From 85dcf5dd2cec273ab8d2cf63f316a0b5e57e38f4 Mon Sep 17 00:00:00 2001 From: gdisirio Date: Mon, 27 Jan 2014 11:11:23 +0000 Subject: [PATCH] git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6648 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/nil/ports/AVR/compilers/GCC/niltypes.h | 87 +++++ os/nil/ports/AVR/nilcore.c | 138 ++++++++ os/nil/ports/AVR/nilcore.h | 376 ++++++++++++++++++++++ os/nil/templates/nilcore.c | 2 +- 4 files changed, 602 insertions(+), 1 deletion(-) create mode 100644 os/nil/ports/AVR/compilers/GCC/niltypes.h create mode 100644 os/nil/ports/AVR/nilcore.c create mode 100644 os/nil/ports/AVR/nilcore.h diff --git a/os/nil/ports/AVR/compilers/GCC/niltypes.h b/os/nil/ports/AVR/compilers/GCC/niltypes.h new file mode 100644 index 000000000..25d849d77 --- /dev/null +++ b/os/nil/ports/AVR/compilers/GCC/niltypes.h @@ -0,0 +1,87 @@ +/* + ChibiOS/NIL - Copyright (C) 2012,2013 Giovanni Di Sirio. + + This file is part of ChibiOS/NIL. + + ChibiOS/NIL 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/NIL 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 . +*/ + +/** + * @file AVR/compilers/GCC/niltypes.h + * @brief AVR port system types. + * + * @addtogroup AVR_CORE + * @{ + */ + +#ifndef _NILTYPES_H_ +#define _NILTYPES_H_ + +#include +#include +#include + +/** + * @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 uint8_t syssts_t; /**< System status word. */ +typedef uint16_t rtcnt_t; /**< Realtime counter. */ +typedef uint8_t tstate_t; /**< Thread state. */ +typedef int16_t msg_t; /**< Inter-thread message. */ +typedef uint8_t eventmask_t; /**< Mask of event identifiers. */ +typedef int8_t cnt_t; /**< Generic signed counter. */ +typedef uint8_t ucnt_t; /**< Generic unsigned counter. */ + +/** + * @brief ROM constant modifier. + * @note It is set to use the "const" keyword in this port. + */ +#define ROMCONST const + +/** + * @brief Makes functions not inlineable. + * @note If the compiler does not support such attribute then the + * realtime counter precision could be degraded. + */ +#define NOINLINE __attribute__((noinline)) + +/** + * @brief Optimized thread function declaration macro. + */ +#define PORT_THD_FUNCTION(tname, arg) \ + __attribute__((noreturn)) void tname(void *arg) + +/** + * @brief Packed variable specifier. + */ +#define PACKED_VAR __attribute__((packed)) + +#endif /* _NILTYPES_H_ */ + +/** @} */ diff --git a/os/nil/ports/AVR/nilcore.c b/os/nil/ports/AVR/nilcore.c new file mode 100644 index 000000000..eb762b00b --- /dev/null +++ b/os/nil/ports/AVR/nilcore.c @@ -0,0 +1,138 @@ +/* + 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 . +*/ + +/** + * @file AVR/nilcore.c + * @brief AVR port code. + * + * @addtogroup AVR_CORE + * @{ + */ + +#include "nil.h" + +/*===========================================================================*/ +/* Module local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** + * @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 directly the context + * switch performance so optimize here as much as you can. + * @note The function is declared as a weak symbol, it is possible to + * redefine it in your application code. + * + * @param[in] ntp the thread to be switched in + * @param[in] otp the thread to be switched out + */ +#if !defined(__DOXYGEN__) +__attribute__((naked, weak)) +#endif +void port_switch(Thread *ntp, Thread *otp) { + + asm volatile ("push r2"); + asm volatile ("push r3"); + asm volatile ("push r4"); + asm volatile ("push r5"); + asm volatile ("push r6"); + asm volatile ("push r7"); + asm volatile ("push r8"); + asm volatile ("push r9"); + asm volatile ("push r10"); + asm volatile ("push r11"); + asm volatile ("push r12"); + asm volatile ("push r13"); + asm volatile ("push r14"); + asm volatile ("push r15"); + asm volatile ("push r16"); + asm volatile ("push r17"); + asm volatile ("push r28"); + asm volatile ("push r29"); + + asm volatile ("movw r30, r22"); + asm volatile ("in r0, 0x3d"); + asm volatile ("std Z+5, r0"); + asm volatile ("in r0, 0x3e"); + asm volatile ("std Z+6, r0"); + + asm volatile ("movw r30, r24"); + asm volatile ("ldd r0, Z+5"); + asm volatile ("out 0x3d, r0"); + asm volatile ("ldd r0, Z+6"); + asm volatile ("out 0x3e, r0"); + + asm volatile ("pop r29"); + asm volatile ("pop r28"); + asm volatile ("pop r17"); + asm volatile ("pop r16"); + asm volatile ("pop r15"); + asm volatile ("pop r14"); + asm volatile ("pop r13"); + asm volatile ("pop r12"); + asm volatile ("pop r11"); + asm volatile ("pop r10"); + asm volatile ("pop r9"); + asm volatile ("pop r8"); + asm volatile ("pop r7"); + asm volatile ("pop r6"); + asm volatile ("pop r5"); + asm volatile ("pop r4"); + asm volatile ("pop r3"); + asm volatile ("pop r2"); + asm volatile ("ret"); +} + +/** + * @brief Start a thread by invoking its work function. + * @details If the work function returns @p chThdExit() is automatically + * invoked. + */ +void _port_thread_start(void) { + + chSysUnlock(); + asm volatile ("movw r24, r4"); + asm volatile ("movw r30, r2"); + asm volatile ("icall"); + chSysHalt(0); +} + +/** @} */ diff --git a/os/nil/ports/AVR/nilcore.h b/os/nil/ports/AVR/nilcore.h new file mode 100644 index 000000000..5028d2e88 --- /dev/null +++ b/os/nil/ports/AVR/nilcore.h @@ -0,0 +1,376 @@ +/* + 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 . +*/ + +/** + * @file AVR/nilcore.h + * @brief AVR port macros and structures. + * + * @addtogroup AVR_CORE + * @{ + */ + +#ifndef _NILCORE_H_ +#define _NILCORE_H_ + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/** + * @name Architecture and Compiler + * @{ + */ +/** + * @brief Macro defining the port architecture. + */ +#define PORT_ARCHITECTURE_XXX + +/** + * @brief Name of the implemented architecture. + */ +#define PORT_ARCHITECTURE_NAME "XXX" + +/** + * @brief Name of the architecture variant. + */ +#define PORT_CORE_VARIANT_NAME "XXXX-Y" + +/** + * @brief Compiler name and version. + */ +#if defined(__GNUC__) || defined(__DOXYGEN__) +#define PORT_COMPILER_NAME "GCC " __VERSION__ + +#else +#error "unsupported compiler" +#endif + +/** + * @brief Port-specific information string. + */ +#define PORT_INFO "port description" + +/** + * @brief This port supports a realtime counter. + */ +#define PORT_SUPPORTS_RT FALSE +/** @} */ + +/*===========================================================================*/ +/* 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. + */ +#if !defined(PORT_IDLE_THREAD_STACK_SIZE) || defined(__DOXYGEN__) +#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. + */ +#if !defined(PORT_INT_REQUIRED_STACK) || defined(__DOXYGEN__) +#define PORT_INT_REQUIRED_STACK 32 +#endif + +/** + * @brief Enables an alternative timer implementation. + * @details Usually the port uses a timer interface defined in the file + * @p nilcore_timer.h, if this option is enabled then the file + * @p nilcore_timer_alt.h is included instead. + */ +#if !defined(PORT_USE_ALT_TIMER) +#define PORT_USE_ALT_TIMER FALSE +#endif + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/* The following code is not processed when the file is included from an + asm module.*/ +#if !defined(_FROM_ASM_) + +/** + * @brief Type of system time. + */ +#if (NIL_CFG_ST_RESOLUTION == 32) || defined(__DOXYGEN__) +typedef uint32_t systime_t; +#else +typedef uint16_t systime_t; +#endif + +/** + * @brief Type of stack and memory alignment enforcement. + */ +typedef uint64_t stkalign_t; + +/** + * @brief Interrupt saved context. + * @details This structure represents the stack frame saved during a + * preemption-capable interrupt handler. + */ +struct port_extctx { + +}; + +/** + * @brief System saved context. + * @details This structure represents the inner stack frame during a context + * switching. + */ +struct port_intctx { + +}; + +#endif /* !defined(_FROM_ASM_) */ + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/** + * @brief Platform dependent part of the @p chThdCreateI() API. + * @details This code usually setup the context switching frame represented + * by an @p port_intctx structure. + */ +#define PORT_SETUP_CONTEXT(tp, wend, pf, arg) { \ +} + +/** + * @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() + +/** + * @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() + +/** + * @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 directly 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 + */ +#define port_switch(ntp, otp) _port_switch(ntp, otp) + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +/* The following code is not processed when the file is included from an + asm module.*/ +#if !defined(_FROM_ASM_) + +#ifdef __cplusplus +extern "C" { +#endif + void _port_irq_epilogue(void); + void _port_switch(thread_t *ntp, thread_t *otp); + void _port_thread_start(void); +#ifdef __cplusplus +} +#endif + +#endif /* !defined(_FROM_ASM_) */ + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/* The following code is not processed when the file is included from an + asm module.*/ +#if !defined(_FROM_ASM_) + +/** + * @brief Port-related initialization code. + */ +static inline void port_init(void) { + +} + +/** + * @brief Returns a word encoding the current interrupts status. + * + * @return The interrupts status. + */ +static inline syssts_t port_get_irq_status(void) { + + return 0; +} + +/** + * @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 false; +} + +/** + * @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 false; +} + +/** + * @brief Kernel-lock action. + */ +static inline void port_lock(void) { + +} + +/** + * @brief Kernel-unlock action. + */ +static inline void port_unlock(void) { + +} + +/** + * @brief Kernel-lock action from an interrupt handler. + */ +static inline void port_lock_from_isr(void) { + +} + +/** + * @brief Kernel-unlock action from an interrupt handler. + */ +static inline void port_unlock_from_isr(void) { + +} + +/** + * @brief Disables all the interrupt sources. + */ +static inline void port_disable(void) { + +} + +/** + * @brief Disables the interrupt sources below kernel-level priority. + */ +static inline void port_suspend(void) { + +} + +/** + * @brief Enables all the interrupt sources. + */ +static inline void port_enable(void) { + +} + +/** + * @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. + */ +static inline void port_wait_for_interrupt(void) { + +} + +/** + * @brief Returns the current value of the realtime counter. + * + * @return The realtime counter value. + */ +static inline rtcnt_t port_rt_get_counter_value(void) { + + return 0; +} + +#endif /* !defined(_FROM_ASM_) */ + +/*===========================================================================*/ +/* Module late inclusions. */ +/*===========================================================================*/ + +#if !defined(_FROM_ASM_) + +#if NIL_CFG_ST_TIMEDELTA > 0 +#if !PORT_USE_ALT_TIMER +#include "nilcore_timer.h" +#else /* PORT_USE_ALT_TIMER */ +#include "nilcore_timer_alt.h" +#endif /* PORT_USE_ALT_TIMER */ +#endif /* NIL_CFG_ST_TIMEDELTA > 0 */ + +#endif /* !defined(_FROM_ASM_) */ + +#endif /* _NILCORE_H_ */ + +/** @} */ diff --git a/os/nil/templates/nilcore.c b/os/nil/templates/nilcore.c index fe4f0d264..410765079 100644 --- a/os/nil/templates/nilcore.c +++ b/os/nil/templates/nilcore.c @@ -20,7 +20,7 @@ /** * @file templates/nilcore.c - * @brief Pport code. + * @brief Port code. * * @addtogroup NIL_CORE * @{