465 lines
14 KiB
C
465 lines
14 KiB
C
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/*
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ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file chcore_v6m.h
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* @brief ARMv6-M architecture port macros and structures.
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*
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* @addtogroup ARMCMx_V6M_CORE
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* @{
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*/
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#ifndef CHCORE_V6M_H
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#define CHCORE_V6M_H
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/**
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* @name Port Capabilities and Constants
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* @{
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*/
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/**
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* @brief This port supports a realtime counter.
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*/
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#define PORT_SUPPORTS_RT FALSE
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/**
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* @brief Natural alignment constant.
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* @note It is the minimum alignment for pointer-size variables.
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*/
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#define PORT_NATURAL_ALIGN sizeof (void *)
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/**
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* @brief Stack alignment constant.
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* @note It is the alignment required for the stack pointer.
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*/
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#define PORT_STACK_ALIGN sizeof (stkalign_t)
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/**
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* @brief Working Areas alignment constant.
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* @note It is the alignment to be enforced for thread working areas.
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*/
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#define PORT_WORKING_AREA_ALIGN PORT_STACK_ALIGN
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/** @} */
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/**
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* @brief PendSV priority level.
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* @note This priority is enforced to be equal to @p 0,
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* this handler always has the highest priority that cannot preempt
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* the kernel.
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*/
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#define CORTEX_PRIORITY_PENDSV 0
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/*===========================================================================*/
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/* Module pre-compile time settings. */
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/*===========================================================================*/
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/**
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* @brief Stack size for the system idle thread.
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* @details This size depends on the idle thread implementation, usually
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* the idle thread should take no more space than those reserved
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* by @p PORT_INT_REQUIRED_STACK.
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* @note In this port it is set to 16 because the idle thread does have
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* a stack frame when compiling without optimizations. You may
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* reduce this value to zero when compiling with optimizations.
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*/
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#if !defined(PORT_IDLE_THREAD_STACK_SIZE)
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#define PORT_IDLE_THREAD_STACK_SIZE 16
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#endif
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/**
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* @brief Per-thread stack overhead for interrupts servicing.
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* @details This constant is used in the calculation of the correct working
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* area size.
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* @note In this port this value is conservatively set to 64 because the
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* function @p chSchDoReschedule() can have a stack frame, especially
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* with compiler optimizations disabled. The value can be reduced
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* when compiler optimizations are enabled.
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*/
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#if !defined(PORT_INT_REQUIRED_STACK)
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#define PORT_INT_REQUIRED_STACK 64
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#endif
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/**
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* @brief Enables the use of the WFI instruction in the idle thread loop.
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*/
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#if !defined(CORTEX_ENABLE_WFI_IDLE)
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#define CORTEX_ENABLE_WFI_IDLE FALSE
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#endif
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/**
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* @brief Alternate preemption method.
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* @details Activating this option will make the Kernel use the PendSV
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* handler for preemption instead of the NMI handler.
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*/
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#ifndef CORTEX_ALTERNATE_SWITCH
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#define CORTEX_ALTERNATE_SWITCH FALSE
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#endif
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if !defined(CH_CUSTOMER_LIC_PORT_CM0)
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#error "CH_CUSTOMER_LIC_PORT_CM0 not defined"
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#endif
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#if CH_CUSTOMER_LIC_PORT_CM0 == FALSE
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#error "ChibiOS Cortex-M0 port not licensed"
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#endif
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/* Handling a GCC problem impacting ARMv6-M.*/
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#if defined(__GNUC__) && !defined(PORT_IGNORE_GCC_VERSION_CHECK)
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#if __GNUC__ > 5
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#warning "This compiler has a know problem with Cortex-M0, see bugs: 88167, 88656."
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#warning "*** Use GCC version 5 or below ***"
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#endif
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#endif
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/**
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* @name Architecture and Compiler
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* @{
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*/
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#if ((CORTEX_MODEL == 0) && !defined(__CORE_CM0PLUS_H_DEPENDANT)) || \
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defined(__DOXYGEN__)
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/**
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* @brief Macro defining the specific ARM architecture.
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*/
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#define PORT_ARCHITECTURE_ARM_v6M
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/**
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* @brief Name of the implemented architecture.
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*/
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#define PORT_ARCHITECTURE_NAME "ARMv6-M"
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/**
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* @brief Name of the architecture variant.
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*/
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#define PORT_CORE_VARIANT_NAME "Cortex-M0"
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#elif (CORTEX_MODEL == 0) && defined(__CORE_CM0PLUS_H_DEPENDANT)
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#define PORT_ARCHITECTURE_ARM_v6M
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#define PORT_ARCHITECTURE_NAME "ARMv6-M"
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#define PORT_CORE_VARIANT_NAME "Cortex-M0+"
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#endif
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/**
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* @brief Port-specific information string.
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*/
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#if (CORTEX_ALTERNATE_SWITCH == FALSE) || defined(__DOXYGEN__)
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#define PORT_INFO "Preemption through NMI"
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#else
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#define PORT_INFO "Preemption through PendSV"
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#endif
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/** @} */
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/**
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* @brief Maximum usable priority for normal ISRs.
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*/
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#if (CORTEX_ALTERNATE_SWITCH == TRUE) || defined(__DOXYGEN__)
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#define CORTEX_MAX_KERNEL_PRIORITY 1
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#else
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#define CORTEX_MAX_KERNEL_PRIORITY 0
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#endif
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/*===========================================================================*/
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/* Module data structures and types. */
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/*===========================================================================*/
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#if !defined(_FROM_ASM_)
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/* The documentation of the following declarations is in chconf.h in order
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to not have duplicated structure names into the documentation.*/
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#if !defined(__DOXYGEN__)
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struct port_extctx {
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regarm_t r0;
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regarm_t r1;
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regarm_t r2;
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regarm_t r3;
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regarm_t r12;
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regarm_t lr_thd;
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regarm_t pc;
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regarm_t xpsr;
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};
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struct port_intctx {
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regarm_t r8;
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regarm_t r9;
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regarm_t r10;
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regarm_t r11;
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regarm_t r4;
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regarm_t r5;
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regarm_t r6;
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regarm_t r7;
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regarm_t lr;
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};
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#endif /* !defined(__DOXYGEN__) */
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/*===========================================================================*/
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/* Module macros. */
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/*===========================================================================*/
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/**
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* @brief Platform dependent part of the @p chThdCreateI() API.
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* @details This code usually setup the context switching frame represented
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* by an @p port_intctx structure.
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*/
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#define PORT_SETUP_CONTEXT(tp, wbase, wtop, pf, arg) { \
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(tp)->ctx.sp = (struct port_intctx *)((uint8_t *)(wtop) - \
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sizeof (struct port_intctx)); \
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(tp)->ctx.sp->r4 = (regarm_t)(pf); \
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(tp)->ctx.sp->r5 = (regarm_t)(arg); \
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(tp)->ctx.sp->lr = (regarm_t)_port_thread_start; \
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}
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/**
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* @brief Computes the thread working area global size.
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* @note There is no need to perform alignments in this macro.
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*/
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#define PORT_WA_SIZE(n) (sizeof (struct port_intctx) + \
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sizeof (struct port_extctx) + \
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((size_t)(n)) + ((size_t)(PORT_INT_REQUIRED_STACK)))
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/**
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* @brief Static working area allocation.
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* @details This macro is used to allocate a static thread working area
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* aligned as both position and size.
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*
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* @param[in] s the name to be assigned to the stack array
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* @param[in] n the stack size to be assigned to the thread
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*/
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#define PORT_WORKING_AREA(s, n) \
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stkalign_t s[THD_WORKING_AREA_SIZE(n) / sizeof (stkalign_t)]
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/**
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* @brief IRQ prologue code.
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* @details This macro must be inserted at the start of all IRQ handlers
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* enabled to invoke system APIs.
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*/
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#if defined(__GNUC__) || defined(__DOXYGEN__)
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#define PORT_IRQ_PROLOGUE() \
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regarm_t _saved_lr = (regarm_t)__builtin_return_address(0)
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#elif defined(__ICCARM__)
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#define PORT_IRQ_PROLOGUE() \
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regarm_t _saved_lr = (regarm_t)__get_LR()
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#elif defined(__CC_ARM)
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#define PORT_IRQ_PROLOGUE() \
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regarm_t _saved_lr = (regarm_t)__return_address()
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#endif
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/**
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* @brief IRQ epilogue code.
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* @details This macro must be inserted at the end of all IRQ handlers
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* enabled to invoke system APIs.
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*/
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#define PORT_IRQ_EPILOGUE() _port_irq_epilogue(_saved_lr)
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/**
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* @brief IRQ handler function declaration.
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* @note @p id can be a function name or a vector number depending on the
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* port implementation.
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*/
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#ifdef __cplusplus
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#define PORT_IRQ_HANDLER(id) extern "C" void id(void)
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#else
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#define PORT_IRQ_HANDLER(id) void id(void)
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#endif
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/**
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* @brief Fast IRQ handler function declaration.
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* @note @p id can be a function name or a vector number depending on the
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* port implementation.
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*/
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#ifdef __cplusplus
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#define PORT_FAST_IRQ_HANDLER(id) extern "C" void id(void)
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#else
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#define PORT_FAST_IRQ_HANDLER(id) void id(void)
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#endif
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/**
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* @brief Performs a context switch between two threads.
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* @details This is the most critical code in any port, this function
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* is responsible for the context switch between 2 threads.
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* @note The implementation of this code affects <b>directly</b> the context
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* switch performance so optimize here as much as you can.
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*
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* @param[in] ntp the thread to be switched in
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* @param[in] otp the thread to be switched out
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*/
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#if (CH_DBG_ENABLE_STACK_CHECK == FALSE) || defined(__DOXYGEN__)
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#define port_switch(ntp, otp) _port_switch(ntp, otp)
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#else
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#define port_switch(ntp, otp) { \
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struct port_intctx *r13 = (struct port_intctx *)__get_PSP(); \
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if ((stkalign_t *)(r13 - 1) < (otp)->wabase) { \
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chSysHalt("stack overflow"); \
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} \
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_port_switch(ntp, otp); \
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}
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#endif
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void _port_irq_epilogue(regarm_t lr);
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void _port_switch(thread_t *ntp, thread_t *otp);
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void _port_thread_start(void);
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void _port_switch_from_isr(void);
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void _port_exit_from_isr(void);
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#ifdef __cplusplus
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}
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#endif
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/*===========================================================================*/
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/* Module inline functions. */
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/*===========================================================================*/
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/**
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* @brief Port-related initialization code.
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*/
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static inline void port_init(void) {
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NVIC_SetPriority(PendSV_IRQn, CORTEX_PRIORITY_PENDSV);
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}
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/**
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* @brief Returns a word encoding the current interrupts status.
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*
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* @return The interrupts status.
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*/
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static inline syssts_t port_get_irq_status(void) {
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return (syssts_t)__get_PRIMASK();
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}
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/**
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* @brief Checks the interrupt status.
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*
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* @param[in] sts the interrupt status word
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*
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* @return The interrupt status.
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* @retval false the word specified a disabled interrupts status.
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* @retval true the word specified an enabled interrupts status.
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*/
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static inline bool port_irq_enabled(syssts_t sts) {
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return (sts & (syssts_t)1) == (syssts_t)0;
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}
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/**
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* @brief Determines the current execution context.
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*
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* @return The execution context.
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* @retval false not running in ISR mode.
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* @retval true running in ISR mode.
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*/
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static inline bool port_is_isr_context(void) {
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return (bool)((__get_IPSR() & 0x1FFU) != 0U);
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}
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/**
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* @brief Kernel-lock action.
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* @details In this port this function disables interrupts globally.
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*/
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static inline void port_lock(void) {
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__disable_irq();
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}
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/**
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* @brief Kernel-unlock action.
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* @details In this port this function enables interrupts globally.
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*/
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static inline void port_unlock(void) {
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__enable_irq();
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}
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/**
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* @brief Kernel-lock action from an interrupt handler.
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* @details In this port this function disables interrupts globally.
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* @note Same as @p port_lock() in this port.
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*/
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static inline void port_lock_from_isr(void) {
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port_lock();
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}
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/**
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* @brief Kernel-unlock action from an interrupt handler.
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* @details In this port this function enables interrupts globally.
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* @note Same as @p port_lock() in this port.
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*/
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static inline void port_unlock_from_isr(void) {
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port_unlock();
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}
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/**
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* @brief Disables all the interrupt sources.
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*/
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static inline void port_disable(void) {
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__disable_irq();
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}
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/**
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* @brief Disables the interrupt sources below kernel-level priority.
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*/
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static inline void port_suspend(void) {
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__disable_irq();
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}
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/**
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* @brief Enables all the interrupt sources.
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*/
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static inline void port_enable(void) {
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__enable_irq();
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}
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/**
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* @brief Enters an architecture-dependent IRQ-waiting mode.
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* @details The function is meant to return when an interrupt becomes pending.
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* The simplest implementation is an empty function or macro but this
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* would not take advantage of architecture-specific power saving
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* modes.
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* @note Implemented as an inlined @p WFI instruction.
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*/
|
||
|
static inline void port_wait_for_interrupt(void) {
|
||
|
|
||
|
#if CORTEX_ENABLE_WFI_IDLE == TRUE
|
||
|
__WFI();
|
||
|
#endif
|
||
|
}
|
||
|
|
||
|
#endif /* _FROM_ASM_ */
|
||
|
|
||
|
#endif /* CHCORE_V6M_H */
|
||
|
|
||
|
/** @} */
|