mirror of https://github.com/rusefi/ChibiOS.git
320 lines
10 KiB
C
320 lines
10 KiB
C
/*
|
|
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
|
2011 Giovanni Di Sirio.
|
|
|
|
This file is part of ChibiOS/RT.
|
|
|
|
ChibiOS/RT is free software; you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation; either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
ChibiOS/RT is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
/**
|
|
* @file AVR/chcore.h
|
|
* @brief AVR architecture port macros and structures.
|
|
*
|
|
* @addtogroup AVR_CORE
|
|
* @{
|
|
*/
|
|
|
|
#ifndef _CHCORE_H_
|
|
#define _CHCORE_H_
|
|
|
|
#include <avr/io.h>
|
|
#include <avr/interrupt.h>
|
|
|
|
/**
|
|
* @brief If enabled allows the idle thread to enter a low power mode.
|
|
*/
|
|
#ifndef ENABLE_WFI_IDLE
|
|
#define ENABLE_WFI_IDLE 0
|
|
#endif
|
|
|
|
/**
|
|
* @brief Macro defining the AVR architecture.
|
|
*/
|
|
#define CH_ARCHITECTURE_AVR
|
|
|
|
/**
|
|
* @brief Name of the implemented architecture.
|
|
*/
|
|
#define CH_ARCHITECTURE_NAME "AVR"
|
|
|
|
/**
|
|
* @brief Name of the architecture variant (optional).
|
|
*/
|
|
#define CH_CORE_VARIANT_NAME "MegaAVR"
|
|
|
|
/**
|
|
* @brief Name of the compiler supported by this port.
|
|
*/
|
|
#define CH_COMPILER_NAME "GCC "__VERSION__
|
|
|
|
/**
|
|
* @brief Port-specific information string.
|
|
*/
|
|
#define CH_PORT_INFO "None"
|
|
|
|
/**
|
|
* @brief 8 bits stack and memory alignment enforcement.
|
|
*/
|
|
typedef uint8_t stkalign_t;
|
|
|
|
/**
|
|
* @brief Interrupt saved context.
|
|
* @details This structure represents the stack frame saved during a
|
|
* preemption-capable interrupt handler.
|
|
* @note The field @p _next is not part of the context, it represents the
|
|
* offset of the structure relative to the stack pointer.
|
|
*/
|
|
struct extctx {
|
|
uint8_t _next;
|
|
uint8_t r31;
|
|
uint8_t r30;
|
|
uint8_t r27;
|
|
uint8_t r26;
|
|
uint8_t r25;
|
|
uint8_t r24;
|
|
uint8_t r23;
|
|
uint8_t r22;
|
|
uint8_t r21;
|
|
uint8_t r20;
|
|
uint8_t r19;
|
|
uint8_t r18;
|
|
uint8_t sr;
|
|
uint8_t r1;
|
|
uint8_t r0;
|
|
uint16_t pc;
|
|
};
|
|
|
|
/**
|
|
* @brief System saved context.
|
|
* @details This structure represents the inner stack frame during a context
|
|
* switching.
|
|
* @note The field @p _next is not part of the context, it represents the
|
|
* offset of the structure relative to the stack pointer.
|
|
*/
|
|
struct intctx {
|
|
uint8_t _next;
|
|
uint8_t r29;
|
|
uint8_t r28;
|
|
uint8_t r17;
|
|
uint8_t r16;
|
|
uint8_t r15;
|
|
uint8_t r14;
|
|
uint8_t r13;
|
|
uint8_t r12;
|
|
uint8_t r11;
|
|
uint8_t r10;
|
|
uint8_t r9;
|
|
uint8_t r8;
|
|
uint8_t r7;
|
|
uint8_t r6;
|
|
uint8_t r5;
|
|
uint8_t r4;
|
|
uint8_t r3;
|
|
uint8_t r2;
|
|
uint8_t pcl;
|
|
uint8_t pch;
|
|
};
|
|
|
|
/**
|
|
* @brief Platform dependent part of the @p Thread structure.
|
|
* @details In the AVR port this structure just holds a pointer to the
|
|
* @p intctx structure representing the stack pointer at the time
|
|
* of the context switch.
|
|
*/
|
|
struct context {
|
|
struct intctx *sp;
|
|
};
|
|
|
|
/**
|
|
* @brief Platform dependent part of the @p chThdCreateI() API.
|
|
* @details This code usually setup the context switching frame represented
|
|
* by an @p intctx structure.
|
|
*/
|
|
#define SETUP_CONTEXT(workspace, wsize, pf, arg) { \
|
|
tp->p_ctx.sp = (struct intctx*)((uint8_t *)workspace + wsize - \
|
|
sizeof(struct intctx)); \
|
|
tp->p_ctx.sp->r2 = (int)pf; \
|
|
tp->p_ctx.sp->r3 = (int)pf >> 8; \
|
|
tp->p_ctx.sp->r4 = (int)arg; \
|
|
tp->p_ctx.sp->r5 = (int)arg >> 8; \
|
|
tp->p_ctx.sp->pcl = (int)_port_thread_start >> 8; \
|
|
tp->p_ctx.sp->pch = (int)_port_thread_start; \
|
|
}
|
|
|
|
/**
|
|
* @brief Stack size for the system idle thread.
|
|
* @details This size depends on the idle thread implementation, usually
|
|
* the idle thread should take no more space than those reserved
|
|
* by @p PORT_INT_REQUIRED_STACK.
|
|
* @note In this port it is set to 8.
|
|
*/
|
|
#ifndef PORT_IDLE_THREAD_STACK_SIZE
|
|
#define PORT_IDLE_THREAD_STACK_SIZE 8
|
|
#endif
|
|
|
|
/**
|
|
* @brief Per-thread stack overhead for interrupts servicing.
|
|
* @details This constant is used in the calculation of the correct working
|
|
* area size.
|
|
* This value can be zero on those architecture where there is a
|
|
* separate interrupt stack and the stack space between @p intctx and
|
|
* @p extctx is known to be zero.
|
|
* @note In this port the default is 32 bytes per thread.
|
|
*/
|
|
#ifndef PORT_INT_REQUIRED_STACK
|
|
#define PORT_INT_REQUIRED_STACK 32
|
|
#endif
|
|
|
|
/**
|
|
* @brief Enforces a correct alignment for a stack area size value.
|
|
*/
|
|
#define STACK_ALIGN(n) ((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1)
|
|
|
|
/**
|
|
* @brief Computes the thread working area global size.
|
|
*/
|
|
#define THD_WA_SIZE(n) STACK_ALIGN(sizeof(Thread) + \
|
|
(sizeof(struct intctx) - 1) + \
|
|
(sizeof(struct extctx) - 1) + \
|
|
(n) + (PORT_INT_REQUIRED_STACK))
|
|
|
|
/**
|
|
* @brief Static working area allocation.
|
|
* @details This macro is used to allocate a static thread working area
|
|
* aligned as both position and size.
|
|
*/
|
|
#define WORKING_AREA(s, n) stkalign_t s[THD_WA_SIZE(n) / sizeof(stkalign_t)]
|
|
|
|
/**
|
|
* @brief IRQ prologue code.
|
|
* @details This macro must be inserted at the start of all IRQ handlers
|
|
* enabled to invoke system APIs.
|
|
* @note This code tricks the compiler to save all the specified registers
|
|
* by "touching" them.
|
|
*/
|
|
#define PORT_IRQ_PROLOGUE() { \
|
|
asm ("" : : : "r18", "r19", "r20", "r21", "r22", "r23", "r24", \
|
|
"r25", "r26", "r27", "r30", "r31"); \
|
|
}
|
|
|
|
/**
|
|
* @brief IRQ epilogue code.
|
|
* @details This macro must be inserted at the end of all IRQ handlers
|
|
* enabled to invoke system APIs.
|
|
*/
|
|
#define PORT_IRQ_EPILOGUE() { \
|
|
if (chSchIsRescRequiredExI()) \
|
|
chSchDoRescheduleI(); \
|
|
}
|
|
|
|
/**
|
|
* @brief IRQ handler function declaration.
|
|
* @note @p id can be a function name or a vector number depending on the
|
|
* port implementation.
|
|
*/
|
|
#define PORT_IRQ_HANDLER(id) ISR(id)
|
|
|
|
/**
|
|
* @brief Port-related initialization code.
|
|
* @note This function is empty in this port.
|
|
*/
|
|
#define port_init()
|
|
|
|
/**
|
|
* @brief Kernel-lock action.
|
|
* @details Usually this function just disables interrupts but may perform more
|
|
* actions.
|
|
* @note Implemented as global interrupt disable.
|
|
*/
|
|
#define port_lock() asm volatile ("cli" : : : "memory")
|
|
|
|
/**
|
|
* @brief Kernel-unlock action.
|
|
* @details Usually this function just disables interrupts but may perform more
|
|
* actions.
|
|
* @note Implemented as global interrupt enable.
|
|
*/
|
|
#define port_unlock() asm volatile ("sei" : : : "memory")
|
|
|
|
/**
|
|
* @brief Kernel-lock action from an interrupt handler.
|
|
* @details This function is invoked before invoking I-class APIs from
|
|
* interrupt handlers. The implementation is architecture dependent,
|
|
* in its simplest form it is void.
|
|
* @note This function is empty in this port.
|
|
*/
|
|
#define port_lock_from_isr()
|
|
|
|
/**
|
|
* @brief Kernel-unlock action from an interrupt handler.
|
|
* @details This function is invoked after invoking I-class APIs from interrupt
|
|
* handlers. The implementation is architecture dependent, in its
|
|
* simplest form it is void.
|
|
* @note This function is empty in this port.
|
|
*/
|
|
#define port_unlock_from_isr()
|
|
|
|
/**
|
|
* @brief Disables all the interrupt sources.
|
|
* @note Of course non maskable interrupt sources are not included.
|
|
* @note Implemented as global interrupt disable.
|
|
*/
|
|
#define port_disable() asm volatile ("cli" : : : "memory")
|
|
|
|
/**
|
|
* @brief Disables the interrupt sources below kernel-level priority.
|
|
* @note Interrupt sources above kernel level remains enabled.
|
|
* @note Same as @p port_disable() in this port, there is no difference
|
|
* between the two states.
|
|
*/
|
|
#define port_suspend() asm volatile ("cli" : : : "memory")
|
|
|
|
/**
|
|
* @brief Enables all the interrupt sources.
|
|
* @note Implemented as global interrupt enable.
|
|
*/
|
|
#define port_enable() asm volatile ("sei" : : : "memory")
|
|
|
|
/**
|
|
* @brief Enters an architecture-dependent IRQ-waiting mode.
|
|
* @details The function is meant to return when an interrupt becomes pending.
|
|
* The simplest implementation is an empty function or macro but this
|
|
* would not take advantage of architecture-specific power saving
|
|
* modes.
|
|
* @note This port function is implemented as inlined code for performance
|
|
* reasons.
|
|
*/
|
|
#if ENABLE_WFI_IDLE != 0
|
|
#define port_wait_for_interrupt() { \
|
|
asm volatile ("sleep" : : : "memory"); \
|
|
}
|
|
#else
|
|
#define port_wait_for_interrupt()
|
|
#endif
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
void port_switch(Thread *ntp, Thread *otp);
|
|
void port_halt(void);
|
|
void _port_thread_start(void);
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* _CHCORE_H_ */
|
|
|
|
/** @} */
|