git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6648 35acf78f-673a-0410-8e92-d51de3d6d3f4
gdisirio
parent
bb3dee47ed
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85dcf5dd2c
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/*
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ChibiOS/NIL - Copyright (C) 2012,2013 Giovanni Di Sirio.
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This file is part of ChibiOS/NIL.
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ChibiOS/NIL 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/NIL 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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||||||
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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/compilers/GCC/niltypes.h
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* @brief AVR port system types.
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*
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* @addtogroup AVR_CORE
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* @{
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*/
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#ifndef _NILTYPES_H_
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#define _NILTYPES_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 uint8_t syssts_t; /**< System status word. */
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typedef uint16_t rtcnt_t; /**< Realtime counter. */
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typedef uint8_t tstate_t; /**< Thread state. */
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typedef int16_t msg_t; /**< Inter-thread message. */
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typedef uint8_t eventmask_t; /**< Mask of event identifiers. */
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typedef int8_t cnt_t; /**< Generic signed counter. */
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typedef uint8_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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/**
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* @brief Optimized thread function declaration macro.
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*/
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#define PORT_THD_FUNCTION(tname, arg) \
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__attribute__((noreturn)) void tname(void *arg)
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/**
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* @brief Packed variable specifier.
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*/
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#define PACKED_VAR __attribute__((packed))
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#endif /* _NILTYPES_H_ */
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/** @} */
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@ -0,0 +1,138 @@
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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
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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/nilcore.c
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* @brief AVR 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 "nil.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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* @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 *ntp, Thread *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 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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chSysHalt(0);
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}
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/** @} */
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@ -0,0 +1,376 @@
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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
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||||||
|
it under the terms of the GNU General Public License as published by
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||||||
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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,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
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||||||
|
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 AVR/nilcore.h
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* @brief AVR 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 _NILCORE_H_
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#define _NILCORE_H_
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/**
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* @name Architecture and Compiler
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* @{
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*/
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/**
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* @brief Macro defining the port architecture.
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*/
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#define PORT_ARCHITECTURE_XXX
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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 "XXX"
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/**
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* @brief Name of the architecture variant.
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*/
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#define PORT_CORE_VARIANT_NAME "XXXX-Y"
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/**
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* @brief Compiler name and version.
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*/
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#if defined(__GNUC__) || defined(__DOXYGEN__)
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#define PORT_COMPILER_NAME "GCC " __VERSION__
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||||||
|
#else
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|
#error "unsupported compiler"
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|
#endif
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||||||
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/**
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* @brief Port-specific information string.
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*/
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#define PORT_INFO "port description"
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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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||||||
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/*===========================================================================*/
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/* Module pre-compile time settings. */
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||||||
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/*===========================================================================*/
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||||||
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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
|
||||||
|
* 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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||||||
|
*/
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||||||
|
#if !defined(PORT_IDLE_THREAD_STACK_SIZE) || defined(__DOXYGEN__)
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|
#define PORT_IDLE_THREAD_STACK_SIZE 16
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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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||||||
|
*/
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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
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @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)
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||||||
|
#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__)
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||||||
|
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 <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
|
||||||
|
*/
|
||||||
|
#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_ */
|
||||||
|
|
||||||
|
/** @} */
|
||||||
|
|
@ -20,7 +20,7 @@
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @file templates/nilcore.c
|
* @file templates/nilcore.c
|
||||||
* @brief Pport code.
|
* @brief Port code.
|
||||||
*
|
*
|
||||||
* @addtogroup NIL_CORE
|
* @addtogroup NIL_CORE
|
||||||
* @{
|
* @{
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue