449 lines
14 KiB
C
Executable File
449 lines
14 KiB
C
Executable File
/*
|
|
ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio.
|
|
|
|
This file is part of ChibiOS.
|
|
|
|
ChibiOS 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 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 chcore_v6m.h
|
|
* @brief ARMv6-M architecture port macros and structures.
|
|
*
|
|
* @addtogroup ARMCMx_V6M_CORE
|
|
* @{
|
|
*/
|
|
|
|
#ifndef CHCORE_V6M_H
|
|
#define CHCORE_V6M_H
|
|
|
|
/*===========================================================================*/
|
|
/* Module constants. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @name Port Capabilities and Constants
|
|
* @{
|
|
*/
|
|
/**
|
|
* @brief This port supports a realtime counter.
|
|
*/
|
|
#define PORT_SUPPORTS_RT FALSE
|
|
|
|
/**
|
|
* @brief Natural alignment constant.
|
|
* @note It is the minimum alignment for pointer-size variables.
|
|
*/
|
|
#define PORT_NATURAL_ALIGN sizeof (void *)
|
|
|
|
/**
|
|
* @brief Stack alignment constant.
|
|
* @note It is the alignement required for the stack pointer.
|
|
*/
|
|
#define PORT_STACK_ALIGN sizeof (stkalign_t)
|
|
|
|
/**
|
|
* @brief Working Areas alignment constant.
|
|
* @note It is the alignment to be enforced for thread working areas.
|
|
*/
|
|
#define PORT_WORKING_AREA_ALIGN PORT_STACK_ALIGN
|
|
/** @} */
|
|
|
|
/**
|
|
* @brief PendSV priority level.
|
|
* @note This priority is enforced to be equal to @p 0,
|
|
* this handler always has the highest priority that cannot preempt
|
|
* the kernel.
|
|
*/
|
|
#define CORTEX_PRIORITY_PENDSV 0
|
|
|
|
/*===========================================================================*/
|
|
/* Module pre-compile time settings. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @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 16 because the idle thread does have
|
|
* a stack frame when compiling without optimizations. You may
|
|
* reduce this value to zero when compiling with optimizations.
|
|
*/
|
|
#if !defined(PORT_IDLE_THREAD_STACK_SIZE)
|
|
#define PORT_IDLE_THREAD_STACK_SIZE 16
|
|
#endif
|
|
|
|
/**
|
|
* @brief Per-thread stack overhead for interrupts servicing.
|
|
* @details This constant is used in the calculation of the correct working
|
|
* area size.
|
|
* @note In this port this value is conservatively set to 64 because the
|
|
* function @p chSchDoReschedule() can have a stack frame, especially
|
|
* with compiler optimizations disabled. The value can be reduced
|
|
* when compiler optimizations are enabled.
|
|
*/
|
|
#if !defined(PORT_INT_REQUIRED_STACK)
|
|
#define PORT_INT_REQUIRED_STACK 64
|
|
#endif
|
|
|
|
/**
|
|
* @brief Enables the use of the WFI instruction in the idle thread loop.
|
|
*/
|
|
#if !defined(CORTEX_ENABLE_WFI_IDLE)
|
|
#define CORTEX_ENABLE_WFI_IDLE FALSE
|
|
#endif
|
|
|
|
/**
|
|
* @brief Alternate preemption method.
|
|
* @details Activating this option will make the Kernel use the PendSV
|
|
* handler for preemption instead of the NMI handler.
|
|
*/
|
|
#ifndef CORTEX_ALTERNATE_SWITCH
|
|
#define CORTEX_ALTERNATE_SWITCH FALSE
|
|
#endif
|
|
|
|
/*===========================================================================*/
|
|
/* Derived constants and error checks. */
|
|
/*===========================================================================*/
|
|
|
|
#if !defined(CH_CUSTOMER_LIC_PORT_CM0)
|
|
#error "CH_CUSTOMER_LIC_PORT_CM0 not defined"
|
|
#endif
|
|
|
|
#if CH_CUSTOMER_LIC_PORT_CM0 == FALSE
|
|
#error "ChibiOS Cortex-M0 port not licensed"
|
|
#endif
|
|
|
|
/**
|
|
* @name Architecture and Compiler
|
|
* @{
|
|
*/
|
|
#if ((CORTEX_MODEL == 0) && !defined(__CORE_CM0PLUS_H_DEPENDANT)) || \
|
|
defined(__DOXYGEN__)
|
|
/**
|
|
* @brief Macro defining the specific ARM architecture.
|
|
*/
|
|
#define PORT_ARCHITECTURE_ARM_v6M
|
|
|
|
/**
|
|
* @brief Name of the implemented architecture.
|
|
*/
|
|
#define PORT_ARCHITECTURE_NAME "ARMv6-M"
|
|
|
|
/**
|
|
* @brief Name of the architecture variant.
|
|
*/
|
|
#define PORT_CORE_VARIANT_NAME "Cortex-M0"
|
|
|
|
#elif (CORTEX_MODEL == 0) && defined(__CORE_CM0PLUS_H_DEPENDANT)
|
|
#define PORT_ARCHITECTURE_ARM_v6M
|
|
#define PORT_ARCHITECTURE_NAME "ARMv6-M"
|
|
#define PORT_CORE_VARIANT_NAME "Cortex-M0+"
|
|
#endif
|
|
|
|
/**
|
|
* @brief Port-specific information string.
|
|
*/
|
|
#if (CORTEX_ALTERNATE_SWITCH == FALSE) || defined(__DOXYGEN__)
|
|
#define PORT_INFO "Preemption through NMI"
|
|
#else
|
|
#define PORT_INFO "Preemption through PendSV"
|
|
#endif
|
|
/** @} */
|
|
|
|
/**
|
|
* @brief Maximum usable priority for normal ISRs.
|
|
*/
|
|
#if (CORTEX_ALTERNATE_SWITCH == TRUE) || defined(__DOXYGEN__)
|
|
#define CORTEX_MAX_KERNEL_PRIORITY 1
|
|
#else
|
|
#define CORTEX_MAX_KERNEL_PRIORITY 0
|
|
#endif
|
|
|
|
/*===========================================================================*/
|
|
/* Module data structures and types. */
|
|
/*===========================================================================*/
|
|
|
|
#if !defined(_FROM_ASM_)
|
|
|
|
/* The documentation of the following declarations is in chconf.h in order
|
|
to not have duplicated structure names into the documentation.*/
|
|
#if !defined(__DOXYGEN__)
|
|
struct port_extctx {
|
|
regarm_t r0;
|
|
regarm_t r1;
|
|
regarm_t r2;
|
|
regarm_t r3;
|
|
regarm_t r12;
|
|
regarm_t lr_thd;
|
|
regarm_t pc;
|
|
regarm_t xpsr;
|
|
};
|
|
|
|
struct port_intctx {
|
|
regarm_t r8;
|
|
regarm_t r9;
|
|
regarm_t r10;
|
|
regarm_t r11;
|
|
regarm_t r4;
|
|
regarm_t r5;
|
|
regarm_t r6;
|
|
regarm_t r7;
|
|
regarm_t lr;
|
|
};
|
|
#endif /* !defined(__DOXYGEN__) */
|
|
|
|
/*===========================================================================*/
|
|
/* Module macros. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief Platform dependent part of the @p chThdCreateI() API.
|
|
* @details This code usually setup the context switching frame represented
|
|
* by an @p port_intctx structure.
|
|
*/
|
|
#define PORT_SETUP_CONTEXT(tp, wbase, wtop, pf, arg) { \
|
|
(tp)->ctx.sp = (struct port_intctx *)((uint8_t *)(wtop) - \
|
|
sizeof (struct port_intctx)); \
|
|
(tp)->ctx.sp->r4 = (regarm_t)(pf); \
|
|
(tp)->ctx.sp->r5 = (regarm_t)(arg); \
|
|
(tp)->ctx.sp->lr = (regarm_t)_port_thread_start; \
|
|
}
|
|
|
|
/**
|
|
* @brief Computes the thread working area global size.
|
|
* @note There is no need to perform alignments in this macro.
|
|
*/
|
|
#define PORT_WA_SIZE(n) (sizeof (struct port_intctx) + \
|
|
sizeof (struct port_extctx) + \
|
|
((size_t)(n)) + ((size_t)(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.
|
|
*
|
|
* @param[in] s the name to be assigned to the stack array
|
|
* @param[in] n the stack size to be assigned to the thread
|
|
*/
|
|
#define PORT_WORKING_AREA(s, n) \
|
|
stkalign_t s[THD_WORKING_AREA_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.
|
|
*/
|
|
#if defined(__GNUC__) || defined(__DOXYGEN__)
|
|
#define PORT_IRQ_PROLOGUE() \
|
|
regarm_t _saved_lr = (regarm_t)__builtin_return_address(0)
|
|
#elif defined(__ICCARM__)
|
|
#define PORT_IRQ_PROLOGUE() \
|
|
regarm_t _saved_lr = (regarm_t)__get_LR()
|
|
#elif defined(__CC_ARM)
|
|
#define PORT_IRQ_PROLOGUE() \
|
|
regarm_t _saved_lr = (regarm_t)__return_address()
|
|
#endif
|
|
|
|
/**
|
|
* @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() _port_irq_epilogue(_saved_lr)
|
|
|
|
/**
|
|
* @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) void id(void)
|
|
|
|
/**
|
|
* @brief Fast IRQ handler function declaration.
|
|
* @note @p id can be a function name or a vector number depending on the
|
|
* port implementation.
|
|
*/
|
|
#define PORT_FAST_IRQ_HANDLER(id) void id(void)
|
|
|
|
/**
|
|
* @brief Performs a context switch between two threads.
|
|
* @details This is the most critical code in any port, this function
|
|
* is responsible for the context switch between 2 threads.
|
|
* @note The implementation of this code affects <b>directly</b> the context
|
|
* switch performance so optimize here as much as you can.
|
|
*
|
|
* @param[in] ntp the thread to be switched in
|
|
* @param[in] otp the thread to be switched out
|
|
*/
|
|
#if (CH_DBG_ENABLE_STACK_CHECK == FALSE) || defined(__DOXYGEN__)
|
|
#define port_switch(ntp, otp) _port_switch(ntp, otp)
|
|
#else
|
|
#define port_switch(ntp, otp) { \
|
|
struct port_intctx *r13 = (struct port_intctx *)__get_PSP(); \
|
|
if ((stkalign_t *)(r13 - 1) < (otp)->wabase) { \
|
|
chSysHalt("stack overflow"); \
|
|
} \
|
|
_port_switch(ntp, otp); \
|
|
}
|
|
#endif
|
|
|
|
/*===========================================================================*/
|
|
/* External declarations. */
|
|
/*===========================================================================*/
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
void _port_irq_epilogue(regarm_t lr);
|
|
void _port_switch(thread_t *ntp, thread_t *otp);
|
|
void _port_thread_start(void);
|
|
void _port_switch_from_isr(void);
|
|
void _port_exit_from_isr(void);
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
/*===========================================================================*/
|
|
/* Module inline functions. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief Port-related initialization code.
|
|
*/
|
|
static inline void port_init(void) {
|
|
|
|
NVIC_SetPriority(PendSV_IRQn, CORTEX_PRIORITY_PENDSV);
|
|
}
|
|
|
|
/**
|
|
* @brief Returns a word encoding the current interrupts status.
|
|
*
|
|
* @return The interrupts status.
|
|
*/
|
|
static inline syssts_t port_get_irq_status(void) {
|
|
|
|
return (syssts_t)__get_PRIMASK();
|
|
}
|
|
|
|
/**
|
|
* @brief Checks the interrupt status.
|
|
*
|
|
* @param[in] sts the interrupt status word
|
|
*
|
|
* @return The interrupt status.
|
|
* @retval false the word specified a disabled interrupts status.
|
|
* @retval true the word specified an enabled interrupts status.
|
|
*/
|
|
static inline bool port_irq_enabled(syssts_t sts) {
|
|
|
|
return (sts & (syssts_t)1) == (syssts_t)0;
|
|
}
|
|
|
|
/**
|
|
* @brief Determines the current execution context.
|
|
*
|
|
* @return The execution context.
|
|
* @retval false not running in ISR mode.
|
|
* @retval true running in ISR mode.
|
|
*/
|
|
static inline bool port_is_isr_context(void) {
|
|
|
|
return (bool)((__get_IPSR() & 0x1FFU) != 0U);
|
|
}
|
|
|
|
/**
|
|
* @brief Kernel-lock action.
|
|
* @details In this port this function disables interrupts globally.
|
|
*/
|
|
static inline void port_lock(void) {
|
|
|
|
__disable_irq();
|
|
}
|
|
|
|
/**
|
|
* @brief Kernel-unlock action.
|
|
* @details In this port this function enables interrupts globally.
|
|
*/
|
|
static inline void port_unlock(void) {
|
|
|
|
__enable_irq();
|
|
}
|
|
|
|
/**
|
|
* @brief Kernel-lock action from an interrupt handler.
|
|
* @details In this port this function disables interrupts globally.
|
|
* @note Same as @p port_lock() in this port.
|
|
*/
|
|
static inline void port_lock_from_isr(void) {
|
|
|
|
port_lock();
|
|
}
|
|
|
|
/**
|
|
* @brief Kernel-unlock action from an interrupt handler.
|
|
* @details In this port this function enables interrupts globally.
|
|
* @note Same as @p port_lock() in this port.
|
|
*/
|
|
static inline void port_unlock_from_isr(void) {
|
|
|
|
port_unlock();
|
|
}
|
|
|
|
/**
|
|
* @brief Disables all the interrupt sources.
|
|
*/
|
|
static inline void port_disable(void) {
|
|
|
|
__disable_irq();
|
|
}
|
|
|
|
/**
|
|
* @brief Disables the interrupt sources below kernel-level priority.
|
|
*/
|
|
static inline void port_suspend(void) {
|
|
|
|
__disable_irq();
|
|
}
|
|
|
|
/**
|
|
* @brief Enables all the interrupt sources.
|
|
*/
|
|
static inline void port_enable(void) {
|
|
|
|
__enable_irq();
|
|
}
|
|
|
|
/**
|
|
* @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 Implemented as an inlined @p WFI instruction.
|
|
*/
|
|
static inline void port_wait_for_interrupt(void) {
|
|
|
|
#if CORTEX_ENABLE_WFI_IDLE == TRUE
|
|
__WFI();
|
|
#endif
|
|
}
|
|
|
|
#endif /* _FROM_ASM_ */
|
|
|
|
#endif /* CHCORE_V6M_H */
|
|
|
|
/** @} */
|