chcore.h
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file ARM/chcore.h
* @brief ARM7/9 architecture port macros and structures.
*
* @addtogroup ARM_CORE
* @{
*/
#ifndef _CHCORE_H_
#define _CHCORE_H_
/*===========================================================================*/
/* Port constants. */
/*===========================================================================*/
/* Core variants identifiers.*/
#define ARM_CORE_ARM7TDMI 7 /**< ARM77TDMI core identifier. */
#define ARM_CORE_ARM9 9 /**< ARM9 core identifier. */
/* Inclusion of the ARM implementation specific parameters.*/
#include "armparams.h"
/* ARM core check, only ARM7TDMI and ARM9 supported right now.*/
#if (ARM_CORE == ARM_CORE_ARM7TDMI) || (ARM_CORE == ARM_CORE_ARM9)
#else
#error "unknown or unsupported ARM core"
#endif
/*===========================================================================*/
/* Port statically derived parameters. */
/*===========================================================================*/
/*===========================================================================*/
/* Port macros. */
/*===========================================================================*/
/*===========================================================================*/
/* Port configurable parameters. */
/*===========================================================================*/
/**
* @brief If enabled allows the idle thread to enter a low power mode.
*/
#ifndef ARM_ENABLE_WFI_IDLE
#define ARM_ENABLE_WFI_IDLE FALSE
#endif
/*===========================================================================*/
/* Port exported info. */
/*===========================================================================*/
/**
* @brief Macro defining a generic ARM architecture.
*/
#define CH_ARCHITECTURE_ARM
#if defined(__DOXYGEN__)
/**
* @brief Macro defining the specific ARM architecture.
* @note This macro is for documentation only, the real name changes
* depending on the selected architecture, the possible names are:
* - CH_ARCHITECTURE_ARM7TDMI.
* - CH_ARCHITECTURE_ARM9.
* .
*/
#define CH_ARCHITECTURE_ARMx
/**
* @brief Name of the implemented architecture.
* @note The value is for documentation only, the real value changes
* depending on the selected architecture, the possible values are:
* - "ARM7".
* - "ARM9".
* .
*/
#define CH_ARCHITECTURE_NAME "ARMx"
/**
* @brief Name of the architecture variant (optional).
* @note The value is for documentation only, the real value changes
* depending on the selected architecture, the possible values are:
* - "ARM7TDMI"
* - "ARM9"
* .
*/
#define CH_CORE_VARIANT_NAME "ARMxy"
/**
* @brief Port-specific information string.
* @note The value is for documentation only, the real value changes
* depending on the selected options, the possible values are:
* - "Pure ARM"
* - "Pure THUMB"
* - "Interworking"
* .
*/
#define CH_PORT_INFO "ARM|THUMB|Interworking"
#elif ARM_CORE == ARM_CORE_ARM7TDMI
#define CH_ARCHITECTURE_ARM7TDMI
#define CH_ARCHITECTURE_NAME "ARM7"
#define CH_CORE_VARIANT_NAME "ARM7TDMI"
#elif ARM_MODEL == ARM_VARIANT_ARM9
#define CH_ARCHITECTURE_ARM9
#define CH_ARCHITECTURE_NAME "ARM9"
#define CH_CORE_VARIANT_NAME "ARM9"
#endif
#if THUMB_PRESENT
#if THUMB_NO_INTERWORKING
#define CH_PORT_INFO "Pure THUMB mode"
#else /* !THUMB_NO_INTERWORKING */
#define CH_PORT_INFO "Interworking mode"
#endif /* !THUMB_NO_INTERWORKING */
#else /* !THUMB_PRESENT */
#define CH_PORT_INFO "Pure ARM mode"
#endif /* !THUMB_PRESENT */
/**
* @brief Name of the compiler supported by this port.
*/
#define CH_COMPILER_NAME "GCC " __VERSION__
/*===========================================================================*/
/* Port implementation part (common). */
/*===========================================================================*/
/**
* @brief 32 bits stack and memory alignment enforcement.
*/
typedef uint32_t stkalign_t;
/**
* @brief Generic ARM register.
*/
typedef void *regarm_t;
/**
* @brief Interrupt saved context.
* @details This structure represents the stack frame saved during a
* preemption-capable interrupt handler.
*/
struct extctx {
regarm_t spsr_irq;
regarm_t lr_irq;
regarm_t r0;
regarm_t r1;
regarm_t r2;
regarm_t r3;
regarm_t r12;
regarm_t lr_usr;
};
/**
* @brief System saved context.
* @details This structure represents the inner stack frame during a context
* switching.
*/
struct intctx {
regarm_t r4;
regarm_t r5;
regarm_t r6;
regarm_t r7;
regarm_t r8;
regarm_t r9;
regarm_t r10;
regarm_t r11;
regarm_t lr;
};
/**
* @brief Platform dependent part of the @p Thread structure.
* @details In this port the structure just holds a pointer to the @p intctx
* structure representing the stack pointer at context switch time.
*/
struct context {
struct intctx *r13;
};
/**
* @brief Platform dependent part of the @p chThdCreateI() API.
* @details This code usually setup the context switching frame represented
* by an @p intctx structure.
*/
#define SETUP_CONTEXT(workspace, wsize, pf, arg) { \
tp->p_ctx.r13 = (struct intctx *)((uint8_t *)workspace + \
wsize - \
sizeof(struct intctx)); \
tp->p_ctx.r13->r4 = pf; \
tp->p_ctx.r13->r5 = arg; \
tp->p_ctx.r13->lr = _port_thread_start; \
}
/**
* @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 4 because the idle thread does have
* a stack frame when compiling without optimizations.
*/
#ifndef PORT_IDLE_THREAD_STACK_SIZE
#define PORT_IDLE_THREAD_STACK_SIZE 4
#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.
* @note In this port 0x10 is a safe value, it can be reduced after careful
* analysis of the generated code.
*/
#ifndef PORT_INT_REQUIRED_STACK
#define PORT_INT_REQUIRED_STACK 0x10
#endif
/**
* @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.
*/
#define THD_WA_SIZE(n) STACK_ALIGN(sizeof(Thread) + \
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)]
/**
* @brief IRQ prologue code.
* @details This macro must be inserted at the start of all IRQ handlers
* enabled to invoke system APIs.
* @note This macro has a different implementation depending if compiled in
* ARM or THUMB mode.
* @note The THUMB implementation starts with ARM code because interrupt
* vectors are always invoked in ARM mode regardless the bit 0
* value. The switch in THUMB mode is done in the function prologue so
* it is transparent to the user code.
*/
#if !defined(PORT_IRQ_PROLOGUE)
#ifdef THUMB
#define PORT_IRQ_PROLOGUE() { \
asm volatile (".code 32 \n\t" \
"stmfd sp!, {r0-r3, r12, lr} \n\t" \
"add r0, pc, #1 \n\t" \
"bx r0 \n\t" \
".code 16" : : : "memory"); \
}
#else /* !THUMB */
#define PORT_IRQ_PROLOGUE() { \
asm volatile ("stmfd sp!, {r0-r3, r12, lr}" : : : "memory"); \
}
#endif /* !THUMB */
#endif /* !defined(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.
* @note This macro has a different implementation depending if compiled in
* ARM or THUMB mode.
*/
#if !defined(PORT_IRQ_EPILOGUE)
#ifdef THUMB
#define PORT_IRQ_EPILOGUE() { \
asm volatile ("ldr r0, =_port_irq_common \n\t" \
"bx r0" : : : "memory"); \
}
#else /* !THUMB */
#define PORT_IRQ_EPILOGUE() { \
asm volatile ("b _port_irq_common" : : : "memory"); \
}
#endif /* !THUMB */
#endif /* !defined(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.
*/
#if !defined(PORT_IRQ_HANDLER)
#define PORT_IRQ_HANDLER(id) __attribute__((naked)) void id(void)
#endif /* !defined(PORT_IRQ_HANDLER) */
/**
* @brief Fast IRQ handler function declaration.
* @note @p id can be a function name or a vector number depending on the
* port implementation.
*/
#if !defined(PORT_FAST_IRQ_HANDLER)
#define PORT_FAST_IRQ_HANDLER(id) \
__attribute__((interrupt("FIQ"))) void id(void)
#endif /* !defined(PORT_FAST_IRQ_HANDLER) */
/**
* @brief Port-related initialization code.
* @note This function is empty in this port.
*/
#define port_init()
/**
* @brief Kernel-lock action.
* @details Usually this function just disables interrupts but may perform
* more actions.
* @note In this port it disables the IRQ sources and keeps FIQ sources
* enabled.
*/
#ifdef THUMB
#define port_lock() { \
asm volatile ("bl _port_lock_thumb" : : : "r3", "lr", "memory"); \
}
#else /* !THUMB */
#define port_lock() asm volatile ("msr CPSR_c, #0x9F" : : : "memory")
#endif /* !THUMB */
/**
* @brief Kernel-unlock action.
* @details Usually this function just enables interrupts but may perform
* more actions.
* @note In this port it enables both the IRQ and FIQ sources.
*/
#ifdef THUMB
#define port_unlock() { \
asm volatile ("bl _port_unlock_thumb" : : : "r3", "lr", "memory"); \
}
#else /* !THUMB */
#define port_unlock() asm volatile ("msr CPSR_c, #0x1F" : : : "memory")
#endif /* !THUMB */
/**
* @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.
* @note Empty in this port.
*/
#define port_lock_from_isr()
/**
* @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.
* @note Empty in this port.
*/
#define port_unlock_from_isr()
/**
* @brief Disables all the interrupt sources.
* @note Of course non-maskable interrupt sources are not included.
* @note In this port it disables both the IRQ and FIQ sources.
* @note Implements a workaround for spurious interrupts taken from the NXP
* LPC214x datasheet.
*/
#ifdef THUMB
#define port_disable() { \
asm volatile ("bl _port_disable_thumb" : : : "r3", "lr", "memory"); \
}
#else /* !THUMB */
#define port_disable() { \
asm volatile ("mrs r3, CPSR \n\t" \
"orr r3, #0x80 \n\t" \
"msr CPSR_c, r3 \n\t" \
"orr r3, #0x40 \n\t" \
"msr CPSR_c, r3" : : : "r3", "memory"); \
}
#endif /* !THUMB */
/**
* @brief Disables the interrupt sources below kernel-level priority.
* @note Interrupt sources above kernel level remains enabled.
* @note In this port it disables the IRQ sources and enables the
* FIQ sources.
*/
#ifdef THUMB
#define port_suspend() { \
asm volatile ("bl _port_suspend_thumb" : : : "r3", "lr", "memory"); \
}
#else /* !THUMB */
#define port_suspend() asm volatile ("msr CPSR_c, #0x9F" : : : "memory")
#endif /* !THUMB */
/**
* @brief Enables all the interrupt sources.
* @note In this port it enables both the IRQ and FIQ sources.
*/
#ifdef THUMB
#define port_enable() { \
asm volatile ("bl _port_enable_thumb" : : : "r3", "lr", "memory"); \
}
#else /* !THUMB */
#define port_enable() asm volatile ("msr CPSR_c, #0x1F" : : : "memory")
#endif /* !THUMB */
/**
* @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.
* @note Implemented as inlined code for performance reasons.
*
* @param[in] ntp the thread to be switched in
* @param[in] otp the thread to be switched out
*/
#ifdef THUMB
#if CH_DBG_ENABLE_STACK_CHECK
#define port_switch(ntp, otp) { \
register struct intctx *r13 asm ("r13"); \
if ((stkalign_t *)(r13 - 1) < otp->p_stklimit) \
chDbgPanic("stack overflow"); \
_port_switch_thumb(ntp, otp); \
}
#else /* !CH_DBG_ENABLE_STACK_CHECK */
#define port_switch(ntp, otp) _port_switch_thumb(ntp, otp)
#endif /* !CH_DBG_ENABLE_STACK_CHECK */
#else /* !THUMB */
#if CH_DBG_ENABLE_STACK_CHECK
#define port_switch(ntp, otp) { \
register struct intctx *r13 asm ("r13"); \
if ((stkalign_t *)(r13 - 1) < otp->p_stklimit) \
chDbgPanic("stack overflow"); \
_port_switch_arm(ntp, otp); \
}
#else /* !CH_DBG_ENABLE_STACK_CHECK */
#define port_switch(ntp, otp) _port_switch_arm(ntp, otp)
#endif /* !CH_DBG_ENABLE_STACK_CHECK */
#endif /* !THUMB */
#ifdef __cplusplus
extern "C" {
#endif
void port_halt(void);
#ifdef THUMB
void _port_switch_thumb(Thread *ntp, Thread *otp);
#else /* !THUMB */
void _port_switch_arm(Thread *ntp, Thread *otp);
#endif /* !THUMB */
void _port_thread_start(void);
#ifdef __cplusplus
}
#endif
#endif /* _CHCORE_H_ */
/** @} */