mirror of https://github.com/rusefi/ChibiOS.git
134 lines
4.1 KiB
C
134 lines
4.1 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file AVR/chcore.c
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* @brief AVR architecture port code.
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*
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* @addtogroup AVR_CORE
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* @{
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*/
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#include "ch.h"
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/**
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* @brief Performs a context switch between two threads.
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* @details This is the most critical code in any port, this function
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* is responsible for the context switch between 2 threads.
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* @note The implementation of this code affects <b>directly</b> the context
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* switch performance so optimize here as much as you can.
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* @note The function is declared as a weak symbol, it is possible to
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* redefine it in your application code.
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*
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* @param[in] ntp the thread to be switched in
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* @param[in] otp the thread to be switched out
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*/
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#if !defined(__DOXYGEN__)
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__attribute__((naked, weak))
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#endif
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void port_switch(Thread *ntp, Thread *otp) {
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asm volatile ("push r2");
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asm volatile ("push r3");
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asm volatile ("push r4");
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asm volatile ("push r5");
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asm volatile ("push r6");
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asm volatile ("push r7");
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asm volatile ("push r8");
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asm volatile ("push r9");
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asm volatile ("push r10");
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asm volatile ("push r11");
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asm volatile ("push r12");
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asm volatile ("push r13");
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asm volatile ("push r14");
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asm volatile ("push r15");
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asm volatile ("push r16");
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asm volatile ("push r17");
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asm volatile ("push r28");
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asm volatile ("push r29");
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asm volatile ("movw r30, r22");
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asm volatile ("in r0, 0x3d");
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asm volatile ("std Z+5, r0");
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asm volatile ("in r0, 0x3e");
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asm volatile ("std Z+6, r0");
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asm volatile ("movw r30, r24");
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asm volatile ("ldd r0, Z+5");
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asm volatile ("out 0x3d, r0");
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asm volatile ("ldd r0, Z+6");
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asm volatile ("out 0x3e, r0");
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asm volatile ("pop r29");
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asm volatile ("pop r28");
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asm volatile ("pop r17");
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asm volatile ("pop r16");
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asm volatile ("pop r15");
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asm volatile ("pop r14");
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asm volatile ("pop r13");
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asm volatile ("pop r12");
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asm volatile ("pop r11");
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asm volatile ("pop r10");
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asm volatile ("pop r9");
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asm volatile ("pop r8");
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asm volatile ("pop r7");
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asm volatile ("pop r6");
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asm volatile ("pop r5");
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asm volatile ("pop r4");
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asm volatile ("pop r3");
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asm volatile ("pop r2");
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asm volatile ("ret");
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}
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/**
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* @brief Halts the system.
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* @details This function is invoked by the operating system when an
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* unrecoverable error is detected (for example because a programming
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* error in the application code that triggers an assertion while in
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* debug mode).
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* @note The function is declared as a weak symbol, it is possible to
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* redefine it in your application code.
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*/
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#if !defined(__DOXYGEN__)
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__attribute__((weak))
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#endif
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void port_halt(void) {
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port_disable();
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while (TRUE) {
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}
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}
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/**
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* @brief Start a thread by invoking its work function.
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* @details If the work function returns @p chThdExit() is automatically
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* invoked.
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*/
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void _port_thread_start(void) {
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chSysUnlock();
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asm volatile ("movw r24, r4");
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asm volatile ("movw r30, r2");
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asm volatile ("icall");
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asm volatile ("call chThdExit");
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}
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/** @} */
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