1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
|
/*----------------------------------------------------------------------------
* RL-ARM - RTX
*----------------------------------------------------------------------------
* Name: RTX_Conf_CM.C
* Purpose: Configuration of CMSIS RTX Kernel
* Rev.: V4.60
*----------------------------------------------------------------------------
*
* 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"
/*----------------------------------------------------------------------------
* RTX User configuration part BEGIN
*---------------------------------------------------------------------------*/
//-------- <<< Use Configuration Wizard in Context Menu >>> -----------------
//
// <h>Thread Configuration
// =======================
//
// <o>Number of concurrent running threads <0-250>
// <i> Defines max. number of threads that will run at the same time.
// <i> Default: 6
#ifndef OS_TASKCNT
#define OS_TASKCNT 25
#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 200
#endif
// <o>Main Thread stack size [bytes] <64-4096:8><#/4>
// <i> Defines stack size for main thread.
// <i> Default: 200
#ifndef OS_MAINSTKSIZE
#define OS_MAINSTKSIZE 2048
#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 10
#endif
// <o>Total stack size [bytes] for threads with user-provided stack size <0-4096:8><#/4>
// <i> Defines the combined stack size for threads with user-provided stack size.
// <i> Default: 0
#ifndef OS_PRIVSTKSIZE
#define OS_PRIVSTKSIZE 8192
#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> Use the Cortex-M SysTick timer as a time-base for RTX.
#ifndef OS_SYSTICK
#define OS_SYSTICK 0
#endif
//
// <o>Timer clock value [Hz] <1-1000000000>
// <i> Defines the timer clock value.
// <i> Default: 12000000 (12MHz)
#ifndef OS_CLOCK
# if defined(TARGET_RZ_A1H)
#define OS_CLOCK 12000000
# else
# error "no target defined"
# endif
#endif
// <o>Timer tick value [us] <1-1000000>
// <i> Defines the timer tick value.
// <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 WORDS_STACK_SIZE
#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 4
#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 12
#endif
/*----------------------------------------------------------------------------
* RTX User configuration part END
*---------------------------------------------------------------------------*/
#define OS_TRV ((uint32_t)(((double)OS_CLOCK*(double)OS_TICK)/1E6)-1)
/*----------------------------------------------------------------------------
* Global Functions
*---------------------------------------------------------------------------*/
/*--------------------------- os_idle_demon ---------------------------------*/
void os_idle_demon (void) {
/* The idle demon is a system thread, running when no other thread is */
/* ready to run. */
for (;;) {
/* HERE: include optional user code to be executed when no thread runs.*/
}
}
#if (OS_SYSTICK == 0) // Functions for alternative timer as RTX kernel timer
/*--------------------------- os_tick_init ----------------------------------*/
#ifdef TARGET_RZ_A1H
#define OSTM0 (0xFCFEC000uL) /* OSTM0 */
#define OSTM1 (0xFCFEC400uL) /* OSTM1 */
#define CPG (0xFCFE0410uL) /* CPG */
#define CPGSTBCR5 (*((volatile unsigned char*)(CPG + 0x00000018uL)))
#define OSTM0CMP (*((volatile unsigned long*)(OSTM0 + 0x00000000uL)))
#define OSTM0CNT (*((volatile unsigned long*)(OSTM0 + 0x00000004uL)))
#define OSTM0TE (*((volatile unsigned char*)(OSTM0 + 0x00000010uL)))
#define OSTM0TS (*((volatile unsigned char*)(OSTM0 + 0x00000014uL)))
#define OSTM0TT (*((volatile unsigned char*)(OSTM0 + 0x00000018uL)))
#define OSTM0CTL (*((volatile unsigned char*)(OSTM0 + 0x00000020uL)))
#define OSTM1CMP (*((volatile unsigned long*)(OSTM1 + 0x00000000uL)))
#define OSTM1CNT (*((volatile unsigned long*)(OSTM1 + 0x00000004uL)))
#define OSTM1TE (*((volatile unsigned char*)(OSTM1 + 0x00000010uL)))
#define OSTM1TS (*((volatile unsigned char*)(OSTM1 + 0x00000014uL)))
#define OSTM1TT (*((volatile unsigned char*)(OSTM1 + 0x00000018uL)))
#define OSTM1CTL (*((volatile unsigned char*)(OSTM1 + 0x00000020uL)))
#define CPG_STBCR5_BIT_MSTP51 (0x02u) /* OSTM0 */
#define CM1_RENESAS_RZ_A1_P0_CLK ( 32000000u)
#define CM0_RENESAS_RZ_A1_P0_CLK ( 33333333u)
typedef enum
{
IRQ_SGI0 = 0,
IRQ_OSTMI0TINT = 134
} IRQn_Type;
typedef void(*IRQHandler)();
extern void PendSV_Handler(uint32_t);
extern void OS_Tick_Handler(uint32_t);
extern uint32_t InterruptHandlerRegister (IRQn_Type irq, IRQHandler handler);
#endif
// Initialize alternative hardware timer as RTX kernel timer
// Return: IRQ number of the alternative hardware timer
int os_tick_init (void) {
#ifdef TARGET_RZ_A1H
CPGSTBCR5 &= ~(CPG_STBCR5_BIT_MSTP51); /* enable OSTM0 clock */
OSTM0TT = 0x1; /* Stop the counter and clears the OSTM0TE bit. */
OSTM0CTL = 0x1; /* Interval timer mode. Interrupt enabled */
OSTM0CMP = (uint32_t)(((double)CM0_RENESAS_RZ_A1_P0_CLK*(double)OS_TICK)/1E6);
OSTM0TS = 0x1; /* Start the counter and sets the OSTM0TE bit. */
InterruptHandlerRegister(IRQ_SGI0 , (IRQHandler)PendSV_Handler);
InterruptHandlerRegister(IRQ_OSTMI0TINT, (IRQHandler)OS_Tick_Handler);
return IRQ_OSTMI0TINT; /* Return IRQ number of timer (0..239) */
/* RTX will set and configure the interrupt */
#endif
}
/*--------------------------- os_tick_irqack --------------------------------*/
// Acknowledge alternative hardware timer interrupt
void os_tick_irqack (void) {
/* ... */
}
#endif // (OS_SYSTICK == 0)
/*--------------------------- os_error --------------------------------------*/
extern void mbed_die(void);
void os_error (uint32_t err_code) {
/* This function is called when a runtime error is detected. Parameter */
/* 'err_code' holds the runtime error code (defined in RTL.H). */
mbed_die();
/* HERE: include optional code to be executed on runtime error. */
for (;;);
}
/*----------------------------------------------------------------------------
* RTX Configuration Functions
*---------------------------------------------------------------------------*/
#include "RTX_CM_lib.h"
/*----------------------------------------------------------------------------
* end of file
*---------------------------------------------------------------------------*/
|
