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_M3/TOOLCHAIN_ARM/HAL_CM3.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_CM3.C
mbed_official 49:77c8e4604045 5 * Purpose: Hardware Abstraction Layer for Cortex-M3
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 MOVNE R0,#0x02 ; Privileged Thread mode, use PSP
mbed_official 49:77c8e4604045 74 MOVEQ 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
mbed_official 49:77c8e4604045 78 ALIGN
mbed_official 49:77c8e4604045 79 }
mbed_official 49:77c8e4604045 80
mbed_official 49:77c8e4604045 81
mbed_official 49:77c8e4604045 82 /*--------------------------- _alloc_box ------------------------------------*/
mbed_official 49:77c8e4604045 83
mbed_official 49:77c8e4604045 84 __asm void *_alloc_box (void *box_mem) {
mbed_official 49:77c8e4604045 85 /* Function wrapper for Unprivileged/Privileged mode. */
mbed_official 49:77c8e4604045 86 LDR R12,=__cpp(rt_alloc_box)
mbed_official 49:77c8e4604045 87 MRS R3,IPSR
mbed_official 49:77c8e4604045 88 LSLS R3,#24
mbed_official 49:77c8e4604045 89 BXNE R12
mbed_official 49:77c8e4604045 90 MRS R3,CONTROL
mbed_official 49:77c8e4604045 91 LSLS R3,#31
mbed_official 49:77c8e4604045 92 BXEQ R12
mbed_official 49:77c8e4604045 93 SVC 0
mbed_official 49:77c8e4604045 94 BX LR
mbed_official 49:77c8e4604045 95
mbed_official 49:77c8e4604045 96 ALIGN
mbed_official 49:77c8e4604045 97 }
mbed_official 49:77c8e4604045 98
mbed_official 49:77c8e4604045 99
mbed_official 49:77c8e4604045 100 /*--------------------------- _free_box -------------------------------------*/
mbed_official 49:77c8e4604045 101
mbed_official 49:77c8e4604045 102 __asm int _free_box (void *box_mem, void *box) {
mbed_official 49:77c8e4604045 103 /* Function wrapper for Unprivileged/Privileged mode. */
mbed_official 49:77c8e4604045 104 LDR R12,=__cpp(rt_free_box)
mbed_official 49:77c8e4604045 105 MRS R3,IPSR
mbed_official 49:77c8e4604045 106 LSLS R3,#24
mbed_official 49:77c8e4604045 107 BXNE R12
mbed_official 49:77c8e4604045 108 MRS R3,CONTROL
mbed_official 49:77c8e4604045 109 LSLS R3,#31
mbed_official 49:77c8e4604045 110 BXEQ R12
mbed_official 49:77c8e4604045 111 SVC 0
mbed_official 49:77c8e4604045 112 BX LR
mbed_official 49:77c8e4604045 113
mbed_official 49:77c8e4604045 114 ALIGN
mbed_official 49:77c8e4604045 115 }
mbed_official 49:77c8e4604045 116
mbed_official 49:77c8e4604045 117
mbed_official 49:77c8e4604045 118 /*-------------------------- SVC_Handler ------------------------------------*/
mbed_official 49:77c8e4604045 119
mbed_official 49:77c8e4604045 120 __asm void SVC_Handler (void) {
mbed_official 49:77c8e4604045 121 PRESERVE8
mbed_official 49:77c8e4604045 122
mbed_official 49:77c8e4604045 123 IMPORT SVC_Count
mbed_official 49:77c8e4604045 124 IMPORT SVC_Table
mbed_official 49:77c8e4604045 125 IMPORT rt_stk_check
mbed_official 49:77c8e4604045 126
mbed_official 49:77c8e4604045 127 MRS R0,PSP ; Read PSP
mbed_official 49:77c8e4604045 128 LDR R1,[R0,#24] ; Read Saved PC from Stack
mbed_official 49:77c8e4604045 129 LDRB R1,[R1,#-2] ; Load SVC Number
mbed_official 49:77c8e4604045 130 CBNZ R1,SVC_User
mbed_official 49:77c8e4604045 131
mbed_official 49:77c8e4604045 132 LDM R0,{R0-R3,R12} ; Read R0-R3,R12 from stack
mbed_official 49:77c8e4604045 133 BLX R12 ; Call SVC Function
mbed_official 49:77c8e4604045 134
mbed_official 49:77c8e4604045 135 MRS R12,PSP ; Read PSP
mbed_official 49:77c8e4604045 136 STM R12,{R0-R2} ; Store return values
mbed_official 49:77c8e4604045 137
mbed_official 49:77c8e4604045 138 LDR R3,=__cpp(&os_tsk)
mbed_official 49:77c8e4604045 139 LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
mbed_official 49:77c8e4604045 140 CMP R1,R2
mbed_official 49:77c8e4604045 141 BEQ SVC_Exit ; no task switch
mbed_official 49:77c8e4604045 142
mbed_official 49:77c8e4604045 143 CBZ R1,SVC_Next ; Runtask deleted?
mbed_official 49:77c8e4604045 144 STMDB R12!,{R4-R11} ; Save Old context
mbed_official 49:77c8e4604045 145 STR R12,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
mbed_official 49:77c8e4604045 146
mbed_official 49:77c8e4604045 147 PUSH {R2,R3}
mbed_official 49:77c8e4604045 148 BL rt_stk_check ; Check for Stack overflow
mbed_official 49:77c8e4604045 149 POP {R2,R3}
mbed_official 49:77c8e4604045 150
mbed_official 49:77c8e4604045 151 SVC_Next
mbed_official 49:77c8e4604045 152 STR R2,[R3] ; os_tsk.run = os_tsk.new
mbed_official 49:77c8e4604045 153
mbed_official 49:77c8e4604045 154 LDR R12,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
mbed_official 49:77c8e4604045 155 LDMIA R12!,{R4-R11} ; Restore New Context
mbed_official 49:77c8e4604045 156 MSR PSP,R12 ; Write PSP
mbed_official 49:77c8e4604045 157
mbed_official 49:77c8e4604045 158 SVC_Exit
mbed_official 49:77c8e4604045 159 MVN LR,#:NOT:0xFFFFFFFD ; set EXC_RETURN value
mbed_official 49:77c8e4604045 160 BX LR
mbed_official 49:77c8e4604045 161
mbed_official 49:77c8e4604045 162 /*------------------- User SVC ------------------------------*/
mbed_official 49:77c8e4604045 163
mbed_official 49:77c8e4604045 164 SVC_User
mbed_official 49:77c8e4604045 165 PUSH {R4,LR} ; Save Registers
mbed_official 49:77c8e4604045 166 LDR R2,=SVC_Count
mbed_official 49:77c8e4604045 167 LDR R2,[R2]
mbed_official 49:77c8e4604045 168 CMP R1,R2
mbed_official 49:77c8e4604045 169 BHI SVC_Done ; Overflow
mbed_official 49:77c8e4604045 170
mbed_official 49:77c8e4604045 171 LDR R4,=SVC_Table-4
mbed_official 49:77c8e4604045 172 LDR R4,[R4,R1,LSL #2] ; Load SVC Function Address
mbed_official 49:77c8e4604045 173
mbed_official 49:77c8e4604045 174 LDM R0,{R0-R3,R12} ; Read R0-R3,R12 from stack
mbed_official 49:77c8e4604045 175 BLX R4 ; Call SVC Function
mbed_official 49:77c8e4604045 176
mbed_official 49:77c8e4604045 177 MRS R12,PSP
mbed_official 49:77c8e4604045 178 STM R12,{R0-R3} ; Function return values
mbed_official 49:77c8e4604045 179 SVC_Done
mbed_official 49:77c8e4604045 180 POP {R4,PC} ; RETI
mbed_official 49:77c8e4604045 181
mbed_official 49:77c8e4604045 182 ALIGN
mbed_official 49:77c8e4604045 183 }
mbed_official 49:77c8e4604045 184
mbed_official 49:77c8e4604045 185
mbed_official 49:77c8e4604045 186 /*-------------------------- PendSV_Handler ---------------------------------*/
mbed_official 49:77c8e4604045 187
mbed_official 49:77c8e4604045 188 __asm void PendSV_Handler (void) {
mbed_official 49:77c8e4604045 189 PRESERVE8
mbed_official 49:77c8e4604045 190
mbed_official 49:77c8e4604045 191 BL __cpp(rt_pop_req)
mbed_official 49:77c8e4604045 192
mbed_official 49:77c8e4604045 193 Sys_Switch
mbed_official 49:77c8e4604045 194 LDR R3,=__cpp(&os_tsk)
mbed_official 49:77c8e4604045 195 LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
mbed_official 49:77c8e4604045 196 CMP R1,R2
mbed_official 49:77c8e4604045 197 BEQ Sys_Exit
mbed_official 49:77c8e4604045 198
mbed_official 49:77c8e4604045 199 MRS R12,PSP ; Read PSP
mbed_official 49:77c8e4604045 200 STMDB R12!,{R4-R11} ; Save Old context
mbed_official 49:77c8e4604045 201 STR R12,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
mbed_official 49:77c8e4604045 202
mbed_official 49:77c8e4604045 203 PUSH {R2,R3}
mbed_official 49:77c8e4604045 204 BL rt_stk_check ; Check for Stack overflow
mbed_official 49:77c8e4604045 205 POP {R2,R3}
mbed_official 49:77c8e4604045 206
mbed_official 49:77c8e4604045 207 STR R2,[R3] ; os_tsk.run = os_tsk.new
mbed_official 49:77c8e4604045 208
mbed_official 49:77c8e4604045 209 LDR R12,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
mbed_official 49:77c8e4604045 210 LDMIA R12!,{R4-R11} ; Restore New Context
mbed_official 49:77c8e4604045 211 MSR PSP,R12 ; Write PSP
mbed_official 49:77c8e4604045 212
mbed_official 49:77c8e4604045 213 Sys_Exit
mbed_official 49:77c8e4604045 214 MVN LR,#:NOT:0xFFFFFFFD ; set EXC_RETURN value
mbed_official 49:77c8e4604045 215 BX LR ; Return to Thread Mode
mbed_official 49:77c8e4604045 216
mbed_official 49:77c8e4604045 217 ALIGN
mbed_official 49:77c8e4604045 218 }
mbed_official 49:77c8e4604045 219
mbed_official 49:77c8e4604045 220
mbed_official 49:77c8e4604045 221 /*-------------------------- SysTick_Handler --------------------------------*/
mbed_official 49:77c8e4604045 222
mbed_official 49:77c8e4604045 223 __asm void SysTick_Handler (void) {
mbed_official 49:77c8e4604045 224 PRESERVE8
mbed_official 49:77c8e4604045 225
mbed_official 49:77c8e4604045 226 BL __cpp(rt_systick)
mbed_official 49:77c8e4604045 227 B Sys_Switch
mbed_official 49:77c8e4604045 228
mbed_official 49:77c8e4604045 229 ALIGN
mbed_official 49:77c8e4604045 230 }
mbed_official 49:77c8e4604045 231
mbed_official 49:77c8e4604045 232
mbed_official 49:77c8e4604045 233 /*-------------------------- OS_Tick_Handler --------------------------------*/
mbed_official 49:77c8e4604045 234
mbed_official 49:77c8e4604045 235 __asm void OS_Tick_Handler (void) {
mbed_official 49:77c8e4604045 236 PRESERVE8
mbed_official 49:77c8e4604045 237
mbed_official 49:77c8e4604045 238 BL __cpp(os_tick_irqack)
mbed_official 49:77c8e4604045 239 BL __cpp(rt_systick)
mbed_official 49:77c8e4604045 240 B Sys_Switch
mbed_official 49:77c8e4604045 241
mbed_official 49:77c8e4604045 242 ALIGN
mbed_official 49:77c8e4604045 243 }
mbed_official 49:77c8e4604045 244
mbed_official 49:77c8e4604045 245
mbed_official 49:77c8e4604045 246 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 247 * end of file
mbed_official 49:77c8e4604045 248 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 249