281 lines
6.9 KiB
C
281 lines
6.9 KiB
C
/*
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* Copyright (c) 2014 Wind River Systems, Inc.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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/**
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* @file
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* @brief Private nanokernel definitions
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*
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* This file contains private nanokernel structures definitions and various
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* other definitions for the ARCv2 processor architecture.
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*
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* This file is also included by assembly language files which must #define
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* _ASMLANGUAGE before including this header file. Note that nanokernel
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* assembly source files obtains structure offset values via "absolute
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* symbols" in the offsets.o module.
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*/
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#ifndef _NANO_PRIVATE_H
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#define _NANO_PRIVATE_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <toolchain.h>
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#include <sections.h>
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#include <arch/cpu.h>
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#include <vector_table.h>
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#ifndef _ASMLANGUAGE
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#include <nanokernel.h> /* public nanokernel API */
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#include <../../../kernel/nanokernel/include/nano_internal.h>
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#include <stdint.h>
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#include <misc/util.h>
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#include <misc/dlist.h>
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#endif
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#ifndef _ASMLANGUAGE
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struct coop {
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/*
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* Saved on the stack as part of handling a regular IRQ or by the kernel
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* when calling the FIRQ return code.
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*/
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};
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struct irq_stack_frame {
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uint32_t r0;
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uint32_t r1;
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uint32_t r2;
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uint32_t r3;
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uint32_t r4;
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uint32_t r5;
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uint32_t r6;
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uint32_t r7;
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uint32_t r8;
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uint32_t r9;
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uint32_t r10;
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uint32_t r11;
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uint32_t r12;
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uint32_t r13;
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uint32_t blink;
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uint32_t lp_end;
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uint32_t lp_start;
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uint32_t lp_count;
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#ifdef CONFIG_CODE_DENSITY
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/*
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* Currently unsupported. This is where those registers are automatically
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* pushed on the stack by the CPU when taking a regular IRQ.
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*/
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uint32_t ei_base;
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uint32_t ldi_base;
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uint32_t jli_base;
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#endif
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uint32_t pc;
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uint32_t status32;
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};
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typedef struct irq_stack_frame tISF;
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struct preempt {
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uint32_t sp; /* r28 */
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};
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typedef struct preempt tPreempt;
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struct callee_saved {
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uint32_t r13;
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uint32_t r14;
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uint32_t r15;
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uint32_t r16;
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uint32_t r17;
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uint32_t r18;
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uint32_t r19;
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uint32_t r20;
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uint32_t r21;
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uint32_t r22;
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uint32_t r23;
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uint32_t r24;
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uint32_t r25;
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uint32_t r26;
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uint32_t fp; /* r27 */
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/* r28 is the stack pointer and saved separately */
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/* r29 is ILINK and does not need to be saved */
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uint32_t r30;
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/*
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* No need to save r31 (blink), it's either alread pushed as the pc or
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* blink on an irq stack frame.
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*/
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};
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typedef struct callee_saved tCalleeSaved;
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/* registers saved by software when taking a FIRQ */
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struct firq_regs {
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uint32_t lp_count;
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uint32_t lp_start;
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uint32_t lp_end;
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};
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typedef struct firq_regs tFirqRegs;
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#endif /* _ASMLANGUAGE */
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/* Bitmask definitions for the struct tcs->flags bit field */
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#define FIBER 0x000
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#define TASK 0x001 /* 1 = task, 0 = fiber */
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#define INT_ACTIVE 0x002 /* 1 = execution context is interrupt handler */
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#define EXC_ACTIVE 0x004 /* 1 = executino context is exception handler */
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#define USE_FP 0x010 /* 1 = thread uses floating point unit */
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#define PREEMPTIBLE 0x020 /* 1 = preemptible thread */
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#define ESSENTIAL 0x200 /* 1 = system thread that must not abort */
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#define NO_METRICS 0x400 /* 1 = _Swap() not to update task metrics */
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/* stacks */
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#define STACK_ALIGN_SIZE 4
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#define STACK_ROUND_UP(x) ROUND_UP(x, STACK_ALIGN_SIZE)
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#define STACK_ROUND_DOWN(x) ROUND_DOWN(x, STACK_ALIGN_SIZE)
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/*
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* Reason a thread has relinquished control: fibers can only be in the NONE
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* or COOP state, tasks can be one in the four.
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*/
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#define _CAUSE_NONE 0
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#define _CAUSE_COOP 1
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#define _CAUSE_RIRQ 2
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#define _CAUSE_FIRQ 3
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#ifndef _ASMLANGUAGE
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struct tcs {
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struct tcs *link; /* node in singly-linked list
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* _nanokernel.fibers
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*/
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uint32_t flags; /* bitmask of flags above */
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uint32_t intlock_key; /* interrupt key when relinquishing control */
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int relinquish_cause; /* one of the _CAUSE_xxxx definitions above */
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unsigned int return_value;/* return value from _Swap */
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int prio; /* fiber priority, -1 for a task */
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#ifdef CONFIG_THREAD_CUSTOM_DATA
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void *custom_data; /* available for custom use */
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#endif
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struct coop coopReg;
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struct preempt preempReg;
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#ifdef CONFIG_THREAD_MONITOR
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struct tcs *next_thread; /* next item in list of ALL fiber+tasks */
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#endif
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#ifdef CONFIG_NANO_TIMEOUTS
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struct _nano_timeout nano_timeout;
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#endif
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#ifdef CONFIG_ERRNO
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int errno_var;
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#endif
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};
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struct s_NANO {
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struct tcs *fiber; /* singly linked list of runnable fibers */
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struct tcs *task; /* current task the nanokernel knows about */
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struct tcs *current; /* currently scheduled thread (fiber or task) */
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#ifdef CONFIG_THREAD_MONITOR
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struct tcs *threads; /* singly linked list of ALL fiber+tasks */
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#endif
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#ifdef CONFIG_FP_SHARING
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struct tcs *current_fp; /* thread (fiber or task) that owns the FP regs */
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#endif
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#ifdef CONFIG_ADVANCED_POWER_MANAGEMENT
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int32_t idle; /* Number of ticks for kernel idling */
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#endif
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char *rirq_sp; /* regular IRQ stack pointer base */
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/*
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* FIRQ stack pointer is installed once in the second bank's SP, so
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* there is no need to track it in _nanokernel.
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*/
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struct firq_regs firq_regs;
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#ifdef CONFIG_NANO_TIMEOUTS
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sys_dlist_t timeout_q;
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#endif
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};
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typedef struct s_NANO tNANO;
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extern tNANO _nanokernel;
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#ifdef CONFIG_CPU_ARCV2
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#include <v2/cache.h>
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#include <v2/irq.h>
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#endif
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static ALWAYS_INLINE void nanoArchInit(void)
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{
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_icache_setup();
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_irq_setup();
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}
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/**
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*
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* @brief Set the return value for the specified fiber (inline)
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*
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* The register used to store the return value from a function call invocation
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* to <value>. It is assumed that the specified <fiber> is pending, and thus
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* the fiber's thread is stored in its struct tcs structure.
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*
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* @return N/A
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*/
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static ALWAYS_INLINE void fiberRtnValueSet(struct tcs *fiber, unsigned int value)
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{
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fiber->return_value = value;
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}
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/**
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*
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* @brief Indicates if kernel is handling interrupt
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*
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* @return 1 if interrupt handler is executed, 0 otherwise
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*/
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static ALWAYS_INLINE int _IS_IN_ISR(void)
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{
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uint32_t act = _arc_v2_aux_reg_read(_ARC_V2_AUX_IRQ_ACT);
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#if CONFIG_IRQ_OFFLOAD
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/* Check if we're in a TRAP_S exception as well */
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if (_arc_v2_aux_reg_read(_ARC_V2_STATUS32) & _ARC_V2_STATUS32_AE &&
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_ARC_V2_ECR_VECTOR(_arc_v2_aux_reg_read(_ARC_V2_ECR)) == EXC_EV_TRAP) {
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return 1;
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}
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#endif
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return ((act & 0xffff) != 0);
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}
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extern void nanoCpuAtomicIdle(unsigned int);
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extern void _thread_entry_wrapper(void);
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static inline void _IntLibInit(void)
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{
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/* nothing needed, here because the kernel requires it */
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}
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#endif /* _ASMLANGUAGE */
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#ifdef __cplusplus
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}
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#endif
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#endif /* _NANO_PRIVATE_H */
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