Marco Zecchini
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Example_RTOS
Rtos API example
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CThunk.h
00001 00002 /** \addtogroup platform */ 00003 /** @{*/ 00004 /** 00005 * \defgroup platform_CThunk CThunk class 00006 * @{ 00007 */ 00008 /* General C++ Object Thunking class 00009 * 00010 * - allows direct callbacks to non-static C++ class functions 00011 * - keeps track for the corresponding class instance 00012 * - supports an optional context parameter for the called function 00013 * - ideally suited for class object receiving interrupts (NVIC_SetVector) 00014 * 00015 * Copyright (c) 2014-2015 ARM Limited 00016 * 00017 * Licensed under the Apache License, Version 2.0 (the "License"); 00018 * you may not use this file except in compliance with the License. 00019 * You may obtain a copy of the License at 00020 * 00021 * http://www.apache.org/licenses/LICENSE-2.0 00022 * 00023 * Unless required by applicable law or agreed to in writing, software 00024 * distributed under the License is distributed on an "AS IS" BASIS, 00025 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00026 * See the License for the specific language governing permissions and 00027 * limitations under the License. 00028 */ 00029 00030 /* General C++ Object Thunking class 00031 * 00032 * - allows direct callbacks to non-static C++ class functions 00033 * - keeps track for the corresponding class instance 00034 * - supports an optional context parameter for the called function 00035 * - ideally suited for class object receiving interrupts (NVIC_SetVector) 00036 */ 00037 00038 #ifndef __CTHUNK_H__ 00039 #define __CTHUNK_H__ 00040 00041 #define CTHUNK_ADDRESS 1 00042 #define CTHUNK_VARIABLES volatile uint32_t code[2] 00043 00044 #if (defined(__CORTEX_M3) || defined(__CORTEX_M4) || defined(__CORTEX_M7) || defined(__CORTEX_A9) \ 00045 || defined(__CORTEX_M23) || defined(__CORTEX_M33)) 00046 /** 00047 * CTHUNK disassembly for Cortex-M3/M4/M7/A9 (thumb2): 00048 * * adr r0, #4 00049 * * ldm r0, {r0, r1, r2, pc} 00050 * 00051 * This instruction loads the arguments for the static thunking function to r0-r2, and 00052 * branches to that function by loading its address into PC. 00053 * 00054 * This is safe for both regular calling and interrupt calling, since it only touches scratch registers 00055 * which should be saved by the caller, and are automatically saved as part of the IRQ context switch. 00056 */ 00057 #define CTHUNK_ASSIGMENT do { \ 00058 m_thunk.code[0] = 0xE890A001; \ 00059 m_thunk.code[1] = 0x00008007; \ 00060 } while (0) 00061 00062 #elif (defined(__CORTEX_M0PLUS) || defined(__CORTEX_M0)) 00063 /* 00064 * CTHUNK disassembly for Cortex M0/M0+ (thumb): 00065 * * adr r0, #4 00066 * * ldm r0, {r0, r1, r2, r3} 00067 * * bx r3 00068 */ 00069 #define CTHUNK_ASSIGMENT do { \ 00070 m_thunk.code[0] = 0xC80FA001; \ 00071 m_thunk.code[1] = 0x00004718; \ 00072 } while (0) 00073 00074 #else 00075 #error "Target is not currently suported." 00076 #endif 00077 00078 /* IRQ/Exception compatible thunk entry function */ 00079 typedef void (*CThunkEntry)(void); 00080 00081 /** 00082 * Class for created a pointer with data bound to it 00083 * 00084 * @note Synchronization level: Not protected 00085 */ 00086 template<class T> 00087 class CThunk 00088 { 00089 public: 00090 typedef void (T::*CCallbackSimple)(void); 00091 typedef void (T::*CCallback)(void* context); 00092 00093 inline CThunk(T *instance) 00094 { 00095 init(instance, NULL, NULL); 00096 } 00097 00098 inline CThunk(T *instance, CCallback callback) 00099 { 00100 init(instance, callback, NULL); 00101 } 00102 00103 ~CThunk() { 00104 00105 } 00106 00107 inline CThunk(T *instance, CCallbackSimple callback) 00108 { 00109 init(instance, (CCallback)callback, NULL); 00110 } 00111 00112 inline CThunk(T &instance, CCallback callback) 00113 { 00114 init(instance, callback, NULL); 00115 } 00116 00117 inline CThunk(T &instance, CCallbackSimple callback) 00118 { 00119 init(instance, (CCallback)callback, NULL); 00120 } 00121 00122 inline CThunk(T &instance, CCallback callback, void* context) 00123 { 00124 init(instance, callback, context); 00125 } 00126 00127 inline void callback(CCallback callback) 00128 { 00129 m_callback = callback; 00130 } 00131 00132 inline void callback(CCallbackSimple callback) 00133 { 00134 m_callback = (CCallback)callback; 00135 } 00136 00137 inline void context(void* context) 00138 { 00139 m_thunk.context = (uint32_t)context; 00140 } 00141 00142 inline void context(uint32_t context) 00143 { 00144 m_thunk.context = context; 00145 } 00146 00147 inline uint32_t entry(void) 00148 { 00149 return (((uint32_t)&m_thunk)|CTHUNK_ADDRESS); 00150 } 00151 00152 /* get thunk entry point for connecting rhunk to an IRQ table */ 00153 inline operator CThunkEntry(void) 00154 { 00155 return (CThunkEntry)entry(); 00156 } 00157 00158 /* get thunk entry point for connecting rhunk to an IRQ table */ 00159 inline operator uint32_t(void) 00160 { 00161 return entry(); 00162 } 00163 00164 /* simple test function */ 00165 inline void call(void) 00166 { 00167 (((CThunkEntry)(entry()))()); 00168 } 00169 00170 private: 00171 T* m_instance; 00172 volatile CCallback m_callback; 00173 00174 // TODO: this needs proper fix, to refactor toolchain header file and all its use 00175 // PACKED there is not defined properly for IAR 00176 #if defined (__ICCARM__) 00177 typedef __packed struct 00178 { 00179 CTHUNK_VARIABLES; 00180 volatile uint32_t instance; 00181 volatile uint32_t context; 00182 volatile uint32_t callback; 00183 volatile uint32_t trampoline; 00184 } CThunkTrampoline; 00185 #else 00186 typedef struct 00187 { 00188 CTHUNK_VARIABLES; 00189 volatile uint32_t instance; 00190 volatile uint32_t context; 00191 volatile uint32_t callback; 00192 volatile uint32_t trampoline; 00193 } __attribute__((__packed__)) CThunkTrampoline; 00194 #endif 00195 00196 static void trampoline(T* instance, void* context, CCallback* callback) 00197 { 00198 if(instance && *callback) { 00199 (static_cast<T*>(instance)->**callback)(context); 00200 } 00201 } 00202 00203 volatile CThunkTrampoline m_thunk; 00204 00205 inline void init(T *instance, CCallback callback, void* context) 00206 { 00207 /* remember callback - need to add this level of redirection 00208 as pointer size for member functions differs between platforms */ 00209 m_callback = callback; 00210 00211 /* populate thunking trampoline */ 00212 CTHUNK_ASSIGMENT; 00213 m_thunk.context = (uint32_t)context; 00214 m_thunk.instance = (uint32_t)instance; 00215 m_thunk.callback = (uint32_t)&m_callback; 00216 m_thunk.trampoline = (uint32_t)&trampoline; 00217 00218 #if defined(__CORTEX_A9) 00219 /* Data cache clean */ 00220 /* Cache control */ 00221 { 00222 uint32_t start_addr = (uint32_t)&m_thunk & 0xFFFFFFE0; 00223 uint32_t end_addr = (uint32_t)&m_thunk + sizeof(m_thunk); 00224 uint32_t addr; 00225 00226 /* Data cache clean and invalid */ 00227 for (addr = start_addr; addr < end_addr; addr += 0x20) { 00228 L1C_CleanInvalidateDCacheMVA((void *)addr); 00229 } 00230 /* Instruction cache invalid */ 00231 L1C_InvalidateICacheAll(); 00232 MMU_InvalidateTLB(); 00233 L1C_InvalidateBTAC(); 00234 } 00235 #endif 00236 #if defined(__CORTEX_M7) 00237 /* Data cache clean and invalid */ 00238 SCB_CleanInvalidateDCache(); 00239 00240 /* Instruction cache invalid */ 00241 SCB_InvalidateICache(); 00242 #endif 00243 __ISB(); 00244 __DSB(); 00245 } 00246 }; 00247 00248 /**@}*/ 00249 00250 /**@}*/ 00251 00252 #endif/*__CTHUNK_H__*/ 00253
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