altos/stm: Add nvic priority register fields. Add more TIM234 defines.

[fw/altos] / src / stm / ao_arch_funcs.h

diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index 18ca20dab69b2b2dec06a643a01372a92a141215..88097406a3e104d835719dda073923299eb3e25b 100644 (file)
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -345,17 +345,43 @@ extern struct ao_stm_usart        ao_stm_usart3;
 
 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        primask;
-       asm("mrs %0,primask" : "=&r" (primask));
+       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 primask;
+       return val;
 }
 
 static inline void
-ao_arch_irqrestore(uint32_t primask) {
-       asm("msr primask,%0" : : "r" (primask));
+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
@@ -365,17 +391,24 @@ ao_arch_memory_barrier() {
 
 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));
+       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 *) (task->stack + AO_STACK_SIZE);
+       uint32_t        *sp = (uint32_t *) ((void*) task->stack + AO_STACK_SIZE);
        uint32_t        a = (uint32_t) start;
        int             i;
 
@@ -390,7 +423,7 @@ ao_arch_init_stack(struct ao_task *task, void *start)
        /* APSR */
        ARM_PUSH32(sp, 0);
 
-       /* PRIMASK with interrupts enabled */
+       /* BASEPRI with interrupts enabled */
        ARM_PUSH32(sp, 0);
 
        task->sp = sp;
@@ -404,8 +437,13 @@ static inline void ao_arch_save_regs(void) {
        asm("mrs r0,apsr");
        asm("push {r0}");
 
+#ifdef AO_NONMASK_INTERRUPTS
+       /* Save BASEPRI */
+       asm("mrs r0,basepri");
+#else
        /* Save PRIMASK */
        asm("mrs r0,primask");
+#endif
        asm("push {r0}");
 }
 
@@ -413,20 +451,21 @@ static inline void ao_arch_save_stack(void) {
        uint32_t        *sp;
        asm("mov %0,sp" : "=&r" (sp) );
        ao_cur_task->sp = (sp);
-       if ((uint8_t *) sp < &ao_cur_task->stack[0])
-               ao_panic (AO_PANIC_STACK);
 }
 
 static inline void ao_arch_restore_stack(void) {
-       uint32_t        sp;
-       sp = (uint32_t) ao_cur_task->sp;
-
        /* Switch stacks */
-       asm("mov sp, %0" : : "r" (sp) );
+       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 APSR */
        asm("pop {r0}");
@@ -468,7 +507,7 @@ static inline void ao_arch_start_scheduler(void) {
 
        asm("mrs %0,msp" : "=&r" (sp));
        asm("msr psp,%0" : : "r" (sp));
-       asm("mrs %0,control" : "=&r" (control));
+       asm("mrs %0,control" : "=r" (control));
        control |= (1 << 1);
        asm("msr control,%0" : : "r" (control));
        asm("isb");
@@ -479,12 +518,24 @@ static inline void ao_arch_start_scheduler(void) {
 
 #endif
 
-#define ao_arch_wait_interrupt() do {                          \
-               asm("\twfi\n");                                 \
-               ao_arch_release_interrupts();                   \
-               asm(".global ao_idle_loc\nao_idle_loc:");       \
-               ao_arch_block_interrupts();                     \
-       } while (0)
+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();    \