147 lines
3.0 KiB
C
147 lines
3.0 KiB
C
/*
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* @file global.h
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*
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* Global utility header file for firmware
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*
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* Simulator and unit tests have their own version of this header
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*
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* While this header contains 'EXTERN_ENGINE' and 'DECLARE_ENGINE_PARAMETER_SIGNATURE' magic,
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* this header is not allowed to actually include higher-level engine related headers
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*
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* @date May 27, 2013
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* @author Andrey Belomutskiy, (c) 2012-2017
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*/
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#ifndef GLOBAL_H_
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#define GLOBAL_H_
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#ifdef __cplusplus
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extern "C"
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{
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#endif /* __cplusplus */
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#include <ch.h>
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#include <hal.h>
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// this is about MISRA not liking 'time.h'. todo: figure out something
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#if defined __GNUC__
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// GCC
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#include <sys/types.h>
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#define ALWAYS_INLINE __attribute__((always_inline))
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#else
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// IAR
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typedef unsigned int time_t;
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// todo: what's the IAR option?
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#define ALWAYS_INLINE INLINE
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#endif
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#include "common_headers.h"
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#include "controllers/global_shared.h"
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#include "io_pins.h"
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#ifdef __cplusplus
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#include "cli_registry.h"
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#include "eficonsole.h"
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#endif /* __cplusplus */
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#include "chprintf.h"
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/* definition to expand macro then apply to pragma message */
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#define VALUE_TO_STRING(x) #x
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#define VALUE(x) VALUE_TO_STRING(x)
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#define VAR_NAME_VALUE(var) #var "=" VALUE(var)
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// project-wide default thread stack size
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// see also PORT_INT_REQUIRED_STACK
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#define UTILITY_THREAD_STACK_SIZE 400
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#define EFI_ERROR_CODE 0xffffffff
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#if EFI_USE_CCM && defined __GNUC__
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#define MAIN_RAM __attribute__((section(".ram0")))
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#elif defined __GNUC__
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#define MAIN_RAM
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#else
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#define MAIN_RAM @ ".ram0"
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#endif
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/**
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* rusEfi is placing some of data structures into CCM memory simply
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* in order to use that memory - no magic about which RAM is faster etc.
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*
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* Please note that DMA does not work with CCM memory
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*/
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#if defined(STM32F7XX)
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#undef EFI_USE_CCM
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// todo: DTCM == CCM on STM32F7?
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//#define CCM_RAM ".ram3"
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#else /* defined(STM32F4XX) */
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#define CCM_RAM ".ram4"
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#endif /* defined(STM32F4XX) */
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#if EFI_USE_CCM
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#if defined __GNUC__
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#define CCM_OPTIONAL __attribute__((section(CCM_RAM)))
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#else // non-gcc
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#define CCM_OPTIONAL @ CCM_RAM
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#endif
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#else /* !EFI_USE_CCM */
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#define CCM_OPTIONAL
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#endif /* EFI_USE_CCM */
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#define EXTERN_ENGINE \
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extern Engine _engine; \
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COMMON_EXTERN_ENGINE
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#define ENGINE(x) _engine.x
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/**
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* low-level function is used here to reduce stack usage
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*/
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#define ON_FATAL_ERROR() \
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palWritePad(LED_ERROR_PORT, LED_ERROR_PIN, 1); \
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turnAllPinsOff(); \
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enginePins.communicationLedPin.setValue(1);
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/*
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* Stack debugging
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*/
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int getRemainingStack(thread_t *otp);
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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// 168 ticks in microsecond
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#define US_TO_NT_MULTIPLIER (CORE_CLOCK / 1000000)
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/**
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* converts efitimeus_t to efitick_t
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*/
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#define US2NT(us) (((efitime_t)(us))*US_TO_NT_MULTIPLIER)
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/**
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* converts efitick_t to efitimeus_t
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*/
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#define NT2US(nt) ((nt) / US_TO_NT_MULTIPLIER)
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#define Delay(ms) chThdSleepMilliseconds(ms)
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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bool lockAnyContext(void);
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void unlockAnyContext(void);
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#ifdef __cplusplus
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}
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#endif
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#endif /* GLOBAL_H_ */
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