Takaaki Numai / mbed-dev

inport from local

Dependents:   Hobbyking_Cheetah_0511

platform/CThunk.h@0:85b3fd62ea1a, 2020-03-16 (annotated)

Committer:
NYX
Date:
Mon Mar 16 06:35:48 2020 +0000
Revision:
0:85b3fd62ea1a
reinport to mbed;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NYX 0:85b3fd62ea1a 1
NYX 0:85b3fd62ea1a 2 /** \addtogroup platform */
NYX 0:85b3fd62ea1a 3 /** @{*/
NYX 0:85b3fd62ea1a 4 /* General C++ Object Thunking class
NYX 0:85b3fd62ea1a 5 *
NYX 0:85b3fd62ea1a 6 * - allows direct callbacks to non-static C++ class functions
NYX 0:85b3fd62ea1a 7 * - keeps track for the corresponding class instance
NYX 0:85b3fd62ea1a 8 * - supports an optional context parameter for the called function
NYX 0:85b3fd62ea1a 9 * - ideally suited for class object receiving interrupts (NVIC_SetVector)
NYX 0:85b3fd62ea1a 10 *
NYX 0:85b3fd62ea1a 11 * Copyright (c) 2014-2015 ARM Limited
NYX 0:85b3fd62ea1a 12 *
NYX 0:85b3fd62ea1a 13 * Licensed under the Apache License, Version 2.0 (the "License");
NYX 0:85b3fd62ea1a 14 * you may not use this file except in compliance with the License.
NYX 0:85b3fd62ea1a 15 * You may obtain a copy of the License at
NYX 0:85b3fd62ea1a 16 *
NYX 0:85b3fd62ea1a 17 * http://www.apache.org/licenses/LICENSE-2.0
NYX 0:85b3fd62ea1a 18 *
NYX 0:85b3fd62ea1a 19 * Unless required by applicable law or agreed to in writing, software
NYX 0:85b3fd62ea1a 20 * distributed under the License is distributed on an "AS IS" BASIS,
NYX 0:85b3fd62ea1a 21 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
NYX 0:85b3fd62ea1a 22 * See the License for the specific language governing permissions and
NYX 0:85b3fd62ea1a 23 * limitations under the License.
NYX 0:85b3fd62ea1a 24 */
NYX 0:85b3fd62ea1a 25
NYX 0:85b3fd62ea1a 26 /* General C++ Object Thunking class
NYX 0:85b3fd62ea1a 27 *
NYX 0:85b3fd62ea1a 28 * - allows direct callbacks to non-static C++ class functions
NYX 0:85b3fd62ea1a 29 * - keeps track for the corresponding class instance
NYX 0:85b3fd62ea1a 30 * - supports an optional context parameter for the called function
NYX 0:85b3fd62ea1a 31 * - ideally suited for class object receiving interrupts (NVIC_SetVector)
NYX 0:85b3fd62ea1a 32 */
NYX 0:85b3fd62ea1a 33
NYX 0:85b3fd62ea1a 34 #ifndef __CTHUNK_H__
NYX 0:85b3fd62ea1a 35 #define __CTHUNK_H__
NYX 0:85b3fd62ea1a 36
NYX 0:85b3fd62ea1a 37 #define CTHUNK_ADDRESS 1
NYX 0:85b3fd62ea1a 38 #define CTHUNK_VARIABLES volatile uint32_t code[2]
NYX 0:85b3fd62ea1a 39
NYX 0:85b3fd62ea1a 40 #if (defined(__CORTEX_M3) || defined(__CORTEX_M4) || defined(__CORTEX_M7) || defined(__CORTEX_A9) \
NYX 0:85b3fd62ea1a 41 || defined(__CORTEX_M23) || defined(__CORTEX_M33))
NYX 0:85b3fd62ea1a 42 /**
NYX 0:85b3fd62ea1a 43 * CTHUNK disassembly for Cortex-M3/M4/M7/A9 (thumb2):
NYX 0:85b3fd62ea1a 44 * * adr r0, #4
NYX 0:85b3fd62ea1a 45 * * ldm r0, {r0, r1, r2, pc}
NYX 0:85b3fd62ea1a 46 *
NYX 0:85b3fd62ea1a 47 * This instruction loads the arguments for the static thunking function to r0-r2, and
NYX 0:85b3fd62ea1a 48 * branches to that function by loading its address into PC.
NYX 0:85b3fd62ea1a 49 *
NYX 0:85b3fd62ea1a 50 * This is safe for both regular calling and interrupt calling, since it only touches scratch registers
NYX 0:85b3fd62ea1a 51 * which should be saved by the caller, and are automatically saved as part of the IRQ context switch.
NYX 0:85b3fd62ea1a 52 */
NYX 0:85b3fd62ea1a 53 #define CTHUNK_ASSIGMENT do { \
NYX 0:85b3fd62ea1a 54 m_thunk.code[0] = 0xE890A001; \
NYX 0:85b3fd62ea1a 55 m_thunk.code[1] = 0x00008007; \
NYX 0:85b3fd62ea1a 56 } while (0)
NYX 0:85b3fd62ea1a 57
NYX 0:85b3fd62ea1a 58 #elif (defined(__CORTEX_M0PLUS) || defined(__CORTEX_M0))
NYX 0:85b3fd62ea1a 59 /*
NYX 0:85b3fd62ea1a 60 * CTHUNK disassembly for Cortex M0/M0+ (thumb):
NYX 0:85b3fd62ea1a 61 * * adr r0, #4
NYX 0:85b3fd62ea1a 62 * * ldm r0, {r0, r1, r2, r3}
NYX 0:85b3fd62ea1a 63 * * bx r3
NYX 0:85b3fd62ea1a 64 */
NYX 0:85b3fd62ea1a 65 #define CTHUNK_ASSIGMENT do { \
NYX 0:85b3fd62ea1a 66 m_thunk.code[0] = 0xC80FA001; \
NYX 0:85b3fd62ea1a 67 m_thunk.code[1] = 0x00004718; \
NYX 0:85b3fd62ea1a 68 } while (0)
NYX 0:85b3fd62ea1a 69
NYX 0:85b3fd62ea1a 70 #else
NYX 0:85b3fd62ea1a 71 #error "Target is not currently suported."
NYX 0:85b3fd62ea1a 72 #endif
NYX 0:85b3fd62ea1a 73
NYX 0:85b3fd62ea1a 74 /* IRQ/Exception compatible thunk entry function */
NYX 0:85b3fd62ea1a 75 typedef void (*CThunkEntry)(void);
NYX 0:85b3fd62ea1a 76 /** @}*/
NYX 0:85b3fd62ea1a 77
NYX 0:85b3fd62ea1a 78 /**
NYX 0:85b3fd62ea1a 79 * Class for created a pointer with data bound to it
NYX 0:85b3fd62ea1a 80 *
NYX 0:85b3fd62ea1a 81 * @note Synchronization level: Not protected
NYX 0:85b3fd62ea1a 82 * @ingroup platform
NYX 0:85b3fd62ea1a 83 */
NYX 0:85b3fd62ea1a 84 template<class T>
NYX 0:85b3fd62ea1a 85 class CThunk
NYX 0:85b3fd62ea1a 86 {
NYX 0:85b3fd62ea1a 87 public:
NYX 0:85b3fd62ea1a 88 typedef void (T::*CCallbackSimple)(void);
NYX 0:85b3fd62ea1a 89 typedef void (T::*CCallback)(void* context);
NYX 0:85b3fd62ea1a 90
NYX 0:85b3fd62ea1a 91 inline CThunk(T *instance)
NYX 0:85b3fd62ea1a 92 {
NYX 0:85b3fd62ea1a 93 init(instance, NULL, NULL);
NYX 0:85b3fd62ea1a 94 }
NYX 0:85b3fd62ea1a 95
NYX 0:85b3fd62ea1a 96 inline CThunk(T *instance, CCallback callback)
NYX 0:85b3fd62ea1a 97 {
NYX 0:85b3fd62ea1a 98 init(instance, callback, NULL);
NYX 0:85b3fd62ea1a 99 }
NYX 0:85b3fd62ea1a 100
NYX 0:85b3fd62ea1a 101 ~CThunk() {
NYX 0:85b3fd62ea1a 102
NYX 0:85b3fd62ea1a 103 }
NYX 0:85b3fd62ea1a 104
NYX 0:85b3fd62ea1a 105 inline CThunk(T *instance, CCallbackSimple callback)
NYX 0:85b3fd62ea1a 106 {
NYX 0:85b3fd62ea1a 107 init(instance, (CCallback)callback, NULL);
NYX 0:85b3fd62ea1a 108 }
NYX 0:85b3fd62ea1a 109
NYX 0:85b3fd62ea1a 110 inline CThunk(T &instance, CCallback callback)
NYX 0:85b3fd62ea1a 111 {
NYX 0:85b3fd62ea1a 112 init(instance, callback, NULL);
NYX 0:85b3fd62ea1a 113 }
NYX 0:85b3fd62ea1a 114
NYX 0:85b3fd62ea1a 115 inline CThunk(T &instance, CCallbackSimple callback)
NYX 0:85b3fd62ea1a 116 {
NYX 0:85b3fd62ea1a 117 init(instance, (CCallback)callback, NULL);
NYX 0:85b3fd62ea1a 118 }
NYX 0:85b3fd62ea1a 119
NYX 0:85b3fd62ea1a 120 inline CThunk(T &instance, CCallback callback, void* context)
NYX 0:85b3fd62ea1a 121 {
NYX 0:85b3fd62ea1a 122 init(instance, callback, context);
NYX 0:85b3fd62ea1a 123 }
NYX 0:85b3fd62ea1a 124
NYX 0:85b3fd62ea1a 125 inline void callback(CCallback callback)
NYX 0:85b3fd62ea1a 126 {
NYX 0:85b3fd62ea1a 127 m_callback = callback;
NYX 0:85b3fd62ea1a 128 }
NYX 0:85b3fd62ea1a 129
NYX 0:85b3fd62ea1a 130 inline void callback(CCallbackSimple callback)
NYX 0:85b3fd62ea1a 131 {
NYX 0:85b3fd62ea1a 132 m_callback = (CCallback)callback;
NYX 0:85b3fd62ea1a 133 }
NYX 0:85b3fd62ea1a 134
NYX 0:85b3fd62ea1a 135 inline void context(void* context)
NYX 0:85b3fd62ea1a 136 {
NYX 0:85b3fd62ea1a 137 m_thunk.context = (uint32_t)context;
NYX 0:85b3fd62ea1a 138 }
NYX 0:85b3fd62ea1a 139
NYX 0:85b3fd62ea1a 140 inline void context(uint32_t context)
NYX 0:85b3fd62ea1a 141 {
NYX 0:85b3fd62ea1a 142 m_thunk.context = context;
NYX 0:85b3fd62ea1a 143 }
NYX 0:85b3fd62ea1a 144
NYX 0:85b3fd62ea1a 145 inline uint32_t entry(void)
NYX 0:85b3fd62ea1a 146 {
NYX 0:85b3fd62ea1a 147 return (((uint32_t)&m_thunk)|CTHUNK_ADDRESS);
NYX 0:85b3fd62ea1a 148 }
NYX 0:85b3fd62ea1a 149
NYX 0:85b3fd62ea1a 150 /* get thunk entry point for connecting rhunk to an IRQ table */
NYX 0:85b3fd62ea1a 151 inline operator CThunkEntry(void)
NYX 0:85b3fd62ea1a 152 {
NYX 0:85b3fd62ea1a 153 return (CThunkEntry)entry();
NYX 0:85b3fd62ea1a 154 }
NYX 0:85b3fd62ea1a 155
NYX 0:85b3fd62ea1a 156 /* get thunk entry point for connecting rhunk to an IRQ table */
NYX 0:85b3fd62ea1a 157 inline operator uint32_t(void)
NYX 0:85b3fd62ea1a 158 {
NYX 0:85b3fd62ea1a 159 return entry();
NYX 0:85b3fd62ea1a 160 }
NYX 0:85b3fd62ea1a 161
NYX 0:85b3fd62ea1a 162 /* simple test function */
NYX 0:85b3fd62ea1a 163 inline void call(void)
NYX 0:85b3fd62ea1a 164 {
NYX 0:85b3fd62ea1a 165 (((CThunkEntry)(entry()))());
NYX 0:85b3fd62ea1a 166 }
NYX 0:85b3fd62ea1a 167
NYX 0:85b3fd62ea1a 168 private:
NYX 0:85b3fd62ea1a 169 T* m_instance;
NYX 0:85b3fd62ea1a 170 volatile CCallback m_callback;
NYX 0:85b3fd62ea1a 171
NYX 0:85b3fd62ea1a 172 // TODO: this needs proper fix, to refactor toolchain header file and all its use
NYX 0:85b3fd62ea1a 173 // PACKED there is not defined properly for IAR
NYX 0:85b3fd62ea1a 174 #if defined (__ICCARM__)
NYX 0:85b3fd62ea1a 175 typedef __packed struct
NYX 0:85b3fd62ea1a 176 {
NYX 0:85b3fd62ea1a 177 CTHUNK_VARIABLES;
NYX 0:85b3fd62ea1a 178 volatile uint32_t instance;
NYX 0:85b3fd62ea1a 179 volatile uint32_t context;
NYX 0:85b3fd62ea1a 180 volatile uint32_t callback;
NYX 0:85b3fd62ea1a 181 volatile uint32_t trampoline;
NYX 0:85b3fd62ea1a 182 } CThunkTrampoline;
NYX 0:85b3fd62ea1a 183 #else
NYX 0:85b3fd62ea1a 184 typedef struct
NYX 0:85b3fd62ea1a 185 {
NYX 0:85b3fd62ea1a 186 CTHUNK_VARIABLES;
NYX 0:85b3fd62ea1a 187 volatile uint32_t instance;
NYX 0:85b3fd62ea1a 188 volatile uint32_t context;
NYX 0:85b3fd62ea1a 189 volatile uint32_t callback;
NYX 0:85b3fd62ea1a 190 volatile uint32_t trampoline;
NYX 0:85b3fd62ea1a 191 } __attribute__((__packed__)) CThunkTrampoline;
NYX 0:85b3fd62ea1a 192 #endif
NYX 0:85b3fd62ea1a 193
NYX 0:85b3fd62ea1a 194 static void trampoline(T* instance, void* context, CCallback* callback)
NYX 0:85b3fd62ea1a 195 {
NYX 0:85b3fd62ea1a 196 if(instance && *callback) {
NYX 0:85b3fd62ea1a 197 (static_cast<T*>(instance)->**callback)(context);
NYX 0:85b3fd62ea1a 198 }
NYX 0:85b3fd62ea1a 199 }
NYX 0:85b3fd62ea1a 200
NYX 0:85b3fd62ea1a 201 volatile CThunkTrampoline m_thunk;
NYX 0:85b3fd62ea1a 202
NYX 0:85b3fd62ea1a 203 inline void init(T *instance, CCallback callback, void* context)
NYX 0:85b3fd62ea1a 204 {
NYX 0:85b3fd62ea1a 205 /* remember callback - need to add this level of redirection
NYX 0:85b3fd62ea1a 206 as pointer size for member functions differs between platforms */
NYX 0:85b3fd62ea1a 207 m_callback = callback;
NYX 0:85b3fd62ea1a 208
NYX 0:85b3fd62ea1a 209 /* populate thunking trampoline */
NYX 0:85b3fd62ea1a 210 CTHUNK_ASSIGMENT;
NYX 0:85b3fd62ea1a 211 m_thunk.context = (uint32_t)context;
NYX 0:85b3fd62ea1a 212 m_thunk.instance = (uint32_t)instance;
NYX 0:85b3fd62ea1a 213 m_thunk.callback = (uint32_t)&m_callback;
NYX 0:85b3fd62ea1a 214 m_thunk.trampoline = (uint32_t)&trampoline;
NYX 0:85b3fd62ea1a 215
NYX 0:85b3fd62ea1a 216 #if defined(__CORTEX_A9)
NYX 0:85b3fd62ea1a 217 /* Data cache clean */
NYX 0:85b3fd62ea1a 218 /* Cache control */
NYX 0:85b3fd62ea1a 219 {
NYX 0:85b3fd62ea1a 220 uint32_t start_addr = (uint32_t)&m_thunk & 0xFFFFFFE0;
NYX 0:85b3fd62ea1a 221 uint32_t end_addr = (uint32_t)&m_thunk + sizeof(m_thunk);
NYX 0:85b3fd62ea1a 222 uint32_t addr;
NYX 0:85b3fd62ea1a 223
NYX 0:85b3fd62ea1a 224 /* Data cache clean and invalid */
NYX 0:85b3fd62ea1a 225 for (addr = start_addr; addr < end_addr; addr += 0x20) {
NYX 0:85b3fd62ea1a 226 __v7_clean_inv_dcache_mva((void *)addr);
NYX 0:85b3fd62ea1a 227 }
NYX 0:85b3fd62ea1a 228 /* Instruction cache invalid */
NYX 0:85b3fd62ea1a 229 __v7_inv_icache_all();
NYX 0:85b3fd62ea1a 230 __ca9u_inv_tlb_all();
NYX 0:85b3fd62ea1a 231 __v7_inv_btac();
NYX 0:85b3fd62ea1a 232 }
NYX 0:85b3fd62ea1a 233 #endif
NYX 0:85b3fd62ea1a 234 #if defined(__CORTEX_M7)
NYX 0:85b3fd62ea1a 235 /* Data cache clean and invalid */
NYX 0:85b3fd62ea1a 236 SCB_CleanInvalidateDCache();
NYX 0:85b3fd62ea1a 237
NYX 0:85b3fd62ea1a 238 /* Instruction cache invalid */
NYX 0:85b3fd62ea1a 239 SCB_InvalidateICache();
NYX 0:85b3fd62ea1a 240 #endif
NYX 0:85b3fd62ea1a 241 __ISB();
NYX 0:85b3fd62ea1a 242 __DSB();
NYX 0:85b3fd62ea1a 243 }
NYX 0:85b3fd62ea1a 244 };
NYX 0:85b3fd62ea1a 245
NYX 0:85b3fd62ea1a 246 #endif/*__CTHUNK_H__*/
NYX 0:85b3fd62ea1a 247