Aditya Mehrotra / mbed-dev

Biomimetics MBED Library w/ Added Support for CAN3

Dependents:   CAN_TEST SPIne_Plus_DYNO_SENSORS SPIne_Plus_v2 SPIne_Plus_Dyno_v2

platform/CThunk.h@3:993b4d6ff61e, 2021-03-09 (annotated)

Committer:
adimmit
Date:
Tue Mar 09 20:33:24 2021 +0000
Revision:
3:993b4d6ff61e
Parent:
0:083111ae2a11 
added CAN3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
saloutos 0:083111ae2a11 1
saloutos 0:083111ae2a11 2 /** \addtogroup platform */
saloutos 0:083111ae2a11 3 /** @{*/
saloutos 0:083111ae2a11 4 /* General C++ Object Thunking class
saloutos 0:083111ae2a11 5 *
saloutos 0:083111ae2a11 6 * - allows direct callbacks to non-static C++ class functions
saloutos 0:083111ae2a11 7 * - keeps track for the corresponding class instance
saloutos 0:083111ae2a11 8 * - supports an optional context parameter for the called function
saloutos 0:083111ae2a11 9 * - ideally suited for class object receiving interrupts (NVIC_SetVector)
saloutos 0:083111ae2a11 10 *
saloutos 0:083111ae2a11 11 * Copyright (c) 2014-2015 ARM Limited
saloutos 0:083111ae2a11 12 *
saloutos 0:083111ae2a11 13 * Licensed under the Apache License, Version 2.0 (the "License");
saloutos 0:083111ae2a11 14 * you may not use this file except in compliance with the License.
saloutos 0:083111ae2a11 15 * You may obtain a copy of the License at
saloutos 0:083111ae2a11 16 *
saloutos 0:083111ae2a11 17 * http://www.apache.org/licenses/LICENSE-2.0
saloutos 0:083111ae2a11 18 *
saloutos 0:083111ae2a11 19 * Unless required by applicable law or agreed to in writing, software
saloutos 0:083111ae2a11 20 * distributed under the License is distributed on an "AS IS" BASIS,
saloutos 0:083111ae2a11 21 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
saloutos 0:083111ae2a11 22 * See the License for the specific language governing permissions and
saloutos 0:083111ae2a11 23 * limitations under the License.
saloutos 0:083111ae2a11 24 */
saloutos 0:083111ae2a11 25
saloutos 0:083111ae2a11 26 /* General C++ Object Thunking class
saloutos 0:083111ae2a11 27 *
saloutos 0:083111ae2a11 28 * - allows direct callbacks to non-static C++ class functions
saloutos 0:083111ae2a11 29 * - keeps track for the corresponding class instance
saloutos 0:083111ae2a11 30 * - supports an optional context parameter for the called function
saloutos 0:083111ae2a11 31 * - ideally suited for class object receiving interrupts (NVIC_SetVector)
saloutos 0:083111ae2a11 32 */
saloutos 0:083111ae2a11 33
saloutos 0:083111ae2a11 34 #ifndef __CTHUNK_H__
saloutos 0:083111ae2a11 35 #define __CTHUNK_H__
saloutos 0:083111ae2a11 36
saloutos 0:083111ae2a11 37 #define CTHUNK_ADDRESS 1
saloutos 0:083111ae2a11 38 #define CTHUNK_VARIABLES volatile uint32_t code[2]
saloutos 0:083111ae2a11 39
saloutos 0:083111ae2a11 40 #if (defined(__CORTEX_M3) || defined(__CORTEX_M4) || defined(__CORTEX_M7) || defined(__CORTEX_A9) \
saloutos 0:083111ae2a11 41 || defined(__CORTEX_M23) || defined(__CORTEX_M33))
saloutos 0:083111ae2a11 42 /**
saloutos 0:083111ae2a11 43 * CTHUNK disassembly for Cortex-M3/M4/M7/A9 (thumb2):
saloutos 0:083111ae2a11 44 * * adr r0, #4
saloutos 0:083111ae2a11 45 * * ldm r0, {r0, r1, r2, pc}
saloutos 0:083111ae2a11 46 *
saloutos 0:083111ae2a11 47 * This instruction loads the arguments for the static thunking function to r0-r2, and
saloutos 0:083111ae2a11 48 * branches to that function by loading its address into PC.
saloutos 0:083111ae2a11 49 *
saloutos 0:083111ae2a11 50 * This is safe for both regular calling and interrupt calling, since it only touches scratch registers
saloutos 0:083111ae2a11 51 * which should be saved by the caller, and are automatically saved as part of the IRQ context switch.
saloutos 0:083111ae2a11 52 */
saloutos 0:083111ae2a11 53 #define CTHUNK_ASSIGMENT do { \
saloutos 0:083111ae2a11 54 m_thunk.code[0] = 0xE890A001; \
saloutos 0:083111ae2a11 55 m_thunk.code[1] = 0x00008007; \
saloutos 0:083111ae2a11 56 } while (0)
saloutos 0:083111ae2a11 57
saloutos 0:083111ae2a11 58 #elif (defined(__CORTEX_M0PLUS) || defined(__CORTEX_M0))
saloutos 0:083111ae2a11 59 /*
saloutos 0:083111ae2a11 60 * CTHUNK disassembly for Cortex M0/M0+ (thumb):
saloutos 0:083111ae2a11 61 * * adr r0, #4
saloutos 0:083111ae2a11 62 * * ldm r0, {r0, r1, r2, r3}
saloutos 0:083111ae2a11 63 * * bx r3
saloutos 0:083111ae2a11 64 */
saloutos 0:083111ae2a11 65 #define CTHUNK_ASSIGMENT do { \
saloutos 0:083111ae2a11 66 m_thunk.code[0] = 0xC80FA001; \
saloutos 0:083111ae2a11 67 m_thunk.code[1] = 0x00004718; \
saloutos 0:083111ae2a11 68 } while (0)
saloutos 0:083111ae2a11 69
saloutos 0:083111ae2a11 70 #else
saloutos 0:083111ae2a11 71 #error "Target is not currently suported."
saloutos 0:083111ae2a11 72 #endif
saloutos 0:083111ae2a11 73
saloutos 0:083111ae2a11 74 /* IRQ/Exception compatible thunk entry function */
saloutos 0:083111ae2a11 75 typedef void (*CThunkEntry)(void);
saloutos 0:083111ae2a11 76 /** @}*/
saloutos 0:083111ae2a11 77
saloutos 0:083111ae2a11 78 /**
saloutos 0:083111ae2a11 79 * Class for created a pointer with data bound to it
saloutos 0:083111ae2a11 80 *
saloutos 0:083111ae2a11 81 * @note Synchronization level: Not protected
saloutos 0:083111ae2a11 82 * @ingroup platform
saloutos 0:083111ae2a11 83 */
saloutos 0:083111ae2a11 84 template<class T>
saloutos 0:083111ae2a11 85 class CThunk
saloutos 0:083111ae2a11 86 {
saloutos 0:083111ae2a11 87 public:
saloutos 0:083111ae2a11 88 typedef void (T::*CCallbackSimple)(void);
saloutos 0:083111ae2a11 89 typedef void (T::*CCallback)(void* context);
saloutos 0:083111ae2a11 90
saloutos 0:083111ae2a11 91 inline CThunk(T *instance)
saloutos 0:083111ae2a11 92 {
saloutos 0:083111ae2a11 93 init(instance, NULL, NULL);
saloutos 0:083111ae2a11 94 }
saloutos 0:083111ae2a11 95
saloutos 0:083111ae2a11 96 inline CThunk(T *instance, CCallback callback)
saloutos 0:083111ae2a11 97 {
saloutos 0:083111ae2a11 98 init(instance, callback, NULL);
saloutos 0:083111ae2a11 99 }
saloutos 0:083111ae2a11 100
saloutos 0:083111ae2a11 101 ~CThunk() {
saloutos 0:083111ae2a11 102
saloutos 0:083111ae2a11 103 }
saloutos 0:083111ae2a11 104
saloutos 0:083111ae2a11 105 inline CThunk(T *instance, CCallbackSimple callback)
saloutos 0:083111ae2a11 106 {
saloutos 0:083111ae2a11 107 init(instance, (CCallback)callback, NULL);
saloutos 0:083111ae2a11 108 }
saloutos 0:083111ae2a11 109
saloutos 0:083111ae2a11 110 inline CThunk(T &instance, CCallback callback)
saloutos 0:083111ae2a11 111 {
saloutos 0:083111ae2a11 112 init(instance, callback, NULL);
saloutos 0:083111ae2a11 113 }
saloutos 0:083111ae2a11 114
saloutos 0:083111ae2a11 115 inline CThunk(T &instance, CCallbackSimple callback)
saloutos 0:083111ae2a11 116 {
saloutos 0:083111ae2a11 117 init(instance, (CCallback)callback, NULL);
saloutos 0:083111ae2a11 118 }
saloutos 0:083111ae2a11 119
saloutos 0:083111ae2a11 120 inline CThunk(T &instance, CCallback callback, void* context)
saloutos 0:083111ae2a11 121 {
saloutos 0:083111ae2a11 122 init(instance, callback, context);
saloutos 0:083111ae2a11 123 }
saloutos 0:083111ae2a11 124
saloutos 0:083111ae2a11 125 inline void callback(CCallback callback)
saloutos 0:083111ae2a11 126 {
saloutos 0:083111ae2a11 127 m_callback = callback;
saloutos 0:083111ae2a11 128 }
saloutos 0:083111ae2a11 129
saloutos 0:083111ae2a11 130 inline void callback(CCallbackSimple callback)
saloutos 0:083111ae2a11 131 {
saloutos 0:083111ae2a11 132 m_callback = (CCallback)callback;
saloutos 0:083111ae2a11 133 }
saloutos 0:083111ae2a11 134
saloutos 0:083111ae2a11 135 inline void context(void* context)
saloutos 0:083111ae2a11 136 {
saloutos 0:083111ae2a11 137 m_thunk.context = (uint32_t)context;
saloutos 0:083111ae2a11 138 }
saloutos 0:083111ae2a11 139
saloutos 0:083111ae2a11 140 inline void context(uint32_t context)
saloutos 0:083111ae2a11 141 {
saloutos 0:083111ae2a11 142 m_thunk.context = context;
saloutos 0:083111ae2a11 143 }
saloutos 0:083111ae2a11 144
saloutos 0:083111ae2a11 145 inline uint32_t entry(void)
saloutos 0:083111ae2a11 146 {
saloutos 0:083111ae2a11 147 return (((uint32_t)&m_thunk)|CTHUNK_ADDRESS);
saloutos 0:083111ae2a11 148 }
saloutos 0:083111ae2a11 149
saloutos 0:083111ae2a11 150 /* get thunk entry point for connecting rhunk to an IRQ table */
saloutos 0:083111ae2a11 151 inline operator CThunkEntry(void)
saloutos 0:083111ae2a11 152 {
saloutos 0:083111ae2a11 153 return (CThunkEntry)entry();
saloutos 0:083111ae2a11 154 }
saloutos 0:083111ae2a11 155
saloutos 0:083111ae2a11 156 /* get thunk entry point for connecting rhunk to an IRQ table */
saloutos 0:083111ae2a11 157 inline operator uint32_t(void)
saloutos 0:083111ae2a11 158 {
saloutos 0:083111ae2a11 159 return entry();
saloutos 0:083111ae2a11 160 }
saloutos 0:083111ae2a11 161
saloutos 0:083111ae2a11 162 /* simple test function */
saloutos 0:083111ae2a11 163 inline void call(void)
saloutos 0:083111ae2a11 164 {
saloutos 0:083111ae2a11 165 (((CThunkEntry)(entry()))());
saloutos 0:083111ae2a11 166 }
saloutos 0:083111ae2a11 167
saloutos 0:083111ae2a11 168 private:
saloutos 0:083111ae2a11 169 T* m_instance;
saloutos 0:083111ae2a11 170 volatile CCallback m_callback;
saloutos 0:083111ae2a11 171
saloutos 0:083111ae2a11 172 // TODO: this needs proper fix, to refactor toolchain header file and all its use
saloutos 0:083111ae2a11 173 // PACKED there is not defined properly for IAR
saloutos 0:083111ae2a11 174 #if defined (__ICCARM__)
saloutos 0:083111ae2a11 175 typedef __packed struct
saloutos 0:083111ae2a11 176 {
saloutos 0:083111ae2a11 177 CTHUNK_VARIABLES;
saloutos 0:083111ae2a11 178 volatile uint32_t instance;
saloutos 0:083111ae2a11 179 volatile uint32_t context;
saloutos 0:083111ae2a11 180 volatile uint32_t callback;
saloutos 0:083111ae2a11 181 volatile uint32_t trampoline;
saloutos 0:083111ae2a11 182 } CThunkTrampoline;
saloutos 0:083111ae2a11 183 #else
saloutos 0:083111ae2a11 184 typedef struct
saloutos 0:083111ae2a11 185 {
saloutos 0:083111ae2a11 186 CTHUNK_VARIABLES;
saloutos 0:083111ae2a11 187 volatile uint32_t instance;
saloutos 0:083111ae2a11 188 volatile uint32_t context;
saloutos 0:083111ae2a11 189 volatile uint32_t callback;
saloutos 0:083111ae2a11 190 volatile uint32_t trampoline;
saloutos 0:083111ae2a11 191 } __attribute__((__packed__)) CThunkTrampoline;
saloutos 0:083111ae2a11 192 #endif
saloutos 0:083111ae2a11 193
saloutos 0:083111ae2a11 194 static void trampoline(T* instance, void* context, CCallback* callback)
saloutos 0:083111ae2a11 195 {
saloutos 0:083111ae2a11 196 if(instance && *callback) {
saloutos 0:083111ae2a11 197 (static_cast<T*>(instance)->**callback)(context);
saloutos 0:083111ae2a11 198 }
saloutos 0:083111ae2a11 199 }
saloutos 0:083111ae2a11 200
saloutos 0:083111ae2a11 201 volatile CThunkTrampoline m_thunk;
saloutos 0:083111ae2a11 202
saloutos 0:083111ae2a11 203 inline void init(T *instance, CCallback callback, void* context)
saloutos 0:083111ae2a11 204 {
saloutos 0:083111ae2a11 205 /* remember callback - need to add this level of redirection
saloutos 0:083111ae2a11 206 as pointer size for member functions differs between platforms */
saloutos 0:083111ae2a11 207 m_callback = callback;
saloutos 0:083111ae2a11 208
saloutos 0:083111ae2a11 209 /* populate thunking trampoline */
saloutos 0:083111ae2a11 210 CTHUNK_ASSIGMENT;
saloutos 0:083111ae2a11 211 m_thunk.context = (uint32_t)context;
saloutos 0:083111ae2a11 212 m_thunk.instance = (uint32_t)instance;
saloutos 0:083111ae2a11 213 m_thunk.callback = (uint32_t)&m_callback;
saloutos 0:083111ae2a11 214 m_thunk.trampoline = (uint32_t)&trampoline;
saloutos 0:083111ae2a11 215
saloutos 0:083111ae2a11 216 #if defined(__CORTEX_A9)
saloutos 0:083111ae2a11 217 /* Data cache clean */
saloutos 0:083111ae2a11 218 /* Cache control */
saloutos 0:083111ae2a11 219 {
saloutos 0:083111ae2a11 220 uint32_t start_addr = (uint32_t)&m_thunk & 0xFFFFFFE0;
saloutos 0:083111ae2a11 221 uint32_t end_addr = (uint32_t)&m_thunk + sizeof(m_thunk);
saloutos 0:083111ae2a11 222 uint32_t addr;
saloutos 0:083111ae2a11 223
saloutos 0:083111ae2a11 224 /* Data cache clean and invalid */
saloutos 0:083111ae2a11 225 for (addr = start_addr; addr < end_addr; addr += 0x20) {
saloutos 0:083111ae2a11 226 __v7_clean_inv_dcache_mva((void *)addr);
saloutos 0:083111ae2a11 227 }
saloutos 0:083111ae2a11 228 /* Instruction cache invalid */
saloutos 0:083111ae2a11 229 __v7_inv_icache_all();
saloutos 0:083111ae2a11 230 __ca9u_inv_tlb_all();
saloutos 0:083111ae2a11 231 __v7_inv_btac();
saloutos 0:083111ae2a11 232 }
saloutos 0:083111ae2a11 233 #endif
saloutos 0:083111ae2a11 234 #if defined(__CORTEX_M7)
saloutos 0:083111ae2a11 235 /* Data cache clean and invalid */
saloutos 0:083111ae2a11 236 SCB_CleanInvalidateDCache();
saloutos 0:083111ae2a11 237
saloutos 0:083111ae2a11 238 /* Instruction cache invalid */
saloutos 0:083111ae2a11 239 SCB_InvalidateICache();
saloutos 0:083111ae2a11 240 #endif
saloutos 0:083111ae2a11 241 __ISB();
saloutos 0:083111ae2a11 242 __DSB();
saloutos 0:083111ae2a11 243 }
saloutos 0:083111ae2a11 244 };
saloutos 0:083111ae2a11 245
saloutos 0:083111ae2a11 246 #endif/*__CTHUNK_H__*/
saloutos 0:083111ae2a11 247