1 | /* SPDX-License-Identifier: BSD-2-Clause */ |
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2 | |
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3 | /** |
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4 | * @file |
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5 | * |
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6 | * @ingroup RTEMSScoreCPU |
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7 | * |
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8 | * @brief AArch64 Architecture Support API |
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9 | */ |
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10 | |
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11 | /* |
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12 | * Copyright (C) 2020 On-Line Applications Research Corporation (OAR) |
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13 | * Written by Kinsey Moore <kinsey.moore@oarcorp.com> |
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14 | * |
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15 | * Redistribution and use in source and binary forms, with or without |
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16 | * modification, are permitted provided that the following conditions |
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17 | * are met: |
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18 | * 1. Redistributions of source code must retain the above copyright |
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19 | * notice, this list of conditions and the following disclaimer. |
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20 | * 2. Redistributions in binary form must reproduce the above copyright |
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21 | * notice, this list of conditions and the following disclaimer in the |
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22 | * documentation and/or other materials provided with the distribution. |
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23 | * |
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24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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27 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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28 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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29 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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30 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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31 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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32 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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33 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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34 | * POSSIBILITY OF SUCH DAMAGE. |
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35 | */ |
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36 | |
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37 | #ifndef _RTEMS_SCORE_CPU_H |
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38 | #define _RTEMS_SCORE_CPU_H |
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39 | |
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40 | #include <rtems/score/basedefs.h> |
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41 | #if defined(RTEMS_PARAVIRT) |
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42 | #include <rtems/score/paravirt.h> |
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43 | #endif |
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44 | #include <rtems/score/aarch64.h> |
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45 | #include <libcpu/vectors.h> |
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46 | |
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47 | /** |
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48 | * @addtogroup RTEMSScoreCPUAArch64 |
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49 | * |
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50 | * @{ |
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51 | */ |
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52 | |
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53 | /** |
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54 | * @name Program State Registers |
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55 | */ |
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56 | /**@{**/ |
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57 | |
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58 | #define AARCH64_PSTATE_N (1LL << 31) |
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59 | #define AARCH64_PSTATE_Z (1LL << 30) |
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60 | #define AARCH64_PSTATE_C (1LL << 29) |
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61 | #define AARCH64_PSTATE_V (1LL << 28) |
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62 | #define AARCH64_PSTATE_D (1LL << 9) |
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63 | #define AARCH64_PSTATE_A (1LL << 8) |
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64 | #define AARCH64_PSTATE_I (1LL << 7) |
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65 | #define AARCH64_PSTATE_F (1LL << 6) |
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66 | |
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67 | /** @} */ |
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68 | |
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69 | /* |
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70 | * AArch64 uses the PIC interrupt model. |
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71 | */ |
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72 | #define CPU_SIMPLE_VECTORED_INTERRUPTS FALSE |
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73 | |
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74 | #define CPU_ISR_PASSES_FRAME_POINTER FALSE |
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75 | |
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76 | #define CPU_HARDWARE_FP FALSE |
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77 | |
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78 | #define CPU_SOFTWARE_FP FALSE |
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79 | |
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80 | #define CPU_ALL_TASKS_ARE_FP FALSE |
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81 | |
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82 | #define CPU_IDLE_TASK_IS_FP FALSE |
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83 | |
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84 | #define CPU_USE_DEFERRED_FP_SWITCH FALSE |
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85 | |
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86 | #define CPU_ENABLE_ROBUST_THREAD_DISPATCH TRUE |
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87 | |
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88 | #define CPU_STACK_GROWS_UP FALSE |
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89 | |
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90 | #if defined(AARCH64_MULTILIB_CACHE_LINE_MAX_64) |
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91 | #define CPU_CACHE_LINE_BYTES 64 |
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92 | #else |
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93 | #define CPU_CACHE_LINE_BYTES 32 |
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94 | #endif |
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95 | |
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96 | #define CPU_STRUCTURE_ALIGNMENT RTEMS_ALIGNED( CPU_CACHE_LINE_BYTES ) |
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97 | |
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98 | #define CPU_MODES_INTERRUPT_MASK 0x1 |
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99 | |
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100 | #define CPU_MPCI_RECEIVE_SERVER_EXTRA_STACK 0 |
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101 | |
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102 | #define CPU_PROVIDES_ISR_IS_IN_PROGRESS FALSE |
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103 | |
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104 | #define CPU_STACK_MINIMUM_SIZE (1024 * 10) |
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105 | |
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106 | /* This could be either 4 or 8, depending on the ABI in use. |
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107 | * Could also use __LP64__ or __ILP32__ */ |
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108 | /* AAPCS64, section 5.1, Fundamental Data Types */ |
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109 | #define CPU_SIZEOF_POINTER __SIZEOF_POINTER__ |
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110 | |
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111 | /* AAPCS64, section 5.1, Fundamental Data Types */ |
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112 | #define CPU_ALIGNMENT 16 |
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113 | |
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114 | #define CPU_HEAP_ALIGNMENT CPU_ALIGNMENT |
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115 | |
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116 | /* AAPCS64, section 6.2.2, Stack constraints at a public interface */ |
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117 | #define CPU_STACK_ALIGNMENT 16 |
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118 | |
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119 | #define CPU_INTERRUPT_STACK_ALIGNMENT CPU_CACHE_LINE_BYTES |
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120 | |
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121 | #define CPU_USE_GENERIC_BITFIELD_CODE TRUE |
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122 | |
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123 | #define CPU_USE_LIBC_INIT_FINI_ARRAY TRUE |
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124 | |
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125 | #define CPU_MAXIMUM_PROCESSORS 32 |
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126 | |
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127 | #define AARCH64_CONTEXT_CONTROL_THREAD_ID_OFFSET 0x70 |
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128 | |
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129 | #ifdef AARCH64_MULTILIB_VFP |
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130 | #define AARCH64_CONTEXT_CONTROL_D8_OFFSET 0x78 |
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131 | #endif |
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132 | |
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133 | #define AARCH64_CONTEXT_CONTROL_ISR_DISPATCH_DISABLE 0x68 |
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134 | |
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135 | #ifdef RTEMS_SMP |
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136 | #if defined(AARCH64_MULTILIB_VFP) |
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137 | #define AARCH64_CONTEXT_CONTROL_IS_EXECUTING_OFFSET 0xb8 |
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138 | #else |
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139 | #define AARCH64_CONTEXT_CONTROL_IS_EXECUTING_OFFSET 0x78 |
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140 | #endif |
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141 | #endif |
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142 | |
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143 | #define AARCH64_EXCEPTION_FRAME_SIZE 0x350 |
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144 | |
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145 | #define AARCH64_EXCEPTION_FRAME_REGISTER_SP_OFFSET 0xF8 |
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146 | #define AARCH64_EXCEPTION_FRAME_REGISTER_LR_OFFSET 0xF0 |
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147 | #define AARCH64_EXCEPTION_FRAME_REGISTER_DAIF_OFFSET 0x108 |
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148 | #define AARCH64_EXCEPTION_FRAME_REGISTER_SYNDROME_OFFSET 0x118 |
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149 | #define AARCH64_EXCEPTION_FRAME_REGISTER_VECTOR_OFFSET 0x128 |
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150 | #define AARCH64_EXCEPTION_FRAME_REGISTER_FPSR_OFFSET 0x138 |
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151 | #define AARCH64_EXCEPTION_FRAME_REGISTER_Q0_OFFSET 0x150 |
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152 | |
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153 | #ifndef ASM |
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154 | |
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155 | #ifdef __cplusplus |
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156 | extern "C" { |
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157 | #endif |
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158 | |
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159 | typedef unsigned __int128 uint128_t; |
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160 | |
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161 | typedef struct { |
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162 | uint64_t register_x19; |
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163 | uint64_t register_x20; |
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164 | uint64_t register_x21; |
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165 | uint64_t register_x22; |
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166 | uint64_t register_x23; |
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167 | uint64_t register_x24; |
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168 | uint64_t register_x25; |
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169 | uint64_t register_x26; |
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170 | uint64_t register_x27; |
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171 | uint64_t register_x28; |
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172 | uint64_t register_fp; |
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173 | uint64_t register_lr; |
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174 | uint64_t register_sp; |
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175 | uint64_t isr_dispatch_disable; |
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176 | uint64_t thread_id; |
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177 | #ifdef AARCH64_MULTILIB_VFP |
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178 | uint64_t register_d8; |
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179 | uint64_t register_d9; |
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180 | uint64_t register_d10; |
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181 | uint64_t register_d11; |
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182 | uint64_t register_d12; |
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183 | uint64_t register_d13; |
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184 | uint64_t register_d14; |
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185 | uint64_t register_d15; |
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186 | #endif |
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187 | #ifdef RTEMS_SMP |
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188 | volatile bool is_executing; |
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189 | #endif |
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190 | } Context_Control; |
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191 | |
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192 | static inline void _AARCH64_Data_memory_barrier( void ) |
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193 | { |
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194 | __asm__ volatile ( "dmb SY" : : : "memory" ); |
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195 | } |
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196 | |
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197 | static inline void _AARCH64_Data_synchronization_barrier( void ) |
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198 | { |
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199 | __asm__ volatile ( "dsb SY" : : : "memory" ); |
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200 | } |
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201 | |
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202 | static inline void _AARCH64_Instruction_synchronization_barrier( void ) |
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203 | { |
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204 | __asm__ volatile ( "isb" : : : "memory" ); |
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205 | } |
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206 | |
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207 | void _CPU_ISR_Set_level( uint64_t level ); |
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208 | |
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209 | uint64_t _CPU_ISR_Get_level( void ); |
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210 | |
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211 | #if defined(AARCH64_DISABLE_INLINE_ISR_DISABLE_ENABLE) |
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212 | uint64_t AArch64_interrupt_disable( void ); |
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213 | void AArch64_interrupt_enable( uint64_t isr_cookie ); |
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214 | void AArch64_interrupt_flash( uint64_t isr_cookie ); |
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215 | #else |
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216 | static inline uint64_t AArch64_interrupt_disable( void ) |
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217 | { |
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218 | uint64_t isr_cookie; |
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219 | |
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220 | __asm__ volatile ( |
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221 | "mrs %[isr_cookie], DAIF\n" |
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222 | "msr DAIFSet, #0x2\n" |
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223 | : [isr_cookie] "=&r" (isr_cookie) |
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224 | ); |
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225 | |
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226 | return isr_cookie; |
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227 | } |
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228 | |
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229 | static inline void AArch64_interrupt_enable( uint64_t isr_cookie ) |
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230 | { |
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231 | __asm__ volatile ( |
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232 | "msr DAIF, %[isr_cookie]\n" |
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233 | : : [isr_cookie] "r" (isr_cookie) |
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234 | ); |
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235 | } |
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236 | |
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237 | static inline void AArch64_interrupt_flash( uint64_t isr_cookie ) |
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238 | { |
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239 | AArch64_interrupt_enable(isr_cookie); |
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240 | AArch64_interrupt_disable(); |
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241 | } |
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242 | #endif /* !AARCH64_DISABLE_INLINE_ISR_DISABLE_ENABLE */ |
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243 | |
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244 | #define _CPU_ISR_Disable( _isr_cookie ) \ |
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245 | do { \ |
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246 | _isr_cookie = AArch64_interrupt_disable(); \ |
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247 | } while (0) |
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248 | |
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249 | #define _CPU_ISR_Enable( _isr_cookie ) \ |
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250 | AArch64_interrupt_enable( _isr_cookie ) |
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251 | |
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252 | #define _CPU_ISR_Flash( _isr_cookie ) \ |
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253 | AArch64_interrupt_flash( _isr_cookie ) |
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254 | |
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255 | RTEMS_INLINE_ROUTINE bool _CPU_ISR_Is_enabled( uint64_t isr_cookie ) |
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256 | { |
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257 | return ( isr_cookie & AARCH64_PSTATE_I ) == 0; |
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258 | } |
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259 | |
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260 | void _CPU_Context_Initialize( |
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261 | Context_Control *the_context, |
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262 | void *stack_area_begin, |
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263 | size_t stack_area_size, |
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264 | uint64_t new_level, |
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265 | void (*entry_point)( void ), |
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266 | bool is_fp, |
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267 | void *tls_area |
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268 | ); |
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269 | |
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270 | #define _CPU_Context_Get_SP( _context ) \ |
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271 | (_context)->register_sp |
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272 | |
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273 | #ifdef RTEMS_SMP |
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274 | static inline bool _CPU_Context_Get_is_executing( |
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275 | const Context_Control *context |
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276 | ) |
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277 | { |
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278 | return context->is_executing; |
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279 | } |
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280 | |
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281 | static inline void _CPU_Context_Set_is_executing( |
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282 | Context_Control *context, |
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283 | bool is_executing |
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284 | ) |
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285 | { |
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286 | context->is_executing = is_executing; |
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287 | } |
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288 | #endif |
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289 | |
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290 | #define _CPU_Context_Restart_self( _the_context ) \ |
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291 | _CPU_Context_restore( (_the_context) ); |
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292 | |
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293 | #define _CPU_Context_Initialize_fp( _destination ) \ |
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294 | do { \ |
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295 | *(*(_destination)) = _CPU_Null_fp_context; \ |
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296 | } while (0) |
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297 | |
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298 | /** |
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299 | * @brief CPU initialization. |
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300 | */ |
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301 | void _CPU_Initialize( void ); |
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302 | |
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303 | typedef void ( *CPU_ISR_handler )( void ); |
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304 | |
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305 | void _CPU_ISR_install_vector( |
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306 | uint32_t vector, |
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307 | CPU_ISR_handler new_handler, |
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308 | CPU_ISR_handler *old_handler |
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309 | ); |
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310 | |
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311 | /** |
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312 | * @brief CPU switch context. |
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313 | */ |
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314 | void _CPU_Context_switch( Context_Control *run, Context_Control *heir ); |
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315 | |
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316 | RTEMS_NO_RETURN void _CPU_Context_switch_no_return( |
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317 | Context_Control *executing, |
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318 | Context_Control *heir |
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319 | ); |
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320 | |
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321 | RTEMS_NO_RETURN void _CPU_Context_restore( Context_Control *new_context ); |
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322 | |
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323 | #ifdef RTEMS_SMP |
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324 | uint32_t _CPU_SMP_Initialize( void ); |
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325 | |
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326 | bool _CPU_SMP_Start_processor( uint32_t cpu_index ); |
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327 | |
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328 | void _CPU_SMP_Finalize_initialization( uint32_t cpu_count ); |
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329 | |
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330 | void _CPU_SMP_Prepare_start_multitasking( void ); |
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331 | |
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332 | static inline uint32_t _CPU_SMP_Get_current_processor( void ) |
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333 | { |
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334 | uint32_t mpidr; |
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335 | |
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336 | __asm__ volatile ( |
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337 | "mrs %[mpidr], mpidr_el1\n" |
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338 | : [mpidr] "=&r" (mpidr) |
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339 | ); |
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340 | |
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341 | return mpidr & 0xffU; |
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342 | } |
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343 | |
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344 | void _CPU_SMP_Send_interrupt( uint32_t target_processor_index ); |
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345 | |
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346 | static inline void _AARCH64_Send_event( void ) |
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347 | { |
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348 | __asm__ volatile ( "sev" : : : "memory" ); |
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349 | } |
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350 | |
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351 | static inline void _AARCH64_Wait_for_event( void ) |
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352 | { |
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353 | __asm__ volatile ( "wfe" : : : "memory" ); |
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354 | } |
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355 | #endif |
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356 | |
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357 | |
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358 | static inline uint32_t CPU_swap_u32( uint32_t value ) |
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359 | { |
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360 | uint32_t tmp = value; /* make compiler warnings go away */ |
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361 | __asm__ volatile ("EOR %1, %0, %0, ROR #16\n" |
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362 | "BIC %1, %1, #0xff0000\n" |
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363 | "MOV %0, %0, ROR #8\n" |
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364 | "EOR %0, %0, %1, LSR #8\n" |
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365 | : "=r" (value), "=r" (tmp) |
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366 | : "0" (value), "1" (tmp)); |
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367 | return value; |
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368 | } |
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369 | |
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370 | static inline uint16_t CPU_swap_u16( uint16_t value ) |
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371 | { |
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372 | return (uint16_t) (((value & 0xffU) << 8) | ((value >> 8) & 0xffU)); |
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373 | } |
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374 | |
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375 | typedef uint32_t CPU_Counter_ticks; |
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376 | |
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377 | uint32_t _CPU_Counter_frequency( void ); |
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378 | |
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379 | CPU_Counter_ticks _CPU_Counter_read( void ); |
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380 | |
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381 | static inline CPU_Counter_ticks _CPU_Counter_difference( |
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382 | CPU_Counter_ticks second, |
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383 | CPU_Counter_ticks first |
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384 | ) |
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385 | { |
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386 | return second - first; |
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387 | } |
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388 | |
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389 | void *_CPU_Thread_Idle_body( uintptr_t ignored ); |
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390 | |
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391 | typedef enum { |
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392 | AARCH64_EXCEPTION_SP0_SYNCHRONOUS = 0, |
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393 | AARCH64_EXCEPTION_SP0_IRQ = 1, |
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394 | AARCH64_EXCEPTION_SP0_FIQ = 2, |
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395 | AARCH64_EXCEPTION_SP0_SERROR = 3, |
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396 | AARCH64_EXCEPTION_SPx_SYNCHRONOUS = 4, |
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397 | AARCH64_EXCEPTION_SPx_IRQ = 5, |
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398 | AARCH64_EXCEPTION_SPx_FIQ = 6, |
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399 | AARCH64_EXCEPTION_SPx_SERROR = 7, |
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400 | AARCH64_EXCEPTION_LEL64_SYNCHRONOUS = 8, |
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401 | AARCH64_EXCEPTION_LEL64_IRQ = 9, |
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402 | AARCH64_EXCEPTION_LEL64_FIQ = 10, |
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403 | AARCH64_EXCEPTION_LEL64_SERROR = 11, |
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404 | AARCH64_EXCEPTION_LEL32_SYNCHRONOUS = 12, |
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405 | AARCH64_EXCEPTION_LEL32_IRQ = 13, |
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406 | AARCH64_EXCEPTION_LEL32_FIQ = 14, |
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407 | AARCH64_EXCEPTION_LEL32_SERROR = 15, |
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408 | MAX_EXCEPTIONS = 16, |
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409 | AARCH64_EXCEPTION_MAKE_ENUM_64_BIT = 0xffffffffffffffff |
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410 | } AArch64_symbolic_exception_name; |
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411 | |
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412 | #define VECTOR_POINTER_OFFSET 0x78 |
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413 | #define VECTOR_ENTRY_SIZE 0x80 |
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414 | void _AArch64_Exception_interrupt_no_nest( void ); |
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415 | void _AArch64_Exception_interrupt_nest( void ); |
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416 | static inline void* AArch64_set_exception_handler( |
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417 | AArch64_symbolic_exception_name exception, |
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418 | void (*handler)(void) |
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419 | ) |
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420 | { |
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421 | /* get current table address */ |
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422 | char *vbar = (char*)AArch64_get_vector_base_address(); |
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423 | |
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424 | /* calculate address of vector to be replaced */ |
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425 | char *cvector_address = vbar + VECTOR_ENTRY_SIZE * exception |
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426 | + VECTOR_POINTER_OFFSET; |
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427 | |
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428 | /* get current vector pointer */ |
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429 | void (**vector_address)(void) = (void(**)(void))cvector_address; |
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430 | void (*current_vector_pointer)(void); |
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431 | current_vector_pointer = *vector_address; |
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432 | |
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433 | /* replace vector pointer */ |
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434 | *vector_address = handler; |
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435 | |
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436 | /* return now-previous vector pointer */ |
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437 | return (void*)current_vector_pointer; |
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438 | } |
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439 | |
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440 | typedef struct { |
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441 | uint64_t register_x0; |
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442 | uint64_t register_x1; |
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443 | uint64_t register_x2; |
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444 | uint64_t register_x3; |
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445 | uint64_t register_x4; |
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446 | uint64_t register_x5; |
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447 | uint64_t register_x6; |
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448 | uint64_t register_x7; |
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449 | uint64_t register_x8; |
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450 | uint64_t register_x9; |
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451 | uint64_t register_x10; |
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452 | uint64_t register_x11; |
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453 | uint64_t register_x12; |
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454 | uint64_t register_x13; |
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455 | uint64_t register_x14; |
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456 | uint64_t register_x15; |
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457 | uint64_t register_x16; |
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458 | uint64_t register_x17; |
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459 | uint64_t register_x18; |
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460 | uint64_t register_x19; |
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461 | uint64_t register_x20; |
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462 | uint64_t register_x21; |
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463 | uint64_t register_x22; |
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464 | uint64_t register_x23; |
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465 | uint64_t register_x24; |
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466 | uint64_t register_x25; |
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467 | uint64_t register_x26; |
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468 | uint64_t register_x27; |
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469 | uint64_t register_x28; |
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470 | uint64_t register_fp; |
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471 | void *register_lr; |
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472 | #ifdef AARCH64_MULTILIB_ARCH_V8_ILP32 |
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473 | uint32_t _register_lr_top; |
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474 | #endif |
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475 | uintptr_t register_sp; |
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476 | #ifdef AARCH64_MULTILIB_ARCH_V8_ILP32 |
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477 | uint32_t _register_sp_top; |
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478 | #endif |
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479 | void *register_pc; |
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480 | #ifdef AARCH64_MULTILIB_ARCH_V8_ILP32 |
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481 | uint32_t _register_pc_top; |
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482 | #endif |
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483 | uint64_t register_daif; |
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484 | uint64_t register_cpsr; |
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485 | uint64_t register_syndrome; |
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486 | uint64_t register_fault_address; |
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487 | AArch64_symbolic_exception_name vector; |
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488 | uint64_t reserved_for_stack_alignment; |
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489 | uint64_t register_fpsr; |
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490 | uint64_t register_fpcr; |
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491 | uint128_t register_q0; |
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492 | uint128_t register_q1; |
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493 | uint128_t register_q2; |
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494 | uint128_t register_q3; |
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495 | uint128_t register_q4; |
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496 | uint128_t register_q5; |
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497 | uint128_t register_q6; |
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498 | uint128_t register_q7; |
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499 | uint128_t register_q8; |
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500 | uint128_t register_q9; |
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501 | uint128_t register_q10; |
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502 | uint128_t register_q11; |
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503 | uint128_t register_q12; |
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504 | uint128_t register_q13; |
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505 | uint128_t register_q14; |
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506 | uint128_t register_q15; |
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507 | uint128_t register_q16; |
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508 | uint128_t register_q17; |
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509 | uint128_t register_q18; |
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510 | uint128_t register_q19; |
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511 | uint128_t register_q20; |
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512 | uint128_t register_q21; |
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513 | uint128_t register_q22; |
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514 | uint128_t register_q23; |
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515 | uint128_t register_q24; |
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516 | uint128_t register_q25; |
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517 | uint128_t register_q26; |
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518 | uint128_t register_q27; |
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519 | uint128_t register_q28; |
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520 | uint128_t register_q29; |
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521 | uint128_t register_q30; |
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522 | uint128_t register_q31; |
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523 | } CPU_Exception_frame; |
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524 | |
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525 | void _CPU_Exception_frame_print( const CPU_Exception_frame *frame ); |
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526 | |
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527 | void _AArch64_Exception_default( CPU_Exception_frame *frame ); |
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528 | |
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529 | /** Type that can store a 32-bit integer or a pointer. */ |
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530 | typedef uintptr_t CPU_Uint32ptr; |
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531 | |
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532 | #ifdef __cplusplus |
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533 | } |
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534 | #endif |
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535 | |
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536 | #endif /* ASM */ |
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537 | |
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538 | /** @} */ |
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539 | |
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540 | #endif /* _RTEMS_SCORE_CPU_H */ |
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