--- /dev/null
+/*
+ * Copyright © 2018 Keith Packard <keithp@keithp.com>
+ *
+ * This program 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 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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.
+ */
+
+#ifndef _AO_ARCH_FUNCS_H_
+#define _AO_ARCH_FUNCS_H_
+
+/* task functions */
+
+#define ARM_PUSH32(stack, val) (*(--(stack)) = (val))
+
+typedef uint32_t ao_arch_irq_t;
+
+static inline void
+ao_arch_block_interrupts(void) {
+#ifdef AO_NONMASK_INTERRUPTS
+ asm("msr basepri,%0" : : "r" (AO_STM_NVIC_BASEPRI_MASK));
+#else
+ asm("cpsid i");
+#endif
+}
+
+static inline void
+ao_arch_release_interrupts(void) {
+#ifdef AO_NONMASK_INTERRUPTS
+ asm("msr basepri,%0" : : "r" (0x0));
+#else
+ asm("cpsie i");
+#endif
+}
+
+static inline uint32_t
+ao_arch_irqsave(void) {
+ uint32_t val;
+#ifdef AO_NONMASK_INTERRUPTS
+ asm("mrs %0,basepri" : "=r" (val));
+#else
+ asm("mrs %0,primask" : "=r" (val));
+#endif
+ ao_arch_block_interrupts();
+ return val;
+}
+
+static inline void
+ao_arch_irqrestore(uint32_t basepri) {
+#ifdef AO_NONMASK_INTERRUPTS
+ asm("msr basepri,%0" : : "r" (basepri));
+#else
+ asm("msr primask,%0" : : "r" (basepri));
+#endif
+}
+
+static inline void
+ao_arch_memory_barrier() {
+ asm volatile("" ::: "memory");
+}
+
+static inline void
+ao_arch_irq_check(void) {
+#ifdef AO_NONMASK_INTERRUPTS
+ uint32_t basepri;
+ asm("mrs %0,basepri" : "=r" (basepri));
+ if (basepri == 0)
+ ao_panic(AO_PANIC_IRQ);
+#else
+ uint32_t primask;
+ asm("mrs %0,primask" : "=r" (primask));
+ if ((primask & 1) == 0)
+ ao_panic(AO_PANIC_IRQ);
+#endif
+}
+
+#if HAS_TASK
+static inline void
+ao_arch_init_stack(struct ao_task *task, void *start)
+{
+ uint32_t *sp = (uint32_t *) ((void*) task->stack + AO_STACK_SIZE);
+ uint32_t a = (uint32_t) start;
+ int i;
+
+ /* Return address (goes into LR) */
+ ARM_PUSH32(sp, a);
+
+ /* Clear register values r0-r12 */
+ i = 13;
+ while (i--)
+ ARM_PUSH32(sp, 0);
+
+ /* APSR */
+ ARM_PUSH32(sp, 0);
+
+ /* Clear register values s0-s31 */
+ i = 32;
+ while (i--)
+ ARM_PUSH32(sp, 0);
+
+ /* FPSCR */
+ ARM_PUSH32(sp, 0);
+
+ /* BASEPRI with interrupts enabled */
+ ARM_PUSH32(sp, 0);
+
+ task->sp = sp;
+}
+
+static inline void ao_arch_save_regs(void) {
+ /* Save general registers */
+ asm("push {r0-r12,lr}");
+
+ /* Save APSR */
+ asm("mrs r0,apsr");
+ asm("push {r0}");
+
+ /* Save FPU registers */
+ asm("vpush {s0-s15}");
+ asm("vpush {s16-s31}");
+
+ /* Save FPSCR */
+ asm("vmrs r0,fpscr");
+ asm("push {r0}");
+
+#ifdef AO_NONMASK_INTERRUPTS
+ /* Save BASEPRI */
+ asm("mrs r0,basepri");
+#else
+ /* Save PRIMASK */
+ asm("mrs r0,primask");
+#endif
+ asm("push {r0}");
+}
+
+static inline void ao_arch_save_stack(void) {
+ uint32_t *sp;
+ asm("mov %0,sp" : "=&r" (sp) );
+ ao_cur_task->sp = (sp);
+}
+
+static inline void ao_arch_restore_stack(void) {
+ /* Switch stacks */
+ asm("mov sp, %0" : : "r" (ao_cur_task->sp) );
+
+#ifdef AO_NONMASK_INTERRUPTS
+ /* Restore BASEPRI */
+ asm("pop {r0}");
+ asm("msr basepri,r0");
+#else
+ /* Restore PRIMASK */
+ asm("pop {r0}");
+ asm("msr primask,r0");
+#endif
+
+ /* Restore FPSCR */
+ asm("pop {r0}");
+ asm("vmsr fpscr,r0");
+
+ /* Restore FPU registers */
+ asm("vpop {s16-s31}");
+ asm("vpop {s0-s15}");
+
+ /* Restore APSR */
+ asm("pop {r0}");
+ asm("msr apsr_nczvq,r0");
+
+ /* Restore general registers */
+ asm("pop {r0-r12,lr}\n");
+
+ /* Return to calling function */
+ asm("bx lr");
+}
+
+#ifndef HAS_SAMPLE_PROFILE
+#define HAS_SAMPLE_PROFILE 0
+#endif
+
+#if DEBUG
+#define HAS_ARCH_VALIDATE_CUR_STACK 1
+
+static inline void
+ao_validate_cur_stack(void)
+{
+ uint8_t *psp;
+
+ asm("mrs %0,psp" : "=&r" (psp));
+ if (ao_cur_task &&
+ psp <= ao_cur_task->stack &&
+ psp >= ao_cur_task->stack - 256)
+ ao_panic(AO_PANIC_STACK);
+}
+#endif
+
+#if !HAS_SAMPLE_PROFILE
+#define HAS_ARCH_START_SCHEDULER 1
+
+static inline void ao_arch_start_scheduler(void) {
+ uint32_t sp;
+ uint32_t control;
+
+ asm("mrs %0,msp" : "=&r" (sp));
+ asm("msr psp,%0" : : "r" (sp));
+ asm("mrs %0,control" : "=r" (control));
+ control |= (1 << 1);
+ asm("msr control,%0" : : "r" (control));
+ asm("isb");
+}
+#endif
+
+#define ao_arch_isr_stack()
+
+#endif
+
+static inline void
+ao_arch_wait_interrupt(void) {
+#ifdef AO_NONMASK_INTERRUPTS
+ asm(
+ "dsb\n" /* Serialize data */
+ "isb\n" /* Serialize instructions */
+ "cpsid i\n" /* Block all interrupts */
+ "msr basepri,%0\n" /* Allow all interrupts through basepri */
+ "wfi\n" /* Wait for an interrupt */
+ "cpsie i\n" /* Allow all interrupts */
+ "msr basepri,%1\n" /* Block interrupts through basepri */
+ : : "r" (0), "r" (AO_STM_NVIC_BASEPRI_MASK));
+#else
+ asm("\twfi\n");
+ ao_arch_release_interrupts();
+ ao_arch_block_interrupts();
+#endif
+}
+
+#define ao_arch_critical(b) do { \
+ uint32_t __mask = ao_arch_irqsave(); \
+ do { b } while (0); \
+ ao_arch_irqrestore(__mask); \
+ } while (0)
+
+/* GPIO functions */
+
+#define ao_power_register(gpio)
+#define ao_power_unregister(gpio)
+
+static inline void ao_enable_port(struct stm_gpio *port)
+{
+ if ((port) == &stm_gpioa) {
+ stm_rcc.ahb1enr |= (1 << STM_RCC_AHB1ENR_IOPAEN);
+ ao_power_register(&ao_power_gpioa);
+ } else if ((port) == &stm_gpiob) {
+ stm_rcc.ahb1enr |= (1 << STM_RCC_AHB1ENR_IOPBEN);
+ ao_power_register(&ao_power_gpiob);
+ } else if ((port) == &stm_gpioc) {
+ stm_rcc.ahb1enr |= (1 << STM_RCC_AHB1ENR_IOPCEN);
+ ao_power_register(&ao_power_gpioc);
+ } else if ((port) == &stm_gpiod) {
+ stm_rcc.ahb1enr |= (1 << STM_RCC_AHB1ENR_IOPDEN);
+ ao_power_register(&ao_power_gpiod);
+ } else if ((port) == &stm_gpioe) {
+ stm_rcc.ahb1enr |= (1 << STM_RCC_AHB1ENR_IOPEEN);
+ ao_power_register(&ao_power_gpioe);
+ } else if ((port) == &stm_gpiof) {
+ stm_rcc.ahb1enr |= (1 << STM_RCC_AHB1ENR_IOPFEN);
+ ao_power_register(&ao_power_gpiof);
+ } else if ((port) == &stm_gpiog) {
+ stm_rcc.ahb1enr |= (1 << STM_RCC_AHB1ENR_IOPGEN);
+ ao_power_register(&ao_power_gpiog);
+ } else if ((port) == &stm_gpioh) {
+ stm_rcc.ahb1enr |= (1 << STM_RCC_AHB1ENR_IOPHEN);
+ ao_power_register(&ao_power_gpioh);
+ }
+}
+
+static inline void ao_disable_port(struct stm_gpio *port)
+{
+ if ((port) == &stm_gpioa) {
+ stm_rcc.ahb1enr &= ~(1 << STM_RCC_AHB1ENR_IOPAEN);
+ ao_power_unregister(&ao_power_gpioa);
+ } else if ((port) == &stm_gpiob) {
+ stm_rcc.ahb1enr &= ~(1 << STM_RCC_AHB1ENR_IOPBEN);
+ ao_power_unregister(&ao_power_gpiob);
+ } else if ((port) == &stm_gpioc) {
+ stm_rcc.ahb1enr &= ~(1 << STM_RCC_AHB1ENR_IOPCEN);
+ ao_power_unregister(&ao_power_gpioc);
+ } else if ((port) == &stm_gpiod) {
+ stm_rcc.ahb1enr &= ~(1 << STM_RCC_AHB1ENR_IOPDEN);
+ ao_power_unregister(&ao_power_gpiod);
+ } else if ((port) == &stm_gpioe) {
+ stm_rcc.ahb1enr &= ~(1 << STM_RCC_AHB1ENR_IOPEEN);
+ ao_power_unregister(&ao_power_gpioe);
+ } else if ((port) == &stm_gpiof) {
+ stm_rcc.ahb1enr &= ~(1 << STM_RCC_AHB1ENR_IOPFEN);
+ ao_power_unregister(&ao_power_gpiof);
+ } else if ((port) == &stm_gpiog) {
+ stm_rcc.ahb1enr &= ~(1 << STM_RCC_AHB1ENR_IOPGEN);
+ ao_power_unregister(&ao_power_gpiog);
+ } else if ((port) == &stm_gpioh) {
+ stm_rcc.ahb1enr &= ~(1 << STM_RCC_AHB1ENR_IOPHEN);
+ ao_power_unregister(&ao_power_gpioh);
+ }
+}
+
+#define ao_gpio_set(port, bit, v) stm_gpio_set(port, bit, v)
+
+#define ao_gpio_get(port, bit) stm_gpio_get(port, bit)
+
+#define ao_enable_output(port,bit,v) do { \
+ ao_enable_port(port); \
+ ao_gpio_set(port, bit, v); \
+ stm_moder_set(port, bit, STM_MODER_OUTPUT);\
+ } while (0)
+
+#define ao_gpio_set_mode(port,bit,mode) do { \
+ if (mode == AO_EXTI_MODE_PULL_UP) \
+ stm_pupdr_set(port, bit, STM_PUPDR_PULL_UP); \
+ else if (mode == AO_EXTI_MODE_PULL_DOWN) \
+ stm_pupdr_set(port, bit, STM_PUPDR_PULL_DOWN); \
+ else \
+ stm_pupdr_set(port, bit, STM_PUPDR_NONE); \
+ } while (0)
+
+#define ao_enable_input(port,bit,mode) do { \
+ ao_enable_port(port); \
+ stm_moder_set(port, bit, STM_MODER_INPUT); \
+ ao_gpio_set_mode(port, bit, mode); \
+ } while (0)
+
+/* usart */
+
+void
+ao_usart_init(void);
+
+
+#endif /* _AO_ARCH_FUNCS_H_ */
projects / fw / altos / blobdiff