/*
ChibiOS - Copyright (C) 2006,2007,2008,2009,2010,2011,2012,2013,2014,
2015,2016,2017,2018,2019,2020,2021 Giovanni Di Sirio.
This file is part of ChibiOS.
ChibiOS 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 version 3 of the License.
ChibiOS 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 ARM/chcore.h
* @brief ARM7/9 architecture port macros and structures.
*
* @addtogroup ARM_CORE
* @{
*/
#ifndef CHCORE_H
#define CHCORE_H
/* Inclusion of the ARM implementation specific parameters.*/
#include "armparams.h"
/*===========================================================================*/
/* Module constants. */
/*===========================================================================*/
/* The following code is not processed when the file is included from an
asm module because those intrinsic macros are not necessarily defined
by the assembler too.*/
#if !defined(_FROM_ASM_)
/**
* @brief Compiler name and version.
*/
#if defined(__GNUC__) || defined(__DOXYGEN__)
#define PORT_COMPILER_NAME "GCC " __VERSION__
#else
#error "unsupported compiler"
#endif
#endif /* !defined(_FROM_ASM_) */
/** @} */
/**
* @name Port Capabilities and Constants
* @{
*/
/**
* @brief This port supports a realtime counter.
*/
#define PORT_SUPPORTS_RT TRUE
/**
* @brief Natural alignment constant.
* @note It is the minimum alignment for pointer-size variables.
*/
#define PORT_NATURAL_ALIGN sizeof (void *)
/**
* @brief Stack alignment constant.
* @note It is the alignment required for the stack pointer.
*/
#define PORT_STACK_ALIGN sizeof (stkalign_t)
/**
* @brief Working Areas alignment constant.
* @note It is the alignment to be enforced for thread working areas.
*/
#define PORT_WORKING_AREA_ALIGN sizeof (stkalign_t)
/** @} */
/**
* @name ARM variants
* @{
*/
#define ARM_CORE_ARM7TDMI 7
#define ARM_CORE_ARM9 9
#define ARM_CORE_CORTEX_A5 105
#define ARM_CORE_CORTEX_A7 107
#define ARM_CORE_CORTEX_A8 108
#define ARM_CORE_CORTEX_A9 109
/** @} */
/**
* @name Architecture
* @{
*/
/**
* @brief Macro defining a generic ARM architecture.
*/
#define PORT_ARCHITECTURE_ARM
/* ARM core check.*/
#if (ARM_CORE == ARM_CORE_ARM7TDMI) || defined(__DOXYGEN__)
#define PORT_ARCHITECTURE_ARM_ARM7
#define PORT_ARCHITECTURE_NAME "ARMv4T"
#define PORT_CORE_VARIANT_NAME "ARM7"
#elif ARM_CORE == ARM_CORE_ARM9
#define PORT_ARCHITECTURE_ARM_ARM9
#define PORT_ARCHITECTURE_NAME "ARMv5T"
#define PORT_CORE_VARIANT_NAME "ARM9"
#elif ARM_CORE == ARM_CORE_CORTEX_A5
#define PORT_ARCHITECTURE_ARM_CORTEXA5
#define PORT_ARCHITECTURE_NAME "ARMv7"
#define PORT_CORE_VARIANT_NAME "ARM Cortex-A5"
#elif ARM_CORE == ARM_CORE_CORTEX_A7
#define PORT_ARCHITECTURE_ARM_CORTEXA5
#define PORT_ARCHITECTURE_NAME "ARMv7"
#define PORT_CORE_VARIANT_NAME "ARM Cortex-A7"
#elif ARM_CORE == ARM_CORE_CORTEX_A8
#define PORT_ARCHITECTURE_ARM_CORTEXA8
#define PORT_ARCHITECTURE_NAME "ARMv7"
#define PORT_CORE_VARIANT_NAME "ARM Cortex-A8"
#elif ARM_CORE == ARM_CORE_CORTEX_A9
#define PORT_ARCHITECTURE_ARM_CORTEXA9
#define PORT_ARCHITECTURE_NAME "ARMv7"
#define PORT_CORE_VARIANT_NAME "ARM Cortex-A9"
#else
#error "unknown or unsupported ARM core"
#endif
#if defined(THUMB_PRESENT)
#if defined(THUMB_NO_INTERWORKING)
#define PORT_INFO "Pure THUMB mode"
#else
#define PORT_INFO "Interworking mode"
#endif
#else
#define PORT_INFO "Pure ARM mode"
#endif
#if ARM_CORE < 100
#define ARM_CORE_CLASSIC 1
#define ARM_CORE_CORTEX_A 0
#elif ARM_CORE < 200
#define ARM_CORE_CLASSIC 0
#define ARM_CORE_CORTEX_A 1
#else
#error "unknown or unsupported ARM core"
#endif
/** @} */
/*===========================================================================*/
/* 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.
* @note In this port it is set to 32 because the idle thread does have
* a stack frame when compiling without optimizations. You may
* reduce this value to zero when compiling with optimizations.
*/
#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.
*/
#if !defined(PORT_INT_REQUIRED_STACK) || defined(__DOXYGEN__)
#define PORT_INT_REQUIRED_STACK 32
#endif
/**
* @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
/*===========================================================================*/
/* 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 Generic ARM register.
*/
typedef void *regarm_t;
/**
* @brief Interrupt saved context.
* @details This structure represents the stack frame saved during an
* interrupt handler.
*/
struct port_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
* switch.
*/
struct port_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_t structure.
* @details In this port the structure just holds a pointer to the
* @p port_intctx structure representing the stack pointer
* at context switch time.
*/
struct port_context {
struct port_intctx *sp;
};
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
/**
* @brief Priority level verification macro.
* @note Not applicable in this architecture.
*/
#define PORT_IRQ_IS_VALID_PRIORITY(n) false
/**
* @brief Priority level verification macro.
* @note Not applicable in this architecture.
*/
#define PORT_IRQ_IS_VALID_KERNEL_PRIORITY(n) false
/**
* @brief Optimized thread function declaration macro.
*/
#define PORT_THD_FUNCTION(tname, arg) void tname(void *arg)
/**
* @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, wbase, wtop, pf, arg) { \
(tp)->ctx.sp = (struct port_intctx *)((uint8_t *)(wtop) - \
sizeof (struct port_intctx)); \
(tp)->ctx.sp->r4 = (regarm_t)(pf); \
(tp)->ctx.sp->r5 = (regarm_t)(arg); \
(tp)->ctx.sp->lr = (regarm_t)(__port_thread_start); \
}
/**
* @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) + \
((size_t)(n)) + ((size_t)(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.
*
* @param[in] s the name to be assigned to the stack array
* @param[in] n the stack size to be assigned to the thread
*/
#define PORT_WORKING_AREA(s, n) \
stkalign_t s[THD_WORKING_AREA_SIZE(n) / sizeof (stkalign_t)]
/**
* @brief Priority level verification macro.
* @todo Add the required parameters to armparams.h.
*/
#define PORT_IRQ_IS_VALID_PRIORITY(n) false
/**
* @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() return chSchIsPreemptionRequired()
/**
* @brief IRQ handler function declaration.
* @note @p id can be a function name or a vector number depending on the
* port implementation.
*/
#ifdef __cplusplus
#define PORT_IRQ_HANDLER(id) extern "C" bool id(void)
#else
#define PORT_IRQ_HANDLER(id) bool id(void)
#endif
/**
* @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) \
__attribute__((interrupt("FIQ"))) 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.
* @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
*/
#if defined(THUMB)
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
#define port_switch(ntp, otp) { \
register struct port_intctx *r13 asm ("r13"); \
if ((stkalign_t *)(r13 - 1) < otp->wabase) \
chSysHalt("stack overflow"); \
__port_switch_thumb(ntp, otp); \
}
#else
#define port_switch(ntp, otp) __port_switch_thumb(ntp, otp)
#endif
#else /* !defined(THUMB) */
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
#define port_switch(ntp, otp) { \
register struct port_intctx *r13 asm ("r13"); \
if ((stkalign_t *)(r13 - 1) < otp->wabase) \
chSysHalt("stack overflow"); \
__port_switch_arm(ntp, otp); \
}
#else
#define port_switch(ntp, otp) __port_switch_arm(ntp, otp)
#endif
#endif /* !defined(THUMB) */
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
#if defined(THUMB_PRESENT)
syssts_t __port_get_cpsr(void);
#endif
#if defined(THUMB)
void __port_switch_thumb(thread_t *ntp, thread_t *otp);
#else
void __port_switch_arm(thread_t *ntp, thread_t *otp);
#endif
void __port_thread_start(void);
#ifdef __cplusplus
}
#endif
/*===========================================================================*/
/* Module inline functions. */
/*===========================================================================*/
/**
* @brief Port-related initialization code.
*/
static inline void port_init(os_instance_t *oip) {
(void)oip;
}
/**
* @brief Returns a word encoding the current interrupts status.
*
* @return The interrupts status.
*/
static inline syssts_t port_get_irq_status(void) {
syssts_t sts;
#if defined(THUMB)
sts = __port_get_cpsr();
#else
__asm volatile ("mrs %[p0], CPSR" : [p0] "=r" (sts) :);
#endif
/*lint -save -e530 [9.1] Asm instruction not seen by lint.*/
return sts;
/*lint -restore*/
}
/**
* @brief Checks the interrupt status.
*
* @param[in] sts the interrupt status word
*
* @return The interrupt status.
* @retval false the word specified a disabled interrupts status.
* @retval true the word specified an enabled interrupts status.
*/
static inline bool port_irq_enabled(syssts_t sts) {
return (sts & (syssts_t)0x80) == (syssts_t)0;
}
/**
* @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) {
syssts_t sts;
#if defined(THUMB)
sts = __port_get_cpsr();
#else
__asm volatile ("mrs %[p0], CPSR" : [p0] "=r" (sts) :);
#endif
/*lint -save -e530 [9.1] Asm instruction not seen by lint.*/
return (sts & (syssts_t)0x1F) == (syssts_t)0x12;
/*lint -restore*/
}
/**
* @brief Kernel-lock action.
* @details In this port it disables the IRQ sources and keeps FIQ sources
* enabled.
*/
static inline void port_lock(void) {
#if defined(THUMB)
__asm volatile ("bl __port_lock_thumb" : : : "r3", "lr", "memory");
#else
__asm volatile ("msr CPSR_c, #0x9F" : : : "memory");
#endif
}
/**
* @brief Kernel-unlock action.
* @details In this port it enables both the IRQ and FIQ sources.
*/
static inline void port_unlock(void) {
#if defined(THUMB)
__asm volatile ("bl __port_unlock_thumb" : : : "r3", "lr", "memory");
#else
__asm volatile ("msr CPSR_c, #0x1F" : : : "memory");
#endif
}
/**
* @brief Kernel-lock action from an interrupt handler.
* @note Empty in this port.
*/
static inline void port_lock_from_isr(void) {
}
/**
* @brief Kernel-unlock action from an interrupt handler.
* @note Empty in this port.
*/
static inline void port_unlock_from_isr(void) {
}
/**
* @brief Disables all the interrupt sources.
* @details In this port it disables both the IRQ and FIQ sources.
* @note Implements a workaround for spurious interrupts taken from the NXP
* LPC214x datasheet.
*/
static inline void port_disable(void) {
#if defined(THUMB)
__asm volatile ("bl __port_disable_thumb" : : : "r3", "lr", "memory");
#else
__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
}
/**
* @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.
*/
static inline void port_suspend(void) {
#if defined(THUMB)
__asm volatile ("bl __port_suspend_thumb" : : : "r3", "lr", "memory");
#else
__asm volatile ("msr CPSR_c, #0x9F" : : : "memory");
#endif
}
/**
* @brief Enables all the interrupt sources.
* @note In this port it enables both the IRQ and FIQ sources.
*/
static inline void port_enable(void) {
#if defined(THUMB)
__asm volatile ("bl __port_enable_thumb" : : : "r3", "lr", "memory");
#else
__asm volatile ("msr CPSR_c, #0x1F" : : : "memory");
#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) {
#if ARM_CORE_CORTEX_A
rtcnt_t cyc;
__asm volatile("mrc p15, 0, %[p0], c9, c13, 0" : [p0] "=r" (cyc) :);
return cyc;
#else
return 0;
#endif
}
/**
* @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.
* @note Implemented as an inlined @p WFI instruction.
*/
static inline void port_wait_for_interrupt(void) {
#if ARM_ENABLE_WFI_IDLE == TRUE
ARM_WFI_IMPL;
#endif
}
#endif /* !defined(_FROM_ASM_) */
/*===========================================================================*/
/* Module late inclusions. */
/*===========================================================================*/
#if !defined(_FROM_ASM_)
#if CH_CFG_ST_TIMEDELTA > 0
#include "chcore_timer.h"
#endif /* CH_CFG_ST_TIMEDELTA > 0 */
#endif /* !defined(_FROM_ASM_) */
#endif /* CHCORE_H */
/** @} */