1------------------------------------------------------------------------------
2--                                                                          --
3--                  GNAT RUN-TIME LIBRARY (GNARL) COMPONENTS                --
4--                                                                          --
5--                      I N T E R F A C E S . V X W O R K S                 --
6--                                                                          --
7--                                   S p e c                                --
8--                                                                          --
9--                     Copyright (C) 1999-2010, AdaCore                     --
10--                                                                          --
11-- GNAT is free software;  you can  redistribute it  and/or modify it under --
12-- terms of the  GNU General Public License as published  by the Free Soft- --
13-- ware  Foundation;  either version 3,  or (at your option) any later ver- --
14-- sion.  GNAT is distributed in the hope that it will be useful, but WITH- --
15-- OUT ANY WARRANTY;  without even the  implied warranty of MERCHANTABILITY --
16-- or FITNESS FOR A PARTICULAR PURPOSE.                                     --
17--                                                                          --
18-- As a special exception under Section 7 of GPL version 3, you are granted --
19-- additional permissions described in the GCC Runtime Library Exception,   --
20-- version 3.1, as published by the Free Software Foundation.               --
21--                                                                          --
22-- You should have received a copy of the GNU General Public License and    --
23-- a copy of the GCC Runtime Library Exception along with this program;     --
24-- see the files COPYING3 and COPYING.RUNTIME respectively.  If not, see    --
25-- <http://www.gnu.org/licenses/>.                                          --
26--                                                                          --
27-- GNARL was developed by the GNARL team at Florida State University.       --
28-- Extensive contributions were provided by Ada Core Technologies, Inc.     --
29--                                                                          --
30------------------------------------------------------------------------------
31
32--  This package provides a limited binding to the VxWorks API
33--  In particular, it interfaces with the VxWorks hardware interrupt
34--  facilities, allowing the use of low-latency direct-vectored
35--  interrupt handlers. Note that such handlers have a variety of
36--  restrictions regarding system calls and language constructs. In particular,
37--  the use of exception handlers and functions returning variable-length
38--  objects cannot be used. Less restrictive, but higher-latency handlers can
39--  be written using Ada protected procedures, Ada 83 style interrupt entries,
40--  or by signalling an Ada task from within an interrupt handler using a
41--  binary semaphore as described in the VxWorks Programmer's Manual.
42--
43--  For complete documentation of the operations in this package, please
44--  consult the VxWorks Programmer's Manual and VxWorks Reference Manual.
45
46pragma Warnings (Off, "*foreign convention*");
47pragma Warnings (Off, "*add Convention pragma*");
48--  These are temporary pragmas to suppress warnings about mismatching
49--  conventions, which will be a problem when we get rid of trampolines ???
50
51with System.VxWorks;
52
53package Interfaces.VxWorks is
54   pragma Preelaborate;
55
56   ------------------------------------------------------------------------
57   --  Here is a complete example that shows how to handle the Interrupt 0x14
58   --  with a direct-vectored interrupt handler in Ada using this package:
59
60   --  with Interfaces.VxWorks; use Interfaces.VxWorks;
61   --  with System;
62   --
63   --  package P is
64   --
65   --     Count : Integer;
66   --     pragma Atomic (Count);
67   --
68   --     Level : constant := 1;
69   --     --  Interrupt level used by this example
70   --
71   --     procedure Handler (parameter : System.Address);
72   --
73   --  end P;
74   --
75   --  package body P is
76   --
77   --     procedure Handler (parameter : System.Address) is
78   --        S : STATUS;
79   --     begin
80   --        Count := Count + 1;
81   --        logMsg ("received an interrupt" & ASCII.LF & ASCII.NUL);
82   --
83   --        --  Acknowledge VME interrupt
84   --        S := sysBusIntAck (intLevel => Level);
85   --     end Handler;
86   --  end P;
87   --
88   --  with Interfaces.VxWorks; use Interfaces.VxWorks;
89   --  with Ada.Text_IO; use Ada.Text_IO;
90   --
91   --  with P; use P;
92   --  procedure Useint is
93   --     --  Be sure to use a reasonable interrupt number for the target
94   --     --  board!
95   --     --  This one is the unused VME graphics interrupt on the PPC MV2604
96   --     Interrupt : constant := 16#14#;
97   --
98   --     task T;
99   --
100   --     S : STATUS;
101   --
102   --     task body T is
103   --     begin
104   --        loop
105   --           Put_Line ("Generating an interrupt...");
106   --           delay 1.0;
107   --
108   --           --  Generate VME interrupt, using interrupt number
109   --           S := sysBusIntGen (1, Interrupt);
110   --        end loop;
111   --     end T;
112   --
113   --  begin
114   --     S := sysIntEnable (intLevel => Level);
115   --     S := intConnect (INUM_TO_IVEC (Interrupt), handler'Access);
116   --
117   --     loop
118   --        delay 2.0;
119   --        Put_Line ("value of count:" & P.Count'Img);
120   --     end loop;
121   --  end Useint;
122   -------------------------------------
123
124   subtype int is Integer;
125
126   type STATUS is new int;
127   --  Equivalent of the C type STATUS
128
129   OK    : constant STATUS := 0;
130   ERROR : constant STATUS := -1;
131
132   type VOIDFUNCPTR is access procedure (parameter : System.Address);
133   type Interrupt_Vector is new System.Address;
134   type Exception_Vector is new System.Address;
135
136   function intConnect
137     (vector    : Interrupt_Vector;
138      handler   : VOIDFUNCPTR;
139      parameter : System.Address := System.Null_Address) return STATUS;
140   --  Binding to the C routine intConnect. Use this to set up an
141   --  user handler. The routine generates a wrapper around the user
142   --  handler to save and restore context
143
144   function intContext return int;
145   --  Binding to the C routine intContext. This function returns 1 only
146   --  if the current execution state is in interrupt context.
147
148   function intVecGet
149     (Vector : Interrupt_Vector) return VOIDFUNCPTR;
150   --  Binding to the C routine intVecGet. Use this to get the
151   --  existing handler for later restoral
152
153   procedure intVecSet
154     (Vector  : Interrupt_Vector;
155      Handler : VOIDFUNCPTR);
156   --  Binding to the C routine intVecSet. Use this to restore a
157   --  handler obtained using intVecGet
158
159   function INUM_TO_IVEC (intNum : int) return Interrupt_Vector;
160   --  Equivalent to the C macro INUM_TO_IVEC used to convert an interrupt
161   --  number to an interrupt vector
162
163   function sysIntEnable (intLevel : int) return STATUS;
164   --  Binding to the C routine sysIntEnable
165
166   function sysIntDisable (intLevel : int) return STATUS;
167   --  Binding to the C routine sysIntDisable
168
169   function sysBusIntAck (intLevel : int) return STATUS;
170   --  Binding to the C routine sysBusIntAck
171
172   function sysBusIntGen (intLevel : int; Intnum : int) return STATUS;
173   --  Binding to the C routine sysBusIntGen. Note that the T2
174   --  documentation implies that a vector address is the proper
175   --  argument - it's not. The interrupt number in the range
176   --  0 .. 255 (for 68K and PPC) is the correct argument.
177
178   procedure logMsg
179     (fmt : String; arg1, arg2, arg3, arg4, arg5, arg6 : int := 0);
180   --  Binding to the C routine logMsg. Note that it is the caller's
181   --  responsibility to ensure that fmt is a null-terminated string
182   --  (e.g logMsg ("Interrupt" & ASCII.NUL))
183
184   type FP_CONTEXT is private;
185   --  Floating point context save and restore. Handlers using floating
186   --  point must be bracketed with these calls. The pFpContext parameter
187   --  should be an object of type FP_CONTEXT that is
188   --  declared local to the handler.
189
190   procedure fppRestore (pFpContext : in out FP_CONTEXT);
191   --  Restore floating point context
192
193   procedure fppSave (pFpContext : in out FP_CONTEXT);
194   --  Save floating point context
195
196private
197
198   type FP_CONTEXT is new System.VxWorks.FP_CONTEXT;
199   --  Target-dependent floating point context type
200
201   pragma Import (C, intConnect, "intConnect");
202   pragma Import (C, intContext, "intContext");
203   pragma Import (C, intVecGet, "intVecGet");
204   pragma Import (C, intVecSet, "intVecSet");
205   pragma Import (C, INUM_TO_IVEC, "__gnat_inum_to_ivec");
206   pragma Import (C, sysIntEnable, "sysIntEnable");
207   pragma Import (C, sysIntDisable, "sysIntDisable");
208   pragma Import (C, sysBusIntAck, "sysBusIntAck");
209   pragma Import (C, sysBusIntGen, "sysBusIntGen");
210   pragma Import (C, logMsg, "logMsg");
211   pragma Import (C, fppRestore, "fppRestore");
212   pragma Import (C, fppSave, "fppSave");
213end Interfaces.VxWorks;
214