_official 49:77c8e4604045 262 LDMIA R0!,{R4-R7} ; Restore new Context (R4-R7)
mbed_official 49:77c8e4604045 263
mbed_official 49:77c8e4604045 264 Sys_Exit
mbed_official 49:77c8e4604045 265 MOVS R0,#:NOT:0xFFFFFFFD ; Set EXC_RETURN value
mbed_official 49:77c8e4604045 266 MVNS R0,R0
mbed_official 49:77c8e4604045 267 BX R0 ; RETI to Thread Mode, use PSP
mbed_official 49:77c8e4604045 268
mbed_official 49:77c8e4604045 269 ALIGN
mbed_official 49:77c8e4604045 270 }
mbed_official 49:77c8e4604045 271
mbed_official 49:77c8e4604045 272
mbed_official 49:77c8e4604045 273 /*-------------------------- SysTick_Handler --------------------------------*/
mbed_official 49:77c8e4604045 274
mbed_official 49:77c8e4604045 275 __asm void SysTick_Handler (void) {
mbed_official 49:77c8e4604045 276 PRESERVE8
mbed_official 49:77c8e4604045 277
mbed_official 49:77c8e4604045 278 BL __cpp(rt_systick)
mbed_official 49:77c8e4604045 279 B Sys_Switch
mbed_official 49:77c8e4604045 280
mbed_official 49:77c8e4604045 281 ALIGN
mbed_official 49:77c8e4604045 282 }
mbed_official 49:77c8e4604045 283
mbed_official 49:77c8e4604045 284
mbed_official 49:77c8e4604045 285 /*-------------------------- OS_Tick_Handler --------------------------------*/
mbed_official 49:77c8e4604045 286
mbed_official 49:77c8e4604045 287 __asm void OS_Tick_Handler (void) {
mbed_official 49:77c8e4604045 288 PRESERVE8
mbed_official 49:77c8e4604045 289
mbed_official 49:77c8e4604045 290 BL __cpp(os_tick_irqack)
mbed_official 49:77c8e4604045 291 BL __cpp(rt_systick)
mbed_official 49:77c8e4604045 292 B Sys_Switch
mbed_official 49:77c8e4604045 293
mbed_official 49:77c8e4604045 294 ALIGN
mbed_official 49:77c8e4604045 295 }
mbed_official 49:77c8e4604045 296
mbed_official 49:77c8e4604045 297
mbed_official 49:77c8e4604045 298 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 299 * end of file
mbed_official 49:77c8e4604045 300 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 301