/* ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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 . */ /** * @file ARMCM3/chcore.h * @brief ARM Cortex-M3 architecture port macros and structures. * @addtogroup ARMCM3_CORE * @{ */ #ifndef _CHCORE_H_ #define _CHCORE_H_ /* * Port-related configuration parameters. */ /** * Enables the use of the WFI ins. */ #ifndef ENABLE_WFI_IDLE #define ENABLE_WFI_IDLE 0 #endif /** * BASEPRI user level, 0 = disabled. */ #ifndef BASEPRI_USER #define BASEPRI_USER 0 #endif /** * BASEPRI level within kernel lock. * Priority levels higher than this one (lower values) are unaffected by * the OS activity and can be classified as fast interrupt sources, see * @ref interrupt_classes. */ #ifndef BASEPRI_KERNEL #define BASEPRI_KERNEL 0x40 #endif /** * SVCALL handler priority. * @note This priority must always be one level above the @p BASEPRI_KERNEL * value. * @note It is recommended to leave this priority level for this handler alone. */ #ifndef PRIORITY_SVCALL #define PRIORITY_SVCALL (BASEPRI_KERNEL - 0x10) #endif /** * SYSTICK handler priority. */ #ifndef PRIORITY_SYSTICK #define PRIORITY_SYSTICK 0x80 #endif /** * PENDSV handler priority. * @note It is recommended to leave this priority level for this handler alone. * @note This is a reserved handler and its priority must always be the * lowest priority in the system in order to be always executed last * in the interrupt servicing chain. */ #ifndef PRIORITY_PENDSV #define PRIORITY_PENDSV 0xF0 #endif /** * Macro defining the ARM Cortex-M3 architecture. */ #define CH_ARCHITECTURE_ARMCM3 /** * Name of the implemented architecture. */ #define CH_ARCHITECTURE_NAME "ARM" /** * @brief Name of the architecture variant (optional). */ #define CH_CORE_VARIANT_NAME "Cortex-M3" /** * 32 bit stack alignment. */ typedef uint32_t stkalign_t; /** * Generic ARM register. */ typedef void *regarm_t; /** @cond never */ /** * Interrupt saved context, empty in this architecture. */ struct extctx { }; /** @endcond */ /** @cond never */ /** * This structure represents the inner stack frame during a context switching. */ struct intctx { regarm_t basepri; regarm_t r4; regarm_t r5; regarm_t r6; #ifndef CH_CURRP_REGISTER_CACHE regarm_t r7; #endif regarm_t r8; regarm_t r9; regarm_t r10; regarm_t r11; regarm_t lr_exc; regarm_t r0; regarm_t r1; regarm_t r2; regarm_t r3; regarm_t r12; regarm_t lr_thd; regarm_t pc; regarm_t xpsr; }; /** @endcond */ /** @cond never */ /** * Cortex-M3 context structure. */ struct context { struct intctx *r13; }; /** @endcond */ /** * Platform dependent part of the @p chThdInit() API. * This code usually setup the context switching frame represented by a * @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->basepri = BASEPRI_USER; \ tp->p_ctx.r13->lr_exc = (regarm_t)0xFFFFFFFD; \ tp->p_ctx.r13->r0 = arg; \ tp->p_ctx.r13->lr_thd = chThdExit; \ tp->p_ctx.r13->pc = pf; \ tp->p_ctx.r13->xpsr = (regarm_t)0x01000000; \ } /** * The default idle thread implementation requires no extra stack space in * this port but it is set to 4 because the idle thread does have a stack * frame when compiling without optimizations. */ #ifndef IDLE_THREAD_STACK_SIZE #define IDLE_THREAD_STACK_SIZE 4 #endif /** * This port requires no extra stack space for interrupt handling. */ #ifndef INT_REQUIRED_STACK #define INT_REQUIRED_STACK 0 #endif /** * Enforces a correct alignment for a stack area size value. */ #define STACK_ALIGN(n) ((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1) /** * Computes the thread working area global size. */ #define THD_WA_SIZE(n) STACK_ALIGN(sizeof(Thread) + \ sizeof(struct intctx) + \ sizeof(struct extctx) + \ (n) + (INT_REQUIRED_STACK)) /** * Macro used to allocate a thread working area aligned as both position and * size. */ #define WORKING_AREA(s, n) stkalign_t s[THD_WA_SIZE(n) / sizeof(stkalign_t)]; /** * IRQ prologue code, inserted at the start of all IRQ handlers enabled to * invoke system APIs. */ #define PORT_IRQ_PROLOGUE() /** * IRQ epilogue code, inserted at the end of all IRQ handlers enabled to * invoke system APIs. */ #define PORT_IRQ_EPILOGUE() { \ chSysLockFromIsr(); \ if (chSchIsRescRequiredI()) \ SCB_ICSR = ICSR_PENDSVSET; \ chSysUnlockFromIsr(); \ } /** * IRQ handler function declaration. */ #define PORT_IRQ_HANDLER(id) void id(void) /** * This function is empty in this port. */ #define port_init() /** * Raises the base priority to kernel level. */ #if CH_OPTIMIZE_SPEED #define port_lock() { \ register uint32_t tmp asm ("r3") = BASEPRI_KERNEL; \ asm volatile ("msr BASEPRI, %0" : : "r" (tmp)); \ } #else #define port_lock() { \ asm volatile ("bl _port_lock" : : : "r3", "lr"); \ } #endif /** * Lowers the base priority to user level. */ #if CH_OPTIMIZE_SPEED #define port_unlock() { \ register uint32_t tmp asm ("r3") = BASEPRI_USER; \ asm volatile ("msr BASEPRI, %0" : : "r" (tmp)); \ } #else #define port_unlock() { \ asm volatile ("bl _port_unlock" : : : "r3", "lr"); \ } #endif /** * Same as @p port_lock() in this port. */ #define port_lock_from_isr() port_lock() /** * Same as @p port_unlock() in this port. */ #define port_unlock_from_isr() port_unlock() /** * Disables all the interrupt sources by raising the priority mask to level 0. */ #define port_disable() asm volatile ("cpsid i") /** * Raises/lowers the base priority to kernel level. */ #define port_suspend() { \ register uint32_t tmp asm ("r3") = BASEPRI_KERNEL; \ asm volatile ("msr BASEPRI, %0 \n\t" \ "cpsie i" : : "r" (tmp)); \ } /** * Lowers the base priority to user level. */ #define port_enable() { \ register uint32_t tmp asm ("r3") = BASEPRI_USER; \ asm volatile ("msr BASEPRI, %0 \n\t" \ "cpsie i" : : "r" (tmp)); \ } /** * This port function is implemented as inlined code for performance reasons. */ #if ENABLE_WFI_IDLE || defined(__DOXYGEN__) #define port_wait_for_interrupt() { \ asm volatile ("wfi"); \ } #else #define port_wait_for_interrupt() #endif /** * This port function is implemented as inlined code for performance reasons. */ #if CH_DBG_ENABLE_STACK_CHECK #define port_switch(otp, ntp) { \ register Thread *_otp asm ("r0") = (otp); \ register Thread *_ntp asm ("r1") = (ntp); \ register char *sp asm ("sp"); \ if (sp - sizeof(struct intctx) - sizeof(Thread) < (char *)_otp) \ asm volatile ("movs r0, #0 \n\t" \ "b chDbgPanic"); \ asm volatile ("svc #0" : : "r" (_otp), "r" (_ntp) : "memory"); \ } #else /* !CH_DBG_ENABLE_STACK_CHECK */ #define port_switch(otp, ntp) { \ register Thread *_otp asm ("r0") = (otp); \ register Thread *_ntp asm ("r1") = (ntp); \ asm volatile ("svc #0" : : "r" (_otp), "r" (_ntp) : "memory"); \ } #endif /* !CH_DBG_ENABLE_STACK_CHECK */ #ifdef __cplusplus extern "C" { #endif void port_halt(void); #if !CH_OPTIMIZE_SPEED void _port_lock(void); void _port_unlock(void); #endif #ifdef __cplusplus } #endif #endif /* _CHCORE_H_ */ /** @} */