Add initial RT-3 AVR port
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@6998 35acf78f-673a-0410-8e92-d51de3d6d3f4master
utzig
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/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013,2014 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_t *ntp, thread_t *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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@ -0,0 +1,367 @@
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/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013,2014 Giovanni Di Sirio.
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|
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This file is part of ChibiOS/RT.
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|
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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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|
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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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||||||
|
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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.h
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* @brief AVR architecture port macros and structures.
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*
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* @addtogroup AVR_CORE
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* @{
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*/
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#ifndef _CHCORE_H_
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#define _CHCORE_H_
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#if CH_DBG_ENABLE_STACK_CHECK
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#error "option CH_DBG_ENABLE_STACK_CHECK not supported by this port"
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#endif
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/**
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* @brief If enabled allows the idle thread to enter a low power mode.
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*/
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#ifndef ENABLE_WFI_IDLE
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#define ENABLE_WFI_IDLE 0
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#endif
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/**
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* @brief Macro defining the AVR architecture.
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*/
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#define PORT_ARCHITECTURE_AVR
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/**
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* @brief Name of the implemented architecture.
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*/
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#define PORT_ARCHITECTURE_NAME "AVR"
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/**
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* @brief Name of the architecture variant (optional).
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*/
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#define PORT_CORE_VARIANT_NAME "MegaAVR"
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/**
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* @brief Name of the compiler supported by this port.
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*/
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#define PORT_COMPILER_NAME "GCC " __VERSION__
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/**
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* @brief Port-specific information string.
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*/
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#define PORT_INFO "None"
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/**
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* @brief This port supports a realtime counter.
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*/
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#define PORT_SUPPORTS_RT FALSE
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/**
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* @brief 8 bits stack and memory alignment enforcement.
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*/
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typedef uint8_t stkalign_t;
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/**
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* @brief Interrupt saved context.
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* @details This structure represents the stack frame saved during a
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* preemption-capable interrupt handler.
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* @note The field @p _next is not part of the context, it represents the
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* offset of the structure relative to the stack pointer.
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*/
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struct port_extctx {
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uint8_t _next;
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uint8_t r31;
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uint8_t r30;
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uint8_t r27;
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uint8_t r26;
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uint8_t r25;
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uint8_t r24;
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uint8_t r23;
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uint8_t r22;
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uint8_t r21;
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uint8_t r20;
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uint8_t r19;
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uint8_t r18;
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uint8_t sr;
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uint8_t r1;
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uint8_t r0;
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uint16_t pc;
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};
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/**
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* @brief System saved context.
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* @details This structure represents the inner stack frame during a context
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* switching.
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* @note The field @p _next is not part of the context, it represents the
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* offset of the structure relative to the stack pointer.
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*/
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struct port_intctx {
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uint8_t _next;
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uint8_t r29;
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uint8_t r28;
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uint8_t r17;
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uint8_t r16;
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uint8_t r15;
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uint8_t r14;
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uint8_t r13;
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uint8_t r12;
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uint8_t r11;
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uint8_t r10;
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uint8_t r9;
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uint8_t r8;
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uint8_t r7;
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uint8_t r6;
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uint8_t r5;
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uint8_t r4;
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uint8_t r3;
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uint8_t r2;
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uint8_t pcl;
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uint8_t pch;
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};
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/**
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* @brief Platform dependent part of the @p thread_t structure.
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* @details In the AVR port this structure just holds a pointer to the
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* @p port_intctx structure representing the stack pointer at the time
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* of the context switch.
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*/
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struct context {
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struct port_intctx *sp;
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};
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/**
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* @brief Platform dependent part of the @p chThdCreateI() API.
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* @details This code usually setup the context switching frame represented
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* by an @p port_intctx structure.
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*/
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#define PORT_SETUP_CONTEXT(tp, workspace, wsize, pf, arg) { \
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tp->p_ctx.sp = (struct port_intctx*)((uint8_t *)workspace + wsize - \
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sizeof(struct port_intctx)); \
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tp->p_ctx.sp->r2 = (int)pf; \
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tp->p_ctx.sp->r3 = (int)pf >> 8; \
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tp->p_ctx.sp->r4 = (int)arg; \
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tp->p_ctx.sp->r5 = (int)arg >> 8; \
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tp->p_ctx.sp->pcl = (int)_port_thread_start >> 8; \
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tp->p_ctx.sp->pch = (int)_port_thread_start; \
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}
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/**
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* @brief Stack size for the system idle thread.
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* @details This size depends on the idle thread implementation, usually
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* the idle thread should take no more space than those reserved
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* by @p PORT_INT_REQUIRED_STACK.
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* @note In this port it is set to 8.
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*/
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#if !defined(PORT_IDLE_THREAD_STACK_SIZE) || defined(__DOXYGEN__)
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#define PORT_IDLE_THREAD_STACK_SIZE 8
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#endif
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/**
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* @brief Per-thread stack overhead for interrupts servicing.
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* @details This constant is used in the calculation of the correct working
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* area size.
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* This value can be zero on those architecture where there is a
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* separate interrupt stack and the stack space between @p port_intctx
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* and @p port_extctx is known to be zero.
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* @note In this port the default is 32 bytes per thread.
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*/
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#if !defined(PORT_INT_REQUIRED_STACK) || defined(__DOXYGEN__)
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#define PORT_INT_REQUIRED_STACK 32
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#endif
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/**
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* @brief Enforces a correct alignment for a stack area size value.
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*/
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#define STACK_ALIGN(n) ((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1)
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/**
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* @brief Computes the thread working area global size.
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*/
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#define PORT_WA_SIZE(n) STACK_ALIGN(sizeof(thread_t) + \
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(sizeof(struct port_intctx) - 1) + \
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(sizeof(struct port_extctx) - 1) + \
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(n) + (PORT_INT_REQUIRED_STACK))
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/**
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* @brief Static working area allocation.
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* @details This macro is used to allocate a static thread working area
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* aligned as both position and size.
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*/
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#define WORKING_AREA(s, n) stkalign_t s[PORT_WA_SIZE(n) / sizeof(stkalign_t)]
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/**
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* @brief IRQ prologue code.
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* @details This macro must be inserted at the start of all IRQ handlers
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* enabled to invoke system APIs.
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* @note This code tricks the compiler to save all the specified registers
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* by "touching" them.
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*/
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#define PORT_IRQ_PROLOGUE() { \
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asm ("" : : : "r18", "r19", "r20", "r21", "r22", "r23", "r24", \
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"r25", "r26", "r27", "r30", "r31"); \
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}
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/**
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* @brief IRQ epilogue code.
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* @details This macro must be inserted at the end of all IRQ handlers
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* enabled to invoke system APIs.
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*/
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#define PORT_IRQ_EPILOGUE() { \
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_dbg_check_lock(); \
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if (chSchIsPreemptionRequired()) \
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chSchDoReschedule(); \
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_dbg_check_unlock(); \
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}
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/**
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* @brief IRQ handler function declaration.
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* @note @p id can be a function name or a vector number depending on the
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* port implementation.
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*/
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#define PORT_IRQ_HANDLER(id) ISR(id)
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/**
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* @brief Port-related initialization code.
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* @note This function is empty in this port.
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*/
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#define port_init()
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/**
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* @brief Returns a word encoding the current interrupts status.
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*
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* @return The interrupts status.
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*/
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static inline syssts_t port_get_irq_status(void) {
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return SREG;
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}
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/**
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* @brief Checks the interrupt status.
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*
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* @param[in] sts the interrupt status word
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*
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* @return The interrupt status.
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* @retvel false the word specified a disabled interrupts status.
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* @retvel true the word specified an enabled interrupts status.
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*/
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||||||
|
static inline bool port_irq_enabled(syssts_t sts) {
|
||||||
|
|
||||||
|
return (bool)((sts & 0x80) != 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) {
|
||||||
|
|
||||||
|
//TODO: is there any way to determine this?
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Kernel-lock action.
|
||||||
|
* @details Usually this function just disables interrupts but may perform more
|
||||||
|
* actions.
|
||||||
|
* @note Implemented as global interrupt disable.
|
||||||
|
*/
|
||||||
|
#define port_lock() asm volatile ("cli" : : : "memory")
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Kernel-unlock action.
|
||||||
|
* @details Usually this function just enables interrupts but may perform more
|
||||||
|
* actions.
|
||||||
|
* @note Implemented as global interrupt enable.
|
||||||
|
*/
|
||||||
|
#define port_unlock() asm volatile ("sei" : : : "memory")
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Kernel-lock action from an interrupt handler.
|
||||||
|
* @details This function is invoked before invoking I-class APIs from
|
||||||
|
* interrupt handlers. The implementation is architecture dependent,
|
||||||
|
* in its simplest form it is void.
|
||||||
|
* @note This function is empty in this port.
|
||||||
|
*/
|
||||||
|
#define port_lock_from_isr()
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Kernel-unlock action from an interrupt handler.
|
||||||
|
* @details This function is invoked after invoking I-class APIs from interrupt
|
||||||
|
* handlers. The implementation is architecture dependent, in its
|
||||||
|
* simplest form it is void.
|
||||||
|
* @note This function is empty in this port.
|
||||||
|
*/
|
||||||
|
#define port_unlock_from_isr()
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Disables all the interrupt sources.
|
||||||
|
* @note Of course non-maskable interrupt sources are not included.
|
||||||
|
* @note Implemented as global interrupt disable.
|
||||||
|
*/
|
||||||
|
#define port_disable() asm volatile ("cli" : : : "memory")
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Disables the interrupt sources below kernel-level priority.
|
||||||
|
* @note Interrupt sources above kernel level remains enabled.
|
||||||
|
* @note Same as @p port_disable() in this port, there is no difference
|
||||||
|
* between the two states.
|
||||||
|
*/
|
||||||
|
#define port_suspend() asm volatile ("cli" : : : "memory")
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Enables all the interrupt sources.
|
||||||
|
* @note Implemented as global interrupt enable.
|
||||||
|
*/
|
||||||
|
#define port_enable() asm volatile ("sei" : : : "memory")
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @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 This port function is implemented as inlined code for performance
|
||||||
|
* reasons.
|
||||||
|
*/
|
||||||
|
#if ENABLE_WFI_IDLE != 0
|
||||||
|
#define port_wait_for_interrupt() { \
|
||||||
|
asm volatile ("sleep" : : : "memory"); \
|
||||||
|
}
|
||||||
|
#else
|
||||||
|
#define port_wait_for_interrupt()
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
void port_switch(thread_t *ntp, thread_t *otp);
|
||||||
|
void port_halt(void);
|
||||||
|
void _port_thread_start(void);
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* _CHCORE_H_ */
|
||||||
|
|
||||||
|
/** @} */
|
||||||
|
|
@ -0,0 +1,99 @@
|
||||||
|
/*
|
||||||
|
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||||
|
2011,2012,2013,2014 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 AVR/compilers/GCC/chtypes.h
|
||||||
|
* @brief AVR architecture port system types.
|
||||||
|
*
|
||||||
|
* @addtogroup AVR_CORE
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef _CHTYPES_H_
|
||||||
|
#define _CHTYPES_H_
|
||||||
|
|
||||||
|
#include <stddef.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <stdbool.h>
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @name Common constants
|
||||||
|
*/
|
||||||
|
/**
|
||||||
|
* @brief Generic 'false' boolean constant.
|
||||||
|
*/
|
||||||
|
#if !defined(FALSE) || defined(__DOXYGEN__)
|
||||||
|
#define FALSE 0
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Generic 'true' boolean constant.
|
||||||
|
*/
|
||||||
|
#if !defined(TRUE) || defined(__DOXYGEN__)
|
||||||
|
#define TRUE (!FALSE)
|
||||||
|
#endif
|
||||||
|
/** @} */
|
||||||
|
|
||||||
|
typedef bool bool_t; /**< Fast boolean type. */
|
||||||
|
typedef uint8_t syssts_t; /**< System status word. */
|
||||||
|
typedef uint8_t tmode_t; /**< Thread flags. */
|
||||||
|
typedef uint8_t tstate_t; /**< Thread state. */
|
||||||
|
typedef uint8_t trefs_t; /**< Thread references counter. */
|
||||||
|
typedef uint8_t tslices_t; /**< Thread time slices counter. */
|
||||||
|
typedef uint8_t tprio_t; /**< Thread priority. */
|
||||||
|
typedef int16_t msg_t; /**< Inter-thread message. */
|
||||||
|
typedef uint8_t eventid_t; /**< Event Id. */
|
||||||
|
typedef uint8_t eventmask_t; /**< Event mask. */
|
||||||
|
typedef uint8_t eventflags_t; /**< Event flags. */
|
||||||
|
typedef uint16_t systime_t; /**< System time. */
|
||||||
|
typedef int8_t cnt_t; /**< Resources counter. */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Inline function modifier.
|
||||||
|
*/
|
||||||
|
#define INLINE inline
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief ROM constant modifier.
|
||||||
|
* @note It is set to use the "const" keyword in this port.
|
||||||
|
*/
|
||||||
|
#define ROMCONST const
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Packed structure modifier (within).
|
||||||
|
* @note It uses the "packed" GCC attribute.
|
||||||
|
*/
|
||||||
|
#define PACK_STRUCT_STRUCT __attribute__((packed))
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Packed structure modifier (before).
|
||||||
|
* @note Empty in this port.
|
||||||
|
*/
|
||||||
|
#define PACK_STRUCT_BEGIN
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Packed structure modifier (after).
|
||||||
|
* @note Empty in this port.
|
||||||
|
*/
|
||||||
|
#define PACK_STRUCT_END
|
||||||
|
|
||||||
|
#endif /* _CHTYPES_H_ */
|
||||||
|
|
||||||
|
/** @} */
|
||||||
|
|
@ -0,0 +1,7 @@
|
||||||
|
# List of the ChibiOS/RT AVR port files.
|
||||||
|
PORTSRC = ${CHIBIOS}/os/rt/ports/AVR/chcore.c
|
||||||
|
|
||||||
|
PORTASM =
|
||||||
|
|
||||||
|
PORTINC = ${CHIBIOS}/os/rt/ports/AVR \
|
||||||
|
${CHIBIOS}/os/rt/ports/AVR/compilers/GCC
|
||||||
|
|
@ -257,7 +257,7 @@ struct port_intctx {
|
||||||
};
|
};
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief Platform dependent part of the @p Thread structure.
|
* @brief Platform dependent part of the @p thread_t structure.
|
||||||
* @details This structure usually contains just the saved stack pointer
|
* @details This structure usually contains just the saved stack pointer
|
||||||
* defined as a pointer to a @p port_intctx structure.
|
* defined as a pointer to a @p port_intctx structure.
|
||||||
*/
|
*/
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue