mirror of https://github.com/rusefi/ChibiOS.git
93 lines
3.2 KiB
C
93 lines
3.2 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 PPC/chcore.c
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* @brief PowerPC architecture port code.
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*
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* @addtogroup PPC_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 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
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* in debug mode).
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*/
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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 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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*
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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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void port_switch(Thread *ntp, Thread *otp) {
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(void)otp;
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(void)ntp;
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asm ("subi %sp, %sp, 80"); /* Size of the intctx structure. */
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asm ("mflr %r0");
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asm ("stw %r0, 84(%sp)"); /* LR into the caller frame. */
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asm ("mfcr %r0");
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asm ("stw %r0, 0(%sp)"); /* CR. */
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asm ("stmw %r14, 4(%sp)"); /* GPR14...GPR31. */
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asm ("stw %sp, 12(%r4)"); /* Store swapped-out stack. */
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asm ("lwz %sp, 12(%r3)"); /* Load swapped-in stack. */
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asm ("lmw %r14, 4(%sp)"); /* GPR14...GPR31. */
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asm ("lwz %r0, 0(%sp)"); /* CR. */
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asm ("mtcr %r0");
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asm ("lwz %r0, 84(%sp)"); /* LR from the caller frame. */
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asm ("mtlr %r0");
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asm ("addi %sp, %sp, 80"); /* Size of the intctx structure. */
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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 ("mr %r3, %r31"); /* Thread parameter. */
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asm ("mtctr %r30");
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asm ("bctrl"); /* Invoke thread function. */
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asm ("bl chThdExit"); /* Thread termination on exit. */
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}
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/** @} */
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