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/*
* File: SWI_INLINE.h
* Author: xxxajk@gmail.com
*
* Created on December 5, 2014, 9:40 AM
*
* This is the actual library.
* There are no 'c' or 'cpp' files.
*
* 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.
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifdef DYN_SWI_H
#ifndef SWI_INLINE_H
#define SWI_INLINE_H
#ifndef SWI_MAXIMUM_ALLOWED
#define SWI_MAXIMUM_ALLOWED 4
#endif
#if defined(__arm__) || defined(ARDUINO_ARCH_PIC32)
static char dyn_SWI_initied = 0;
static dyn_SWI* dyn_SWI_LIST[SWI_MAXIMUM_ALLOWED];
static dyn_SWI* dyn_SWI_EXEC[SWI_MAXIMUM_ALLOWED];
#ifdef __arm__
#ifdef __USE_CMSIS_VECTORS__
extern "C" {
void (*_VectorsRam[VECTORTABLE_SIZE])(void)__attribute__((aligned(VECTORTABLE_ALIGNMENT)));
}
#else
__attribute__((always_inline)) static inline void __DSB() {
__asm__ volatile ("dsb");
}
#endif // defined(__USE_CMSIS_VECTORS__)
#else // defined(__arm__)
__attribute__((always_inline)) static inline void __DSB() {
__asm__ volatile ("sync" : : : "memory");
}
#endif // defined(__arm__)
/**
* Execute queued class ISR routines.
*/
#ifdef ARDUINO_ARCH_PIC32
static p32_regset *ifs = ((p32_regset *) & IFS0) + (SWI_IRQ_NUM / 32); //interrupt flag register set
static p32_regset *iec = ((p32_regset *) & IEC0) + (SWI_IRQ_NUM / 32); //interrupt enable control reg set
static uint32_t swibit = 1 << (SWI_IRQ_NUM % 32);
void
#ifdef __PIC32MZXX__
__attribute__((nomips16,at_vector(SWI_VECTOR),interrupt(SWI_IPL)))
#else
__attribute__((interrupt(),nomips16))
#endif
softISR() {
#else
#ifdef ARDUINO_spresense_ast
unsigned int softISR() {
#else
void softISR() {
#endif
#endif
//
// TO-DO: Perhaps limit to 8, and inline this?
//
// Make a working copy, while clearing the queue.
noInterrupts();
#ifdef ARDUINO_ARCH_PIC32
//ifs->clr = swibit;
#endif
for(int i = 0; i < SWI_MAXIMUM_ALLOWED; i++) {
dyn_SWI_EXEC[i] = dyn_SWI_LIST[i];
dyn_SWI_LIST[i] = NULL;
}
__DSB();
interrupts();
// Execute each class SWI
for(int i = 0; i < SWI_MAXIMUM_ALLOWED; i++) {
if(dyn_SWI_EXEC[i]) {
#ifdef __DYN_SWI_DEBUG_LED__
digitalWrite(__DYN_SWI_DEBUG_LED__, HIGH);
#endif
dyn_SWI_EXEC[i]->dyn_SWISR();
#ifdef __DYN_SWI_DEBUG_LED__
digitalWrite(__DYN_SWI_DEBUG_LED__, LOW);
#endif
}
}
#ifdef ARDUINO_ARCH_PIC32
noInterrupts();
if(!dyn_SWI_EXEC[0]) ifs->clr = swibit;
interrupts();
#endif
#ifdef ARDUINO_spresense_ast
return 0;
#endif
}
#define DDSB() __DSB()
#endif
#ifdef __arm__
#ifndef interruptsStatus
#define interruptsStatus() __interruptsStatus()
static inline unsigned char __interruptsStatus() __attribute__((always_inline, unused));
static inline unsigned char __interruptsStatus() {
unsigned int primask;
asm volatile ("mrs %0, primask" : "=r" (primask));
if(primask) return 0;
return 1;
}
#endif
/**
* Initialize the Dynamic (class) Software Interrupt
*/
static void Init_dyn_SWI() {
if(!dyn_SWI_initied) {
#ifdef __USE_CMSIS_VECTORS__
uint32_t *X_Vectors = (uint32_t*)SCB->VTOR;
for(int i = 0; i < VECTORTABLE_SIZE; i++) {
_VectorsRam[i] = reinterpret_cast<void (*)()>(X_Vectors[i]); /* copy vector table to RAM */
}
/* relocate vector table */
noInterrupts();
SCB->VTOR = reinterpret_cast<uint32_t>(&_VectorsRam);
DDSB();
interrupts();
#endif
#ifndef ARDUINO_spresense_ast
for(int i = 0; i < SWI_MAXIMUM_ALLOWED; i++) dyn_SWI_LIST[i] = NULL;
noInterrupts();
_VectorsRam[SWI_IRQ_NUM + 16] = reinterpret_cast<void (*)()>(softISR);
DDSB();
interrupts();
NVIC_SET_PRIORITY(SWI_IRQ_NUM, 255);
NVIC_ENABLE_IRQ(SWI_IRQ_NUM);
#endif
#ifdef __DYN_SWI_DEBUG_LED__
pinMode(__DYN_SWI_DEBUG_LED__, OUTPUT);
digitalWrite(__DYN_SWI_DEBUG_LED__, LOW);
#endif
dyn_SWI_initied = 1;
}
}
/**
* @param klass class that extends dyn_SWI
* @return 0 on queue full, else returns queue position (ones based)
*/
int exec_SWI(const dyn_SWI* klass) {
int rc = 0;
uint8_t irestore = interruptsStatus();
// Allow use from inside a critical section...
// ... and prevent races if also used inside an ISR
noInterrupts();
for(int i = 0; i < SWI_MAXIMUM_ALLOWED; i++) {
if(!dyn_SWI_LIST[i]) {
rc = 1 + i; // Success!
dyn_SWI_LIST[i] = (dyn_SWI*)klass;
#ifndef ARDUINO_spresense_ast
if(!NVIC_GET_PENDING(SWI_IRQ_NUM)) NVIC_SET_PENDING(SWI_IRQ_NUM);
#else
// Launch 1-shot timer as an emulated SWI
// Hopefully the value of Zero is legal.
// 1 microsecond latency would suck!
attachTimerInterrupt(softISR, 100);
#endif
DDSB();
break;
}
}
// Restore interrupts, if they were on.
if(irestore) interrupts();
return rc;
}
#elif defined(ARDUINO_ARCH_PIC32)
/**
* Initialize the Dynamic (class) Software Interrupt
*/
static void Init_dyn_SWI() {
if(!dyn_SWI_initied) {
uint32_t sreg = disableInterrupts();
setIntVector(SWI_VECTOR, softISR);
setIntPriority(SWI_VECTOR, 1, 1); // Lowest priority, ever.
ifs->clr = swibit;
iec->clr = swibit;
iec->set = swibit;
restoreInterrupts(sreg);
#ifdef __DYN_SWI_DEBUG_LED__
pinMode(__DYN_SWI_DEBUG_LED__, OUTPUT);
UHS_PIN_WRITE(__DYN_SWI_DEBUG_LED__, LOW);
#endif
}
}
/**
* @param klass class that extends dyn_SWI
* @return 0 on queue full, else returns queue position (ones based)
*/
int exec_SWI(const dyn_SWI* klass) {
int rc = 0;
uint32_t sreg = disableInterrupts();
for(int i = 0; i < SWI_MAXIMUM_ALLOWED; i++) {
if(!dyn_SWI_LIST[i]) {
rc = 1 + i; // Success!
dyn_SWI_LIST[i] = (dyn_SWI*)klass;
if(!(ifs->reg & swibit)) ifs->set = swibit;
;
break;
}
}
restoreInterrupts(sreg);
return rc;
}
#endif /* defined(__arm__) */
#endif /* SWI_INLINE_H */
#else
#error "Never include SWI_INLINE.h directly, include dyn_SWI.h instead"
#endif
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