/* nano_private.h - private nanokernel definitions (ARM) */ /* * Copyright (c) 2013-2014 Wind River Systems, Inc. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1) Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * 2) Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * * 3) Neither the name of Wind River Systems nor the names of its contributors * may be used to endorse or promote products derived from this software without * specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ /* DESCRIPTION This file contains private nanokernel structures definitions and various other definitions for the ARM Cortex-M3 processor architecture. This file is also included by assembly language files which must #define _ASMLANGUAGE before including this header file. Note that nanokernel assembly source files obtains structure offset values via "absolute symbols" in the offsets.o module. */ #ifndef _NANO_PRIVATE_H #define _NANO_PRIVATE_H #ifdef __cplusplus extern "C" { #endif #include #include #include #ifndef _ASMLANGUAGE #include <../../../kernel/nanokernel/include/nano_internal.h> #include #include #endif #ifndef _ASMLANGUAGE struct coop { /* * Unused for Cortex-M, which automatically saves the neccesary *registers * in its exception stack frame. * * For Cortex-A, this may be: * * uint32_t a1; // r0 * uint32_t a2; // r1 * uint32_t a3; // r2 * uint32_t a4; // r3 * uint32_t ip; // r12 * uint32_t lr; // r14 * uint32_t pc; // r15 * uint32_t xpsr; */ }; typedef struct __esf tESF; struct preempt { uint32_t v1; /* r4 */ uint32_t v2; /* r5 */ uint32_t v3; /* r6 */ uint32_t v4; /* r7 */ uint32_t v5; /* r8 */ uint32_t v6; /* r9 */ uint32_t v7; /* r10 */ uint32_t v8; /* r11 */ uint32_t psp; /* r13 */ }; typedef struct preempt tPreempt; #endif /* _ASMLANGUAGE */ /* Bitmask definitions for the struct tcs.flags bit field */ #define FIBER 0x000 #define TASK 0x001 /* 1 = task, 0 = fiber */ #define INT_ACTIVE 0x002 /* 1 = executino context is interrupt handler */ #define EXC_ACTIVE 0x004 /* 1 = executino context is exception handler */ #define USE_FP 0x010 /* 1 = thread uses floating point unit */ #define PREEMPTIBLE \ 0x020 /* 1 = preemptible thread \ * NOTE: the value must be < 0x100 to be able to \ * use a small thumb instr with immediate \ * when loading PREEMPTIBLE in a GPR \ */ #define ESSENTIAL 0x200 /* 1 = system thread that must not abort */ #define NO_METRICS 0x400 /* 1 = _Swap() not to update task metrics */ /* stacks */ #define STACK_ROUND_UP(x) ROUND_UP(x, STACK_ALIGN_SIZE) #define STACK_ROUND_DOWN(x) ROUND_DOWN(x, STACK_ALIGN_SIZE) #ifdef CONFIG_CPU_CORTEX_M #include #include #endif #ifndef _ASMLANGUAGE struct tcs { struct tcs *link; /* singly-linked list in _nanokernel.fibers */ uint32_t flags; uint32_t basepri; int prio; #ifdef CONFIG_THREAD_CUSTOM_DATA void *custom_data; /* available for custom use */ #endif struct coop coopReg; struct preempt preempReg; #if defined(CONFIG_THREAD_MONITOR) struct tcs *next_thread; /* next item in list of ALL fiber+tasks */ #endif #ifdef CONFIG_NANO_TIMEOUTS struct _nano_timeout nano_timeout; #endif }; struct s_NANO { struct tcs *fiber; /* singly linked list of runnable fiber */ struct tcs *task; /* pointer to runnable task */ struct tcs *current; /* currently scheduled thread (fiber or task) */ int flags; /* struct tcs->flags of 'current' thread */ #if defined(CONFIG_THREAD_MONITOR) struct tcs *threads; /* singly linked list of ALL fiber+tasks */ #endif #ifdef CONFIG_FP_SHARING struct tcs *current_fp; /* thread (fiber or task) that owns the FP regs */ #endif /* CONFIG_FP_SHARING */ #ifdef CONFIG_ADVANCED_POWER_MANAGEMENT int32_t idle; /* Number of ticks for kernel idling */ #endif /* CONFIG_ADVANCED_POWER_MANAGEMENT */ #ifdef CONFIG_NANO_TIMEOUTS sys_dlist_t timeout_q; #endif }; typedef struct s_NANO tNANO; extern tNANO _nanokernel; #endif /* _ASMLANGUAGE */ #ifndef _ASMLANGUAGE extern void _FaultInit(void); extern void _CpuIdleInit(void); static ALWAYS_INLINE void nanoArchInit(void) { _nanokernel.flags = FIBER; _InterruptStackSetup(); _ExcSetup(); _FaultInit(); _CpuIdleInit(); } /** * * @brief Set the return value for the specified fiber (inline) * * The register used to store the return value from a function call invocation * to . It is assumed that the specified is pending, and thus * the fiber's thread is stored in its struct tcs structure. * * @return N/A * * \NOMANUAL */ static ALWAYS_INLINE void fiberRtnValueSet( struct tcs *fiber, /* pointer to fiber */ unsigned int value /* value to set as return value */ ) { tESF *pEsf = (void *)fiber->preempReg.psp; pEsf->a1 = value; } extern void nano_cpu_atomic_idle(unsigned int); #define _IS_IN_ISR() _IsInIsr() extern void _IntLibInit(void); #endif /* _ASMLANGUAGE */ #ifdef __cplusplus } #endif #endif /* _NANO_PRIVATE_H */