112 lines
3.9 KiB
C
112 lines
3.9 KiB
C
/*
|
|
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 PPC/chcore.c
|
|
* @brief PowerPC architecture port code.
|
|
*
|
|
* @addtogroup PPC_CORE
|
|
* @{
|
|
*/
|
|
|
|
#include "ch.h"
|
|
|
|
/**
|
|
* @brief Kernel port layer initialization.
|
|
* @details IVOR4 and IVOR10 initialization.
|
|
*/
|
|
void port_init(void) {
|
|
#if PPC_SUPPORTS_IVORS
|
|
/* The CPU support IVOR registers, the kernel requires IVOR4 and IVOR10
|
|
and the initialization is performed here.*/
|
|
asm volatile ("li %%r3, _IVOR4@l \t\n"
|
|
"mtIVOR4 %%r3 \t\n"
|
|
"li %%r3, _IVOR10@l \t\n"
|
|
"mtIVOR10 %%r3" : : : "memory");
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @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) {
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @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
|
|
*/
|
|
__attribute__((naked))
|
|
void port_dummy1(void) {
|
|
|
|
asm (".global _port_switch");
|
|
asm ("_port_switch:");
|
|
asm ("subi %sp, %sp, 80"); /* Size of the intctx structure. */
|
|
asm ("mflr %r0");
|
|
asm ("stw %r0, 84(%sp)"); /* LR into the caller frame. */
|
|
asm ("mfcr %r0");
|
|
asm ("stw %r0, 0(%sp)"); /* CR. */
|
|
asm ("stmw %r14, 4(%sp)"); /* GPR14...GPR31. */
|
|
|
|
asm ("stw %sp, 12(%r4)"); /* Store swapped-out stack. */
|
|
asm ("lwz %sp, 12(%r3)"); /* Load swapped-in stack. */
|
|
|
|
asm ("lmw %r14, 4(%sp)"); /* GPR14...GPR31. */
|
|
asm ("lwz %r0, 0(%sp)"); /* CR. */
|
|
asm ("mtcr %r0");
|
|
asm ("lwz %r0, 84(%sp)"); /* LR from the caller frame. */
|
|
asm ("mtlr %r0");
|
|
asm ("addi %sp, %sp, 80"); /* Size of the intctx structure. */
|
|
asm ("blr");
|
|
}
|
|
|
|
/**
|
|
* @brief Start a thread by invoking its work function.
|
|
* @details If the work function returns @p chThdExit() is automatically
|
|
* invoked.
|
|
*/
|
|
__attribute__((naked))
|
|
void port_dummy2(void) {
|
|
|
|
asm (".global _port_thread_start");
|
|
asm ("_port_thread_start:");
|
|
chSysUnlock();
|
|
asm ("mr %r3, %r31"); /* Thread parameter. */
|
|
asm ("mtctr %r30");
|
|
asm ("bctrl"); /* Invoke thread function. */
|
|
asm ("bl chThdExit"); /* Thread termination on exit. */
|
|
}
|
|
|
|
/** @} */
|