| /* |
| * Copyright (c) 2016 Intel Corporation |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| /** |
| * @file |
| * @brief Private nanokernel definitions |
| * |
| * This file contains private nanokernel structures definitions and various |
| * other definitions for the Nios II processor architecture. |
| * |
| * This file is also included by assembly language files which must #define |
| * _ASMLANGUAGE before including this header file. Note that nanokernel |
| * assembly source files obtains structure offset values via "absolute |
| * symbols" in the offsets.o module. |
| */ |
| |
| #ifndef _NANO_PRIVATE_H |
| #define _NANO_PRIVATE_H |
| |
| #ifdef __cplusplus |
| extern "C" { |
| #endif |
| |
| #include <toolchain.h> |
| #include <sections.h> |
| #include <arch/cpu.h> |
| |
| #ifndef _ASMLANGUAGE |
| #include <nanokernel.h> /* public nanokernel API */ |
| #include <../../../kernel/nanokernel/include/nano_internal.h> |
| #include <stdint.h> |
| #include <misc/util.h> |
| #include <misc/dlist.h> |
| #endif |
| |
| /* Bitmask definitions for the struct tcs->flags bit field */ |
| #define FIBER 0x000 |
| #define TASK 0x001 /* 1 = task, 0 = fiber */ |
| |
| #define INT_ACTIVE 0x002 /* 1 = executing context is interrupt handler */ |
| #define EXC_ACTIVE 0x004 /* 1 = executing context is exception handler */ |
| #define USE_FP 0x010 /* 1 = thread uses floating point unit */ |
| #define PREEMPTIBLE 0x020 /* 1 = preemptible thread */ |
| #define ESSENTIAL 0x200 /* 1 = system thread that must not abort */ |
| #define NO_METRICS 0x400 /* 1 = _Swap() not to update task metrics */ |
| |
| /* stacks */ |
| |
| #define STACK_ALIGN_SIZE 4 |
| |
| #define STACK_ROUND_UP(x) ROUND_UP(x, STACK_ALIGN_SIZE) |
| #define STACK_ROUND_DOWN(x) ROUND_DOWN(x, STACK_ALIGN_SIZE) |
| |
| #ifndef _ASMLANGUAGE |
| |
| /* |
| * The following structure defines the set of 'non-volatile' or 'callee saved' |
| * integer registers. These registers must be preserved by a called C |
| * function. These are the only registers that need to be saved/restored when |
| * a cooperative context switch occurs. |
| */ |
| struct s_coop { |
| /* General purpose callee-saved registers */ |
| uint32_t r16; |
| uint32_t r17; |
| uint32_t r18; |
| uint32_t r19; |
| uint32_t r20; |
| uint32_t r21; |
| uint32_t r22; |
| uint32_t r23; |
| |
| /* Normally used for the frame pointer but also a general purpose |
| * register if frame pointers omitted |
| */ |
| uint32_t r28; |
| |
| uint32_t ra; /* Return address */ |
| uint32_t sp; /* Stack pointer */ |
| uint32_t key; /* IRQ status before irq_lock() and call to _Swap() */ |
| uint32_t retval; /* Return value of _Swap() */ |
| }; |
| typedef struct s_coop t_coop; |
| |
| /* |
| * The following structure defines the set of caller-saved integer registers. |
| * These registers need not be preserved by a called C function. Given that |
| * they are not preserved across function calls, they must be save/restored |
| * (along with the struct coop regs) when a preemptive context switch occurs. |
| */ |
| struct preempt { |
| /* Nothing here, the exception code puts all the caller-saved registers |
| * onto the stack |
| */ |
| }; |
| |
| struct tcs { |
| struct tcs *link; /* node in singly-linked list |
| * _nanokernel.fibers |
| */ |
| uint32_t flags; /* bitmask of flags above */ |
| int prio; /* fiber priority, -1 for a task */ |
| struct preempt preempReg; |
| t_coop coopReg; |
| |
| #ifdef CONFIG_ERRNO |
| int errno_var; |
| #endif |
| #ifdef CONFIG_NANO_TIMEOUTS |
| struct _nano_timeout nano_timeout; |
| #endif |
| #if defined(CONFIG_THREAD_MONITOR) |
| struct __thread_entry *entry; /* thread entry and parameters description */ |
| struct tcs *next_thread; /* next item in list of ALL fiber+tasks */ |
| #endif |
| #ifdef CONFIG_MICROKERNEL |
| void *uk_task_ptr; |
| #endif |
| #ifdef CONFIG_THREAD_CUSTOM_DATA |
| void *custom_data; /* available for custom use */ |
| #endif |
| }; |
| |
| struct s_NANO { |
| struct tcs *fiber; /* singly linked list of runnable fibers */ |
| struct tcs *task; /* current task the nanokernel knows about */ |
| struct tcs *current; /* currently scheduled thread (fiber or task) */ |
| |
| #if defined(CONFIG_NANO_TIMEOUTS) || defined(CONFIG_NANO_TIMERS) |
| sys_dlist_t timeout_q; |
| int32_t task_timeout; |
| #endif |
| #if defined(CONFIG_THREAD_MONITOR) |
| struct tcs *threads; /* singly linked list of ALL fiber+tasks */ |
| #endif |
| |
| /* Nios II-specific members */ |
| |
| char *irq_sp; /* Interrupt stack pointer */ |
| uint32_t nested; /* IRQ/exception nest level */ |
| }; |
| |
| typedef struct s_NANO tNANO; |
| extern tNANO _nanokernel; |
| extern char _interrupt_stack[CONFIG_ISR_STACK_SIZE]; |
| |
| |
| /* Arch-specific nanokernel APIs */ |
| void nano_cpu_idle(void); |
| void nano_cpu_atomic_idle(unsigned int key); |
| |
| static ALWAYS_INLINE void nanoArchInit(void) |
| { |
| _nanokernel.irq_sp = _interrupt_stack + CONFIG_ISR_STACK_SIZE; |
| } |
| |
| static ALWAYS_INLINE void fiberRtnValueSet(struct tcs *fiber, |
| unsigned int value) |
| { |
| fiber->coopReg.retval = value; |
| } |
| |
| static inline void _IntLibInit(void) |
| { |
| /* No special initialization of the interrupt subsystem required */ |
| } |
| |
| FUNC_NORETURN void _NanoFatalErrorHandler(unsigned int reason, |
| const NANO_ESF *esf); |
| |
| |
| static ALWAYS_INLINE int _IS_IN_ISR(void) |
| { |
| char *sp = (char *)_nios2_read_sp(); |
| |
| /* Make sure we're on the interrupt stack somewhere */ |
| if (sp < _interrupt_stack || |
| sp >= (char *)(STACK_ROUND_DOWN(_interrupt_stack + |
| CONFIG_ISR_STACK_SIZE))) { |
| return 0; |
| } |
| return 1; |
| } |
| |
| #ifdef CONFIG_IRQ_OFFLOAD |
| void _irq_do_offload(void); |
| #endif |
| |
| #if ALT_CPU_ICACHE_SIZE > 0 |
| void _nios2_icache_flush_all(void); |
| #else |
| #define _nios2_icache_flush_all() do { } while (0) |
| #endif |
| |
| #if ALT_CPU_DCACHE_SIZE > 0 |
| void _nios2_dcache_flush_all(void); |
| #else |
| #define _nios2_dcache_flush_all() do { } while (0) |
| #endif |
| |
| #endif /* _ASMLANGUAGE */ |
| |
| #endif /* _NANO_PRIVATE_H */ |
| |