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Fork of OmniWheels by Gustav Atmel

mbed-os/platform/CThunk.h@2:798925c9e4a8, 2018-05-01 (annotated)

Committer:
gustavatmel
Date:
Tue May 01 15:55:34 2018 +0000
Revision:
2:798925c9e4a8
Parent:
1:9c5af431a1f1 
bluetooth

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gustavatmel 1:9c5af431a1f1 1
gustavatmel 1:9c5af431a1f1 2 /** \addtogroup platform */
gustavatmel 1:9c5af431a1f1 3 /** @{*/
gustavatmel 1:9c5af431a1f1 4 /**
gustavatmel 1:9c5af431a1f1 5 * \defgroup platform_CThunk CThunk class
gustavatmel 1:9c5af431a1f1 6 * @{
gustavatmel 1:9c5af431a1f1 7 */
gustavatmel 1:9c5af431a1f1 8 /* General C++ Object Thunking class
gustavatmel 1:9c5af431a1f1 9 *
gustavatmel 1:9c5af431a1f1 10 * - allows direct callbacks to non-static C++ class functions
gustavatmel 1:9c5af431a1f1 11 * - keeps track for the corresponding class instance
gustavatmel 1:9c5af431a1f1 12 * - supports an optional context parameter for the called function
gustavatmel 1:9c5af431a1f1 13 * - ideally suited for class object receiving interrupts (NVIC_SetVector)
gustavatmel 1:9c5af431a1f1 14 *
gustavatmel 1:9c5af431a1f1 15 * Copyright (c) 2014-2015 ARM Limited
gustavatmel 1:9c5af431a1f1 16 *
gustavatmel 1:9c5af431a1f1 17 * Licensed under the Apache License, Version 2.0 (the "License");
gustavatmel 1:9c5af431a1f1 18 * you may not use this file except in compliance with the License.
gustavatmel 1:9c5af431a1f1 19 * You may obtain a copy of the License at
gustavatmel 1:9c5af431a1f1 20 *
gustavatmel 1:9c5af431a1f1 21 * http://www.apache.org/licenses/LICENSE-2.0
gustavatmel 1:9c5af431a1f1 22 *
gustavatmel 1:9c5af431a1f1 23 * Unless required by applicable law or agreed to in writing, software
gustavatmel 1:9c5af431a1f1 24 * distributed under the License is distributed on an "AS IS" BASIS,
gustavatmel 1:9c5af431a1f1 25 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
gustavatmel 1:9c5af431a1f1 26 * See the License for the specific language governing permissions and
gustavatmel 1:9c5af431a1f1 27 * limitations under the License.
gustavatmel 1:9c5af431a1f1 28 */
gustavatmel 1:9c5af431a1f1 29
gustavatmel 1:9c5af431a1f1 30 /* General C++ Object Thunking class
gustavatmel 1:9c5af431a1f1 31 *
gustavatmel 1:9c5af431a1f1 32 * - allows direct callbacks to non-static C++ class functions
gustavatmel 1:9c5af431a1f1 33 * - keeps track for the corresponding class instance
gustavatmel 1:9c5af431a1f1 34 * - supports an optional context parameter for the called function
gustavatmel 1:9c5af431a1f1 35 * - ideally suited for class object receiving interrupts (NVIC_SetVector)
gustavatmel 1:9c5af431a1f1 36 */
gustavatmel 1:9c5af431a1f1 37
gustavatmel 1:9c5af431a1f1 38 #ifndef __CTHUNK_H__
gustavatmel 1:9c5af431a1f1 39 #define __CTHUNK_H__
gustavatmel 1:9c5af431a1f1 40
gustavatmel 1:9c5af431a1f1 41 #define CTHUNK_ADDRESS 1
gustavatmel 1:9c5af431a1f1 42 #define CTHUNK_VARIABLES volatile uint32_t code[2]
gustavatmel 1:9c5af431a1f1 43
gustavatmel 1:9c5af431a1f1 44 #if (defined(__CORTEX_M3) || defined(__CORTEX_M4) || defined(__CORTEX_M7) || defined(__CORTEX_A9) \
gustavatmel 1:9c5af431a1f1 45 || defined(__CORTEX_M33))
gustavatmel 1:9c5af431a1f1 46 /**
gustavatmel 1:9c5af431a1f1 47 * CTHUNK disassembly for Cortex-M3/M4/M7/A9 (thumb2):
gustavatmel 1:9c5af431a1f1 48 * * adr r0, #4
gustavatmel 1:9c5af431a1f1 49 * * ldm r0, {r0, r1, r2, pc}
gustavatmel 1:9c5af431a1f1 50 *
gustavatmel 1:9c5af431a1f1 51 * This instruction loads the arguments for the static thunking function to r0-r2, and
gustavatmel 1:9c5af431a1f1 52 * branches to that function by loading its address into PC.
gustavatmel 1:9c5af431a1f1 53 *
gustavatmel 1:9c5af431a1f1 54 * This is safe for both regular calling and interrupt calling, since it only touches scratch registers
gustavatmel 1:9c5af431a1f1 55 * which should be saved by the caller, and are automatically saved as part of the IRQ context switch.
gustavatmel 1:9c5af431a1f1 56 */
gustavatmel 1:9c5af431a1f1 57 #define CTHUNK_ASSIGMENT do { \
gustavatmel 1:9c5af431a1f1 58 m_thunk.code[0] = 0xE890A001; \
gustavatmel 1:9c5af431a1f1 59 m_thunk.code[1] = 0x00008007; \
gustavatmel 1:9c5af431a1f1 60 } while (0)
gustavatmel 1:9c5af431a1f1 61
gustavatmel 1:9c5af431a1f1 62 #elif (defined(__CORTEX_M0PLUS) || defined(__CORTEX_M0) || defined(__CORTEX_M23))
gustavatmel 1:9c5af431a1f1 63 /*
gustavatmel 1:9c5af431a1f1 64 * CTHUNK disassembly for Cortex M0/M0+ (thumb):
gustavatmel 1:9c5af431a1f1 65 * * adr r0, #4
gustavatmel 1:9c5af431a1f1 66 * * ldm r0, {r0, r1, r2, r3}
gustavatmel 1:9c5af431a1f1 67 * * bx r3
gustavatmel 1:9c5af431a1f1 68 */
gustavatmel 1:9c5af431a1f1 69 #define CTHUNK_ASSIGMENT do { \
gustavatmel 1:9c5af431a1f1 70 m_thunk.code[0] = 0xC80FA001; \
gustavatmel 1:9c5af431a1f1 71 m_thunk.code[1] = 0x00004718; \
gustavatmel 1:9c5af431a1f1 72 } while (0)
gustavatmel 1:9c5af431a1f1 73
gustavatmel 1:9c5af431a1f1 74 #else
gustavatmel 1:9c5af431a1f1 75 #error "Target is not currently suported."
gustavatmel 1:9c5af431a1f1 76 #endif
gustavatmel 1:9c5af431a1f1 77
gustavatmel 1:9c5af431a1f1 78 /* IRQ/Exception compatible thunk entry function */
gustavatmel 1:9c5af431a1f1 79 typedef void (*CThunkEntry)(void);
gustavatmel 1:9c5af431a1f1 80
gustavatmel 1:9c5af431a1f1 81 /**
gustavatmel 1:9c5af431a1f1 82 * Class for created a pointer with data bound to it
gustavatmel 1:9c5af431a1f1 83 *
gustavatmel 1:9c5af431a1f1 84 * @note Synchronization level: Not protected
gustavatmel 1:9c5af431a1f1 85 */
gustavatmel 1:9c5af431a1f1 86 template<class T>
gustavatmel 1:9c5af431a1f1 87 class CThunk
gustavatmel 1:9c5af431a1f1 88 {
gustavatmel 1:9c5af431a1f1 89 public:
gustavatmel 1:9c5af431a1f1 90 typedef void (T::*CCallbackSimple)(void);
gustavatmel 1:9c5af431a1f1 91 typedef void (T::*CCallback)(void* context);
gustavatmel 1:9c5af431a1f1 92
gustavatmel 1:9c5af431a1f1 93 inline CThunk(T *instance)
gustavatmel 1:9c5af431a1f1 94 {
gustavatmel 1:9c5af431a1f1 95 init(instance, NULL, NULL);
gustavatmel 1:9c5af431a1f1 96 }
gustavatmel 1:9c5af431a1f1 97
gustavatmel 1:9c5af431a1f1 98 inline CThunk(T *instance, CCallback callback)
gustavatmel 1:9c5af431a1f1 99 {
gustavatmel 1:9c5af431a1f1 100 init(instance, callback, NULL);
gustavatmel 1:9c5af431a1f1 101 }
gustavatmel 1:9c5af431a1f1 102
gustavatmel 1:9c5af431a1f1 103 ~CThunk() {
gustavatmel 1:9c5af431a1f1 104
gustavatmel 1:9c5af431a1f1 105 }
gustavatmel 1:9c5af431a1f1 106
gustavatmel 1:9c5af431a1f1 107 inline CThunk(T *instance, CCallbackSimple callback)
gustavatmel 1:9c5af431a1f1 108 {
gustavatmel 1:9c5af431a1f1 109 init(instance, (CCallback)callback, NULL);
gustavatmel 1:9c5af431a1f1 110 }
gustavatmel 1:9c5af431a1f1 111
gustavatmel 1:9c5af431a1f1 112 inline CThunk(T &instance, CCallback callback)
gustavatmel 1:9c5af431a1f1 113 {
gustavatmel 1:9c5af431a1f1 114 init(instance, callback, NULL);
gustavatmel 1:9c5af431a1f1 115 }
gustavatmel 1:9c5af431a1f1 116
gustavatmel 1:9c5af431a1f1 117 inline CThunk(T &instance, CCallbackSimple callback)
gustavatmel 1:9c5af431a1f1 118 {
gustavatmel 1:9c5af431a1f1 119 init(instance, (CCallback)callback, NULL);
gustavatmel 1:9c5af431a1f1 120 }
gustavatmel 1:9c5af431a1f1 121
gustavatmel 1:9c5af431a1f1 122 inline CThunk(T &instance, CCallback callback, void* context)
gustavatmel 1:9c5af431a1f1 123 {
gustavatmel 1:9c5af431a1f1 124 init(instance, callback, context);
gustavatmel 1:9c5af431a1f1 125 }
gustavatmel 1:9c5af431a1f1 126
gustavatmel 1:9c5af431a1f1 127 inline void callback(CCallback callback)
gustavatmel 1:9c5af431a1f1 128 {
gustavatmel 1:9c5af431a1f1 129 m_callback = callback;
gustavatmel 1:9c5af431a1f1 130 }
gustavatmel 1:9c5af431a1f1 131
gustavatmel 1:9c5af431a1f1 132 inline void callback(CCallbackSimple callback)
gustavatmel 1:9c5af431a1f1 133 {
gustavatmel 1:9c5af431a1f1 134 m_callback = (CCallback)callback;
gustavatmel 1:9c5af431a1f1 135 }
gustavatmel 1:9c5af431a1f1 136
gustavatmel 1:9c5af431a1f1 137 inline void context(void* context)
gustavatmel 1:9c5af431a1f1 138 {
gustavatmel 1:9c5af431a1f1 139 m_thunk.context = (uint32_t)context;
gustavatmel 1:9c5af431a1f1 140 }
gustavatmel 1:9c5af431a1f1 141
gustavatmel 1:9c5af431a1f1 142 inline void context(uint32_t context)
gustavatmel 1:9c5af431a1f1 143 {
gustavatmel 1:9c5af431a1f1 144 m_thunk.context = context;
gustavatmel 1:9c5af431a1f1 145 }
gustavatmel 1:9c5af431a1f1 146
gustavatmel 1:9c5af431a1f1 147 inline uint32_t entry(void)
gustavatmel 1:9c5af431a1f1 148 {
gustavatmel 1:9c5af431a1f1 149 return (((uint32_t)&m_thunk)|CTHUNK_ADDRESS);
gustavatmel 1:9c5af431a1f1 150 }
gustavatmel 1:9c5af431a1f1 151
gustavatmel 1:9c5af431a1f1 152 /* get thunk entry point for connecting rhunk to an IRQ table */
gustavatmel 1:9c5af431a1f1 153 inline operator CThunkEntry(void)
gustavatmel 1:9c5af431a1f1 154 {
gustavatmel 1:9c5af431a1f1 155 return (CThunkEntry)entry();
gustavatmel 1:9c5af431a1f1 156 }
gustavatmel 1:9c5af431a1f1 157
gustavatmel 1:9c5af431a1f1 158 /* get thunk entry point for connecting rhunk to an IRQ table */
gustavatmel 1:9c5af431a1f1 159 inline operator uint32_t(void)
gustavatmel 1:9c5af431a1f1 160 {
gustavatmel 1:9c5af431a1f1 161 return entry();
gustavatmel 1:9c5af431a1f1 162 }
gustavatmel 1:9c5af431a1f1 163
gustavatmel 1:9c5af431a1f1 164 /* simple test function */
gustavatmel 1:9c5af431a1f1 165 inline void call(void)
gustavatmel 1:9c5af431a1f1 166 {
gustavatmel 1:9c5af431a1f1 167 (((CThunkEntry)(entry()))());
gustavatmel 1:9c5af431a1f1 168 }
gustavatmel 1:9c5af431a1f1 169
gustavatmel 1:9c5af431a1f1 170 private:
gustavatmel 1:9c5af431a1f1 171 T* m_instance;
gustavatmel 1:9c5af431a1f1 172 volatile CCallback m_callback;
gustavatmel 1:9c5af431a1f1 173
gustavatmel 1:9c5af431a1f1 174 // TODO: this needs proper fix, to refactor toolchain header file and all its use
gustavatmel 1:9c5af431a1f1 175 // PACKED there is not defined properly for IAR
gustavatmel 1:9c5af431a1f1 176 #if defined (__ICCARM__)
gustavatmel 1:9c5af431a1f1 177 typedef __packed struct
gustavatmel 1:9c5af431a1f1 178 {
gustavatmel 1:9c5af431a1f1 179 CTHUNK_VARIABLES;
gustavatmel 1:9c5af431a1f1 180 volatile uint32_t instance;
gustavatmel 1:9c5af431a1f1 181 volatile uint32_t context;
gustavatmel 1:9c5af431a1f1 182 volatile uint32_t callback;
gustavatmel 1:9c5af431a1f1 183 volatile uint32_t trampoline;
gustavatmel 1:9c5af431a1f1 184 } CThunkTrampoline;
gustavatmel 1:9c5af431a1f1 185 #else
gustavatmel 1:9c5af431a1f1 186 typedef struct
gustavatmel 1:9c5af431a1f1 187 {
gustavatmel 1:9c5af431a1f1 188 CTHUNK_VARIABLES;
gustavatmel 1:9c5af431a1f1 189 volatile uint32_t instance;
gustavatmel 1:9c5af431a1f1 190 volatile uint32_t context;
gustavatmel 1:9c5af431a1f1 191 volatile uint32_t callback;
gustavatmel 1:9c5af431a1f1 192 volatile uint32_t trampoline;
gustavatmel 1:9c5af431a1f1 193 } __attribute__((__packed__)) CThunkTrampoline;
gustavatmel 1:9c5af431a1f1 194 #endif
gustavatmel 1:9c5af431a1f1 195
gustavatmel 1:9c5af431a1f1 196 static void trampoline(T* instance, void* context, CCallback* callback)
gustavatmel 1:9c5af431a1f1 197 {
gustavatmel 1:9c5af431a1f1 198 if(instance && *callback) {
gustavatmel 1:9c5af431a1f1 199 (static_cast<T*>(instance)->**callback)(context);
gustavatmel 1:9c5af431a1f1 200 }
gustavatmel 1:9c5af431a1f1 201 }
gustavatmel 1:9c5af431a1f1 202
gustavatmel 1:9c5af431a1f1 203 volatile CThunkTrampoline m_thunk;
gustavatmel 1:9c5af431a1f1 204
gustavatmel 1:9c5af431a1f1 205 inline void init(T *instance, CCallback callback, void* context)
gustavatmel 1:9c5af431a1f1 206 {
gustavatmel 1:9c5af431a1f1 207 /* remember callback - need to add this level of redirection
gustavatmel 1:9c5af431a1f1 208 as pointer size for member functions differs between platforms */
gustavatmel 1:9c5af431a1f1 209 m_callback = callback;
gustavatmel 1:9c5af431a1f1 210
gustavatmel 1:9c5af431a1f1 211 /* populate thunking trampoline */
gustavatmel 1:9c5af431a1f1 212 CTHUNK_ASSIGMENT;
gustavatmel 1:9c5af431a1f1 213 m_thunk.context = (uint32_t)context;
gustavatmel 1:9c5af431a1f1 214 m_thunk.instance = (uint32_t)instance;
gustavatmel 1:9c5af431a1f1 215 m_thunk.callback = (uint32_t)&m_callback;
gustavatmel 1:9c5af431a1f1 216 m_thunk.trampoline = (uint32_t)&trampoline;
gustavatmel 1:9c5af431a1f1 217
gustavatmel 1:9c5af431a1f1 218 #if defined(__CORTEX_A9)
gustavatmel 1:9c5af431a1f1 219 /* Data cache clean */
gustavatmel 1:9c5af431a1f1 220 /* Cache control */
gustavatmel 1:9c5af431a1f1 221 {
gustavatmel 1:9c5af431a1f1 222 uint32_t start_addr = (uint32_t)&m_thunk & 0xFFFFFFE0;
gustavatmel 1:9c5af431a1f1 223 uint32_t end_addr = (uint32_t)&m_thunk + sizeof(m_thunk);
gustavatmel 1:9c5af431a1f1 224 uint32_t addr;
gustavatmel 1:9c5af431a1f1 225
gustavatmel 1:9c5af431a1f1 226 /* Data cache clean and invalid */
gustavatmel 1:9c5af431a1f1 227 for (addr = start_addr; addr < end_addr; addr += 0x20) {
gustavatmel 1:9c5af431a1f1 228 L1C_CleanInvalidateDCacheMVA((void *)addr);
gustavatmel 1:9c5af431a1f1 229 }
gustavatmel 1:9c5af431a1f1 230 /* Instruction cache invalid */
gustavatmel 1:9c5af431a1f1 231 L1C_InvalidateICacheAll();
gustavatmel 1:9c5af431a1f1 232 MMU_InvalidateTLB();
gustavatmel 1:9c5af431a1f1 233 L1C_InvalidateBTAC();
gustavatmel 1:9c5af431a1f1 234 }
gustavatmel 1:9c5af431a1f1 235 #endif
gustavatmel 1:9c5af431a1f1 236 #if defined(__CORTEX_M7)
gustavatmel 1:9c5af431a1f1 237 /* Data cache clean and invalid */
gustavatmel 1:9c5af431a1f1 238 SCB_CleanInvalidateDCache();
gustavatmel 1:9c5af431a1f1 239
gustavatmel 1:9c5af431a1f1 240 /* Instruction cache invalid */
gustavatmel 1:9c5af431a1f1 241 SCB_InvalidateICache();
gustavatmel 1:9c5af431a1f1 242 #endif
gustavatmel 1:9c5af431a1f1 243 __ISB();
gustavatmel 1:9c5af431a1f1 244 __DSB();
gustavatmel 1:9c5af431a1f1 245 }
gustavatmel 1:9c5af431a1f1 246 };
gustavatmel 1:9c5af431a1f1 247
gustavatmel 1:9c5af431a1f1 248 /**@}*/
gustavatmel 1:9c5af431a1f1 249
gustavatmel 1:9c5af431a1f1 250 /**@}*/
gustavatmel 1:9c5af431a1f1 251
gustavatmel 1:9c5af431a1f1 252 #endif/*__CTHUNK_H__*/
gustavatmel 1:9c5af431a1f1 253