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px4_autopilot/nuttx/arch/x86/include/i486/arch.h

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/****************************************************************************
* arch/x86/include/i486/arch.h
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* This file should never be included directed but, rather,
* only indirectly through nuttx/arch.h
*/
#ifndef __ARCH_X86_INCLUDE_I486_ARCH_H
#define __ARCH_X86_INCLUDE_I486_ARCH_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
/****************************************************************************
* Definitions
****************************************************************************/
/* FLAGS bits */
#define X86_FLAGS_CF (1 << 0) /* Bit 0: Carry Flag */
/* Bit 1: Reserved */
#define X86_FLAGS_PF (1 << 2) /* Bit 2: Parity Flag */
/* Bit 3: Reserved */
#define X86_FLAGS_AF (1 << 4) /* Bit 4: Auxillary carry Flag */
/* Bit 5: Reserved */
#define X86_FLAGS_ZF (1 << 6) /* Bit 6: Zero Flag */
#define X86_FLAGS_SF (1 << 7) /* Bit 7: Sign Flag */
#define X86_FLAGS_TF (1 << 8) /* Bit 8: Trap Flag */
#define X86_FLAGS_IF (1 << 9) /* Bit 9: Interrupt Flag */
#define X86_FLAGS_DF (1 << 10) /* Bit 10: Direction Flag */
#define X86_FLAGS_OF (1 << 11) /* Bit 11: Overflow Flag */
#define X86_FLAGS_IOPL_SHIFT (12) /* Bits 12-13: IOPL mask (286+ only)*/
#define X86_FLAGS_IOPL_MASK (3 << X86_FLAGS_IOPL_SHIFT)
#define X86_FLAGS_NT (1 << 14) /* Bit 14: Nested Task */
/* Bit 15: Reserved */
/* EFLAGS bits (Extend the basic FLAGS bit definitions) */
#define X86_EFLAGS_RF (1 << 16) /* Bit 16: Resume Flag (386+ only) */
#define X86_EFLAGS_VM (1 << 17) /* Bit 17: Virtual Mode (386+ only) */
#define X86_EFLAGS_AC (1 << 18) /* Bit 18: Alignment Check (486SX+ only) */
#define X86_EFLAGS_VIF (1 << 19) /* Bit 19: Virtual Interrupt Flag (Pentium+) */
#define X86_EFLAGS_VIP (1 << 20) /* Bit 20: Virtual Interrupt Pending (Pentium+) */
#define X86_EFLAGS_ID (1 << 21) /* Bit 21: CPUID detection flag (Pentium+) */
/* Programmable Interrupt Controller (PIC) */
/* Operational Control Words
*
* The first instruction the Operation Control Word 1 (OCW1) to set which
* IRQ's to mask and which IRQ's not to.
*/
#define PIC1_OCW1 0x20
#define PIC2_OCW1 0xa0
# define PIC1_OCW1_IRQ0 (1 << 0) /* IRQ0 System Timer */
# define PIC1_OCW1_IRQ1 (1 << 1) /* IRQ1 Keyboard */
# define PIC1_OCW1_IRQ2 (1 << 2) /* IRQ2 PIC2 */
# define PIC1_OCW1_IRQ3 (1 << 3) /* IRQ3 Serial Port */
# define PIC1_OCW1_IRQ4 (1 << 4) /* IRQ4 Serial Port */
# define PIC1_OCW1_IRQ5 (1 << 5) /* IRQ5 Reserved/Sound Card */
# define PIC1_OCW1_IRQ6 (1 << 6) /* IRQ6 Floppy Disk Controller */
# define PIC1_OCW1_IRQ7 (1 << 7) /* IRQ7 Parallel Port */
# define PIC1_OCW1_ALL
# define PIC2_OCW1_IRQ8 (1 << 0) /* IRQ8 Real Time Clock */
# define PIC2_OCW1_IRQ9 (1 << 1) /* IRQ9 Redirected IRQ2 */
# define PIC2_OCW1_IRQ10 (1 << 2) /* IRQ10 Reserved */
# define PIC2_OCW1_IRQ11 (1 << 3) /* IRQ11 Reserved */
# define PIC2_OCW1_IRQ12 (1 << 4) /* IRQ12 PS/2 Mouse */
# define PIC2_OCW1_IRQ13 (1 << 5) /* IRQ13 Maths Co-Processor */
# define PIC2_OCW1_IRQ14 (1 << 6) /* IRQ14 Hard Disk Drive */
# define PIC2_OCW1_IRQ15 (1 << 7) /* IRQ15 Reserved */
# define PIC2_OCW1_ALL
/* Operation Control Word 2 selects how the End of Interrupt (EOI) procedure
* works. The only thing of interest to us in this register is the non-
* specific EOI command, which we must send at the end of our ISR's.
*/
#define PIC1_OCW2 0x20
#define PIC2_OCW2 0xa0
# define PIC_OCW2_ACT_SHIFT (0)
# define PIC_OCW2_ACT_MASK (7 << PIC_OCW2_ACT_SHIFT)
# define PIC1_OCW2_ACT_IRQ0 (0 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 0 */
# define PIC1_OCW2_ACT_IRQ1 (1 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 1 */
# define PIC1_OCW2_ACT_IRQ2 (2 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 2 */
# define PIC1_OCW2_ACT_IRQ3 (3 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 3 */
# define PIC1_OCW2_ACT_IRQ4 (4 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 4 */
# define PIC1_OCW2_ACT_IRQ5 (5 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 5 */
# define PIC1_OCW2_ACT_IRQ6 (6 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 6 */
# define PIC1_OCW2_ACT_IRQ7 (7 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 7 */
# define PIC2_OCW2_ACT_IRQ8 (0 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 8 */
# define PIC2_OCW2_ACT_IRQ9 (1 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 9 */
# define PIC2_OCW2_ACT_IRQ10 (2 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 10 */
# define PIC2_OCW2_ACT_IRQ11 (3 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 11 */
# define PIC2_OCW2_ACT_IRQ12 (4 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 12 */
# define PIC2_OCW2_ACT_IRQ13 (5 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 13 */
# define PIC2_OCW2_ACT_IRQ14 (6 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 14 */
# define PIC2_OCW2_ACT_IRQ15 (7 << PIC_OCW2_ACT_SHIFT) /* Act on IRQ 15 */
# define PIC_OCW2_EOI_SHIFT (5)
# define PIC_OCW2_EOI_MASK (7 << PIC_OCW2_EOI_SHIFT)
# define PIC_OCW2_EOI_AUTO (0 << PIC_OCW2_EOI_SHIFT) /* Rotate in Auto EOI Mode (Clear) */
# define PIC_OCW2_EOI_NONSPEC (1 << PIC_OCW2_EOI_SHIFT) /* Non Specific EOI */
# define PIC_OCW2_EOI_SPEC (3 << PIC_OCW2_EOI_SHIFT) /* Specific EOI */
# define PIC_OCW2_EOI_RAUTO (4 << PIC_OCW2_EOI_SHIFT) /* Rotate in Auto EOI Mode (Set) */
# define PIC_OCW2_EOI_RNSPEC (5 << PIC_OCW2_EOI_SHIFT) /* Rotate on Non-Specific EOI */
# define PIC_OCW2_EOI_PRIO (6 << PIC_OCW2_EOI_SHIFT) /* Set Priority Command (Use Bits 2:0) */
# define PIC_OCW2_EOI_RSPEC (7 << PIC_OCW2_EOI_SHIFT) /* Rotate on Specific EOI (Use Bits 2:0) */
/* Operation Control Word 3. Bits 0 and 1 bitsenable us to read the status
* of the Interrupt Request Register (IRR) and the In-Service Register (ISR).
* This is done by setting the appropriate bits correctly and reading the
* register at the Base Address.
*
* For example if we wanted to read the In-Service Register (ISR), then we
* would set both bits 1 and 0 to 1. The next read to the base register,
* (0x20 for PIC1 or 0xa0 for PIC2) will return the status of the In-Service
* Register.
*/
#define PIC1_OCW3 0x20
#define PIC2_OCW3 0xa0
# define PIC_OCW3_PCMD_SHIFT (0) /* Poll command */
# define PIC_OCW3_PCMD_MASK (3 << PIC_OCW3_PCMD_SHIFT)
# define PIC_OCW3_PCMD_IRR (2 << PIC_OCW3_PCMD_SHIFT) /* Next Read Returns Interrupt Request Register */
# define PIC_OCW3_PCMD_ISR (3 << PIC_OCW3_PCMD_SHIFT) /* Next Read Returns In-Service Register */
# define PIC_OCW3_POLLCMD (1 << 2) /* Poll command */
# define PIC_OCW3_ONE (1 << 3) /* Must be set to 1 */
# define PIC_OCW3_SM_SHIFT (5)
# define PIC_OCW3_SM_MASK (3 << PIC_OCW3_SM_SHIFT)
# define PIC_OCW3_RSM (2 << PIC_OCW3_SM_SHIFT) /* Reset Special Mask */
# define PIC_OCW3_SSM (3 << PIC_OCW3_SM_SHIFT) /* Set Special Mask */
/* If the PIC has been reset, it must be initialized with 2 to 4 Initialization
* Command Words (ICW) before it will accept and process Interrupt Requests. The
* following outlines the four possible Initialization Command Words.
*/
#define PIC1_ICW1 0x20
#define PIC2_ICW1 0xa0
# define PIC_ICW1_ICW4 (1 << 0) /* Will be Sending ICW4 (no ICW4) */
# define PIC_ICW1_SINGLE (1 << 1) /* Single PIC (vs. Cascaded pics) */
# define PIC_ICW1_INTERVAL (1 << 2) /* Call Address Interval of 4 (vs 8) */
# define PIC_ICW1_LEVEL (1 << 3) /* Level Triggered Interrupts (vs Edge) */
# define PIC_ICW1_ICW1 (1 << 4) /* Must be set to 1 for ICW1 */
# define PIC_ICW1_VEC_SHIFT (5) /* Interrupt Vector Addresses for MCS-80/85 Mode */
# define PIC_ICW1_VEC_MASK (7 << PIC_ICW1_VEC_SHIFT)
/* Initialization Command Word 2 (ICW2) selects which vector information is
* released onto the bus, during the 2nd INTA Pulse. Using the 8086 mode,
* only bits 7:3 need to be used. This will be 00001000 (0x08) for PIC1 and
* 01110000 (0x70) for PIC2. If you wish to relocate the IRQ Vector Table,
* then you can use this register.
*/
#define PIC1_ICW2 0x21
#define PIC2_ICW2 0xa1
/* There are two different Initialization Command Word 3's. One is used, if
* the PIC is a master, while the other is used for slaves.
*/
#define PIC1_ICW3 0x21
#define PIC2_ICW3 0xa1
/* Master ICW3 */
# define PIC1_ICW3_IRQ0 (1 << 0) /* IRQ0 is connected to a Slave */
# define PIC1_ICW3_IRQ1 (1 << 1) /* IRQ1 is connected to a Slave */
# define PIC1_ICW3_IRQ2 (1 << 2) /* IRQ2 is connected to a Slave */
# define PIC1_ICW3_IRQ3 (1 << 3) /* IRQ3 is connected to a Slave */
# define PIC1_ICW3_IRQ4 (1 << 4) /* IRQ4 is connected to a Slave */
# define PIC1_ICW3_IRQ5 (1 << 5) /* IRQ5 is connected to a Slave */
# define PIC1_ICW3_IRQ6 (1 << 6) /* IRQ6 is connected to a Slave */
# define PIC1_ICW3_IRQ7 (1 << 7) /* IRQ7 is connected to a Slave */
/* And for the slave device, the ICW3 below is used. */
# define PIC_ICW3_SID_MASK (0) /* Slave ID */
# define PIC_ICW3_SID_SHIFT (7 << PIC_ICW3_SID_MASK)
# define PIC_ICW3_SID0 (0 << PIC_ICW3_SID_MASK) /* Slave 0 */
# define PIC_ICW3_SID1 (1 << PIC_ICW3_SID_MASK) /* Slave 1 */
# define PIC_ICW3_SID2 (2 << PIC_ICW3_SID_MASK) /* Slave 2 */
# define PIC_ICW3_SID3 (3 << PIC_ICW3_SID_MASK) /* Slave 3 */
# define PIC_ICW3_SID4 (4 << PIC_ICW3_SID_MASK) /* Slave 4 */
# define PIC_ICW3_SID5 (5 << PIC_ICW3_SID_MASK) /* Slave 5 */
# define PIC_ICW3_SID6 (6 << PIC_ICW3_SID_MASK) /* Slave 6 */
# define PIC_ICW3_SID7 (7 << PIC_ICW3_SID_MASK) /* Slave 7 */
#define PIC1_ICW4 0x21
#define PIC2_ICW4 0xa1
# define PIC_ICW4_FNM (1 << 4) /* Special Fully Nested Mode */
# define PIC_ICW4_BMODE_SHIFT (2) /* Bufferd mode */
# define PIC_ICW4_BMODE_MASK (3 << PIC_ICW4_BMODE_SHIFT)
# define PIC_ICW4_BMODE_NON (0 << PIC_ICW4_BMODE_SHIFT) /* Non - Buffered Mode */
# define PIC_ICW4_BMODE_SLAVE (2 << PIC_ICW4_BMODE_SHIFT) /* Buffered Mode - Slave */
# define PIC_ICW4_BMODE_MSTR (3 << PIC_ICW4_BMODE_SHIFT) /* Buffered Mode - Master */
# define PIC_ICW4_AEOI (1 << 1) /* Auto EOI */
# define PIC_ICW4_808xMODE (1 << 0) /* 8086/8080 Mode (vs MCS-80/85) */
/* Interrupt Mask Register */
#define PIC1_IMR 0x21
#define PIC2_IMR 0xa1
# define PIC1_IMR_IRQ0 (1 << 0) /* IRQ0 System Timer */
# define PIC1_IMR_IRQ1 (1 << 1) /* IRQ1 Keyboard */
# define PIC1_IMR_IRQ2 (1 << 2) /* IRQ2 PIC2 */
# define PIC1_IMR_IRQ3 (1 << 3) /* IRQ3 Serial Port */
# define PIC1_IMR_IRQ4 (1 << 4) /* IRQ4 Serial Port */
# define PIC1_IMR_IRQ5 (1 << 5) /* IRQ5 Reserved/Sound Card */
# define PIC1_IMR_IRQ6 (1 << 6) /* IRQ6 Floppy Disk Controller */
# define PIC1_IMR_IRQ7 (1 << 7) /* IRQ7 Parallel Port */
# define PIC1_IMR_ALL 0xff
# define PIC2_IMR_IRQ8 (1 << 0) /* IRQ8 Real Time Clock */
# define PIC2_IMR_IRQ9 (1 << 1) /* IRQ9 Redirected IRQ2 */
# define PIC2_IMR_IRQ10 (1 << 2) /* IRQ10 Reserved */
# define PIC2_IMR_IRQ11 (1 << 3) /* IRQ11 Reserved */
# define PIC2_IMR_IRQ12 (1 << 4) /* IRQ12 PS/2 Mouse */
# define PIC2_IMR_IRQ13 (1 << 5) /* IRQ13 Maths Co-Processor */
# define PIC2_IMR_IRQ14 (1 << 6) /* IRQ14 Hard Disk Drive */
# define PIC2_IMR_IRQ15 (1 << 7) /* IRQ15 Reserved */
# define PIC2_IMR_ALL 0xff
/* Programmable Interrupt Timer Definitions */
#define PIT_REG_COUNTER0 0x40
#define PIT_REG_COUNTER1 0x41
#define PIT_REG_COUNTER2 0x42
#define PIT_REG_COMMAND 0x43
/* PIT command bit defintions */
# define PIT_OCW_BINCOUNT_BCD (1 << 0) /* vs binary */
# define PIT_OCW_MODE_SHIFT (1)
# define PIT_OCW_MODE_MASK (7 << PIT_OCW_MODE_SHIFT)
# define PIT_OCW_MODE_TMCNT (0 << PIT_OCW_MODE_SHIFT) /* Terminal count */
# define PIT_OCW_MODE_ONESHOT (1 << PIT_OCW_MODE_SHIFT) /* One shot */
# define PIT_OCW_MODE_RATEGEN (2 << PIT_OCW_MODE_SHIFT) /* Rate gen */
# define PIT_OCW_MODE_SQUARE (3 << PIT_OCW_MODE_SHIFT) /* Square wave generation */
# define PIT_OCW_MODE_SWTRIG (4 << PIT_OCW_MODE_SHIFT) /* Software trigger */
# define PIT_OCW_MODE_HWTRIG (5 << PIT_OCW_MODE_SHIFT) /* Hardware trigger */
# define PIT_OCW_RL_SHIFT (4)
# define PIT_OCW_RL_MASK (3 << PIT_OCW_RL_SHIFT)
# define PIT_OCW_RL_LATCH (0 << PIT_OCW_RL_SHIFT)
# define PIT_OCW_RL_LSBONLY (1 << PIT_OCW_RL_SHIFT)
# define PIT_OCW_RL_MSBONLY (2 << PIT_OCW_RL_SHIFT)
# define PIT_OCW_RL_DATA (3 << PIT_OCW_RL_SHIFT)
# define PIT_OCW_COUNTER_SHIFT (6)
# define PIT_OCW_COUNTER_MASK (3 << PIT_OCW_COUNTER_SHIFT)
# define PIT_OCW_COUNTER_0 (0 << PIT_OCW_COUNTER_SHIFT)
# define PIT_OCW_COUNTER_1 (1 << PIT_OCW_COUNTER_SHIFT)
# define PIT_OCW_COUNTER_2 (2 << PIT_OCW_COUNTER_SHIFT)
/****************************************************************************
* Public Types
****************************************************************************/
/* GDT data structures ******************************************************
*
* The Global Descriptor Table or GDT is a data structure used by Intel x86-
* family processors starting with the 80286 in order to define the
* characteristics of the various memory areas used during program execution,
* for example the base address, the size and access privileges like
* executability and writability. These memory areas are called segments in
* Intel terminology.
*/
/* This structure defines one segment */
struct gdt_entry_s
{
uint16_t lowlimit; /* The lower 16 bits of the limit */
uint16_t lowbase; /* The lower 16 bits of the base */
uint8_t midbase; /* The next 8 bits of the base */
uint8_t access; /* Access flags, determine ring segment can be used in */
uint8_t granularity;
uint8_t hibase; /* The last 8 bits of the base */
} __attribute__((packed));
/* This structure refers to the array of GDT entries, and is in the format
* required by the lgdt instruction.
*/
struct gdt_ptr_s
{
uint16_t limit; /* The upper 16 bits of all selector limits */
uint32_t base; /* The address of the first GDT entry */
} __attribute__((packed));
/* IDT data structures ******************************************************
*
* The Interrupt Descriptor Table (IDT) is a data structure used by the x86
* architecture to implement an interrupt vector table. The IDT is used by the
* processor to determine the correct response to interrupts and exceptions.
*/
struct idt_entry_s
{
uint16_t lobase; /* Lower 16-bits of vector address for interrupt */
uint16_t sel; /* Kernel segment selector */
uint8_t zero; /* This must always be zero */
uint8_t flags; /* (See documentation) */
uint16_t hibase; /* Upper 16-bits of vector address for interrupt */
} __attribute__((packed));
/* A struct describing a pointer to an array of interrupt handlers. This is
* in a format suitable for giving to 'lidt'.
*/
struct idt_ptr_s
{
uint16_t limit;
uint32_t base; /* The address of the first GDT entry */
} __attribute__((packed));
/****************************************************************************
* Inline functions
****************************************************************************/
#ifndef __ASSEMBLY__
/* Return stack pointer */
static inline uint32_t up_getsp()
{
uint32_t regval;
asm volatile(
"\tmovl %%esp, %0\n"
: "=rm" (regval)
:
: "memory");
return regval;
}
/* Get segment registers */
static inline uint32_t up_getds()
{
uint32_t regval;
asm volatile(
"\tmov %%ds, %0\n"
: "=rm" (regval)
:
: "memory");
return regval;
}
static inline uint32_t up_getcs()
{
uint32_t regval;
asm volatile(
"\tmov %%cs, %0\n"
: "=rm" (regval)
:
: "memory");
return regval;
}
static inline uint32_t up_getss()
{
uint32_t regval;
asm volatile(
"\tmov %%ss, %0\n"
: "=rm" (regval)
:
: "memory");
return regval;
}
/****************************************************************************
* Public Types
****************************************************************************/
/****************************************************************************
* Public Variables
****************************************************************************/
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
EXTERN void gdt_flush(uint32_t gdt_addr);
EXTERN void idt_flush(uint32_t idt_addr);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __ARCH_X86_INCLUDE_I486_ARCH_H */