altos: Declare task stack as union of uint8_t and uint32_t

[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 9bb598f67fa3d68496c29f1a9ed2f8147957a149..ad46ef32babf9fd52b0f9d58f08fd09e6f534275 100644 (file)
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -39,6 +39,9 @@
 
 #define AO_SPI_SPEED_200kHz    AO_SPI_SPEED_125kHz
 
+#define AO_SPI_CPOL_BIT                4
+#define AO_SPI_CPHA_BIT                5
+
 #define AO_SPI_CONFIG_1                0x00
 #define AO_SPI_1_CONFIG_PA5_PA6_PA7    AO_SPI_CONFIG_1
 #define AO_SPI_2_CONFIG_PB13_PB14_PB15 AO_SPI_CONFIG_1
@@ -64,6 +67,15 @@
 
 #define AO_SPI_INDEX(id)       ((id) & AO_SPI_INDEX_MASK)
 #define AO_SPI_CONFIG(id)      ((id) & AO_SPI_CONFIG_MASK)
+#define AO_SPI_PIN_CONFIG(id)  ((id) & (AO_SPI_INDEX_MASK | AO_SPI_CONFIG_MASK))
+#define AO_SPI_CPOL(id)                ((uint32_t) (((id) >> AO_SPI_CPOL_BIT) & 1))
+#define AO_SPI_CPHA(id)                ((uint32_t) (((id) >> AO_SPI_CPHA_BIT) & 1))
+
+#define AO_SPI_MAKE_MODE(pol,pha)      (((pol) << AO_SPI_CPOL_BIT) | ((pha) << AO_SPI_CPHA_BIT))
+#define AO_SPI_MODE_0          AO_SPI_MAKE_MODE(0,0)
+#define AO_SPI_MODE_1          AO_SPI_MAKE_MODE(0,1)
+#define AO_SPI_MODE_2          AO_SPI_MAKE_MODE(1,0)
+#define AO_SPI_MODE_3          AO_SPI_MAKE_MODE(1,1)
 
 uint8_t
 ao_spi_try_get(uint8_t spi_index, uint32_t speed, uint8_t task_id);
@@ -381,6 +393,9 @@ struct ao_stm_usart {
 #endif
 };
 
+void
+ao_debug_out(char c);
+
 #if HAS_SERIAL_1
 extern struct ao_stm_usart     ao_stm_usart1;
 #endif
@@ -437,7 +452,7 @@ ao_arch_irqrestore(uint32_t basepri) {
 }
 
 static inline void
-ao_arch_memory_barrier() {
+ao_arch_memory_barrier(void) {
        asm volatile("" ::: "memory");
 }
 
@@ -460,7 +475,7 @@ ao_arch_irq_check(void) {
 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        *sp = &task->stack32[AO_STACK_SIZE>>2];
        uint32_t        a = (uint32_t) start;
        int             i;
 
@@ -478,7 +493,7 @@ ao_arch_init_stack(struct ao_task *task, void *start)
        /* BASEPRI with interrupts enabled */
        ARM_PUSH32(sp, 0);
 
-       task->sp = sp;
+       task->sp32 = sp;
 }
 
 static inline void ao_arch_save_regs(void) {
@@ -502,12 +517,12 @@ static inline void ao_arch_save_regs(void) {
 static inline void ao_arch_save_stack(void) {
        uint32_t        *sp;
        asm("mov %0,sp" : "=&r" (sp) );
-       ao_cur_task->sp = (sp);
+       ao_cur_task->sp32 = (sp);
 }
 
 static inline void ao_arch_restore_stack(void) {
        /* Switch stacks */
-       asm("mov sp, %0" : : "r" (ao_cur_task->sp) );
+       asm("mov sp, %0" : : "r" (ao_cur_task->sp32) );
 
 #ifdef AO_NONMASK_INTERRUPTS
        /* Restore BASEPRI */
@@ -595,4 +610,6 @@ ao_arch_wait_interrupt(void) {
                ao_arch_irqrestore(__mask);             \
        } while (0)
 
+void start(void);
+
 #endif /* _AO_ARCH_FUNCS_H_ */