kopia lustrzana https://github.com/espressif/esp-idf
525 wiersze
19 KiB
C
Executable File
525 wiersze
19 KiB
C
Executable File
/** @file */
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// xos.h - XOS API interface and data structures visible to user code.
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// Copyright (c) 2003-2015 Cadence Design Systems, Inc.
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//
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// Permission is hereby granted, free of charge, to any person obtaining
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// a copy of this software and associated documentation files (the
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// "Software"), to deal in the Software without restriction, including
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// without limitation the rights to use, copy, modify, merge, publish,
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// distribute, sublicense, and/or sell copies of the Software, and to
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// permit persons to whom the Software is furnished to do so, subject to
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// the following conditions:
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//
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// The above copyright notice and this permission notice shall be included
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// in all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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// IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
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// CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
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// TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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#ifndef __XOS_H__
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#define __XOS_H__
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "xos_types.h"
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#include <xtensa/config/core.h>
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#if XCHAL_HAVE_INTERRUPTS
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#include <xtensa/tie/xt_core.h>
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#include <xtensa/tie/xt_interrupt.h>
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#endif
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#include "xos_common.h"
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#include "xos_errors.h"
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#include "xos_regaccess.h"
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//-----------------------------------------------------------------------------
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// Convert x into a literal string.
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//-----------------------------------------------------------------------------
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#define _XOS_STR(x) __XOS_STR(x)
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#define __XOS_STR(x) #x
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//-----------------------------------------------------------------------------
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// XOS version.
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//-----------------------------------------------------------------------------
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#define XOS_VERSION_MAJOR 1
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#define XOS_VERSION_MINOR 10
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#define XOS_VERSION_STRING "1.10" ///< XOS version string.
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//-----------------------------------------------------------------------------
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// Runtime error handling.
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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///
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/// Reports a fatal error and halts XOS operation, i.e. halts the system. This
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/// function will call a user-registered error handler (if one has been set)
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/// and then halt the system. The user handler may do system-specific things
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/// such as record the error reason in nonvolatile memory etc.
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///
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/// \param errcode Error code. May be any user defined value < 0.
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/// Values >=0 are reserved for use by the system.
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///
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/// \param errmsg Optional text string describing the error.
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///
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/// \return This function does not return.
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///
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//-----------------------------------------------------------------------------
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void
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xos_fatal_error(int32_t errcode, const char * errmsg);
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#if XOS_DEBUG
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// Do not call directly.
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void
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xos_assert(const char * file, int32_t line);
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//-----------------------------------------------------------------------------
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///
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/// Check condition and fail if condition expression is false.
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/// In debug builds, an assertion failure will cause a fatal error to be
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/// reported. In non-debug builds, assertions are compiled out.
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///
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/// NOTE: Remember that any code in XOS_ASSERT() statements gets compiled out
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/// for non-debug builds.
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///
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//-----------------------------------------------------------------------------
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#define XOS_ASSERT(expr) if ((expr) == 0) xos_assert(__FILE__, __LINE__)
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#else
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#define XOS_ASSERT(expr)
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#endif
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//-----------------------------------------------------------------------------
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///
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/// Interrupt handler function pointer type.
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///
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//-----------------------------------------------------------------------------
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typedef void (XosIntFunc)(void * arg);
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//-----------------------------------------------------------------------------
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///
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/// Print handler function pointer type.
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///
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//-----------------------------------------------------------------------------
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typedef int32_t (XosPrintFunc)(void * arg, const char * fmt, ...);
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//-----------------------------------------------------------------------------
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///
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/// Fatal error handler function pointer type.
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///
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//-----------------------------------------------------------------------------
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typedef void (XosFatalErrFunc)(int32_t errcode, const char * errmsg);
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//-----------------------------------------------------------------------------
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///
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/// Exception handler function pointer type.
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///
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//-----------------------------------------------------------------------------
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typedef void (XosExcHandlerFunc)(XosExcFrame * frame);
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//-----------------------------------------------------------------------------
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///
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/// Install a user defined exception handler for the specified exception type.
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/// This will override the default XOS exception handler. The handler is a C
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/// function that is passed one parameter -- a pointer to the exception frame.
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/// The exception frame is allocated on the stack of the thread that caused the
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/// exception, and contains saved state and exception information. For details
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/// of the exception frame see the structure XosExcFrame.
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///
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/// \param exc Exception type (number) to override. The exception
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/// numbers are enumerated in <xtensa/corebits.h>.
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///
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/// \param handler Pointer to handler function to be installed.
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/// To revert to the default handler, pass NULL.
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///
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/// \return Returns a pointer to previous handler installed, if any.
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///
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//-----------------------------------------------------------------------------
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XosExcHandlerFunc *
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xos_register_exception_handler(int32_t exc, XosExcHandlerFunc * handler);
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//-----------------------------------------------------------------------------
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///
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/// Install a user defined fatal error handler. This function will be called if
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/// a fatal error is reported either by user code or by XOS itself. It will be
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/// passed the same arguments that are passed to xos_fatal_error().
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///
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/// The handler need not return. It should make minimal assumptions about the
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/// state of the system. In particular, it should not assume that further XOS
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/// system calls will succeed.
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///
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/// \param handler Pointer to handler function to be installed.
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///
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/// \return Returns a pointer to previous handler installed, if any.
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///
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//-----------------------------------------------------------------------------
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XosFatalErrFunc *
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xos_register_fatal_error_handler(XosFatalErrFunc * handler);
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#ifdef _XOS_INCLUDE_INTERNAL_
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# include "xos_internal.h"
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#endif
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#include "xos_thread.h"
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#include "xos_timer.h"
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#include "xos_cond.h"
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#include "xos_event.h"
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#include "xos_mutex.h"
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#include "xos_msgq.h"
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#include "xos_semaphore.h"
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#include "xos_stopwatch.h"
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//-----------------------------------------------------------------------------
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///
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/// Register a handler function to call when interrupt "num" occurs.
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///
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/// For level-triggered and timer interrupts, the handler function will have
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/// to clear the source of the interrupt before returning, to avoid infinitely
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/// retaking the interrupt. Edge-triggered and software interrupts are
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/// automatically cleared by the OS interrupt dispatcher (see xos_handlers.S).
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///
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/// \param num Xtensa internal interrupt number (0..31). To
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/// refer to a specific external interrupt number
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/// (BInterrupt pin), use HAL macro XCHAL_EXTINTx_NUM
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/// where 'x' is the external number.
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///
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/// \param handler Pointer to handler function.
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///
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/// \param arg Argument passed to handler.
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///
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/// \return Returns XOS_OK if successful, else error code.
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///
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//-----------------------------------------------------------------------------
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int32_t
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xos_register_interrupt_handler(int32_t num, XosIntFunc * handler, void * arg);
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//-----------------------------------------------------------------------------
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///
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/// Unregister a handler function for interrupt "num". If no handler was
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/// installed, this function will have no effect.
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///
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/// \param num Xtensa internal interrupt number (0..31). To
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/// refer to a specific external interrupt number
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/// (BInterrupt pin), use HAL macro XCHAL_EXTINTx_NUM
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/// where 'x' is the external number.
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///
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/// \return Returns XOS_OK if successful, else error code.
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///
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//-----------------------------------------------------------------------------
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int32_t
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xos_unregister_interrupt_handler(int32_t num);
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//-----------------------------------------------------------------------------
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///
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/// Register a high priority interrupt handler for interrupt level "level".
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///
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/// Unlike low and medium priority interrupt handlers, high priority handlers
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/// are not installed for a specific interrupt number, but for an interrupt
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/// level. The level must be above XCHAL_EXCM_LEVEL. The handler function must
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/// be written in assembly since C handlers are not supported for levels above
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/// XCHAL_EXCM_LEVEL. The handler function must preserve all registers except
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/// a0, and must return to the dispatcher via a "ret" instruction, not "rfi".
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///
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/// NOTE: This method of dispatch takes a few cycles of overhead. If you wish
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/// to save even these cycles, then you can define your own dispatch function
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/// to override the built-in dispatcher. See xos_handlers.S for more details.
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///
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/// \param level The interrupt level to be handled.
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///
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/// \param handler Pointer to handler function.
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///
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/// \return Returns XOS_OK if successful, else error code.
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///
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//-----------------------------------------------------------------------------
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int32_t
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xos_register_hp_interrupt_handler(int32_t level, void * handler);
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//-----------------------------------------------------------------------------
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///
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/// Enable a specific interrupt, by interrupt number.
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/// The state (enabled vs. disabled) of individual interrupts is global, i.e.
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/// not associated with any specific thread. Depending on system options and
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/// implementation, this state may be stored in one of two ways:
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/// - directly in the INTENABLE register, or
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/// - in a global variable (this is generally the case when INTENABLE is used
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/// not just to control what interrupts are enabled globally, but also for
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/// software interrupt prioritization within an interrupt level, effectively
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/// providing finer grained levels; in this case XOS takes care to update
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/// INTENABLE whenever either the global enabled-state variable or the
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/// per-thread fine-grained-level variable change).
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/// Thus it is best to never access the INTENABLE register directly.
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///
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/// To modify thread-specific interrupt priority level, use one of:
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/// - xos_set_int_pri_level()
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/// - xos_restore_int_pri_level()
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/// - xos_disable_interrupts()
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/// - xos_restore_interrupts()
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///
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/// NOTE: To refer to a specific external interrupt number (BInterrupt pin),
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/// use HAL macro XCHAL_EXTINTx_NUM where 'x' is the external interrupt
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/// number. For example, to enable external interrupt 3 (BInterrupt[3]),
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/// you can use:
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///
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/// xos_interrupt_enable( XCHAL_EXTINT3_NUM );
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///
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/// \param intnum Interrupt number to enable. Must range between 0-31.
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///
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/// \return Returns nothing.
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///
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//-----------------------------------------------------------------------------
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void
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xos_interrupt_enable(uint32_t intnum);
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//-----------------------------------------------------------------------------
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///
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/// Disable a specific individual interrupt, by interrupt number.
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///
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/// This is the counterpart to xos_interrupt_enable(). See the description
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/// of xos_interrupt_enable() for further comments and notes.
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///
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/// \param intnum Interrupt number to disable. Must range between 0-31.
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///
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/// \return Returns nothing.
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///
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//-----------------------------------------------------------------------------
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void
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xos_interrupt_disable(uint32_t intnum);
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//-----------------------------------------------------------------------------
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///
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/// Get the CPU's current interrupt priority level. Interrupts at or below this
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/// priority level are blocked.
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///
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/// \return Returns the current IPL, ranging from 0 to XCHAL_NUM_INTLEVELS.
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///
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//-----------------------------------------------------------------------------
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static inline uint32_t
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xos_get_int_pri_level(void)
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{
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#if XCHAL_HAVE_INTERRUPTS
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return XT_RSR_PS() & 0xF;
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#else
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return 0;
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#endif
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}
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//-----------------------------------------------------------------------------
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///
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/// Set the CPU's interrupt priority level to the specified level, but only if
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/// the current IPL is below the one requested. This function will never cause
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/// the interrupt priority level to be lowered from the current level.
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/// Call this function to block interrupts at or below the specified priority
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/// level.
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///
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/// When setting the IPL temporarily (such as in a critical section), call
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/// xos_set_int_pri_level(), execute the critical code section, and then call
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/// xos_restore_int_pri_level().
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///
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/// The interrupt priority level is part of the thread context, so it is saved
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/// and restored across context switches. To enable and disable individual
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/// interrupts globally, use the functions xos_interrupt_enable() and
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/// xos_interrupt_disable() instead.
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///
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/// NOTE: It is usually not required to disable interrupts at a level higher
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/// than that of the highest priority interrupt that interacts with the OS
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/// (i.e. calls into XOS such that threads may be woken / blocked /
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/// reprioritized / switched, or otherwise access XOS data structures).
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/// In XOS, that maximum level is XOS_MAX_OS_INTLEVEL, which defaults to
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/// XCHAL_EXCM_LEVEL. This may be modified by editing xos_params.h and
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/// rebuilding XOS.
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///
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/// \param level The new interrupt priority level (IPL).
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///
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/// \return Returns a value that can be used to restore the previous
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/// priority level by calling xos_restore_int_pri_level(). This
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/// value should be treated as opaque by application code, and
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/// should be passed unchanged to the restore function.
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///
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//-----------------------------------------------------------------------------
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__attribute__((always_inline))
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static inline uint32_t
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xos_set_int_pri_level(uint32_t level)
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{
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#if XCHAL_HAVE_INTERRUPTS
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#pragma no_reorder
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uint32_t ps = XT_RSR_PS();
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if (level > (ps & 0xF)) {
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level = (ps & ~0xF) | level;
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XT_WSR_PS(level);
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XT_RSYNC();
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}
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return ps;
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#else
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return 0;
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#endif
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}
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//-----------------------------------------------------------------------------
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///
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/// Restores the CPU to a previously saved interrupt priority level. This level
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/// must have been obtained by calling xos_set_int_pri_level().
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///
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/// \param oldval Return value from xos_set_int_pri_level().
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///
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/// \return Returns nothing.
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///
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//-----------------------------------------------------------------------------
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__attribute__((always_inline))
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static inline void
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xos_restore_int_pri_level(const uint32_t oldval)
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{
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#if XCHAL_HAVE_INTERRUPTS
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#pragma no_reorder
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XT_WSR_PS(oldval);
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XT_RSYNC();
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#else
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// Nothing
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#endif
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}
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//-----------------------------------------------------------------------------
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///
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/// Disable all interrupts that can interact directly with the OS. This is a
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/// convenience function, shorthand for setting the IPL to XOS_MAX_OS_INTLEVEL.
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///
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/// Returns: A value that can be used to restore the previous priority level
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/// by calling xos_restore_interrupts(). This value should be treated as
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/// opaque by application code, and should be passed unchanged to the restore
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/// function.
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///
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//-----------------------------------------------------------------------------
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static inline uint32_t
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xos_disable_interrupts(void)
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{
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return xos_set_int_pri_level(XOS_MAX_OS_INTLEVEL);
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}
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//-----------------------------------------------------------------------------
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///
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/// Restore the CPU's previously saved interrupt status. This is a convenience
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/// function, the counterpart to xos_disable_interrupts().
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///
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/// \return rval Return value from xos_disable_interrupts().
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///
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/// \return Returns nothing.
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///
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//-----------------------------------------------------------------------------
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static inline void
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xos_restore_interrupts(uint32_t rval)
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{
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xos_restore_int_pri_level(rval);
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}
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#ifdef _XOS_INCLUDE_INTERNAL_
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//-----------------------------------------------------------------------------
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// Enter an OS critical section, i.e. get exclusive access to OS critical
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// state and data structures. Code that manipulates the state of OS objects
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// or modifies internal OS state must call this function first, to ensure
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// that it has exclusive access. On a single-core system, this is equivalent
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// to blocking all interrupts that can interact directly with the OS, i.e.
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// all interrupts at or below XOS_MAX_OS_INTLEVEL. In a multi-core system
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// this is likely to be implemented differently to achieve the same effect.
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//
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// Returns: A value that is to be used to restore the state of the CPU when
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// exiting the critical section. This must be treated as opaque and passed
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// unmodified to xos_critical_exit().
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//
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// NOTE: This function is meant for use in OS code, not in applications.
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//-----------------------------------------------------------------------------
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__attribute__((always_inline))
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static inline uint32_t
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xos_critical_enter(void)
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{
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#if XCHAL_HAVE_INTERRUPTS
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// This function cannot be called by high-level interrupt handlers,
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// i.e. it can never be called with intlevel > XOS_MAX_OS_INTLEVEL.
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// So, we do not need to check current intlevel because we will not
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// ever be lowering it by setting it to XOS_MAX_OS_INTLEVEL.
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// NOTE: sync after RSIL not needed.
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return XT_RSIL(XOS_MAX_OS_INTLEVEL);
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#else
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return 0;
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#endif
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}
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//-----------------------------------------------------------------------------
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// Exit an OS critical section and restore CPU state. See the documentation
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// for xos_critical_enter().
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//
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// cflags Return value from xos_critical_enter().
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// Must be treated as an opaque value.
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//
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// Returns: Nothing.
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//
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// NOTE: This function is meant for use in OS code, not in applications.
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//-----------------------------------------------------------------------------
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__attribute__((always_inline))
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static inline void
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xos_critical_exit(uint32_t cflags)
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{
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xos_restore_int_pri_level(cflags);
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}
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#endif // _XOS_INCLUDE_INTERNAL_
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// This file uses things defined above
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#include "xos_syslog.h"
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// Misc
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//-----------------------------------------------------------------------------
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// Helper function to list all threads in system. Useful for debug.
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//-----------------------------------------------------------------------------
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void
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xos_display_threads(void * arg, XosPrintFunc * print_fn);
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#ifdef __cplusplus
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}
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#endif
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#endif // __XOS_H__
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