diff options
| -rw-r--r-- | os/nil/ports/e200/nilcore.h | 2 | ||||
| -rw-r--r-- | os/rt/dox/rt.dox | 4 | ||||
| -rw-r--r-- | os/rt/ports/e200/chcore.h | 6 | ||||
| -rw-r--r-- | os/rt/templates/chcore.c | 98 | ||||
| -rw-r--r-- | os/rt/templates/chcore.h | 336 | ||||
| -rw-r--r-- | os/rt/templates/chtypes.h | 78 |
6 files changed, 332 insertions, 192 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"
-/**
- * @brief Port-related initialization code.
- * @note This function is usually empty.
- */
-void port_init(void) {
-}
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
-/**
- * @brief Kernel-lock action.
- * @details Usually this function just disables interrupts but may perform more
- * actions.
- */
-void port_lock(void) {
-}
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
-/**
- * @brief Kernel-unlock action.
- * @details Usually this function just enables interrupts but may perform more
- * actions.
- */
-void port_unlock(void) {
-}
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
-/**
- * @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) {
-}
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
-/**
- * @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) {
-}
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
-/**
- * @brief Disables all the interrupt sources.
- * @note Of course non-maskable interrupt sources are not included.
- */
-void port_disable(void) {
-}
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
/**
- * @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).
+ * @brief Port-related initialization code.
+ * @note This function is usually empty.
*/
-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 @@ -32,133 +32,153 @@ #define _CHCORE_H_
/*===========================================================================*/
-/* Port constants. */
+/* Module constants. */
/*===========================================================================*/
-/*===========================================================================*/
-/* Port macros. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Port configurable parameters. */
-/*===========================================================================*/
+/**
+ * @name Architecture and Compiler
+ * @{
+ */
+/**
+ * @brief Macro defining an XXX architecture.
+ */
+#define PORT_ARCHITECTURE_XXX
/**
- * @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.
+ * @brief Macro defining the specific XXX architecture.
*/
-#ifndef PORT_IDLE_THREAD_STACK_SIZE
-#define PORT_IDLE_THREAD_STACK_SIZE 0
-#endif
+#define PORT_ARCHITECTURE_XXX_YYY
/**
- * @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.
+ * @brief Name of the implemented architecture.
*/
-#ifndef PORT_INT_REQUIRED_STACK
-#define PORT_INT_REQUIRED_STACK 0
-#endif
+#define PORT_ARCHITECTURE_NAME "XXX Architecture"
-/*===========================================================================*/
-/* Port derived parameters. */
-/*===========================================================================*/
+/**
+ * @brief Compiler name and version.
+ */
+#if defined(__GNUC__) || defined(__DOXYGEN__)
+#define PORT_COMPILER_NAME "GCC " __VERSION__
-/*===========================================================================*/
-/* Port exported info. */
-/*===========================================================================*/
+#else
+#error "unsupported compiler"
+#endif
/**
- * @brief Unique macro for the implemented architecture.
+ * @brief This port supports a realtime counter.
*/
-#define CH_ARCHITECTURE_XXX
+#define PORT_SUPPORTS_RT FALSE
/**
- * @brief Name of the implemented architecture.
+ * @brief Port-specific information string.
*/
-#define CH_ARCHITECTURE_NAME ""
+#define PORT_INFO "no info"
+/** @} */
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
/**
- * @brief Name of the architecture variant (optional).
+ * @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.
*/
-#define CH_ARCHITECTURE_VARIANT_NAME ""
+#if !defined(PORT_IDLE_THREAD_STACK_SIZE) || defined(__DOXYGEN__)
+#define PORT_IDLE_THREAD_STACK_SIZE 32
+#endif
/**
- * @brief Name of the compiler supported by this port.
+ * @brief Per-thread stack overhead for interrupts servicing.
+ * @details This constant is used in the calculation of the correct working
+ * area size.
*/
-#define CH_COMPILER_NAME "GCC"
+#if !defined(PORT_INT_REQUIRED_STACK) || defined(__DOXYGEN__)
+#define PORT_INT_REQUIRED_STACK 256
+#endif
/**
- * @brief Port-specific information string.
+ * @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.
*/
-#define CH_PORT_INFO ""
+#if !defined(PORT_USE_ALT_TIMER)
+#define PORT_USE_ALT_TIMER FALSE
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
/*===========================================================================*/
-/* Port implementation part. */
+/* 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 Base type for stack and memory alignment.
+ * @brief Type of stack and memory alignment enforcement.
+ * @note In this architecture the stack alignment is enforced to 64 bits.
*/
-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 <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
+ */
+#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 <stddef.h>
-
-#if !defined(_STDINT_H) && !defined(__STDINT_H_)
#include <stdint.h>
-#endif
+#include <stdbool.h>
/**
- * @brief Thread mode flags, uint8_t is ok.
+ * @name Common constants
*/
-typedef uint8_t tmode_t;
-
/**
- * @brief Thread state, uint8_t is ok.
+ * @brief Generic 'false' boolean constant.
*/
-typedef uint8_t tstate_t;
-
-/**
- * @brief Thread references counter, uint8_t is ok.
- */
-typedef uint8_t trefs_t;
+#if !defined(FALSE) || defined(__DOXYGEN__)
+#define FALSE 0
+#endif
/**
- * @brief Priority, use the fastest unsigned type.
+ * @brief Generic 'true' boolean constant.
*/
-typedef uint32_t tprio_t;
+#if !defined(TRUE) || defined(__DOXYGEN__)
+#define TRUE (!FALSE)
+#endif
+/** @} */
/**
- * @brief Message, use signed pointer equivalent.
+ * @name Derived generic types
+ * @{
*/
-typedef int32_t msg_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 Numeric event identifier, use fastest signed.
+ * @name Kernel types
+ * @{
*/
-typedef int32_t eventid_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 Mask of event identifiers, recommended fastest unsigned.
+ * @brief ROM constant modifier.
+ * @note It is set to use the "const" keyword in this port.
*/
-typedef uint32_t eventmask_t;
+#define ROMCONST const
/**
- * @brief Mask of event flags, recommended fastest unsigned.
+ * @brief Makes functions not inlineable.
+ * @note If the compiler does not support such attribute then the
+ * realtime counter precision could be degraded.
*/
-typedef uint32_t eventflags_t;
+#define NOINLINE __attribute__((noinline))
/**
- * @brief System Time, recommended fastest unsigned.
+ * @brief Optimized thread function declaration macro.
*/
-typedef uint32_t systime_t;
+#define PORT_THD_FUNCTION(tname, arg) msg_t tname(void *arg)
/**
- * @brief Counter, recommended fastest signed.
+ * @brief Packed variable specifier.
*/
-typedef int32_t cnt_t;
+#define PACKED_VAR __attribute__((packed))
#endif /* _CHTYPES_H_ */
|