288 lines
7.7 KiB
C
288 lines
7.7 KiB
C
/* nanok.h - private nanokernel definitions */
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/*
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* Copyright (c) 2014 Wind River Systems, Inc.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1) Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2) Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3) Neither the name of Wind River Systems nor the names of its contributors
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* may be used to endorse or promote products derived from this software without
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* specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/*
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DESCRIPTION
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This file contains private nanokernel structures definitions and various other
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definitions for the ARCv2 processor architecture.
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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 assembly
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source files obtains structure offset values via "absolute symbols" in the
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offsets.o module.
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*/
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#ifndef _NANOK__H_
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#define _NANOK__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 <nanokernel/cpu.h>
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#ifndef _ASMLANGUAGE
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#include <stdint.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 tCCS->flags bit field */
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#define FIBER 0x000
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#define TASK 0x001 /* 1 = task context, 0 = fiber context */
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#define INT_ACTIVE 0x002 /* 1 = context is executing interrupt handler */
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#define EXC_ACTIVE 0x004 /* 1 = context is executing exception handler */
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#define USE_FP 0x010 /* 1 = context uses floating point unit */
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#define PREEMPTIBLE 0x020 /* 1 = preemptible context */
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#define ESSENTIAL 0x200 /* 1 = system context 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_GROWS_DOWN 0
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#define STACK_GROWS_UP 1
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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 context 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 s_CCS {
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struct s_CCS *link; /* node in singly-linked list
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* _NanoKernel.fibers */
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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_CONTEXT_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_HOST_TOOLS_SUPPORT
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struct s_CCS *activeLink; /* link to next context in the active list */
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#endif
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};
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struct s_NANO {
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tCCS *fiber; /* singly linked list of runnable fiber contexts */
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tCCS *task; /* current task the nanokernel knows about */
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tCCS *current; /* currently scheduled context (fiber or task) */
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#ifdef CONFIG_HOST_TOOLS_SUPPORT
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tCCS *contexts; /* singly linked list of ALL fiber+tasks */
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#endif
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#ifdef CONFIG_FP_SHARING
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tCCS *current_fp; /* context (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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};
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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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* fiberRtnValueSet - 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 context is stored in its tCCS structure.
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*
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* RETURNS: N/A
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*
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* \NOMANUAL
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*/
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static ALWAYS_INLINE void fiberRtnValueSet(tCCS *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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* _IS_IN_ISR - indicates if kernel is handling interrupt
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*
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* RETURNS: 1 if interrupt handler is executed, 0 otherwise
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*
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* \NOMANUAL
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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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return ((act & 0xffff) != 0);
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}
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extern void _InsertCCS(tCCS **, tCCS *);
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extern void *_NewContext(char *, unsigned, _ContextEntry,
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_ContextArg, _ContextArg, _ContextArg,
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int, unsigned);
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extern unsigned int _Swap(unsigned int);
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extern void nanoCpuAtomicIdle(unsigned int);
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extern void _ContextEntryWrapper(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 /* _NANOK__H_ */
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