rusefi
/
ChibiOS
mirror of https://github.com/rusefi/ChibiOS.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
ChibiOS/ports/ARM7/chcore.h

293 lines
8.3 KiB
C
Raw Blame History

/*
ChibiOS/RT - Copyright (C) 2006-2007 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/>.
*/
/**
* @addtogroup ARM7_CORE
* @{
*/
#ifndef _CHCORE_H_
#define _CHCORE_H_
/**
* If enabled allows the idle thread to enter a low power mode.
*/
#ifndef ENABLE_WFI_IDLE
#define ENABLE_WFI_IDLE 0
#endif
#include <wfi.h>
/**
* Macro defining the ARM7 architecture.
*/
#define CH_ARCHITECTURE_ARM7
/**
* 32 bit stack alignment.
*/
typedef uint32_t stkalign_t;
/**
* Generic ARM register.
*/
typedef void *regarm_t;
/** @cond never */
/**
* This structure represents the stack frame saved during a preemption-capable
* interrupt handler.
*/
struct extctx {
regarm_t spsr_irq;
regarm_t lr_irq;
regarm_t r0;
regarm_t r1;
regarm_t r2;
regarm_t r3;
regarm_t r12;
regarm_t lr_usr;
};
/** @endcond */
/** @cond never */
/**
* This structure represents the inner stack frame during a context switching.
*/
struct intctx {
regarm_t r4;
regarm_t r5;
regarm_t r6;
#ifndef CH_CURRP_REGISTER_CACHE
regarm_t r7;
#endif
regarm_t r8;
regarm_t r9;
regarm_t r10;
regarm_t r11;
regarm_t lr;
};
/** @endcond */
/** @cond never */
/**
* In the ARM7 port this structure contains just the copy of the user mode
* stack pointer.
*/
struct context {
struct intctx *r13;
};
/** @endcond */
/**
* Platform dependent part of the @p chThdInit() API.
*/
#define SETUP_CONTEXT(workspace, wsize, pf, arg) { \
tp->p_ctx.r13 = (struct intctx *)((uint8_t *)workspace + \
wsize - \
sizeof(struct intctx)); \
tp->p_ctx.r13->r4 = pf; \
tp->p_ctx.r13->r5 = arg; \
tp->p_ctx.r13->lr = _port_thread_start; \
}
/**
* Stack size for the system idle thread.
*/
#ifndef IDLE_THREAD_STACK_SIZE
#define IDLE_THREAD_STACK_SIZE 0
#endif
/**
* Per-thread stack overhead for interrupts servicing, it is used in the
* calculation of the correct working area size.
* In this port 0x10 is a safe value, it can be reduced after careful generated
* code analysis.
*/
#ifndef INT_REQUIRED_STACK
#define INT_REQUIRED_STACK 0x10
#endif
/**
* Enforces a correct alignment for a stack area size value.
*/
#define STACK_ALIGN(n) ((((n) - 1) | sizeof(stkalign_t)) + 1)
/**
* Computes the thread working area global size.
*/
#define THD_WA_SIZE(n) STACK_ALIGN(sizeof(Thread) + \
sizeof(struct intctx) + \
sizeof(struct extctx) + \
(n) + (INT_REQUIRED_STACK))
/**
* Macro used to allocate a thread working area aligned as both position and
* size.
*/
#define WORKING_AREA(s, n) stkalign_t s[THD_WA_SIZE(n) / sizeof(stkalign_t)];
/**
* IRQ prologue code, inserted at the start of all IRQ handlers enabled to
* invoke system APIs.
* @note This macro has a different implementation depending if compiled in
* ARM or THUMB mode.
* @note The THUMB implementation starts with ARM code because interrupt
* vectors are always invoked in ARM mode regardless the bit 0
* value. The switch in THUMB mode is done in the function prologue so
* it is transparent to the user code.
*/
#ifdef THUMB
#define PORT_IRQ_PROLOGUE() { \
asm volatile (".code 32 \n\t" \
"stmfd sp!, {r0-r3, r12, lr} \n\t" \
"add r0, pc, #1 \n\t" \
"bx r0 \n\t" \
".code 16"); \
}
#else /* THUMB */
#define PORT_IRQ_PROLOGUE() { \
asm volatile ("stmfd sp!, {r0-r3, r12, lr}"); \
}
#endif /* !THUMB */
/**
* IRQ epilogue code, inserted at the end of all IRQ handlers enabled to
* invoke system APIs.
* @note This macro has a different implementation depending if compiled in
* ARM or THUMB mode.
*/
#ifdef THUMB
#define PORT_IRQ_EPILOGUE() { \
asm volatile ("ldr r0, =_port_irq_common \n\t" \
"bx r0"); \
}
#else /* THUMB */
#define PORT_IRQ_EPILOGUE() { \
asm volatile ("b _port_irq_common"); \
}
#endif /* !THUMB */
/**
* IRQ handler function declaration.
*/
#define PORT_IRQ_HANDLER(id) __attribute__((naked)) void id(void)
/**
* This function is empty in this port.
*/
#define port_init()
/**
* Disables the IRQ sources and keeps the FIQ sources enabled.
*/
#ifdef THUMB
#define port_lock() _port_lock_thumb()
#else /* THUMB */
#define port_lock() asm volatile ("msr CPSR_c, #0x9F")
#endif /* !THUMB */
/**
* Enables both the IRQ and FIQ sources.
*/
#ifdef THUMB
#define port_unlock() _port_unlock_thumb()
#else /* THUMB */
#define port_unlock() asm volatile ("msr CPSR_c, #0x1F")
#endif /* !THUMB */
/**
* This function is empty in this port.
*/
#define port_lock_from_isr()
/**
* This function is empty in this port.
*/
#define port_unlock_from_isr()
/**
* Disables both the IRQ and FIQ sources.
* @note Implements a workaround for spurious interrupts taken from the NXP
* LPC214x datasheet.
*/
#ifdef THUMB
#define port_disable() _port_disable_thumb()
#else /* THUMB */
#define port_disable() { \
asm volatile ("mrs r3, CPSR \n\t" \
"orr r3, #0x80 \n\t" \
"msr CPSR_c, r3 \n\t" \
"orr r3, #0x40 \n\t" \
"msr CPSR_c, r3" : : : "r3"); \
}
#endif /* !THUMB */
/**
* Disables the IRQ sources and enables the FIQ sources.
*/
#ifdef THUMB
#define port_suspend() _port_suspend_thumb()
#else /* THUMB */
#define port_suspend() asm volatile ("msr CPSR_c, #0x9F")
#endif /* !THUMB */
/**
* Enables both the IRQ and FIQ sources.
*/
#ifdef THUMB
#define port_enable() _port_enable_thumb()
#else /* THUMB */
#define port_enable() asm volatile ("msr CPSR_c, #0x1F")
#endif /* !THUMB */
/**
* Performs a context switch between two threads.
* @param otp the thread to be switched out
* @param ntp the thread to be switched in
*/
#ifdef THUMB
#define port_switch(otp, ntp) _port_switch_thumb(otp, ntp)
#else /* THUMB */
#define port_switch(otp, ntp) _port_switch_arm(otp, ntp)
#endif /* !THUMB */
#ifdef __cplusplus
extern "C" {
#endif
void port_puts(char *msg);
void port_halt(void);
#ifdef THUMB
void _port_lock_thumb(void);
void _port_unlock_thumb(void);
void _port_disable_thumb(void);
void _port_suspend_thumb(void);
void _port_enable_thumb(void);
void _port_switch_thumb(Thread *otp, Thread *ntp);
#else /* THUMB */
void _port_switch_arm(Thread *otp, Thread *ntp);
#endif /* !THUMB */
void _port_thread_start(void);
#ifdef __cplusplus
}
#endif
#endif /* _CHCORE_H_ */
/** @} */
Reference in New Issue View Git Blame Copy Permalink