From a1052ff43eb30723fcc801f6d3dcc637e1463145 Mon Sep 17 00:00:00 2001 From: gdisirio Date: Sun, 23 Nov 2014 18:15:56 +0000 Subject: [PATCH] git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7528 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/nil/ports/e200/nilcore.h | 2 +- os/rt/dox/rt.dox | 4 +- os/rt/ports/e200/chcore.h | 6 +- os/rt/templates/chcore.c | 106 +++-------- os/rt/templates/chcore.h | 338 +++++++++++++++++++++++++++--------- os/rt/templates/chtypes.h | 86 +++++---- 6 files changed, 341 insertions(+), 201 deletions(-) diff --git a/os/nil/ports/e200/nilcore.h b/os/nil/ports/e200/nilcore.h index 93ca1ea8e..e941c08cd 100644 --- a/os/nil/ports/e200/nilcore.h +++ b/os/nil/ports/e200/nilcore.h @@ -206,7 +206,7 @@ struct port_extctx { * switching. * @note R2 and R13 are not saved because those are assumed to be immutable * during the system life cycle. - * @note LR is stored in the caller contex so it is not present in this + * @note LR is stored in the caller context so it is not present in this * structure. */ struct port_intctx { diff --git a/os/rt/dox/rt.dox b/os/rt/dox/rt.dox index 5d198727f..f7dddd5d3 100644 --- a/os/rt/dox/rt.dox +++ b/os/rt/dox/rt.dox @@ -35,9 +35,7 @@ */ /** - * @defgroup types Types - * @details The system types are defined into the port layer, please refer to - * the core port implementation section. + * @defgroup types Kernel Types * @ingroup kernel */ diff --git a/os/rt/ports/e200/chcore.h b/os/rt/ports/e200/chcore.h index f5ecf2616..2d821348e 100644 --- a/os/rt/ports/e200/chcore.h +++ b/os/rt/ports/e200/chcore.h @@ -115,8 +115,8 @@ /** * @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. + * @p chcore_timer.h, if this option is enabled then the file + * @p chcore_timer_alt.h is included instead. */ #if !defined(PORT_USE_ALT_TIMER) #define PORT_USE_ALT_TIMER FALSE @@ -238,7 +238,7 @@ struct port_extctx { * switching. * @note R2 and R13 are not saved because those are assumed to be immutable * during the system life cycle. - * @note LR is stored in the caller contex so it is not present in this + * @note LR is stored in the caller context so it is not present in this * structure. */ struct port_intctx { diff --git a/os/rt/templates/chcore.c b/os/rt/templates/chcore.c index 2cb651c76..46a7679bc 100644 --- a/os/rt/templates/chcore.c +++ b/os/rt/templates/chcore.c @@ -33,89 +33,35 @@ #include "ch.h" +/*===========================================================================*/ +/* Module local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + /** * @brief Port-related initialization code. * @note This function is usually empty. */ -void port_init(void) { -} - -/** - * @brief Kernel-lock action. - * @details Usually this function just disables interrupts but may perform more - * actions. - */ -void port_lock(void) { -} - -/** - * @brief Kernel-unlock action. - * @details Usually this function just enables interrupts but may perform more - * actions. - */ -void port_unlock(void) { -} - -/** - * @brief Kernel-lock action from an interrupt handler. - * @details This function is invoked before invoking I-class APIs from - * interrupt handlers. The implementation is architecture dependent, - * in its simplest form it is void. - */ -void port_lock_from_isr(void) { -} - -/** - * @brief Kernel-unlock action from an interrupt handler. - * @details This function is invoked after invoking I-class APIs from interrupt - * handlers. The implementation is architecture dependent, in its - * simplest form it is void. - */ -void port_unlock_from_isr(void) { -} - -/** - * @brief Disables all the interrupt sources. - * @note Of course non-maskable interrupt sources are not included. - */ -void port_disable(void) { -} - -/** - * @brief Disables the interrupt sources below kernel-level priority. - * @note Interrupt sources above kernel level remains enabled. - */ -void port_suspend(void) { -} - -/** - * @brief Enables all the interrupt sources. - */ -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. - */ -void port_wait_for_interrupt(void) { -} - -/** - * @brief Halts the system. - * @details This function is invoked by the operating system when an - * unrecoverable error is detected (for example because a programming - * error in the application code that triggers an assertion while in - * debug mode). - */ -void port_halt(void) { - - port_disable(); - while (TRUE) { - } +void _port_init(void) { } /** @@ -128,7 +74,7 @@ void port_halt(void) { * @param[in] ntp the thread to be switched in * @param[in] otp the thread to be switched out */ -void port_switch(thread_t *ntp, thread_t *otp) { +void _port_switch(thread_t *ntp, thread_t *otp) { } /** @} */ diff --git a/os/rt/templates/chcore.h b/os/rt/templates/chcore.h index 8846aded2..bdb5dd0b6 100644 --- a/os/rt/templates/chcore.h +++ b/os/rt/templates/chcore.h @@ -32,15 +32,51 @@ #define _CHCORE_H_ /*===========================================================================*/ -/* Port constants. */ +/* Module constants. */ /*===========================================================================*/ -/*===========================================================================*/ -/* Port macros. */ -/*===========================================================================*/ +/** + * @name Architecture and Compiler + * @{ + */ +/** + * @brief Macro defining an XXX architecture. + */ +#define PORT_ARCHITECTURE_XXX + +/** + * @brief Macro defining the specific XXX architecture. + */ +#define PORT_ARCHITECTURE_XXX_YYY + +/** + * @brief Name of the implemented architecture. + */ +#define PORT_ARCHITECTURE_NAME "XXX Architecture" + +/** + * @brief Compiler name and version. + */ +#if defined(__GNUC__) || defined(__DOXYGEN__) +#define PORT_COMPILER_NAME "GCC " __VERSION__ + +#else +#error "unsupported compiler" +#endif + +/** + * @brief This port supports a realtime counter. + */ +#define PORT_SUPPORTS_RT FALSE + +/** + * @brief Port-specific information string. + */ +#define PORT_INFO "no info" +/** @} */ /*===========================================================================*/ -/* Port configurable parameters. */ +/* Module pre-compile time settings. */ /*===========================================================================*/ /** @@ -49,116 +85,100 @@ * the idle thread should take no more space than those reserved * by @p PORT_INT_REQUIRED_STACK. */ -#ifndef PORT_IDLE_THREAD_STACK_SIZE -#define PORT_IDLE_THREAD_STACK_SIZE 0 +#if !defined(PORT_IDLE_THREAD_STACK_SIZE) || defined(__DOXYGEN__) +#define PORT_IDLE_THREAD_STACK_SIZE 32 #endif /** * @brief Per-thread stack overhead for interrupts servicing. * @details This constant is used in the calculation of the correct working * area size. - * This value can be zero on those architecture where there is a - * separate interrupt stack and the stack space between @p intctx and - * @p extctx is known to be zero. */ -#ifndef PORT_INT_REQUIRED_STACK -#define PORT_INT_REQUIRED_STACK 0 +#if !defined(PORT_INT_REQUIRED_STACK) || defined(__DOXYGEN__) +#define PORT_INT_REQUIRED_STACK 256 +#endif + +/** + * @brief Enables an alternative timer implementation. + * @details Usually the port uses a timer interface defined in the file + * @p chcore_timer.h, if this option is enabled then the file + * @p chcore_timer_alt.h is included instead. + */ +#if !defined(PORT_USE_ALT_TIMER) +#define PORT_USE_ALT_TIMER FALSE #endif /*===========================================================================*/ -/* Port derived parameters. */ +/* Derived constants and error checks. */ /*===========================================================================*/ /*===========================================================================*/ -/* Port exported info. */ +/* Module data structures and types. */ /*===========================================================================*/ -/** - * @brief Unique macro for the implemented architecture. - */ -#define CH_ARCHITECTURE_XXX + +/* The following code is not processed when the file is included from an + asm module.*/ +#if !defined(_FROM_ASM_) /** - * @brief Name of the implemented architecture. + * @brief Type of stack and memory alignment enforcement. + * @note In this architecture the stack alignment is enforced to 64 bits. */ -#define CH_ARCHITECTURE_NAME "" - -/** - * @brief Name of the architecture variant (optional). - */ -#define CH_ARCHITECTURE_VARIANT_NAME "" - -/** - * @brief Name of the compiler supported by this port. - */ -#define CH_COMPILER_NAME "GCC" - -/** - * @brief Port-specific information string. - */ -#define CH_PORT_INFO "" - -/*===========================================================================*/ -/* Port implementation part. */ -/*===========================================================================*/ - -/** - * @brief Base type for stack and memory alignment. - */ -typedef uint8_t stkalign_t; +typedef uint64_t stkalign_t; /** * @brief Interrupt saved context. * @details This structure represents the stack frame saved during a * preemption-capable interrupt handler. + * @note R2 and R13 are not saved because those are assumed to be immutable + * during the system life cycle. */ -struct extctx { -}; +struct port_extctx { + }; /** * @brief System saved context. * @details This structure represents the inner stack frame during a context * switching. + * @note R2 and R13 are not saved because those are assumed to be immutable + * during the system life cycle. + * @note LR is stored in the caller context so it is not present in this + * structure. */ -struct intctx { +struct port_intctx { }; /** * @brief Platform dependent part of the @p thread_t structure. * @details This structure usually contains just the saved stack pointer - * defined as a pointer to a @p intctx structure. + * defined as a pointer to a @p port_intctx structure. */ struct context { - struct intctx *sp; + struct port_intctx *sp; }; +#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 intctx structure. + * by an @p port_intctx structure. */ -#define SETUP_CONTEXT(workspace, wsize, pf, arg) { \ +#define PORT_SETUP_CONTEXT(tp, workspace, wsize, pf, arg) { \ } -/** - * @brief Enforces a correct alignment for a stack area size value. - */ -#define STACK_ALIGN(n) ((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1) - /** * @brief Computes the thread working area global size. + * @note There is no need to perform alignments in this macro. */ -#define THD_WA_SIZE(n) STACK_ALIGN(sizeof(thread_t) + \ - sizeof(struct intctx) + \ - sizeof(struct extctx) + \ - (n) + (PORT_INT_REQUIRED_STACK)) - -/** - * @brief Static working area allocation. - * @details This macro is used to allocate a static thread working area - * aligned as both position and size. - */ -#define WORKING_AREA(s, n) stkalign_t s[THD_WA_SIZE(n) / sizeof(stkalign_t)] +#define PORT_WA_SIZE(n) (sizeof(struct port_intctx) + \ + sizeof(struct port_extctx) + \ + (n) + (PORT_INT_REQUIRED_STACK)) /** * @brief IRQ prologue code. @@ -185,29 +205,187 @@ struct context { * @brief Fast IRQ handler function declaration. * @note @p id can be a function name or a vector number depending on the * port implementation. - * @note Not all architectures support fast interrupts, in this case this - * macro must be omitted. */ #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 + */ +#if !CH_DBG_ENABLE_STACK_CHECK || defined(__DOXYGEN__) +#define port_switch(ntp, otp) _port_switch(ntp, otp) +#else +#define port_switch(ntp, otp) { \ + register struct port_intctx *sp asm ("%r1"); \ + if ((stkalign_t *)(sp - 1) < otp->p_stklimit) \ + chSysHalt("stack overflow"); \ + _port_switch(ntp, otp); \ +} +#endif + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + #ifdef __cplusplus extern "C" { #endif - void port_init(void); - void port_lock(void); - void port_unlock(void); - void port_lock_from_isr(void); - void port_unlock_from_isr(void); - void port_disable(void); - void port_suspend(void); - void port_enable(void); - void port_wait_for_interrupt(void); - void port_halt(void); - void port_switch(thread_t *ntp, thread_t *otp); + void _port_init(void); + void _port_switch(thread_t *ntp, thread_t *otp); #ifdef __cplusplus } #endif +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @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) { + + (void)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. + * @details Usually this function just disables interrupts but may perform more + * actions. + */ +static inline void port_lock(void) { + +} + +/** + * @brief Kernel-unlock action. + * @details Usually this function just enables interrupts but may perform more + * actions. + */ +static inline void port_unlock(void) { + +} + +/** + * @brief Kernel-lock action from an interrupt handler. + * @details This function is invoked before invoking I-class APIs from + * interrupt handlers. The implementation is architecture dependent, + * in its simplest form it is void. + */ +static inline void port_lock_from_isr(void) { + +} + +/** + * @brief Kernel-unlock action from an interrupt handler. + * @details This function is invoked after invoking I-class APIs from interrupt + * handlers. The implementation is architecture dependent, in its + * simplest form it is void. + */ +static inline void port_unlock_from_isr(void) { + +} + +/** + * @brief Disables all the interrupt sources. + * @note Of course non-maskable interrupt sources are not included. + */ +static inline void port_disable(void) { + +} + +/** + * @brief Disables the interrupt sources below kernel-level priority. + * @note Interrupt sources above kernel level remains enabled. + */ +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) { + +#if PPC_ENABLE_WFI_IDLE +#endif +} + +/** + * @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 CH_CFG_ST_TIMEDELTA > 0 +#if !PORT_USE_ALT_TIMER +#include "chcore_timer.h" +#else /* PORT_USE_ALT_TIMER */ +#include "chcore_timer_alt.h" +#endif /* PORT_USE_ALT_TIMER */ +#endif /* CH_CFG_ST_TIMEDELTA > 0 */ + +#endif /* !defined(_FROM_ASM_) */ + #endif /* _CHCORE_H_ */ /** @} */ diff --git a/os/rt/templates/chtypes.h b/os/rt/templates/chtypes.h index 09ee75d76..4d655307a 100644 --- a/os/rt/templates/chtypes.h +++ b/os/rt/templates/chtypes.h @@ -27,70 +27,88 @@ * doing so. * * @addtogroup types - * @details System types and macros. * @{ */ #ifndef _CHTYPES_H_ #define _CHTYPES_H_ -#define __need_NULL -#define __need_size_t #include - -#if !defined(_STDINT_H) && !defined(__STDINT_H_) #include +#include + +/** + * @name Common constants + */ +/** + * @brief Generic 'false' boolean constant. + */ +#if !defined(FALSE) || defined(__DOXYGEN__) +#define FALSE 0 #endif /** - * @brief Thread mode flags, uint8_t is ok. + * @brief Generic 'true' boolean constant. */ -typedef uint8_t tmode_t; +#if !defined(TRUE) || defined(__DOXYGEN__) +#define TRUE (!FALSE) +#endif +/** @} */ /** - * @brief Thread state, uint8_t is ok. + * @name Derived generic types + * @{ */ -typedef uint8_t tstate_t; +typedef volatile int8_t vint8_t; /**< Volatile signed 8 bits. */ +typedef volatile uint8_t vuint8_t; /**< Volatile unsigned 8 bits. */ +typedef volatile int16_t vint16_t; /**< Volatile signed 16 bits. */ +typedef volatile uint16_t vuint16_t; /**< Volatile unsigned 16 bits. */ +typedef volatile int32_t vint32_t; /**< Volatile signed 32 bits. */ +typedef volatile uint32_t vuint32_t; /**< Volatile unsigned 32 bits. */ +/** @} */ /** - * @brief Thread references counter, uint8_t is ok. + * @name Kernel types + * @{ */ -typedef uint8_t trefs_t; +typedef uint32_t rtcnt_t; /**< Realtime counter. */ +typedef uint64_t rttime_t; /**< Realtime accumulator. */ +typedef uint32_t syssts_t; /**< System status word. */ +typedef uint8_t tmode_t; /**< Thread flags. */ +typedef uint8_t tstate_t; /**< Thread state. */ +typedef uint8_t trefs_t; /**< Thread references counter. */ +typedef uint8_t tslices_t; /**< Thread time slices counter.*/ +typedef uint32_t tprio_t; /**< Thread priority. */ +typedef int32_t msg_t; /**< Inter-thread message. */ +typedef int32_t eventid_t; /**< Numeric event identifier. */ +typedef uint32_t eventmask_t; /**< Mask of event identifiers. */ +typedef uint32_t eventflags_t; /**< Mask of event flags. */ +typedef int32_t cnt_t; /**< Generic signed counter. */ +typedef uint32_t ucnt_t; /**< Generic unsigned counter. */ +/** @} */ /** - * @brief Priority, use the fastest unsigned type. + * @brief ROM constant modifier. + * @note It is set to use the "const" keyword in this port. */ -typedef uint32_t tprio_t; +#define ROMCONST const /** - * @brief Message, use signed pointer equivalent. + * @brief Makes functions not inlineable. + * @note If the compiler does not support such attribute then the + * realtime counter precision could be degraded. */ -typedef int32_t msg_t; +#define NOINLINE __attribute__((noinline)) /** - * @brief Numeric event identifier, use fastest signed. + * @brief Optimized thread function declaration macro. */ -typedef int32_t eventid_t; +#define PORT_THD_FUNCTION(tname, arg) msg_t tname(void *arg) /** - * @brief Mask of event identifiers, recommended fastest unsigned. + * @brief Packed variable specifier. */ -typedef uint32_t eventmask_t; - -/** - * @brief Mask of event flags, recommended fastest unsigned. - */ -typedef uint32_t eventflags_t; - -/** - * @brief System Time, recommended fastest unsigned. - */ -typedef uint32_t systime_t; - -/** - * @brief Counter, recommended fastest signed. - */ -typedef int32_t cnt_t; +#define PACKED_VAR __attribute__((packed)) #endif /* _CHTYPES_H_ */