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@ -50,16 +50,19 @@ static msg_t conversionMBBuffer[2];
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static MAILBOX_DECL(conversionMB, conversionMBBuffer, 2);
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static MAILBOX_DECL(conversionMB, conversionMBBuffer, 2);
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// Thread for LED status and wakeup hold
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// Thread for LED status and wakeup hold
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static THD_WORKING_AREA(monitorThreadWA, 128);
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__attribute__((section(".stacks")))
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static THD_WORKING_AREA(monitorThreadWA, 1024);
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static THD_FUNCTION(monitorThread, arg);
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static THD_FUNCTION(monitorThread, arg);
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// Thread for managing the conversion task
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// Thread for managing the conversion task
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static THD_WORKING_AREA(conversionThreadMonitorWA, 128);
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__attribute__((section(".stacks")))
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static THD_WORKING_AREA(conversionThreadMonitorWA, 1024);
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static THD_FUNCTION(conversionThreadMonitor, arg);
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static THD_FUNCTION(conversionThreadMonitor, arg);
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// Thread for unprivileged algorithm execution
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// Thread for unprivileged algorithm execution
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static THD_WORKING_AREA(conversionThreadWA, 128);
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__attribute__((section(".stacks")))
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static THD_WORKING_AREA(conversionThreadWA, 1024);
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static THD_FUNCTION(conversionThread, arg);
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static THD_FUNCTION(conversionThread, arg);
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__attribute__((section(".convdata")))
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__attribute__((section(".convdata")))
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static THD_WORKING_AREA(conversionThreadUPWA, 256);
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static THD_WORKING_AREA(conversionThreadUPWA, 62 * 1024);
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static thread_t *conversionThreadHandle = nullptr;
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static thread_t *conversionThreadHandle = nullptr;
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__attribute__((section(".convdata")))
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__attribute__((section(".convdata")))
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@ -98,13 +101,13 @@ int main()
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mpuConfigureRegion(MPU_REGION_2,
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mpuConfigureRegion(MPU_REGION_2,
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0x20000000,
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0x20000000,
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MPU_RASR_ATTR_AP_RW_RW | MPU_RASR_ATTR_NON_CACHEABLE |
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MPU_RASR_ATTR_AP_RW_RW | MPU_RASR_ATTR_NON_CACHEABLE |
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MPU_RASR_SIZE_4K |
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MPU_RASR_SIZE_64K |
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MPU_RASR_ENABLE);
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MPU_RASR_ENABLE);
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// Region 3: Code for algorithm manager thread
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// Region 3: Code for algorithm manager thread
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mpuConfigureRegion(MPU_REGION_3,
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mpuConfigureRegion(MPU_REGION_3,
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0x08080000,
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0x0807F800,
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MPU_RASR_ATTR_AP_RO_RO | MPU_RASR_ATTR_NON_CACHEABLE |
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MPU_RASR_ATTR_AP_RO_RO | MPU_RASR_ATTR_NON_CACHEABLE |
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MPU_RASR_SIZE_4K |
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MPU_RASR_SIZE_2K |
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MPU_RASR_ENABLE);
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MPU_RASR_ENABLE);
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// Region 4: Algorithm code
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// Region 4: Algorithm code
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mpuConfigureRegion(MPU_REGION_4,
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mpuConfigureRegion(MPU_REGION_4,
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@ -408,10 +411,12 @@ THD_FUNCTION(monitorThread, arg)
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if (run_status == RunStatus::Idle && palReadLine(LINE_BUTTON)) {
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if (run_status == RunStatus::Idle && palReadLine(LINE_BUTTON)) {
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palSetLine(LINE_LED_RED);
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palSetLine(LINE_LED_RED);
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palSetLine(LINE_LED_YELLOW);
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palSetLine(LINE_LED_YELLOW);
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asm("cpsid i");
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chSysLock();
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while (palReadLine(LINE_BUTTON))
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asm("nop");
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while (!palReadLine(LINE_BUTTON))
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while (!palReadLine(LINE_BUTTON))
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asm("nop");
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asm("nop");
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asm("cpsie i");
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chSysUnlock();
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palClearLine(LINE_LED_RED);
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palClearLine(LINE_LED_RED);
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palClearLine(LINE_LED_YELLOW);
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palClearLine(LINE_LED_YELLOW);
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chThdSleepMilliseconds(500);
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chThdSleepMilliseconds(500);
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@ -433,16 +438,34 @@ __attribute__((naked))
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void port_syscall(struct port_extctx *ctxp, uint32_t n)
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void port_syscall(struct port_extctx *ctxp, uint32_t n)
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{
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{
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switch (n) {
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switch (n) {
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case 0: {
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case 0:
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{
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chSysLock();
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chSysLock();
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chMsgWaitS();
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chMsgWaitS();
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auto msg = chMsgGet(conversionThreadMonitorHandle);
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auto msg = chMsgGet(conversionThreadMonitorHandle);
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chMsgReleaseS(conversionThreadMonitorHandle, MSG_OK);
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chMsgReleaseS(conversionThreadMonitorHandle, MSG_OK);
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//chSchDoYieldS();
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chSysUnlock();
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chSysUnlock();
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ctxp->r0 = msg;
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ctxp->r0 = msg;
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}
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}
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break;
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break;
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case 1:
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{
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using mathcall = void (*)();
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static mathcall funcs[4] = {
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reinterpret_cast<mathcall>(math::sin),
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reinterpret_cast<mathcall>(math::cos),
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reinterpret_cast<mathcall>(math::tan),
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reinterpret_cast<mathcall>(math::sqrt),
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};
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asm("vmov.f64 d0, %0, %1" :: "r" (ctxp->r1), "r" (ctxp->r2));
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if (ctxp->r0 < 4) {
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funcs[ctxp->r0]();
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asm("vmov.f64 %0, %1, d0" : "=r" (ctxp->r1), "=r" (ctxp->r2));
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} else {
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asm("eor r0, r0; vmov.f64 d0, r0, r0");
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}
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}
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break;
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default:
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default:
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while (1);
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while (1);
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break;
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break;
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