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platform/CThunk.h@167:2ee3e82cb6f5, 2017-07-21 (annotated)

Committer:
thedo
Date:
Fri Jul 21 01:26:54 2017 +0000
Revision:
167:2ee3e82cb6f5
gr-peach-opencv-project-sd-card

Who changed what in which revision?

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thedo 167:2ee3e82cb6f5 1
thedo 167:2ee3e82cb6f5 2 /** \addtogroup platform */
thedo 167:2ee3e82cb6f5 3 /** @{*/
thedo 167:2ee3e82cb6f5 4 /* General C++ Object Thunking class
thedo 167:2ee3e82cb6f5 5 *
thedo 167:2ee3e82cb6f5 6 * - allows direct callbacks to non-static C++ class functions
thedo 167:2ee3e82cb6f5 7 * - keeps track for the corresponding class instance
thedo 167:2ee3e82cb6f5 8 * - supports an optional context parameter for the called function
thedo 167:2ee3e82cb6f5 9 * - ideally suited for class object receiving interrupts (NVIC_SetVector)
thedo 167:2ee3e82cb6f5 10 *
thedo 167:2ee3e82cb6f5 11 * Copyright (c) 2014-2015 ARM Limited
thedo 167:2ee3e82cb6f5 12 *
thedo 167:2ee3e82cb6f5 13 * Licensed under the Apache License, Version 2.0 (the "License");
thedo 167:2ee3e82cb6f5 14 * you may not use this file except in compliance with the License.
thedo 167:2ee3e82cb6f5 15 * You may obtain a copy of the License at
thedo 167:2ee3e82cb6f5 16 *
thedo 167:2ee3e82cb6f5 17 * http://www.apache.org/licenses/LICENSE-2.0
thedo 167:2ee3e82cb6f5 18 *
thedo 167:2ee3e82cb6f5 19 * Unless required by applicable law or agreed to in writing, software
thedo 167:2ee3e82cb6f5 20 * distributed under the License is distributed on an "AS IS" BASIS,
thedo 167:2ee3e82cb6f5 21 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
thedo 167:2ee3e82cb6f5 22 * See the License for the specific language governing permissions and
thedo 167:2ee3e82cb6f5 23 * limitations under the License.
thedo 167:2ee3e82cb6f5 24 */
thedo 167:2ee3e82cb6f5 25
thedo 167:2ee3e82cb6f5 26 /* General C++ Object Thunking class
thedo 167:2ee3e82cb6f5 27 *
thedo 167:2ee3e82cb6f5 28 * - allows direct callbacks to non-static C++ class functions
thedo 167:2ee3e82cb6f5 29 * - keeps track for the corresponding class instance
thedo 167:2ee3e82cb6f5 30 * - supports an optional context parameter for the called function
thedo 167:2ee3e82cb6f5 31 * - ideally suited for class object receiving interrupts (NVIC_SetVector)
thedo 167:2ee3e82cb6f5 32 */
thedo 167:2ee3e82cb6f5 33
thedo 167:2ee3e82cb6f5 34 #ifndef __CTHUNK_H__
thedo 167:2ee3e82cb6f5 35 #define __CTHUNK_H__
thedo 167:2ee3e82cb6f5 36
thedo 167:2ee3e82cb6f5 37 #define CTHUNK_ADDRESS 1
thedo 167:2ee3e82cb6f5 38 #define CTHUNK_VARIABLES volatile uint32_t code[2]
thedo 167:2ee3e82cb6f5 39
thedo 167:2ee3e82cb6f5 40 #if (defined(__CORTEX_M3) || defined(__CORTEX_M4) || defined(__CORTEX_M7) || defined(__CORTEX_A9))
thedo 167:2ee3e82cb6f5 41 /**
thedo 167:2ee3e82cb6f5 42 * CTHUNK disassembly for Cortex-M3/M4/M7/A9 (thumb2):
thedo 167:2ee3e82cb6f5 43 * * adr r0, #4
thedo 167:2ee3e82cb6f5 44 * * ldm r0, {r0, r1, r2, pc}
thedo 167:2ee3e82cb6f5 45 *
thedo 167:2ee3e82cb6f5 46 * This instruction loads the arguments for the static thunking function to r0-r2, and
thedo 167:2ee3e82cb6f5 47 * branches to that function by loading its address into PC.
thedo 167:2ee3e82cb6f5 48 *
thedo 167:2ee3e82cb6f5 49 * This is safe for both regular calling and interrupt calling, since it only touches scratch registers
thedo 167:2ee3e82cb6f5 50 * which should be saved by the caller, and are automatically saved as part of the IRQ context switch.
thedo 167:2ee3e82cb6f5 51 */
thedo 167:2ee3e82cb6f5 52 #define CTHUNK_ASSIGMENT do { \
thedo 167:2ee3e82cb6f5 53 m_thunk.code[0] = 0xE890A001; \
thedo 167:2ee3e82cb6f5 54 m_thunk.code[1] = 0x00008007; \
thedo 167:2ee3e82cb6f5 55 } while (0)
thedo 167:2ee3e82cb6f5 56
thedo 167:2ee3e82cb6f5 57 #elif (defined(__CORTEX_M0PLUS) || defined(__CORTEX_M0))
thedo 167:2ee3e82cb6f5 58 /*
thedo 167:2ee3e82cb6f5 59 * CTHUNK disassembly for Cortex M0/M0+ (thumb):
thedo 167:2ee3e82cb6f5 60 * * adr r0, #4
thedo 167:2ee3e82cb6f5 61 * * ldm r0, {r0, r1, r2, r3}
thedo 167:2ee3e82cb6f5 62 * * bx r3
thedo 167:2ee3e82cb6f5 63 */
thedo 167:2ee3e82cb6f5 64 #define CTHUNK_ASSIGMENT do { \
thedo 167:2ee3e82cb6f5 65 m_thunk.code[0] = 0xC80FA001; \
thedo 167:2ee3e82cb6f5 66 m_thunk.code[1] = 0x00004718; \
thedo 167:2ee3e82cb6f5 67 } while (0)
thedo 167:2ee3e82cb6f5 68
thedo 167:2ee3e82cb6f5 69 #else
thedo 167:2ee3e82cb6f5 70 #error "Target is not currently suported."
thedo 167:2ee3e82cb6f5 71 #endif
thedo 167:2ee3e82cb6f5 72
thedo 167:2ee3e82cb6f5 73 /* IRQ/Exception compatible thunk entry function */
thedo 167:2ee3e82cb6f5 74 typedef void (*CThunkEntry)(void);
thedo 167:2ee3e82cb6f5 75 /** @}*/
thedo 167:2ee3e82cb6f5 76
thedo 167:2ee3e82cb6f5 77 /**
thedo 167:2ee3e82cb6f5 78 * Class for created a pointer with data bound to it
thedo 167:2ee3e82cb6f5 79 *
thedo 167:2ee3e82cb6f5 80 * @note Synchronization level: Not protected
thedo 167:2ee3e82cb6f5 81 * @ingroup platform
thedo 167:2ee3e82cb6f5 82 */
thedo 167:2ee3e82cb6f5 83 template<class T>
thedo 167:2ee3e82cb6f5 84 class CThunk
thedo 167:2ee3e82cb6f5 85 {
thedo 167:2ee3e82cb6f5 86 public:
thedo 167:2ee3e82cb6f5 87 typedef void (T::*CCallbackSimple)(void);
thedo 167:2ee3e82cb6f5 88 typedef void (T::*CCallback)(void* context);
thedo 167:2ee3e82cb6f5 89
thedo 167:2ee3e82cb6f5 90 inline CThunk(T *instance)
thedo 167:2ee3e82cb6f5 91 {
thedo 167:2ee3e82cb6f5 92 init(instance, NULL, NULL);
thedo 167:2ee3e82cb6f5 93 }
thedo 167:2ee3e82cb6f5 94
thedo 167:2ee3e82cb6f5 95 inline CThunk(T *instance, CCallback callback)
thedo 167:2ee3e82cb6f5 96 {
thedo 167:2ee3e82cb6f5 97 init(instance, callback, NULL);
thedo 167:2ee3e82cb6f5 98 }
thedo 167:2ee3e82cb6f5 99
thedo 167:2ee3e82cb6f5 100 ~CThunk() {
thedo 167:2ee3e82cb6f5 101
thedo 167:2ee3e82cb6f5 102 }
thedo 167:2ee3e82cb6f5 103
thedo 167:2ee3e82cb6f5 104 inline CThunk(T *instance, CCallbackSimple callback)
thedo 167:2ee3e82cb6f5 105 {
thedo 167:2ee3e82cb6f5 106 init(instance, (CCallback)callback, NULL);
thedo 167:2ee3e82cb6f5 107 }
thedo 167:2ee3e82cb6f5 108
thedo 167:2ee3e82cb6f5 109 inline CThunk(T &instance, CCallback callback)
thedo 167:2ee3e82cb6f5 110 {
thedo 167:2ee3e82cb6f5 111 init(instance, callback, NULL);
thedo 167:2ee3e82cb6f5 112 }
thedo 167:2ee3e82cb6f5 113
thedo 167:2ee3e82cb6f5 114 inline CThunk(T &instance, CCallbackSimple callback)
thedo 167:2ee3e82cb6f5 115 {
thedo 167:2ee3e82cb6f5 116 init(instance, (CCallback)callback, NULL);
thedo 167:2ee3e82cb6f5 117 }
thedo 167:2ee3e82cb6f5 118
thedo 167:2ee3e82cb6f5 119 inline CThunk(T &instance, CCallback callback, void* context)
thedo 167:2ee3e82cb6f5 120 {
thedo 167:2ee3e82cb6f5 121 init(instance, callback, context);
thedo 167:2ee3e82cb6f5 122 }
thedo 167:2ee3e82cb6f5 123
thedo 167:2ee3e82cb6f5 124 inline void callback(CCallback callback)
thedo 167:2ee3e82cb6f5 125 {
thedo 167:2ee3e82cb6f5 126 m_callback = callback;
thedo 167:2ee3e82cb6f5 127 }
thedo 167:2ee3e82cb6f5 128
thedo 167:2ee3e82cb6f5 129 inline void callback(CCallbackSimple callback)
thedo 167:2ee3e82cb6f5 130 {
thedo 167:2ee3e82cb6f5 131 m_callback = (CCallback)callback;
thedo 167:2ee3e82cb6f5 132 }
thedo 167:2ee3e82cb6f5 133
thedo 167:2ee3e82cb6f5 134 inline void context(void* context)
thedo 167:2ee3e82cb6f5 135 {
thedo 167:2ee3e82cb6f5 136 m_thunk.context = (uint32_t)context;
thedo 167:2ee3e82cb6f5 137 }
thedo 167:2ee3e82cb6f5 138
thedo 167:2ee3e82cb6f5 139 inline void context(uint32_t context)
thedo 167:2ee3e82cb6f5 140 {
thedo 167:2ee3e82cb6f5 141 m_thunk.context = context;
thedo 167:2ee3e82cb6f5 142 }
thedo 167:2ee3e82cb6f5 143
thedo 167:2ee3e82cb6f5 144 inline uint32_t entry(void)
thedo 167:2ee3e82cb6f5 145 {
thedo 167:2ee3e82cb6f5 146 return (((uint32_t)&m_thunk)|CTHUNK_ADDRESS);
thedo 167:2ee3e82cb6f5 147 }
thedo 167:2ee3e82cb6f5 148
thedo 167:2ee3e82cb6f5 149 /* get thunk entry point for connecting rhunk to an IRQ table */
thedo 167:2ee3e82cb6f5 150 inline operator CThunkEntry(void)
thedo 167:2ee3e82cb6f5 151 {
thedo 167:2ee3e82cb6f5 152 return (CThunkEntry)entry();
thedo 167:2ee3e82cb6f5 153 }
thedo 167:2ee3e82cb6f5 154
thedo 167:2ee3e82cb6f5 155 /* get thunk entry point for connecting rhunk to an IRQ table */
thedo 167:2ee3e82cb6f5 156 inline operator uint32_t(void)
thedo 167:2ee3e82cb6f5 157 {
thedo 167:2ee3e82cb6f5 158 return entry();
thedo 167:2ee3e82cb6f5 159 }
thedo 167:2ee3e82cb6f5 160
thedo 167:2ee3e82cb6f5 161 /* simple test function */
thedo 167:2ee3e82cb6f5 162 inline void call(void)
thedo 167:2ee3e82cb6f5 163 {
thedo 167:2ee3e82cb6f5 164 (((CThunkEntry)(entry()))());
thedo 167:2ee3e82cb6f5 165 }
thedo 167:2ee3e82cb6f5 166
thedo 167:2ee3e82cb6f5 167 private:
thedo 167:2ee3e82cb6f5 168 T* m_instance;
thedo 167:2ee3e82cb6f5 169 volatile CCallback m_callback;
thedo 167:2ee3e82cb6f5 170
thedo 167:2ee3e82cb6f5 171 // TODO: this needs proper fix, to refactor toolchain header file and all its use
thedo 167:2ee3e82cb6f5 172 // PACKED there is not defined properly for IAR
thedo 167:2ee3e82cb6f5 173 #if defined (__ICCARM__)
thedo 167:2ee3e82cb6f5 174 typedef __packed struct
thedo 167:2ee3e82cb6f5 175 {
thedo 167:2ee3e82cb6f5 176 CTHUNK_VARIABLES;
thedo 167:2ee3e82cb6f5 177 volatile uint32_t instance;
thedo 167:2ee3e82cb6f5 178 volatile uint32_t context;
thedo 167:2ee3e82cb6f5 179 volatile uint32_t callback;
thedo 167:2ee3e82cb6f5 180 volatile uint32_t trampoline;
thedo 167:2ee3e82cb6f5 181 } CThunkTrampoline;
thedo 167:2ee3e82cb6f5 182 #else
thedo 167:2ee3e82cb6f5 183 typedef struct
thedo 167:2ee3e82cb6f5 184 {
thedo 167:2ee3e82cb6f5 185 CTHUNK_VARIABLES;
thedo 167:2ee3e82cb6f5 186 volatile uint32_t instance;
thedo 167:2ee3e82cb6f5 187 volatile uint32_t context;
thedo 167:2ee3e82cb6f5 188 volatile uint32_t callback;
thedo 167:2ee3e82cb6f5 189 volatile uint32_t trampoline;
thedo 167:2ee3e82cb6f5 190 } __attribute__((__packed__)) CThunkTrampoline;
thedo 167:2ee3e82cb6f5 191 #endif
thedo 167:2ee3e82cb6f5 192
thedo 167:2ee3e82cb6f5 193 static void trampoline(T* instance, void* context, CCallback* callback)
thedo 167:2ee3e82cb6f5 194 {
thedo 167:2ee3e82cb6f5 195 if(instance && *callback) {
thedo 167:2ee3e82cb6f5 196 (static_cast<T*>(instance)->**callback)(context);
thedo 167:2ee3e82cb6f5 197 }
thedo 167:2ee3e82cb6f5 198 }
thedo 167:2ee3e82cb6f5 199
thedo 167:2ee3e82cb6f5 200 volatile CThunkTrampoline m_thunk;
thedo 167:2ee3e82cb6f5 201
thedo 167:2ee3e82cb6f5 202 inline void init(T *instance, CCallback callback, void* context)
thedo 167:2ee3e82cb6f5 203 {
thedo 167:2ee3e82cb6f5 204 /* remember callback - need to add this level of redirection
thedo 167:2ee3e82cb6f5 205 as pointer size for member functions differs between platforms */
thedo 167:2ee3e82cb6f5 206 m_callback = callback;
thedo 167:2ee3e82cb6f5 207
thedo 167:2ee3e82cb6f5 208 /* populate thunking trampoline */
thedo 167:2ee3e82cb6f5 209 CTHUNK_ASSIGMENT;
thedo 167:2ee3e82cb6f5 210 m_thunk.context = (uint32_t)context;
thedo 167:2ee3e82cb6f5 211 m_thunk.instance = (uint32_t)instance;
thedo 167:2ee3e82cb6f5 212 m_thunk.callback = (uint32_t)&m_callback;
thedo 167:2ee3e82cb6f5 213 m_thunk.trampoline = (uint32_t)&trampoline;
thedo 167:2ee3e82cb6f5 214
thedo 167:2ee3e82cb6f5 215 #if defined(__CORTEX_A9)
thedo 167:2ee3e82cb6f5 216 /* Data cache clean */
thedo 167:2ee3e82cb6f5 217 /* Cache control */
thedo 167:2ee3e82cb6f5 218 {
thedo 167:2ee3e82cb6f5 219 uint32_t start_addr = (uint32_t)&m_thunk & 0xFFFFFFE0;
thedo 167:2ee3e82cb6f5 220 uint32_t end_addr = (uint32_t)&m_thunk + sizeof(m_thunk);
thedo 167:2ee3e82cb6f5 221 uint32_t addr;
thedo 167:2ee3e82cb6f5 222
thedo 167:2ee3e82cb6f5 223 /* Data cache clean and invalid */
thedo 167:2ee3e82cb6f5 224 for (addr = start_addr; addr < end_addr; addr += 0x20) {
thedo 167:2ee3e82cb6f5 225 __v7_clean_inv_dcache_mva((void *)addr);
thedo 167:2ee3e82cb6f5 226 }
thedo 167:2ee3e82cb6f5 227 /* Instruction cache invalid */
thedo 167:2ee3e82cb6f5 228 __v7_inv_icache_all();
thedo 167:2ee3e82cb6f5 229 __ca9u_inv_tlb_all();
thedo 167:2ee3e82cb6f5 230 __v7_inv_btac();
thedo 167:2ee3e82cb6f5 231 }
thedo 167:2ee3e82cb6f5 232 #endif
thedo 167:2ee3e82cb6f5 233 #if defined(__CORTEX_M7)
thedo 167:2ee3e82cb6f5 234 /* Data cache clean and invalid */
thedo 167:2ee3e82cb6f5 235 SCB_CleanInvalidateDCache();
thedo 167:2ee3e82cb6f5 236
thedo 167:2ee3e82cb6f5 237 /* Instruction cache invalid */
thedo 167:2ee3e82cb6f5 238 SCB_InvalidateICache();
thedo 167:2ee3e82cb6f5 239 #endif
thedo 167:2ee3e82cb6f5 240 __ISB();
thedo 167:2ee3e82cb6f5 241 __DSB();
thedo 167:2ee3e82cb6f5 242 }
thedo 167:2ee3e82cb6f5 243 };
thedo 167:2ee3e82cb6f5 244
thedo 167:2ee3e82cb6f5 245 #endif/*__CTHUNK_H__*/
thedo 167:2ee3e82cb6f5 246
thedo 167:2ee3e82cb6f5 247