334 lines
9.5 KiB
C
334 lines
9.5 KiB
C
|
/*
|
||
|
|
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/>.
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @file ports/ARMCM3/chcore.h
|
||
|
|
* @brief ARM Cortex-M3 architecture port macros and structures.
|
||
|
|
* @addtogroup ARMCM3_CORE
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef _CHCORE_H_
|
||
|
|
#define _CHCORE_H_
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Port-related configuration parameters.
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Enables the use of the WFI ins.
|
||
|
|
*/
|
||
|
|
#ifndef ENABLE_WFI_IDLE
|
||
|
|
#define ENABLE_WFI_IDLE 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* BASEPRI user level, 0 = disabled.
|
||
|
|
*/
|
||
|
|
#ifndef BASEPRI_USER
|
||
|
|
#define BASEPRI_USER 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* BASEPRI level within kernel lock.
|
||
|
|
* Priority levels higher than this one (lower values) are unaffected by
|
||
|
|
* the OS activity and can be classified as fast interrupt sources, see
|
||
|
|
* @ref interrupt_classes.
|
||
|
|
*/
|
||
|
|
#ifndef BASEPRI_KERNEL
|
||
|
|
#define BASEPRI_KERNEL 0x40
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* SVCALL handler priority.
|
||
|
|
* @note This priority must always be one level above the @p BASEPRI_KERNEL
|
||
|
|
* value.
|
||
|
|
* @note It is recommended to leave this priority level for this handler alone.
|
||
|
|
*/
|
||
|
|
#ifndef PRIORITY_SVCALL
|
||
|
|
#define PRIORITY_SVCALL (BASEPRI_KERNEL - 0x10)
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* SYSTICK handler priority.
|
||
|
|
*/
|
||
|
|
#ifndef PRIORITY_SYSTICK
|
||
|
|
#define PRIORITY_SYSTICK 0x80
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* PENDSV handler priority.
|
||
|
|
* @note It is recommended to leave this priority level for this handler alone.
|
||
|
|
* @note This is a reserved handler and its priority must always be the
|
||
|
|
* lowest priority in the system in order to be always executed last
|
||
|
|
* in the interrupt servicing chain.
|
||
|
|
*/
|
||
|
|
#ifndef PRIORITY_PENDSV
|
||
|
|
#define PRIORITY_PENDSV 0xF0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Macro defining the ARM Cortex-M3 architecture.
|
||
|
|
*/
|
||
|
|
#define CH_ARCHITECTURE_ARMCM3
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Name of the implemented architecture.
|
||
|
|
*/
|
||
|
|
#define CH_ARCHITECTURE_NAME "ARM Cortex-M3"
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 32 bit stack alignment.
|
||
|
|
*/
|
||
|
|
typedef uint32_t stkalign_t;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Generic ARM register.
|
||
|
|
*/
|
||
|
|
typedef void *regarm_t;
|
||
|
|
|
||
|
|
/** @cond never */
|
||
|
|
/**
|
||
|
|
* Interrupt saved context, empty in this architecture.
|
||
|
|
*/
|
||
|
|
struct extctx {
|
||
|
|
};
|
||
|
|
/** @endcond */
|
||
|
|
|
||
|
|
/** @cond never */
|
||
|
|
/**
|
||
|
|
* This structure represents the inner stack frame during a context switching.
|
||
|
|
*/
|
||
|
|
struct intctx {
|
||
|
|
regarm_t basepri;
|
||
|
|
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_exc;
|
||
|
|
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;
|
||
|
|
};
|
||
|
|
/** @endcond */
|
||
|
|
|
||
|
|
/** @cond never */
|
||
|
|
/**
|
||
|
|
* Cortex-M3 context structure.
|
||
|
|
*/
|
||
|
|
struct context {
|
||
|
|
struct intctx *r13;
|
||
|
|
};
|
||
|
|
/** @endcond */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Platform dependent part of the @p chThdInit() API.
|
||
|
|
* This code usually setup the context switching frame represented by a
|
||
|
|
* @p intctx structure.
|
||
|
|
*/
|
||
|
|
#define SETUP_CONTEXT(workspace, wsize, pf, arg) { \
|
||
|
|
tp->p_ctx.r13 = (struct intctx *)((uint8_t *)workspace + \
|
||
|
|
wsize - \
|
||
|
|
sizeof(struct intctx)); \
|
||
|
|
tp->p_ctx.r13->basepri = BASEPRI_USER; \
|
||
|
|
tp->p_ctx.r13->lr_exc = (regarm_t)0xFFFFFFFD; \
|
||
|
|
tp->p_ctx.r13->r0 = arg; \
|
||
|
|
tp->p_ctx.r13->lr_thd = chThdExit; \
|
||
|
|
tp->p_ctx.r13->pc = pf; \
|
||
|
|
tp->p_ctx.r13->xpsr = (regarm_t)0x01000000; \
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* The default idle thread implementation requires no extra stack space in
|
||
|
|
* this port.
|
||
|
|
*/
|
||
|
|
#ifndef IDLE_THREAD_STACK_SIZE
|
||
|
|
#define IDLE_THREAD_STACK_SIZE 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* This port requires no extra stack space for interrupt handling.
|
||
|
|
*/
|
||
|
|
#ifndef INT_REQUIRED_STACK
|
||
|
|
#define INT_REQUIRED_STACK 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Enforces a correct alignment for a stack area size value.
|
||
|
|
*/
|
||
|
|
#define STACK_ALIGN(n) ((((n) - 1) | (sizeof(stkalign_t) - 1)) + 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.
|
||
|
|
*/
|
||
|
|
#define PORT_IRQ_PROLOGUE()
|
||
|
|
|
||
|
|
/**
|
||
|
|
* IRQ epilogue code, inserted at the end of all IRQ handlers enabled to
|
||
|
|
* invoke system APIs.
|
||
|
|
*/
|
||
|
|
#define PORT_IRQ_EPILOGUE() { \
|
||
|
|
SCB_ICSR = ICSR_PENDSVSET; \
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* IRQ handler function declaration.
|
||
|
|
*/
|
||
|
|
#define PORT_IRQ_HANDLER(id) void id(void)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* This function is empty in this port.
|
||
|
|
*/
|
||
|
|
#define port_init()
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Raises the base priority to kernel level.
|
||
|
|
*/
|
||
|
|
#if CH_OPTIMIZE_SPEED
|
||
|
|
#define port_lock() { \
|
||
|
|
register uint32_t tmp asm ("r3") = BASEPRI_KERNEL; \
|
||
|
|
asm volatile ("msr BASEPRI, %0" : : "r" (tmp)); \
|
||
|
|
}
|
||
|
|
#else
|
||
|
|
#define port_lock() { \
|
||
|
|
asm volatile ("bl _port_lock" : : : "r3", "lr"); \
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Lowers the base priority to user level.
|
||
|
|
*/
|
||
|
|
#if CH_OPTIMIZE_SPEED
|
||
|
|
#define port_unlock() { \
|
||
|
|
register uint32_t tmp asm ("r3") = BASEPRI_USER; \
|
||
|
|
asm volatile ("msr BASEPRI, %0" : : "r" (tmp)); \
|
||
|
|
}
|
||
|
|
#else
|
||
|
|
#define port_unlock() { \
|
||
|
|
asm volatile ("bl _port_unlock" : : : "r3", "lr"); \
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Same as @p port_lock() in this port.
|
||
|
|
*/
|
||
|
|
#define port_lock_from_isr() port_lock()
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Same as @p port_unlock() in this port.
|
||
|
|
*/
|
||
|
|
#define port_unlock_from_isr() port_unlock()
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Disables all the interrupt sources by raising the priority mask to level 0.
|
||
|
|
*/
|
||
|
|
#define port_disable() asm volatile ("cpsid i")
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Raises/lowers the base priority to kernel level.
|
||
|
|
*/
|
||
|
|
#define port_suspend() { \
|
||
|
|
register uint32_t tmp asm ("r3") = BASEPRI_KERNEL; \
|
||
|
|
asm volatile ("msr BASEPRI, %0 \n\t" \
|
||
|
|
"cpsie i" : : "r" (tmp)); \
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Lowers the base priority to user level.
|
||
|
|
*/
|
||
|
|
#define port_enable() { \
|
||
|
|
register uint32_t tmp asm ("r3") = BASEPRI_USER; \
|
||
|
|
asm volatile ("msr BASEPRI, %0 \n\t" \
|
||
|
|
"cpsie i" : : "r" (tmp)); \
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* This port function is implemented as inlined code for performance reasons.
|
||
|
|
*/
|
||
|
|
#if ENABLE_WFI_IDLE || defined(__DOXYGEN__)
|
||
|
|
#define port_wait_for_interrupt() { \
|
||
|
|
asm volatile ("wfi"); \
|
||
|
|
}
|
||
|
|
#else
|
||
|
|
#define port_wait_for_interrupt()
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* This port function is implemented as inlined code for performance reasons.
|
||
|
|
*/
|
||
|
|
#if CH_DBG_ENABLE_STACK_CHECK
|
||
|
|
#define port_switch(otp, ntp) { \
|
||
|
|
register Thread *_otp asm ("r0") = (otp); \
|
||
|
|
register Thread *_ntp asm ("r1") = (ntp); \
|
||
|
|
register char *sp asm ("sp"); \
|
||
|
|
if (sp - sizeof(struct intctx) - sizeof(Thread) < (char *)_otp) \
|
||
|
|
asm volatile ("movs r0, #0 \n\t" \
|
||
|
|
"b chDbgPanic"); \
|
||
|
|
asm volatile ("svc #0" : : "r" (_otp), "r" (_ntp)); \
|
||
|
|
}
|
||
|
|
#else /* !CH_DBG_ENABLE_STACK_CHECK */
|
||
|
|
#define port_switch(otp, ntp) { \
|
||
|
|
register Thread *_otp asm ("r0") = (otp); \
|
||
|
|
register Thread *_ntp asm ("r1") = (ntp); \
|
||
|
|
asm volatile ("svc #0" : : "r" (_otp), "r" (_ntp)); \
|
||
|
|
}
|
||
|
|
#endif /* !CH_DBG_ENABLE_STACK_CHECK */
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
void port_halt(void);
|
||
|
|
#if !CH_OPTIMIZE_SPEED
|
||
|
|
void _port_lock(void);
|
||
|
|
void _port_unlock(void);
|
||
|
|
#endif
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif /* _CHCORE_H_ */
|
||
|
|
|
||
|
|
/** @} */
|