internal.hpp

00001 /*
00002  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
00003  */
00004 
00005 #pragma once
00006 
00007 #include <uavcan_stm32/build_config.hpp>
00008 
00009 #if UAVCAN_STM32_CHIBIOS
00010 # include <hal.h>
00011 #elif UAVCAN_STM32_NUTTX
00012 # include <nuttx/arch.h>
00013 # include <arch/board/board.h>
00014 # include <chip/stm32_tim.h>
00015 # include <syslog.h>
00016 #elif UAVCAN_STM32_BAREMETAL
00017 #include <chip.h>   // See http://uavcan.org/Implementations/Libuavcan/Platforms/STM32/
00018 #elif UAVCAN_STM32_FREERTOS
00019 # include <chip.h>
00020 # include <cmsis_os.h>
00021 #else
00022 # error "Unknown OS"
00023 #endif
00024 
00025 /**
00026  * Debug output
00027  */
00028 #ifndef UAVCAN_STM32_LOG
00029 // syslog() crashes the system in this context
00030 // # if UAVCAN_STM32_NUTTX && CONFIG_ARCH_LOWPUTC
00031 # if 0
00032 #  define UAVCAN_STM32_LOG(fmt, ...)  syslog("uavcan_stm32: " fmt "\n", ##__VA_ARGS__)
00033 # else
00034 #  define UAVCAN_STM32_LOG(...)       ((void)0)
00035 # endif
00036 #endif
00037 
00038 /**
00039  * IRQ handler macros
00040  */
00041 #if UAVCAN_STM32_CHIBIOS
00042 # define UAVCAN_STM32_IRQ_HANDLER(id)  CH_IRQ_HANDLER(id)
00043 # define UAVCAN_STM32_IRQ_PROLOGUE()    CH_IRQ_PROLOGUE()
00044 # define UAVCAN_STM32_IRQ_EPILOGUE()    CH_IRQ_EPILOGUE()
00045 #elif UAVCAN_STM32_NUTTX
00046 # define UAVCAN_STM32_IRQ_HANDLER(id)  int id(int irq, FAR void* context)
00047 # define UAVCAN_STM32_IRQ_PROLOGUE()
00048 # define UAVCAN_STM32_IRQ_EPILOGUE()    return 0;
00049 #else
00050 # define UAVCAN_STM32_IRQ_HANDLER(id)  void id(void)
00051 # define UAVCAN_STM32_IRQ_PROLOGUE()
00052 # define UAVCAN_STM32_IRQ_EPILOGUE()
00053 #endif
00054 
00055 #if UAVCAN_STM32_CHIBIOS
00056 /**
00057  * Priority mask for timer and CAN interrupts.
00058  */
00059 # ifndef UAVCAN_STM32_IRQ_PRIORITY_MASK
00060 #  if (CH_KERNEL_MAJOR == 2)
00061 #   define UAVCAN_STM32_IRQ_PRIORITY_MASK  CORTEX_PRIORITY_MASK(CORTEX_MAX_KERNEL_PRIORITY)
00062 #  else // ChibiOS 3+
00063 #   define UAVCAN_STM32_IRQ_PRIORITY_MASK  CORTEX_MAX_KERNEL_PRIORITY
00064 #  endif
00065 # endif
00066 #endif
00067 
00068 #if UAVCAN_STM32_BAREMETAL
00069 /**
00070  * Priority mask for timer and CAN interrupts.
00071  */
00072 # ifndef UAVCAN_STM32_IRQ_PRIORITY_MASK
00073 #  define UAVCAN_STM32_IRQ_PRIORITY_MASK  0
00074 # endif
00075 #endif
00076 
00077 #if UAVCAN_STM32_FREERTOS
00078 /**
00079  * Priority mask for timer and CAN interrupts.
00080  */
00081 # ifndef UAVCAN_STM32_IRQ_PRIORITY_MASK
00082 #  define UAVCAN_STM32_IRQ_PRIORITY_MASK  configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY
00083 # endif
00084 #endif
00085 
00086 /**
00087  * Glue macros
00088  */
00089 #define UAVCAN_STM32_GLUE2_(A, B)       A##B
00090 #define UAVCAN_STM32_GLUE2(A, B)        UAVCAN_STM32_GLUE2_(A, B)
00091 
00092 #define UAVCAN_STM32_GLUE3_(A, B, C)    A##B##C
00093 #define UAVCAN_STM32_GLUE3(A, B, C)     UAVCAN_STM32_GLUE3_(A, B, C)
00094 
00095 namespace uavcan_stm32
00096 {
00097 #if UAVCAN_STM32_CHIBIOS
00098 
00099 struct CriticalSectionLocker
00100 {
00101     CriticalSectionLocker() { chSysSuspend(); }
00102     ~CriticalSectionLocker() { chSysEnable(); }
00103 };
00104 
00105 #elif UAVCAN_STM32_NUTTX
00106 
00107 struct CriticalSectionLocker
00108 {
00109     const irqstate_t flags_;
00110 
00111     CriticalSectionLocker()
00112         : flags_(enter_critical_section())
00113     { }
00114 
00115     ~CriticalSectionLocker()
00116     {
00117         leave_critical_section(flags_);
00118     }
00119 };
00120 
00121 #elif UAVCAN_STM32_BAREMETAL
00122 
00123 struct CriticalSectionLocker
00124 {
00125 
00126     CriticalSectionLocker()
00127     {
00128       __disable_irq();
00129     }
00130 
00131     ~CriticalSectionLocker()
00132     {
00133       __enable_irq();
00134     }
00135 };
00136 
00137 #elif UAVCAN_STM32_FREERTOS
00138 
00139 struct CriticalSectionLocker
00140 {
00141 
00142     CriticalSectionLocker()
00143     {
00144         taskENTER_CRITICAL();
00145     }
00146 
00147     ~CriticalSectionLocker()
00148     {
00149         taskEXIT_CRITICAL();
00150     }
00151 };
00152 
00153 #endif
00154 
00155 namespace clock
00156 {
00157 uavcan::uint64_t getUtcUSecFromCanInterrupt();
00158 }
00159 }