#include "detect.h"
#include "types.h"
+#include <kern/preempt.h>
+
#include <cfg/compiler.h> /* for uintXX_t */
+#include "cfg/cfg_proc.h" /* CONFIG_KERN_PREEMPT */
#if CPU_I196
#define IRQ_DISABLE disable_interrupt()
#define IRQ_RESTORE(x) FIXME
#endif /* OS_EMBEDDED */
-#elif CPU_ARM
+#elif CPU_ARM
#ifdef __IAR_SYSTEMS_ICC__
#if __CPU_MODE__ == 1 /* Thumb */
/* Use stubs */
- extern cpuflags_t get_CPSR(void);
- extern void set_CPSR(cpuflags_t flags);
+ extern cpu_flags_t get_CPSR(void);
+ extern void set_CPSR(cpu_flags_t flags);
#else
#define get_CPSR __get_CPSR
#define set_CPSR __set_CPSR
#define IRQ_ENABLED() \
((bool)(get_CPSR() & 0xb0))
- #define BREAKPOINT /* asm("bkpt 0") DOES NOT WORK */
-
#else /* !__IAR_SYSTEMS_ICC__ */
#define IRQ_DISABLE \
#define CPU_READ_FLAGS() \
({ \
- cpuflags_t sreg; \
+ cpu_flags_t sreg; \
asm volatile ( \
"mrs %0, cpsr\n\t" \
: "=r" (sreg) \
#define IRQ_ENABLED() ((CPU_READ_FLAGS() & 0xc0) != 0xc0)
+ #if CONFIG_KERN_PREEMPT
+ EXTERN_C void asm_irq_switch_context(void);
+
+ /**
+ * At the beginning of any ISR immediately ajust the
+ * return address and store all the caller-save
+ * registers (the ISR may change these registers that
+ * are shared with the user-context).
+ */
+ #define IRQ_ENTRY() asm volatile ( \
+ "sub lr, lr, #4\n\t" \
+ "stmfd sp!, {r0-r3, ip, lr}\n\t")
+ #define IRQ_EXIT() asm volatile ( \
+ "b asm_irq_switch_context\n\t")
+ /**
+ * Function attribute to declare an interrupt service
+ * routine.
+ *
+ * An ISR function must be declared as naked because we
+ * want to add our IRQ_ENTRY() prologue and IRQ_EXIT()
+ * epilogue code to handle the context switch and save
+ * all the registers (not only the callee-save).
+ *
+ */
+ #define ISR_FUNC __attribute__((naked))
+
+ /**
+ * The compiler cannot establish which
+ * registers actually need to be saved, because
+ * the interrupt can happen at any time, so the
+ * "normal" prologue and epilogue used for a
+ * generic function call are not suitable for
+ * the ISR.
+ *
+ * Using a naked function has the drawback that
+ * the stack is not automatically adjusted at
+ * this point, like a "normal" function call.
+ *
+ * So, an ISR can _only_ contain other function
+ * calls and they can't use the stack in any
+ * other way.
+ *
+ * NOTE: we need to explicitly disable IRQs after
+ * IRQ_ENTRY(), because the IRQ status flag is not
+ * masked by the hardware and an IRQ ack inside the ISR
+ * may cause the triggering of another IRQ before
+ * exiting from the current ISR.
+ *
+ * The respective IRQ_ENABLE is not necessary, because
+ * IRQs will be automatically re-enabled when restoring
+ * the context of the user task.
+ */
+ #define DECLARE_ISR_CONTEXT_SWITCH(func) \
+ void ISR_FUNC func(void); \
+ static void __isr_##func(void); \
+ void ISR_FUNC func(void) \
+ { \
+ IRQ_ENTRY(); \
+ IRQ_DISABLE; \
+ __isr_##func(); \
+ IRQ_EXIT(); \
+ } \
+ static void __isr_##func(void)
+ /**
+ * Interrupt service routine prototype: can be used for
+ * forward declarations.
+ */
+ #define ISR_PROTO_CONTEXT_SWITCH(func) \
+ void ISR_FUNC func(void)
+ /**
+ * With task priorities enabled each ISR is used a point to
+ * check if we need to perform a context switch.
+ *
+ * Instead, without priorities a context switch can occur only
+ * when the running task expires its time quantum. In this last
+ * case, the context switch can only occur in the timer
+ * ISR, that must be always declared with the
+ * DECLARE_ISR_CONTEXT_SWITCH() macro.
+ */
+ #if CONFIG_KERN_PRI
+ #define DECLARE_ISR(func) \
+ DECLARE_ISR_CONTEXT_SWITCH(func)
+
+ #define ISR_PROTO(func) \
+ ISR_PROTO_CONTEXT_SWITCH(func)
+ #endif /* !CONFIG_KERN_PRI */
+ #endif /* CONFIG_KERN_PREEMPT */
+
+ #ifndef DECLARE_ISR
+ #define DECLARE_ISR(func) \
+ void __attribute__((interrupt)) func(void)
+ #endif
+ #ifndef DECLARE_ISR_CONTEXT_SWITCH
+ #define DECLARE_ISR_CONTEXT_SWITCH(func) \
+ void __attribute__((interrupt)) func(void)
+ #endif
+ #ifndef ISR_PROTO
+ #define ISR_PROTO(func) \
+ void __attribute__((interrupt)) func(void)
+ #endif
+ #ifndef ISR_PROTO_CONTEXT_SWITCH
+ #define ISR_PROTO_CONTEXT_SWITCH(func) \
+ void __attribute__((interrupt)) func(void)
+ #endif
+
#endif /* !__IAR_SYSTEMS_ICC_ */
#elif CPU_PPC
- #define IRQ_DISABLE FIXME
- #define IRQ_ENABLE FIXME
- #define IRQ_SAVE_DISABLE(x) FIXME
- #define IRQ_RESTORE(x) FIXME
- #define IRQ_ENABLED() FIXME
+
+ /* Get IRQ_* definitions from the hosting environment. */
+ #include <cfg/os.h>
+ #if OS_EMBEDDED
+ #define IRQ_DISABLE FIXME
+ #define IRQ_ENABLE FIXME
+ #define IRQ_SAVE_DISABLE(x) FIXME
+ #define IRQ_RESTORE(x) FIXME
+ #define IRQ_ENABLED() FIXME
+ #endif /* OS_EMBEDDED */
#elif CPU_DSP56K
- #define BREAKPOINT asm(debug)
#define IRQ_DISABLE do { asm(bfset #0x0200,SR); asm(nop); } while (0)
#define IRQ_ENABLE do { asm(bfclr #0x0200,SR); asm(nop); } while (0)
); \
(bool)(sreg & 0x80); \
})
+ #if CONFIG_KERN_PREEMPT
+ #define DECLARE_ISR_CONTEXT_SWITCH(vect) \
+ INLINE void __isr_##vect(void); \
+ ISR(vect) \
+ { \
+ __isr_##vect(); \
+ IRQ_PREEMPT_HANDLER(); \
+ } \
+ INLINE void __isr_##vect(void)
+
+ /**
+ * Interrupt service routine prototype: can be used for
+ * forward declarations.
+ */
+ #define ISR_PROTO(vect) ISR(vect)
+
+ /**
+ * With task priorities enabled each ISR is used a point to
+ * check if we need to perform a context switch.
+ *
+ * Instead, without priorities a context switch can occur only
+ * when the running task expires its time quantum. In this last
+ * case, the context switch can only occur in the timer ISR,
+ * that must be always declared with the
+ * DECLARE_ISR_CONTEXT_SWITCH() macro.
+ */
+ #if CONFIG_KERN_PRI
+ #define DECLARE_ISR(func) \
+ DECLARE_ISR_CONTEXT_SWITCH(func)
+
+ #define ISR_PROTO(func) \
+ ISR_PROTO_CONTEXT_SWITCH(func)
+ #endif /* !CONFIG_KERN_PRI */
+ #endif
+
+ #ifndef DECLARE_ISR
+ #define ISR_PROTO(vect) ISR(vect)
+ #endif
+ #ifndef DECLARE_ISR
+ #define DECLARE_ISR(vect) ISR(vect)
+ #endif
+ #ifndef DECLARE_ISR_CONTEXT_SWITCH
+ #define DECLARE_ISR_CONTEXT_SWITCH(vect) ISR(vect)
+ #endif
+ #ifndef ISR_PROTO
+ #define ISR_PROTO(func) ISR(vect)
+ #endif
+ #ifndef ISR_PROTO_CONTEXT_SWITCH
+ #define ISR_PROTO_CONTEXT_SWITCH(func) ISR(vect)
+ #endif
+
#else
#error No CPU_... defined.
#endif
-#ifndef IRQ_ENTRY
- #define IRQ_ENTRY() /* NOP */
+#ifdef IRQ_RUNNING
+ /// Ensure callee is running within an interrupt
+ #define ASSERT_IRQ_CONTEXT() ASSERT(IRQ_RUNNING())
+
+ /// Ensure callee is not running within an interrupt
+ #define ASSERT_USER_CONTEXT() ASSERT(!IRQ_RUNNING())
+#else
+ #define ASSERT_USER_CONTEXT() do {} while(0)
+ #define ASSERT_IRQ_CONTEXT() do {} while(0)
#endif
-#ifndef IRQ_EXIT
- #define IRQ_EXIT() /* NOP */
+#ifdef IRQ_ENABLED
+ /// Ensure interrupts are enabled
+ #define IRQ_ASSERT_ENABLED() ASSERT(IRQ_ENABLED())
+
+ /// Ensure interrupts are not enabled
+ #define IRQ_ASSERT_DISABLED() ASSERT(!IRQ_ENABLED())
+#else
+ #define IRQ_ASSERT_ENABLED() do {} while(0)
+ #define IRQ_ASSERT_DISABLED() do {} while(0)
#endif
+#ifndef IRQ_PREEMPT_HANDLER
+ #if CONFIG_KERN_PREEMPT
+ /**
+ * Handle preemptive context switch inside timer IRQ.
+ */
+ INLINE void IRQ_PREEMPT_HANDLER(void)
+ {
+ if (proc_needPreempt())
+ proc_preempt();
+ }
+ #else
+ #define IRQ_PREEMPT_HANDLER() /* Nothing */
+ #endif
+#endif
+
/**
* Execute \a CODE atomically with respect to interrupts.
*
*/
#define ATOMIC(CODE) \
do { \
- cpuflags_t __flags; \
+ cpu_flags_t __flags; \
IRQ_SAVE_DISABLE(__flags); \
CODE; \
IRQ_RESTORE(__flags); \
} while (0)
-
-#ifndef BREAKPOINT
-#define BREAKPOINT /* nop */
-#endif
-
-
#endif /* CPU_IRQ_H */
projects / bertos.git / blobdiff