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?
User | Revision | Line number | New 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 |