git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6252 35acf78f-673a-0410-8e92-d51de3d6d3f4
gdisirio
parent
3368f57424
commit
6059ca8a04
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@ -0,0 +1,15 @@
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# List of the ChibiOS/NIL Cortex-M0 STM32F0xx port files.
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PORTSRC = $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/crt0.c \
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$(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/vectors.c \
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${CHIBIOS}/os/nil/ports/ARMCMx/nilcore.c \
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${CHIBIOS}/os/nil/ports/ARMCMx/nilcore_v6m.c
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PORTASM = $(CHIBIOS)/os/nil/ports/ARMCMx/compilers/GCC/nilcoreasm_v6m.s
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PORTINC = ${CHIBIOS}/os/ext/CMSIS/include \
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${CHIBIOS}/os/ext/CMSIS/ST \
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${CHIBIOS}/os/common/ports/ARMCMx/devices/STM32F0xx \
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${CHIBIOS}/os/nil/ports/ARMCMx \
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${CHIBIOS}/os/nil/ports/ARMCMx/compilers/GCC
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PORTLD = ${CHIBIOS}/os/common/ports/ARMCMx/compilers/GCC/ld
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@ -0,0 +1,124 @@
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/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013 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
|
||||
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.
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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 ARMCMx/GCC/nilcoreasm_v6m.s
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* @brief ARMv6-M architecture port low level code.
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*
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* @addtogroup ARMCMx_CORE
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* @{
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*/
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#define _FROM_ASM_
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#include "nilconf.h"
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#include "nilcore.h"
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#if !defined(FALSE) || defined(__DOXYGEN__)
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#define FALSE 0
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#endif
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#if !defined(TRUE) || defined(__DOXYGEN__)
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#define TRUE 1
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#endif
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#if !defined(__DOXYGEN__)
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.set CONTEXT_OFFSET, 0
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.set SCB_ICSR, 0xE000ED04
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.set ICSR_PENDSVSET, 0x10000000
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.set ICSR_NMIPENDSET, 0x80000000
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.cpu cortex-m0
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.fpu softvfp
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.thumb
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.text
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/*--------------------------------------------------------------------------*
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* Performs a context switch between two threads.
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*--------------------------------------------------------------------------*/
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.thumb_func
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.globl _port_switch
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_port_switch:
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push {r4, r5, r6, r7, lr}
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mov r4, r8
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mov r5, r9
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mov r6, r10
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mov r7, r11
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push {r4, r5, r6, r7}
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mov r3, sp
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str r3, [r1, #CONTEXT_OFFSET]
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ldr r3, [r0, #CONTEXT_OFFSET]
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mov sp, r3
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pop {r4, r5, r6, r7}
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mov r8, r4
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mov r9, r5
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mov r10, r6
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mov r11, r7
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pop {r4, r5, r6, r7, pc}
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/*--------------------------------------------------------------------------*
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* Start a thread by invoking its work function.
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*
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* Threads execution starts here, the code leaves the system critical zone
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* and then jumps into the thread function passed in register R4. The
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* register R5 contains the thread parameter. The function chThdExit() is
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* called on thread function return.
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*--------------------------------------------------------------------------*/
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.thumb_func
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.globl _port_thread_start
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_port_thread_start:
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cpsie i
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mov r0, r5
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blx r4
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mov r3, #0
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bl nilSysHalt
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/*--------------------------------------------------------------------------*
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* Post-IRQ switch code.
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*
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* Exception handlers return here for context switching.
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*--------------------------------------------------------------------------*/
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.thumb_func
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.globl _port_switch_from_isr
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_port_switch_from_isr:
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bl nilSchRescheduleS
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.globl _port_exit_from_isr
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_port_exit_from_isr:
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ldr r2, .L2
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ldr r3, .L3
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str r3, [r2, #0]
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#if CORTEX_ALTERNATE_SWITCH
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cpsie i
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#endif
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.L1: b .L1
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.align 2
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.L2: .word SCB_ICSR
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#if CORTEX_ALTERNATE_SWITCH
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.L3: .word ICSR_PENDSVSET
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#else
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.L3: .word ICSR_NMIPENDSET
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#endif
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#endif /* !defined(__DOXYGEN__) */
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/** @} */
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@ -0,0 +1,85 @@
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/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013 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
|
||||
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/>.
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*/
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/**
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* @file ARMCMx/GCC/chtypes.h
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* @brief ARM Cortex-Mx port system types.
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*
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* @addtogroup ARMCMx_CORE
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* @{
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*/
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#ifndef _CHTYPES_H_
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#define _CHTYPES_H_
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#include <stddef.h>
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#include <stdint.h>
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#include <stdbool.h>
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/**
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* @name Common constants
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*/
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/**
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* @brief Generic 'false' boolean constant.
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*/
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#if !defined(FALSE) || defined(__DOXYGEN__)
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#define FALSE 0
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#endif
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/**
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* @brief Generic 'true' boolean constant.
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*/
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#if !defined(TRUE) || defined(__DOXYGEN__)
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#define TRUE (!FALSE)
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#endif
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/** @} */
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typedef uint32_t systime_t; /**< System time. */
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typedef uint32_t rtcnt_t; /**< Realtime counter. */
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typedef uint64_t rttime_t; /**< Time accumulator. */
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typedef uint32_t syssts_t; /**< System status word. */
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typedef uint8_t tmode_t; /**< Thread flags. */
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typedef uint8_t tstate_t; /**< Thread state. */
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typedef uint8_t trefs_t; /**< Thread references counter. */
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typedef uint8_t tslices_t; /**< Thread time slices counter. */
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typedef uint32_t tprio_t; /**< Thread priority. */
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typedef int32_t msg_t; /**< Inter-thread message. */
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typedef int32_t eventid_t; /**< Numeric event identifier. */
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typedef uint32_t eventmask_t; /**< Mask of event identifiers. */
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typedef uint32_t eventflags_t; /**< Mask of event flags. */
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typedef int32_t cnt_t; /**< Generic signed counter. */
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typedef uint32_t ucnt_t; /**< Generic unsigned counter. */
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/**
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* @brief ROM constant modifier.
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* @note It is set to use the "const" keyword in this port.
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*/
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#define ROMCONST const
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/**
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* @brief Makes functions not inlineable.
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* @note If the compiler does not support such attribute then the
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* realtime counter precision could be degraded.
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*/
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#define NOINLINE __attribute__((noinline))
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#endif /* _CHTYPES_H_ */
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/** @} */
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@ -0,0 +1,55 @@
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/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013 Giovanni Di Sirio.
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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/>.
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*/
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/**
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* @file ARMCMx/chcore.c
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* @brief ARM Cortex-Mx port code.
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*
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* @addtogroup ARMCMx_CORE
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* @{
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*/
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#include "ch.h"
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/*===========================================================================*/
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/* Module local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module local types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module local variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module local functions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module exported functions. */
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/*===========================================================================*/
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/** @} */
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|
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@ -0,0 +1,201 @@
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/*
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||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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/>.
|
||||
*/
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||||
|
||||
/**
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||||
* @file ARMCMx/chcore.h
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||||
* @brief ARM Cortex-Mx port macros and structures.
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||||
*
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||||
* @addtogroup ARMCMx_CORE
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||||
* @{
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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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||||
/*===========================================================================*/
|
||||
/* Module constants. */
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||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @name Architecture and Compiler
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||||
* @{
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||||
*/
|
||||
/**
|
||||
* @brief Macro defining a generic ARM architecture.
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||||
*/
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||||
#define PORT_ARCHITECTURE_ARM
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||||
|
||||
/**
|
||||
* @brief Compiler name and version.
|
||||
*/
|
||||
#if defined(__GNUC__) || defined(__DOXYGEN__)
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||||
#define PORT_COMPILER_NAME "GCC " __VERSION__
|
||||
|
||||
#elif defined(__ICCARM__)
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||||
#define PORT_COMPILER_NAME "IAR"
|
||||
|
||||
#elif defined(__CC_ARM)
|
||||
#define PORT_COMPILER_NAME "RVCT"
|
||||
|
||||
#else
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||||
#error "unsupported compiler"
|
||||
#endif
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name Cortex-M variants
|
||||
* @{
|
||||
*/
|
||||
#define CORTEX_M0 0 /**< @brief Cortex-M0 variant. */
|
||||
#define CORTEX_M0PLUS 1 /**< @brief Cortex-M0+ variant. */
|
||||
#define CORTEX_M1 2 /**< @brief Cortex-M1 variant. */
|
||||
#define CORTEX_M3 3 /**< @brief Cortex-M3 variant. */
|
||||
#define CORTEX_M4 4 /**< @brief Cortex-M4 variant. */
|
||||
/** @} */
|
||||
|
||||
/* Inclusion of the Cortex-Mx implementation specific parameters.*/
|
||||
#include "cmparams.h"
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module pre-compile time settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Derived constants and error checks. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/* The following code is not processed when the file is included from an
|
||||
asm module.*/
|
||||
#if !defined(_FROM_ASM_)
|
||||
|
||||
/*
|
||||
* Inclusion of the appropriate CMSIS header for the selected device.
|
||||
*/
|
||||
#if CORTEX_MODEL == CORTEX_M0
|
||||
#include "core_cm0.h"
|
||||
#elif CORTEX_MODEL == CORTEX_M0PLUS
|
||||
#include "core_cm0plus.h"
|
||||
#elif CORTEX_MODEL == CORTEX_M3
|
||||
#include "core_cm3.h"
|
||||
#elif CORTEX_MODEL == CORTEX_M4
|
||||
#include "core_cm4.h"
|
||||
#else
|
||||
#error "unknown or unsupported Cortex-M model"
|
||||
#endif
|
||||
|
||||
#endif /* !defined(_FROM_ASM_) */
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module data structures and types. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/* The following code is not processed when the file is included from an
|
||||
asm module.*/
|
||||
#if !defined(_FROM_ASM_)
|
||||
|
||||
/* The following declarations are there just for Doxygen documentation, the
|
||||
real declarations are inside the sub-headers being specific for the
|
||||
sub-architectures.*/
|
||||
#if defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Stack and memory alignment enforcement.
|
||||
* @note In this architecture the stack alignment is enforced to 64 bits,
|
||||
* 32 bits alignment is supported by hardware but deprecated by ARM,
|
||||
* the implementation choice is to not offer the option.
|
||||
*/
|
||||
typedef uint64_t stkalign_t;
|
||||
|
||||
/**
|
||||
* @brief Interrupt saved context.
|
||||
* @details This structure represents the stack frame saved during a
|
||||
* preemption-capable interrupt handler.
|
||||
* @note It is implemented to match the Cortex-Mx exception context.
|
||||
*/
|
||||
struct port_extctx {};
|
||||
|
||||
/**
|
||||
* @brief System saved context.
|
||||
* @details This structure represents the inner stack frame during a context
|
||||
* switching.
|
||||
*/
|
||||
struct port_intctx {};
|
||||
#endif /* defined(__DOXYGEN__) */
|
||||
|
||||
#endif /* !defined(_FROM_ASM_) */
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module macros. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Total priority levels.
|
||||
*/
|
||||
#define CORTEX_PRIORITY_LEVELS (1 << CORTEX_PRIORITY_BITS)
|
||||
|
||||
/**
|
||||
* @brief Minimum priority level.
|
||||
* @details This minimum priority level is calculated from the number of
|
||||
* priority bits supported by the specific Cortex-Mx implementation.
|
||||
*/
|
||||
#define CORTEX_MINIMUM_PRIORITY (CORTEX_PRIORITY_LEVELS - 1)
|
||||
|
||||
/**
|
||||
* @brief Maximum priority level.
|
||||
* @details The maximum allowed priority level is always zero.
|
||||
*/
|
||||
#define CORTEX_MAXIMUM_PRIORITY 0
|
||||
|
||||
/**
|
||||
* @brief Priority level verification macro.
|
||||
*/
|
||||
#define CORTEX_IS_VALID_PRIORITY(n) \
|
||||
(((n) >= 0) && ((n) < CORTEX_PRIORITY_LEVELS))
|
||||
|
||||
/**
|
||||
* @brief Priority level verification macro.
|
||||
*/
|
||||
#define CORTEX_IS_VALID_KERNEL_PRIORITY(n) \
|
||||
(((n) >= CORTEX_MAX_KERNEL_PRIORITY) && ((n) < CORTEX_PRIORITY_LEVELS))
|
||||
|
||||
/**
|
||||
* @brief Priority level to priority mask conversion macro.
|
||||
*/
|
||||
#define CORTEX_PRIO_MASK(n) \
|
||||
((n) << (8 - CORTEX_PRIORITY_BITS))
|
||||
|
||||
/*===========================================================================*/
|
||||
/* External declarations. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module inline functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/* Includes the sub-architecture-specific part.*/
|
||||
#if (CORTEX_MODEL == CORTEX_M0) || (CORTEX_MODEL == CORTEX_M0PLUS) || \
|
||||
(CORTEX_MODEL == CORTEX_M1)
|
||||
#include "chcore_v6m.h"
|
||||
#elif (CORTEX_MODEL == CORTEX_M3) || (CORTEX_MODEL == CORTEX_M4)
|
||||
#include "chcore_v7m.h"
|
||||
#endif
|
||||
|
||||
#endif /* _CHCORE_H_ */
|
||||
|
||||
/** @} */
|
||||
|
|
@ -0,0 +1,135 @@
|
|||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 ARMCMx/chcore_timer.h
|
||||
* @brief System timer header file.
|
||||
*
|
||||
* @addtogroup ARMCMx_TIMER
|
||||
* @{
|
||||
*/
|
||||
|
||||
#ifndef _CHCORE_TIMER_H_
|
||||
#define _CHCORE_TIMER_H_
|
||||
|
||||
#if defined(CH_PORT_DO_NOT_USE_ST)
|
||||
/* If, for some reason, the use of the HAL-provided ST timer port interface
|
||||
is not wanted, it is possible to provide the timer interface into a custom
|
||||
module.*/
|
||||
#include "chcore_timer_ext.h"
|
||||
|
||||
#else /* !defined(CH_PORT_DO_NOT_USE_ST) */
|
||||
|
||||
/* This is the only header in the HAL designed to be include-able alone.*/
|
||||
#include "st.h"
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module constants. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module pre-compile time settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Derived constants and error checks. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module data structures and types. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module macros. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Starts the alarm.
|
||||
* @note Makes sure that no spurious alarms are triggered after
|
||||
* this call.
|
||||
*
|
||||
* @param[in] time the time to be set for the first alarm
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
#define port_timer_start_alarm(time) { \
|
||||
chDbgAssert(stIsAlarmActive() == false, "already active"); \
|
||||
stStartAlarm(time); \
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Stops the alarm interrupt.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
#define port_timer_stop_alarm() { \
|
||||
chDbgAssert(stIsAlarmActive() != false, "not active"); \
|
||||
stStopAlarm(); \
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Sets the alarm time.
|
||||
*
|
||||
* @param[in] time the time to be set for the next alarm
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
#define port_timer_set_alarm(time) { \
|
||||
chDbgAssert(stIsAlarmActive() != false, "not active"); \
|
||||
stSetAlarm(time); \
|
||||
}
|
||||
|
||||
/*===========================================================================*/
|
||||
/* External declarations. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module inline functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Returns the system time.
|
||||
*
|
||||
* @return The system time.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
static inline systime_t port_timer_get_time(void) {
|
||||
|
||||
return stGetCounter();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the current alarm time.
|
||||
*
|
||||
* @return The currently set alarm time.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
static inline systime_t port_timer_get_alarm(void) {
|
||||
|
||||
return stGetAlarm();
|
||||
}
|
||||
|
||||
#endif /* !defined(CH_PORT_DO_NOT_USE_ST) */
|
||||
|
||||
#endif /* _CHCORE_TIMER_H_ */
|
||||
|
||||
/** @} */
|
||||
|
|
@ -0,0 +1,144 @@
|
|||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 ARMCMx/chcore_v6m.c
|
||||
* @brief ARMv6-M architecture port code.
|
||||
*
|
||||
* @addtogroup ARMCMx_V6M_CORE
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module local definitions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module exported variables. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module local types. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module local variables. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module local functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module interrupt handlers. */
|
||||
/*===========================================================================*/
|
||||
|
||||
#if !CORTEX_ALTERNATE_SWITCH || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief NMI vector.
|
||||
* @details The NMI vector is used for exception mode re-entering after a
|
||||
* context switch.
|
||||
*/
|
||||
void NMI_Handler(void) {
|
||||
|
||||
/* The port_extctx structure is pointed by the PSP register.*/
|
||||
struct port_extctx *ctxp = (struct port_extctx *)__get_PSP();
|
||||
|
||||
/* Discarding the current exception context and positioning the stack to
|
||||
point to the real one.*/
|
||||
ctxp++;
|
||||
|
||||
/* Writing back the modified PSP value.*/
|
||||
__set_PSP((uint32_t)ctxp);
|
||||
|
||||
/* Restoring the normal interrupts status.*/
|
||||
port_unlock_from_isr();
|
||||
}
|
||||
#endif /* !CORTEX_ALTERNATE_SWITCH */
|
||||
|
||||
#if CORTEX_ALTERNATE_SWITCH || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief PendSV vector.
|
||||
* @details The PendSV vector is used for exception mode re-entering after a
|
||||
* context switch.
|
||||
*/
|
||||
void PendSV_Handler(void) {
|
||||
|
||||
/* The port_extctx structure is pointed by the PSP register.*/
|
||||
struct port_extctx *ctxp = (struct port_extctx *)__get_PSP();
|
||||
|
||||
/* Discarding the current exception context and positioning the stack to
|
||||
point to the real one.*/
|
||||
ctxp++;
|
||||
|
||||
/* Writing back the modified PSP value.*/
|
||||
__set_PSP((uint32_t)ctxp);
|
||||
}
|
||||
#endif /* CORTEX_ALTERNATE_SWITCH */
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module exported functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief IRQ epilogue code.
|
||||
*
|
||||
* @param[in] lr value of the @p LR register on ISR entry
|
||||
*/
|
||||
void _port_irq_epilogue(regarm_t lr) {
|
||||
|
||||
if (lr != (regarm_t)0xFFFFFFF1) {
|
||||
struct port_extctx *ctxp;
|
||||
|
||||
port_lock_from_isr();
|
||||
|
||||
/* The extctx structure is pointed by the PSP register.*/
|
||||
ctxp = (struct extctx *)__get_PSP();
|
||||
|
||||
/* Adding an artificial exception return context, there is no need to
|
||||
populate it fully.*/
|
||||
ctxp--;
|
||||
|
||||
/* Writing back the modified PSP value.*/
|
||||
__set_PSP((uint32_t)ctxp);
|
||||
|
||||
/* Setting up a fake XPSR register value.*/
|
||||
ctxp->xpsr = (regarm_t)0x01000000;
|
||||
|
||||
/* The exit sequence is different depending on if a preemption is
|
||||
required or not.*/
|
||||
if (chSchIsPreemptionRequired()) {
|
||||
/* Preemption is required we need to enforce a context switch.*/
|
||||
ctxp->pc = (void *)_port_switch_from_isr;
|
||||
}
|
||||
else {
|
||||
/* Preemption not required, we just need to exit the exception
|
||||
atomically.*/
|
||||
ctxp->pc = (void *)_port_exit_from_isr;
|
||||
}
|
||||
|
||||
/* Note, returning without unlocking is intentional, this is done in
|
||||
order to keep the rest of the context switch atomic.*/
|
||||
}
|
||||
}
|
||||
|
||||
/** @} */
|
||||
|
|
@ -0,0 +1,423 @@
|
|||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 ARMCMx/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 Architecture and Compiler
|
||||
* @{
|
||||
*/
|
||||
#if (CORTEX_MODEL == CORTEX_M0) || 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 == CORTEX_M0PLUS)
|
||||
#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 || defined(__DOXYGEN__)
|
||||
#define PORT_INFO "Preemption through NMI"
|
||||
#else
|
||||
#define PORT_INFO "Preemption through PendSV"
|
||||
#endif
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @brief This port does not support a realtime counter.
|
||||
*/
|
||||
#define PORT_SUPPORTS_RT FALSE
|
||||
|
||||
/**
|
||||
* @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 32 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 32
|
||||
#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. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Maximum usable priority for normal ISRs.
|
||||
*/
|
||||
#if CORTEX_ALTERNATE_SWITCH || 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_)
|
||||
|
||||
/**
|
||||
* @brief Generic ARM register.
|
||||
*/
|
||||
typedef void *regarm_t;
|
||||
|
||||
/* The documentation of the following declarations is in chconf.h in order
|
||||
to not have duplicated structure names into the documentation.*/
|
||||
#if !defined(__DOXYGEN__)
|
||||
|
||||
typedef uint64_t stkalign_t;
|
||||
|
||||
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__) */
|
||||
|
||||
/**
|
||||
* @brief Platform dependent part of the @p thread_t structure.
|
||||
* @details In this port the structure just holds a pointer to the
|
||||
* @p port_intctx structure representing the stack pointer
|
||||
* at context switch time.
|
||||
*/
|
||||
struct context {
|
||||
struct port_intctx *r13;
|
||||
};
|
||||
|
||||
/*===========================================================================*/
|
||||
/* 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(workspace, wsize, pf, arg) { \
|
||||
tp->p_ctx.r13 = (struct port_intctx *)((uint8_t *)workspace + \
|
||||
wsize - \
|
||||
sizeof(struct port_intctx)); \
|
||||
tp->p_ctx.r13->r4 = (regarm_t)(pf); \
|
||||
tp->p_ctx.r13->r5 = (regarm_t)(arg); \
|
||||
tp->p_ctx.r13->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) + \
|
||||
(n) + (PORT_INT_REQUIRED_STACK))
|
||||
|
||||
/**
|
||||
* @brief IRQ prologue code.
|
||||
* @details This macro must be inserted at the start of all IRQ handlers
|
||||
* enabled to invoke system APIs.
|
||||
*/
|
||||
#define PORT_IRQ_PROLOGUE() \
|
||||
regarm_t _saved_lr; \
|
||||
asm volatile ("mov %0, lr" : "=r" (_saved_lr) : : "memory")
|
||||
|
||||
/**
|
||||
* @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 || 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->p_stklimit) \
|
||||
chSysHalt("stack overflow"); \
|
||||
_port_switch(ntp, otp); \
|
||||
}
|
||||
#endif
|
||||
|
||||
#if CH_CFG_TIMEDELTA > 0
|
||||
#include "chcore_timer.h"
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* External declarations. */
|
||||
/*===========================================================================*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
void port_halt(void);
|
||||
void _port_irq_epilogue(regarm_t lr);
|
||||
void _port_switch_from_isr(void);
|
||||
void _port_exit_from_isr(void);
|
||||
void _port_switch(thread_t *ntp, thread_t *otp);
|
||||
void _port_thread_start(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 __get_PRIMASK();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Checks the interrupt status.
|
||||
*
|
||||
* @param[in] sts the interrupt status word
|
||||
*
|
||||
* @return The interrupt status.
|
||||
* @retvel false the word specified a disabled interrupts status.
|
||||
* @retvel true the word specified an enabled interrupts status.
|
||||
*/
|
||||
static inline bool port_irq_enabled(syssts_t sts) {
|
||||
|
||||
return (sts & 1) == 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() & 0x1FF) != 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @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
|
||||
__WFI;
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif /* _FROM_ASM_ */
|
||||
|
||||
#endif /* _CHCORE_V6M_H_ */
|
||||
|
||||
/** @} */
|
||||
|
|
@ -19,7 +19,7 @@
|
|||
*/
|
||||
|
||||
/**
|
||||
* @file GCC/ARMCMx/chcore_v6m.h
|
||||
* @file ARMCMx/chcore_v6m.h
|
||||
* @brief ARMv6-M architecture port macros and structures.
|
||||
*
|
||||
* @addtogroup ARMCMx_V6M_CORE
|
||||
|
|
@ -213,6 +213,7 @@ struct context {
|
|||
|
||||
/**
|
||||
* @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) + \
|
||||
|
|
|
|||
|
|
@ -312,6 +312,7 @@ struct context {
|
|||
|
||||
/**
|
||||
* @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) + \
|
||||
|
|
|
|||
|
|
@ -19,8 +19,8 @@
|
|||
*/
|
||||
|
||||
/**
|
||||
* @file ARMCMx/GCC/chcoreasm_v7m.s
|
||||
* @brief ARMv7-M architecture port low level code.
|
||||
* @file ARMCMx/GCC/chcoreasm_v6m.s
|
||||
* @brief ARMv6-M architecture port low level code.
|
||||
*
|
||||
* @addtogroup ARMCMx_CORE
|
||||
* @{
|
||||
|
|
|
|||
Loading…
Reference in New Issue