obd_iso15765/BleCanBoxCode/NRF51802/external/rtx/port/RTX_Conf_CM.c

/*----------------------------------------------------------------------------
 *      RL-ARM - RTX
 *----------------------------------------------------------------------------
 *      Name:    RTX_Conf_CM.C
 *      Purpose: Configuration of CMSIS RTX Kernel for Cortex-M
 *      Rev.:    V4.74
 *----------------------------------------------------------------------------
 *
 * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH
 * All rights reserved.
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *  - Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *  - Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *  - Neither the name of ARM  nor the names of its contributors may be used 
 *    to endorse or promote products derived from this software without 
 *    specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *---------------------------------------------------------------------------*/

#include "cmsis_os.h"
#include "nrf.h"

/*----------------------------------------------------------------------------
 *      RTX User configuration part BEGIN
 *---------------------------------------------------------------------------*/

//-------- <<< Use Configuration Wizard in Context Menu >>> -----------------
//
// <h>Thread Configuration
// =======================
//
//   <o>Number of concurrent running user threads <1-250>
//   <i> Defines max. number of user threads that will run at the same time.
//   <i> Default: 6
#ifndef OS_TASKCNT
 #define OS_TASKCNT     3
#endif

//   <o>Default Thread stack size [bytes] <64-4096:8><#/4>
//   <i> Defines default stack size for threads with osThreadDef stacksz = 0
//   <i> Default: 200
#ifndef OS_STKSIZE
 #define OS_STKSIZE     50
#endif

//   <o>Main Thread stack size [bytes] <64-32768:8><#/4>
//   <i> Defines stack size for main thread.
//   <i> Default: 200
#ifndef OS_MAINSTKSIZE
 #define OS_MAINSTKSIZE 250
#endif

//   <o>Number of threads with user-provided stack size <0-250>
//   <i> Defines the number of threads with user-provided stack size.
//   <i> Default: 0
#ifndef OS_PRIVCNT
 #define OS_PRIVCNT     0
#endif

//   <o>Total stack size [bytes] for threads with user-provided stack size <0-1048576:8><#/4>
//   <i> Defines the combined stack size for threads with user-provided stack size.
//   <i> Default: 0
#ifndef OS_PRIVSTKSIZE
 #define OS_PRIVSTKSIZE 0
#endif

//   <q>Check for stack overflow
//   <i> Includes the stack checking code for stack overflow.
//   <i> Note that additional code reduces the Kernel performance.
#ifndef OS_STKCHECK
 #define OS_STKCHECK    1
#endif

//   <o>Processor mode for thread execution 
//     <0=> Unprivileged mode 
//     <1=> Privileged mode
//   <i> Default: Privileged mode
#ifndef OS_RUNPRIV
 #define OS_RUNPRIV     1
#endif

// </h>

// <h>RTX Kernel Timer Tick Configuration
// ======================================
//   <q> Use Cortex-M SysTick timer as RTX Kernel Timer
//   <i> Cortex-M processors provide in most cases a SysTick timer that can be used as 
//   <i> as time-base for RTX.
#ifndef OS_SYSTICK
 #define OS_SYSTICK     0
#endif
//
//   <o>RTOS Kernel Timer input clock frequency [Hz] <1-1000000000>
//   <i> Defines the input frequency of the RTOS Kernel Timer.  
//   <i> When the Cortex-M SysTick timer is used, the input clock 
//   <i> is on most systems identical with the core clock.
#ifndef OS_CLOCK
 #define OS_CLOCK       32768
#endif

//   <o>RTX Timer tick interval value [us] <1-1000000>
//   <i> The RTX Timer tick interval value is used to calculate timeout values.
//   <i> When the Cortex-M SysTick timer is enabled, the value also configures the SysTick timer.
//   <i> Default: 1000  (1ms)
#ifndef OS_TICK
 #define OS_TICK        1000
#endif

// </h>

// <h>System Configuration
// =======================
//
// <e>Round-Robin Thread switching
// ===============================
//
// <i> Enables Round-Robin Thread switching.
#ifndef OS_ROBIN
 #define OS_ROBIN       1
#endif

//   <o>Round-Robin Timeout [ticks] <1-1000>
//   <i> Defines how long a thread will execute before a thread switch.
//   <i> Default: 5
#ifndef OS_ROBINTOUT
 #define OS_ROBINTOUT   5
#endif

// </e>

// <e>User Timers
// ==============
//   <i> Enables user Timers
#ifndef OS_TIMERS
 #define OS_TIMERS      1
#endif

//   <o>Timer Thread Priority
//                        <1=> Low
//     <2=> Below Normal  <3=> Normal  <4=> Above Normal
//                        <5=> High
//                        <6=> Realtime (highest)
//   <i> Defines priority for Timer Thread
//   <i> Default: High
#ifndef OS_TIMERPRIO
 #define OS_TIMERPRIO   5
#endif

//   <o>Timer Thread stack size [bytes] <64-4096:8><#/4>
//   <i> Defines stack size for Timer thread.
//   <i> Default: 200
#ifndef OS_TIMERSTKSZ
 #define OS_TIMERSTKSZ  200
#endif

//   <o>Timer Callback Queue size <1-32>
//   <i> Number of concurrent active timer callback functions.
//   <i> Default: 4
#ifndef OS_TIMERCBQS
 #define OS_TIMERCBQS   8
#endif

// </e>

//   <o>ISR FIFO Queue size<4=>   4 entries  <8=>   8 entries
//                         <12=> 12 entries  <16=> 16 entries
//                         <24=> 24 entries  <32=> 32 entries
//                         <48=> 48 entries  <64=> 64 entries
//                         <96=> 96 entries
//   <i> ISR functions store requests to this buffer,
//   <i> when they are called from the interrupt handler.
//   <i> Default: 16 entries
#ifndef OS_FIFOSZ
 #define OS_FIFOSZ      16
#endif

// </h>

//------------- <<< end of configuration section >>> -----------------------

// Standard library system mutexes
// ===============================
//  Define max. number system mutexes that are used to protect 
//  the arm standard runtime library. For microlib they are not used.
#ifndef OS_MUTEXCNT
 #define OS_MUTEXCNT    8
#endif

/*----------------------------------------------------------------------------
 *      RTX User configuration part END
 *---------------------------------------------------------------------------*/

#define OS_TRV          ((uint32_t)(((double)OS_CLOCK*(double)OS_TICK)/1E6+0.5)-1)


/*----------------------------------------------------------------------------
 *      Global Functions
 *---------------------------------------------------------------------------*/

/*--------------------------- os_idle_demon ---------------------------------*/
#define TIMER_MASK 0xFFFFFF
volatile unsigned int rtos_suspend;

void os_idle_demon (void)
{
    unsigned int expected_time;
    unsigned int prev_time;

    NVIC_SetPriority(PendSV_IRQn, NVIC_GetPriority(RTC1_IRQn));

    for (;; )
    {
        rtos_suspend   = 1;
        expected_time  = os_suspend();
        expected_time &= TIMER_MASK;

        if (expected_time > 2)
        {
            prev_time       = NRF_RTC1->COUNTER;
            expected_time  += prev_time;
            NRF_RTC1->CC[0] =
                (expected_time > TIMER_MASK) ? expected_time - TIMER_MASK : expected_time;
            NRF_RTC1->INTENCLR = RTC_INTENSET_TICK_Msk;

            NVIC_EnableIRQ(RTC1_IRQn);
            __disable_irq();

            if (rtos_suspend)
            {
                NRF_RTC1->INTENSET = RTC_INTENSET_COMPARE0_Msk;
                __WFI();
                NRF_RTC1->EVENTS_COMPARE[0] = 0;
                NRF_RTC1->INTENCLR          = RTC_INTENSET_COMPARE0_Msk;
            }
            __enable_irq();
            NRF_RTC1->INTENSET = RTC_INTENSET_TICK_Msk;

            expected_time = NRF_RTC1->COUNTER;
            expected_time = (expected_time >= prev_time)
                            ? expected_time - prev_time : TIMER_MASK - prev_time + expected_time;
        }
        os_resume(expected_time);
    }
}


#if (OS_SYSTICK == 0)   // Functions for alternative timer as RTX kernel timer

/*--------------------------- os_tick_init ----------------------------------*/

// Initialize alternative hardware timer as RTX kernel timer
// Return: IRQ number of the alternative hardware timer
int os_tick_init (void)
{
    NRF_CLOCK->LFCLKSRC            = (CLOCK_LFCLKSRC_SRC_Xtal << CLOCK_LFCLKSRC_SRC_Pos);
    NRF_CLOCK->EVENTS_LFCLKSTARTED = 0;
    NRF_CLOCK->TASKS_LFCLKSTART    = 1;

    while (NRF_CLOCK->EVENTS_LFCLKSTARTED == 0)
    {
        // Do nothing.
    }
    //set the same level as svc calls
    NVIC_SetPriority(RTC1_IRQn, 2);

    NRF_RTC1->PRESCALER   = OS_TRV;
    NRF_RTC1->INTENSET    = RTC_INTENSET_TICK_Msk;
    NRF_RTC1->TASKS_START = 1;

    return (RTC1_IRQn);
}


/*--------------------------- os_tick_val -----------------------------------*/

// Get alternative hardware timer current value (0 .. OS_TRV)
uint32_t os_tick_val(void)
{
    return NRF_RTC1->COUNTER;
}


/*--------------------------- os_tick_ovf -----------------------------------*/

// Get alternative hardware timer overflow flag
// Return: 1 - overflow, 0 - no overflow

uint32_t os_tick_ovf(void)
{
    return NRF_RTC1->EVENTS_OVRFLW;
}


/*--------------------------- os_tick_irqack --------------------------------*/

// Acknowledge alternative hardware timer interrupt
void os_tick_irqack(void)
{
    if ((NRF_RTC1->EVENTS_TICK != 0) &&
        ((NRF_RTC1->INTENSET & RTC_INTENSET_TICK_Msk) != 0))
    {
        NRF_RTC1->EVENTS_TICK = 0;
    }
}


// This branch a problem with reurn from interrput.

#if defined (__CC_ARM)                               /* ARM Compiler */
__asm __declspec(noreturn) void RTC1_IRQHandler(void)
{
    EXTERN OS_Tick_Handler
    BL OS_Tick_Handler
}


#elif defined (__ICCARM__)                           /* IAR Compiler */
#error "IAR no supported yet."

#elif defined (__GNUC__)                             /* GNU Compiler */
extern void OS_Tick_Handler(void);
void RTC1_IRQHandler()
__attribute__((naked));
void RTC1_IRQHandler()
{
    OS_Tick_Handler();
}


#else
#error "Unknown compiler! Don't know how to create SVC function."
#endif


#endif   // (OS_SYSTICK == 0)

/*--------------------------- os_error --------------------------------------*/

/* OS Error Codes */
#define OS_ERROR_STACK_OVF      1
#define OS_ERROR_FIFO_OVF       2
#define OS_ERROR_MBX_OVF        3

extern osThreadId svcThreadGetId (void);
void os_error(uint32_t error_code) {
  /* This function is called when a runtime error is detected.  */
  /* Parameter 'error_code' holds the runtime error code.       */
  /* HERE: include optional code to be executed on runtime error. */
  switch (error_code) {
    case OS_ERROR_STACK_OVF:
      /* Stack overflow detected for the currently running task. */
      /* Thread can be identified by calling svcThreadGetId().   */
      break;
    case OS_ERROR_FIFO_OVF:
      /* ISR FIFO Queue buffer overflow detected. */
      break;
    case OS_ERROR_MBX_OVF:
      /* Mailbox overflow detected. */
      break;
  }
  for (;;);
}


/*----------------------------------------------------------------------------
 *      RTX Configuration Functions
 *---------------------------------------------------------------------------*/

#include "RTX_CM_lib.h"

/*----------------------------------------------------------------------------
 * end of file
 *---------------------------------------------------------------------------*/