all
This commit is contained in:
BIN
RTOS_aPeriodicInt/.DS_Store
vendored
Normal file
BIN
RTOS_aPeriodicInt/.DS_Store
vendored
Normal file
Binary file not shown.
21
RTOS_aPeriodicInt/.ccsproject
Normal file
21
RTOS_aPeriodicInt/.ccsproject
Normal file
@@ -0,0 +1,21 @@
|
||||
<?xml version="1.0" encoding="UTF-8" ?>
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|
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||||
11
RTOS_aPeriodicInt/.clangd
Normal file
11
RTOS_aPeriodicInt/.clangd
Normal file
@@ -0,0 +1,11 @@
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||||
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||||
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||||
104
RTOS_aPeriodicInt/.cproject
Normal file
104
RTOS_aPeriodicInt/.cproject
Normal file
@@ -0,0 +1,104 @@
|
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39
RTOS_aPeriodicInt/.project
Normal file
39
RTOS_aPeriodicInt/.project
Normal file
@@ -0,0 +1,39 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
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||||
<name>RTOS_aPeriodicInt</name>
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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@@ -0,0 +1,3 @@
|
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|
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22
RTOS_aPeriodicInt/Debug/.clangd/compile_commands.json
Normal file
22
RTOS_aPeriodicInt/Debug/.clangd/compile_commands.json
Normal file
@@ -0,0 +1,22 @@
|
||||
[
|
||||
{
|
||||
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt/Debug",
|
||||
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt/Debug\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source/third_party/CMSIS/Core/Include\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source\" -D__MSPM0G3507__ -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/armv7em-ti-none-eabihf/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/lib/clang/18/include\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt/Debug/syscfg\" -xc",
|
||||
"file" : "/Users/adipu/lab-7-tweinstein-1/inc/Clock.c"
|
||||
},
|
||||
{
|
||||
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt/Debug",
|
||||
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt/Debug\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source/third_party/CMSIS/Core/Include\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source\" -D__MSPM0G3507__ -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/armv7em-ti-none-eabihf/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/lib/clang/18/include\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt/Debug/syscfg\" -xc",
|
||||
"file" : "/Users/adipu/lab-7-tweinstein-1/inc/LaunchPad.c"
|
||||
},
|
||||
{
|
||||
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt/Debug",
|
||||
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt/Debug\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source/third_party/CMSIS/Core/Include\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source\" -D__MSPM0G3507__ -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/armv7em-ti-none-eabihf/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/lib/clang/18/include\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt/Debug/syscfg\" -xc",
|
||||
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt/aPeriodicIntmain.c"
|
||||
},
|
||||
{
|
||||
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt/Debug",
|
||||
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt/Debug\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source/third_party/CMSIS/Core/Include\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source\" -D__MSPM0G3507__ -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/armv7em-ti-none-eabihf/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/lib/clang/18/include\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt/Debug/syscfg\" -xc",
|
||||
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_aPeriodicInt/ticlang/startup_mspm0g3507_ticlang.c"
|
||||
}
|
||||
]
|
||||
138
RTOS_aPeriodicInt/README.html
Normal file
138
RTOS_aPeriodicInt/README.html
Normal file
@@ -0,0 +1,138 @@
|
||||
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
|
||||
<html xmlns:v="urn:schemas-microsoft-com:vml"
|
||||
xmlns:o="urn:schemas-microsoft-com:office:office"
|
||||
xmlns:w="urn:schemas-microsoft-com:office:word"
|
||||
xmlns:m="http://schemas.microsoft.com/office/2004/12/omml"
|
||||
xmlns:st1="urn:schemas-microsoft-com:office:smarttags"
|
||||
xmlns="http://www.w3.org/TR/REC-html40">
|
||||
<head>
|
||||
<meta http-equiv="Content-Type"
|
||||
content="text/html; charset=windows-1252">
|
||||
<meta name="ProgId" content="Word.Document">
|
||||
<meta name="Generator" content="Microsoft Word 14">
|
||||
<meta name="Originator" content="Microsoft Word 14">
|
||||
<base target="_parent">
|
||||
<link rel="Edit-Time-Data" href="index_files/editdata.mso">
|
||||
<title>RTOS_aPeriodicInt</title>
|
||||
<o:smarttagtype
|
||||
namespaceuri="urn:schemas-microsoft-com:office:smarttags" name="place"></o:smarttagtype><o:smarttagtype
|
||||
namespaceuri="urn:schemas-microsoft-com:office:smarttags"
|
||||
name="PlaceName"></o:smarttagtype>
|
||||
<o:smarttagtype
|
||||
namespaceuri="urn:schemas-microsoft-com:office:smarttags"
|
||||
name="PlaceType"></o:smarttagtype>
|
||||
<link rel="themeData" href="index_files/themedata.thmx">
|
||||
<link rel="colorSchemeMapping"
|
||||
href="index_files/colorschememapping.xml">
|
||||
<style>
|
||||
</style>
|
||||
</head>
|
||||
<body style="background-color: white;" alink="#0000ff" lang="EN-US"
|
||||
link="blue" vlink="#c40026">
|
||||
<div class="WordSection1">
|
||||
<p style="text-align: center;" align="center"><span
|
||||
style="font-size: 18pt;">RTOS_aPeriodicInt</span><br>
|
||||
<table class="MsoNormalTable"
|
||||
style="border: 3pt outset ; background: rgb(255, 204, 153) none repeat scroll 0% 50%; -moz-background-clip: initial; -moz-background-origin: initial; -moz-background-inline-policy: initial; width: 100%;"
|
||||
border="1" cellpadding="0" width="100%">
|
||||
<tr>
|
||||
<td>
|
||||
<p><b><span style="font-size: 18pt;">Readme</b></span>
|
||||
<br> <br>
|
||||
This is a C language project that implements aperiodic
|
||||
interrupts using TimerG7. This sequence repeats every 7ms.
|
||||
<ul>
|
||||
<li>Task0, PA8 is toggled, then it waits 4ms</li>
|
||||
<li>Task1, PA9 is toggled, then it waits 2ms</li>
|
||||
<li>Task2, PA16 is toggled, then it waits 1ms</li>
|
||||
</ul>
|
||||
</p>
|
||||
<p class="PictureWide"><span lang="en-US"><img src="aPeriodicInt.png"
|
||||
></span></p>
|
||||
<p>
|
||||
Assuming this is the highest priority interrupt, profiling shows these three tasks run without jitter.
|
||||
|
||||
<p>
|
||||
Derived from Texas Instrument code
|
||||
<ul>
|
||||
<li>timx_timer_mode_periodic_sleep_LP_MSPM0G3507_nortos_ticlang</li>
|
||||
<li>gpio_toggle_output_LP_MSPM0G3507_nortos_ticlang</li></ul>
|
||||
</td>
|
||||
|
||||
</tr>
|
||||
</table>
|
||||
</p>
|
||||
|
||||
<table class="MsoNormalTable"
|
||||
style="border: 3pt outset ; background: rgb(252, 243, 144) none repeat scroll 0% 50%; -moz-background-clip: initial; -moz-background-origin: initial; -moz-background-inline-policy: initial; width: 100%;"
|
||||
border="1" cellpadding="0" width="100%">
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>
|
||||
<p><b><span style="font-size: 18pt;">Hardware Required</b></span>
|
||||
<br>
|
||||
<ul>
|
||||
<li>MSPM0G3507 LaunchPad™ Development Kit (LP-MSPM0G3507)</li>
|
||||
</ul>
|
||||
<b><span style="font-size: 18pt;">Pin assignments</b></span>
|
||||
<br>
|
||||
<ul>
|
||||
<li>Output: PA8 is Task0</li>
|
||||
<li>Output: PA9 is Task1</li>
|
||||
<li>Output: PA16 is Task2</li>
|
||||
<li>Output: PB1 is toggled in main program</li>
|
||||
</ul>
|
||||
<b><span style="font-size: 18pt;">LaunchPad Jumpers</b></span>
|
||||
<br>
|
||||
<ul>
|
||||
<li>J21: Connects PA10 to XDS_UART</li>
|
||||
<li>J22: Connects PA11 to XDS_UART</li>
|
||||
<li>J14: SW1 to select PA9</li>
|
||||
<li>J15: SW2 to select PA16</li>
|
||||
<li>Remove J16 J17 J18: Disconnects light sensor from the microcontroller PA22 PA27 PA26</li>
|
||||
<li>J5: Connects PB22 to blue LED2</li>
|
||||
<li>J6: Connects PB26 to red LED2</li>
|
||||
<li>J7: Connects PB27 to green LED2</li>
|
||||
</ul>
|
||||
</p> </td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
<p>
|
||||
Simplified BSD License (FreeBSD License)
|
||||
Copyright © 2026, Jonathan Valvano, All rights reserved.<br>
|
||||
<br>
|
||||
Redistribution and use in source and binary forms, with or without modification,
|
||||
are permitted provided that the following conditions are met:<br>
|
||||
<ol>
|
||||
<li>Redistributions of source code must retain the above copyright notice,
|
||||
this list of conditions and the following disclaimer.</li>
|
||||
<li>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.</li></ol>
|
||||
|
||||
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 THE COPYRIGHT OWNER OR 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.<br>
|
||||
<br>
|
||||
The views and conclusions contained in the software and documentation are
|
||||
those of the authors and should not be interpreted as representing official
|
||||
policies, either expressed or implied, of the FreeBSD Project.
|
||||
<br>
|
||||
</p>
|
||||
<p>For more information, see <a href="http://users.ece.utexas.edu/~valvano/">
|
||||
http://users.ece.utexas.edu/~valvano/</a>.
|
||||
</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
BIN
RTOS_aPeriodicInt/TimerxPeriodicInt.png
Normal file
BIN
RTOS_aPeriodicInt/TimerxPeriodicInt.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 14 KiB |
BIN
RTOS_aPeriodicInt/TimerxPeriodicIntZoomIn.png
Normal file
BIN
RTOS_aPeriodicInt/TimerxPeriodicIntZoomIn.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 10 KiB |
BIN
RTOS_aPeriodicInt/aPeriodicInt.png
Normal file
BIN
RTOS_aPeriodicInt/aPeriodicInt.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 12 KiB |
201
RTOS_aPeriodicInt/aPeriodicIntmain.c
Normal file
201
RTOS_aPeriodicInt/aPeriodicIntmain.c
Normal file
@@ -0,0 +1,201 @@
|
||||
/* aPeriodicIntmain.c
|
||||
* Jonathan Valvano
|
||||
* December 19, 2025
|
||||
* Derived from timx_timer_mode_periodic_sleep_LP_MSPM0G3507_nortos_ticlang
|
||||
* gpio_toggle_output_LP_MSPM0G3507_nortos_ticlang
|
||||
*
|
||||
*/
|
||||
|
||||
#include <ti/devices/msp/msp.h>
|
||||
#include "../inc/LaunchPad.h"
|
||||
#include "../inc/Clock.h"
|
||||
#define NUMTASKS 3
|
||||
#define RUNLENGTH 1000 // 7 sec
|
||||
#define PERIOD (80*7000) // 1+2+4ms
|
||||
uint32_t Count0,Count1,Count2;
|
||||
//---------------------User debugging-----------------------
|
||||
int32_t MaxJitter[NUMTASKS]; // largest time jitter between interrupts in 10 usec
|
||||
#define JITTERSIZE 32
|
||||
uint32_t const JitterSize=JITTERSIZE;
|
||||
uint32_t JitterHistogram[NUMTASKS][JITTERSIZE]={0,};
|
||||
// Unused sensor board pins, made outputs for debugging
|
||||
// Jumper J14 select PA9
|
||||
// Jumper J15 select PA16
|
||||
void Logic_Init(void){
|
||||
IOMUX->SECCFG.PINCM[PA8INDEX] = (uint32_t) 0x00000081;
|
||||
IOMUX->SECCFG.PINCM[PA9INDEX] = (uint32_t) 0x00000081;
|
||||
IOMUX->SECCFG.PINCM[PA16INDEX] = (uint32_t) 0x00000081;
|
||||
IOMUX->SECCFG.PINCM[PB4INDEX] = (uint32_t) 0x00000081;
|
||||
IOMUX->SECCFG.PINCM[PB1INDEX] = (uint32_t) 0x00000081;
|
||||
IOMUX->SECCFG.PINCM[PB20INDEX] = (uint32_t) 0x00000081;
|
||||
GPIOA->DOE31_0 |= (1<<8)|(1<<9)|(1<<16);
|
||||
GPIOB->DOE31_0 |= (1<<4)|(1<<1)|(1<<20);
|
||||
}
|
||||
uint32_t TheTime(void){
|
||||
return ~(TIMG12->COUNTERREGS.CTR);
|
||||
};
|
||||
void Task0(void){
|
||||
GPIOA->DOUTTGL31_0 = (1<<8); // PA8
|
||||
uint32_t thisTime,jitter;
|
||||
static uint32_t LastTime; // time at previous execution, 12.5 ns
|
||||
thisTime = TheTime(); // current time, 12.5 ns
|
||||
Count0++;
|
||||
if(Count0>2){ // ignore timing of first couple interrupt
|
||||
uint32_t diff = thisTime-LastTime; // down count
|
||||
if(diff>PERIOD){ // should be 1ms (12.5ns units)
|
||||
jitter = (diff-PERIOD); // in 12.5ns
|
||||
}else{
|
||||
jitter = (PERIOD-diff); // in 12.5ns
|
||||
}
|
||||
if(jitter > MaxJitter[0]){
|
||||
MaxJitter[0] = jitter; // in 12.5ns
|
||||
} // jitter should be 0
|
||||
if(jitter >= JitterSize){
|
||||
jitter = JitterSize-1;
|
||||
}
|
||||
JitterHistogram[0][jitter]++;
|
||||
}
|
||||
LastTime = thisTime;
|
||||
}
|
||||
void Task1(void){
|
||||
GPIOA->DOUTTGL31_0 = (1<<9); // PA9
|
||||
uint32_t thisTime,jitter;
|
||||
static uint32_t LastTime; // time at previous execution, 12.5 ns
|
||||
thisTime = TheTime(); // current time, 12.5 ns
|
||||
Count1++;
|
||||
if(Count1>2){ // ignore timing of first couple interrupt
|
||||
uint32_t diff = thisTime-LastTime; // down count
|
||||
if(diff>PERIOD){ // should be 1ms (12.5ns units)
|
||||
jitter = (diff-PERIOD); // in 12.5ns
|
||||
}else{
|
||||
jitter = (PERIOD-diff); // in 12.5ns
|
||||
}
|
||||
if(jitter > MaxJitter[1]){
|
||||
MaxJitter[1] = jitter; // in 12.5ns
|
||||
} // jitter should be 0
|
||||
if(jitter >= JitterSize){
|
||||
jitter = JitterSize-1;
|
||||
}
|
||||
JitterHistogram[1][jitter]++;
|
||||
}
|
||||
LastTime = thisTime;
|
||||
}
|
||||
void Task2(void){
|
||||
GPIOA->DOUTTGL31_0 = (1<<16); // PA16
|
||||
uint32_t thisTime,jitter;
|
||||
static uint32_t LastTime; // time at previous execution, 12.5 ns
|
||||
thisTime = TheTime(); // current time, 12.5 ns
|
||||
Count2++;
|
||||
if(Count2>2){ // ignore timing of first couple interrupt
|
||||
uint32_t diff = thisTime-LastTime; // down count
|
||||
if(diff>PERIOD){ // should be 1ms (12.5ns units)
|
||||
jitter = (diff-PERIOD); // in 12.5ns
|
||||
}else{
|
||||
jitter = (PERIOD-diff); // in 12.5ns
|
||||
}
|
||||
if(jitter > MaxJitter[0]){
|
||||
MaxJitter[2] = jitter; // in 12.5ns
|
||||
} // jitter should be 0
|
||||
if(jitter >= JitterSize){
|
||||
jitter = JitterSize-1;
|
||||
}
|
||||
JitterHistogram[2][jitter]++;
|
||||
}
|
||||
LastTime = thisTime;
|
||||
}
|
||||
void TogglePB4(void){ GPIOB->DOUTTGL31_0 = (1<<4);}
|
||||
void TogglePB1(void){ GPIOB->DOUTTGL31_0 = (1<<1);}
|
||||
void TogglePB20(void){GPIOB->DOUTTGL31_0 = (1<<20);}
|
||||
|
||||
struct event{
|
||||
void(*task)(void); // this task to run
|
||||
uint32_t timeToNext; // time for this task
|
||||
};
|
||||
typedef const struct event event_t;
|
||||
uint32_t ThisTask;
|
||||
event_t Tasks[NUMTASKS]={
|
||||
{Task0, 4000}, // Toggle PA8 then wait 4ms
|
||||
{Task1, 2000}, // Toggle PA9 then wait 2ms
|
||||
{Task2, 1000} // Toggle PA16 then wait 1ms
|
||||
};
|
||||
|
||||
|
||||
void Jitter_Init(void){
|
||||
for(int j=0; j<NUMTASKS; j++){
|
||||
for(int i=0;i<JitterSize;i++){
|
||||
JitterHistogram[j][i] = 0;
|
||||
}
|
||||
MaxJitter[j] = 0;
|
||||
}
|
||||
}
|
||||
// Power Domain PD1
|
||||
// initialize A0/A1/G6/G7/G12 for aperiodic interrupt
|
||||
// for 32MHz bus clock, Timer clock is 32MHz
|
||||
// for 40MHz bus clock, Timer clock is MCLK 40MHz
|
||||
// for 80MHz bus clock, Timer clock is MCLK 80MHz
|
||||
// frequency = TimerClock/prescale/period
|
||||
// initialize G7 for periodic interrupt
|
||||
// frequency = TimerClock/prescale/period
|
||||
void TimerG7_IntArm(uint32_t prescale, uint32_t priority){
|
||||
TIMG7->GPRCM.RSTCTL = (uint32_t)0xB1000003;
|
||||
TIMG7->GPRCM.PWREN = (uint32_t)0x26000001;
|
||||
Clock_Delay(24); // time for TimerG7 to power up
|
||||
TIMG7->CLKSEL = 0x08; // bus clock
|
||||
TIMG7->CLKDIV = 0x00; // divide by 1
|
||||
TIMG7->COMMONREGS.CPS = prescale-1; // divide by prescale
|
||||
TIMG7->COUNTERREGS.LOAD = 80000-1; // set reload register, will be reset during each ISR
|
||||
TIMG7->COUNTERREGS.CTRCTL = 0x02;
|
||||
// bits 5-4 CM =0, down
|
||||
// bits 3-1 REPEAT =001, continue
|
||||
// bit 0 EN enable (0 for disable, 1 for enable)
|
||||
TIMG7->CPU_INT.IMASK |= 1; // zero event mask
|
||||
TIMG7->COMMONREGS.CCLKCTL = 1;
|
||||
NVIC->ISER[0] = 1 << 20; // TIMG7 interrupt
|
||||
NVIC->IP[5] = (NVIC->IP[5]&(~0x000000FF))|(priority<<6); // set priority (bits 7,6) IRQ 20
|
||||
TIMG7->COUNTERREGS.CTRCTL |= 0x01;
|
||||
}
|
||||
|
||||
// G12 for profiling
|
||||
void TimerG12_Init(void){
|
||||
TIMG12->GPRCM.RSTCTL = (uint32_t)0xB1000003;
|
||||
TIMG12->GPRCM.PWREN = (uint32_t)0x26000001;
|
||||
Clock_Delay(24); // time for TimerG8 to power up
|
||||
TIMG12->CLKSEL = 0x08; // bus clock
|
||||
TIMG12->CLKDIV = 0; // divide by 1
|
||||
// TIMG8->COMMONREGS.CPS = prescale-1; // divide by prescale,
|
||||
TIMG12->COUNTERREGS.LOAD = 0xFFFFFFFF; // set reload register
|
||||
TIMG12->COUNTERREGS.CTRCTL = 0x02;
|
||||
// bits 5-4 CM =0, down
|
||||
// bits 3-1 REPEAT =001, continue
|
||||
// bit 0 EN enable (0 for disable, 1 for enable)
|
||||
TIMG12->COMMONREGS.CCLKCTL = 1;
|
||||
TIMG12->COUNTERREGS.CTRCTL |= 0x01;
|
||||
}
|
||||
|
||||
int main(void){
|
||||
__disable_irq();
|
||||
Clock_Init80MHz(0);
|
||||
Count0=Count1=Count2=0;
|
||||
ThisTask = 0;
|
||||
LaunchPad_Init();
|
||||
Logic_Init();
|
||||
Jitter_Init();
|
||||
TimerG12_Init(); // free running timer for OS_Time
|
||||
TimerG7_IntArm(80,2); // 80MHz/80 = 1MHz, or 1us period
|
||||
__enable_irq();
|
||||
while(1){
|
||||
TogglePB1();
|
||||
}
|
||||
}
|
||||
|
||||
void TIMG7_IRQHandler(void){
|
||||
if((TIMG7->CPU_INT.IIDX) == 1){ // this will acknowledge
|
||||
(*Tasks[ThisTask].task)(); // execute user task
|
||||
ThisTask = (ThisTask+1)%NUMTASKS;
|
||||
TIMG7->COUNTERREGS.LOAD = Tasks[ThisTask].timeToNext-1; // set reload register
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
67
RTOS_aPeriodicInt/mspm0g3507.cmd
Executable file
67
RTOS_aPeriodicInt/mspm0g3507.cmd
Executable file
@@ -0,0 +1,67 @@
|
||||
/*****************************************************************************
|
||||
|
||||
Copyright (C) 2023 Texas Instruments Incorporated - http://www.ti.com/
|
||||
|
||||
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 Texas Instruments Incorporated 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 THE COPYRIGHT
|
||||
OWNER OR 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.
|
||||
|
||||
*****************************************************************************/
|
||||
-uinterruptVectors
|
||||
|
||||
MEMORY
|
||||
{
|
||||
FLASH (RX) : origin = 0x00000000, length = 0x00020000
|
||||
SRAM (RWX) : origin = 0x20200000, length = 0x00008000
|
||||
BCR_CONFIG (R) : origin = 0x41C00000, length = 0x00000080
|
||||
BSL_CONFIG (R) : origin = 0x41C00100, length = 0x00000080
|
||||
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.intvecs: > 0x00000000
|
||||
.text : palign(8) {} > FLASH
|
||||
.const : palign(8) {} > FLASH
|
||||
.cinit : palign(8) {} > FLASH
|
||||
.pinit : palign(8) {} > FLASH
|
||||
.rodata : palign(8) {} > FLASH
|
||||
.ARM.exidx : palign(8) {} > FLASH
|
||||
.init_array : palign(8) {} > FLASH
|
||||
.binit : palign(8) {} > FLASH
|
||||
.TI.ramfunc : load = FLASH, palign(8), run=SRAM, table(BINIT)
|
||||
|
||||
.vtable : > SRAM
|
||||
.args : > SRAM
|
||||
.data : > SRAM
|
||||
.bss : > SRAM
|
||||
.sysmem : > SRAM
|
||||
.stack : > SRAM (HIGH)
|
||||
|
||||
.BCRConfig : {} > BCR_CONFIG
|
||||
.BSLConfig : {} > BSL_CONFIG
|
||||
}
|
||||
162
RTOS_aPeriodicInt/targetConfigs/MSPM0G3507.ccxml
Normal file
162
RTOS_aPeriodicInt/targetConfigs/MSPM0G3507.ccxml
Normal file
@@ -0,0 +1,162 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<configurations XML_version="1.2" id="configurations_0">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<configuration XML_version="1.2" id="configuration_0">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<instance XML_version="1.2" desc="Texas Instruments XDS110 USB Debug Probe" href="connections/TIXDS110_Connection.xml" id="Texas Instruments XDS110 USB Debug Probe" xml="TIXDS110_Connection.xml" xmlpath="connections"/>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<connection XML_version="1.2" id="Texas Instruments XDS110 USB Debug Probe">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<instance XML_version="1.2" href="drivers/tixds510cs_dap.xml" id="drivers" xml="tixds510cs_dap.xml" xmlpath="drivers"/>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<instance XML_version="1.2" href="drivers/tixds510cortexM0.xml" id="drivers" xml="tixds510cortexM0.xml" xmlpath="drivers"/>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<instance XML_version="1.2" href="drivers/tixds510sec_ap.xml" id="drivers" xml="tixds510sec_ap.xml" xmlpath="drivers"/>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<property Type="choicelist" Value="1" id="The JTAG TCLK Frequency (MHz)">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<choice Name="Fixed with user specified value" value="SPECIFIC">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<property Type="stringfield" Value="1MHz" id="-- Enter a value from 100.0kHz to 2.5MHz"/>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</choice>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</property>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<property Type="choicelist" Value="2" id="SWD Mode Settings">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<choice Name="SWD Mode - Aux COM port is target TDO pin" value="nothing"/>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</property>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<platform XML_version="1.2" id="platform_0">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<instance XML_version="1.2" desc="MSPM0G3507" href="devices/MSPM0G3507.xml" id="MSPM0G3507" xml="MSPM0G3507.xml" xmlpath="devices"/>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</platform>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</connection>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</configuration>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</configurations>
|
||||
9
RTOS_aPeriodicInt/targetConfigs/readme.txt
Normal file
9
RTOS_aPeriodicInt/targetConfigs/readme.txt
Normal file
@@ -0,0 +1,9 @@
|
||||
The 'targetConfigs' folder contains target-configuration (.ccxml) files, automatically generated based
|
||||
on the device and connection settings specified in your project on the Properties > General page.
|
||||
|
||||
Please note that in automatic target-configuration management, changes to the project's device and/or
|
||||
connection settings will either modify an existing or generate a new target-configuration file. Thus,
|
||||
if you manually edit these auto-generated files, you may need to re-apply your changes. Alternatively,
|
||||
you may create your own target-configuration file for this project and manage it manually. You can
|
||||
always switch back to automatic target-configuration management by checking the "Manage the project's
|
||||
target-configuration automatically" checkbox on the project's Properties > General page.
|
||||
200
RTOS_aPeriodicInt/ticlang/startup_mspm0g3507_ticlang.c
Normal file
200
RTOS_aPeriodicInt/ticlang/startup_mspm0g3507_ticlang.c
Normal file
@@ -0,0 +1,200 @@
|
||||
/*****************************************************************************
|
||||
Special MSPM0_ValvanoWare version with Hardfault handler implemented
|
||||
Jonathan Valvano 12/19/2024
|
||||
|
||||
Copyright (C) 2023 Texas Instruments Incorporated - http://www.ti.com/
|
||||
|
||||
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 Texas Instruments Incorporated 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 THE COPYRIGHT
|
||||
OWNER OR 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 <stdint.h>
|
||||
#include <ti/devices/msp/msp.h>
|
||||
|
||||
/* Linker variable that marks the top of the stack. */
|
||||
extern unsigned long __STACK_END;
|
||||
|
||||
/* External declaration for the reset handler that is to be called when the */
|
||||
/* processor is started */
|
||||
extern __NO_RETURN void __PROGRAM_START(void);
|
||||
|
||||
/* Forward declaration of the default fault handlers. */
|
||||
void Default_Handler (void) __attribute__((weak));
|
||||
void HardFault_Handler (void) __attribute__((weak));
|
||||
extern void Reset_Handler (void) __attribute__((weak));
|
||||
|
||||
/* Processor Exceptions */
|
||||
extern void NMI_Handler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void SVC_Handler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void PendSV_Handler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void SysTick_Handler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
|
||||
/* Device Specific Interrupt Handlers */
|
||||
extern void GROUP0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void GROUP1_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void TIMG8_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void UART3_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void ADC0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void ADC1_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void CANFD0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void DAC0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void SPI0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void SPI1_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void UART1_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void UART2_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void UART0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void TIMG0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void TIMG6_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void TIMA0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void TIMA1_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void TIMG7_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void TIMG12_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void I2C0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void I2C1_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void AES_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void RTC_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void DMA_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
|
||||
|
||||
/* Interrupt vector table. Note that the proper constructs must be placed on this to */
|
||||
/* ensure that it ends up at physical address 0x0000.0000 or at the start of */
|
||||
/* the program if located at a start address other than 0. */
|
||||
#if defined (__ARM_ARCH) && (__ARM_ARCH != 0)
|
||||
void (* const interruptVectors[])(void) __attribute((used)) __attribute__((section (".intvecs"))) =
|
||||
#elif defined (__TI_ARM__)
|
||||
#pragma RETAIN(interruptVectors)
|
||||
#pragma DATA_SECTION(interruptVectors, ".intvecs")
|
||||
void (* const interruptVectors[])(void) =
|
||||
#else
|
||||
#error "Compiler not supported"
|
||||
#endif
|
||||
{
|
||||
(void (*)(void))((uint32_t)&__STACK_END),
|
||||
/* The initial stack pointer */
|
||||
Reset_Handler, /* The reset handler */
|
||||
NMI_Handler, /* The NMI handler */
|
||||
HardFault_Handler, /* The hard fault handler */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
SVC_Handler, /* SVCall handler */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
PendSV_Handler, /* The PendSV handler */
|
||||
SysTick_Handler, /* SysTick handler */
|
||||
GROUP0_IRQHandler, /* GROUP0 interrupt handler */
|
||||
GROUP1_IRQHandler, /* GROUP1 interrupt handler */
|
||||
TIMG8_IRQHandler, /* TIMG8 interrupt handler */
|
||||
UART3_IRQHandler, /* UART3 interrupt handler */
|
||||
ADC0_IRQHandler, /* ADC0 interrupt handler */
|
||||
ADC1_IRQHandler, /* ADC1 interrupt handler */
|
||||
CANFD0_IRQHandler, /* CANFD0 interrupt handler */
|
||||
DAC0_IRQHandler, /* DAC0 interrupt handler */
|
||||
0, /* Reserved */
|
||||
SPI0_IRQHandler, /* SPI0 interrupt handler */
|
||||
SPI1_IRQHandler, /* SPI1 interrupt handler */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
UART1_IRQHandler, /* UART1 interrupt handler */
|
||||
UART2_IRQHandler, /* UART2 interrupt handler */
|
||||
UART0_IRQHandler, /* UART0 interrupt handler */
|
||||
TIMG0_IRQHandler, /* TIMG0 interrupt handler */
|
||||
TIMG6_IRQHandler, /* TIMG6 interrupt handler */
|
||||
TIMA0_IRQHandler, /* TIMA0 interrupt handler */
|
||||
TIMA1_IRQHandler, /* TIMA1 interrupt handler */
|
||||
TIMG7_IRQHandler, /* TIMG7 interrupt handler */
|
||||
TIMG12_IRQHandler, /* TIMG12 interrupt handler */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
I2C0_IRQHandler, /* I2C0 interrupt handler */
|
||||
I2C1_IRQHandler, /* I2C1 interrupt handler */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
AES_IRQHandler, /* AES interrupt handler */
|
||||
0, /* Reserved */
|
||||
RTC_IRQHandler, /* RTC interrupt handler */
|
||||
DMA_IRQHandler, /* DMA interrupt handler */
|
||||
|
||||
};
|
||||
|
||||
/* Forward declaration of the default fault handlers. */
|
||||
/* This is the code that gets called when the processor first starts execution */
|
||||
/* following a reset event. Only the absolutely necessary set is performed, */
|
||||
/* after which the application supplied entry() routine is called. Any fancy */
|
||||
/* actions (such as making decisions based on the reset cause register, and */
|
||||
/* resetting the bits in that register) are left solely in the hands of the */
|
||||
/* application. */
|
||||
void Reset_Handler(void)
|
||||
{
|
||||
/* Jump to the ticlang C Initialization Routine. */
|
||||
__asm(" .global _c_int00\n"
|
||||
" b _c_int00");
|
||||
}
|
||||
// fetch the PC that triggered the hard fault
|
||||
void HardFault_Handler(void) {
|
||||
__asm(" MOV R7,SP\n" // this code prevents a hardfault within the hardfault handler
|
||||
" LDR R4,=0x20200000\n" // start of RAM
|
||||
" CMP R7,R4\n"
|
||||
" BLO fault\n" // skip if bad SP
|
||||
" LDR R5,=0x20207FE0\n" // end of RAM-32
|
||||
" CMP R7,R5\n"
|
||||
" BHI fault\n" // skip if bad SP
|
||||
" LDR R6,[SP,#24]\n" // R6=previous PC
|
||||
"fault:");
|
||||
while (1) {
|
||||
// option 1) if SP points to valid RAM (0x20200000 to 0x20207FFC)
|
||||
// then R6 has PC that caused the fault
|
||||
// option 2) if SP is not 0x20200000 to 0x20207FFC then there was a stack overflow
|
||||
// if you're here, you had a hardfault
|
||||
}
|
||||
}
|
||||
/* This is the code that gets called when the processor receives an unexpected */
|
||||
/* interrupt. This simply enters an infinite loop, preserving the system state */
|
||||
/* for examination by a debugger. */
|
||||
void Default_Handler(void)
|
||||
{
|
||||
__asm(" MOV R7,SP\n"
|
||||
" LDR R4,=0x20200000\n"
|
||||
" CMP R7,R4\n"
|
||||
" BLO dfault\n" // bad SP
|
||||
" LDR R5,=0x20207FE0\n"
|
||||
" CMP R7,R5\n"
|
||||
" BHI fault\n" // bad SP
|
||||
" LDR R6,[SP,#24]\n" // previous PC
|
||||
"dfault:");
|
||||
/* Enter an infinite loop. */
|
||||
while(1){
|
||||
// R6 has value of the PC when the interrupt was triggered
|
||||
// you are here probably because you armed an interrupt, but mistyped the ISR name
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user