| #pragma once |
| |
| #include <ros/common.h> |
| #include <arch/arch.h> |
| |
| #ifdef __riscv64 |
| # define LR_P "lr.d" |
| # define SC_P "sc.d" |
| #else |
| # define LR_P "lr.w" |
| # define SC_P "sc.w" |
| #endif |
| |
| static bool atomic_cas(atomic_t *addr, long exp_val, long new_val) |
| { |
| return __sync_bool_compare_and_swap(addr, exp_val, new_val); |
| } |
| |
| static bool atomic_cas_ptr(void** addr, void* exp_val, void* new_val) |
| { |
| return __sync_bool_compare_and_swap(addr, exp_val, new_val); |
| } |
| |
| static bool atomic_cas_u32(uint32_t *addr, uint32_t exp_val, uint32_t new_val) |
| { |
| return __sync_bool_compare_and_swap(addr, exp_val, new_val); |
| } |
| |
| static inline void atomic_init(atomic_t *number, long val) |
| { |
| *(volatile long*)number = val; |
| } |
| |
| static inline long atomic_read(atomic_t *number) |
| { |
| return *(volatile long*)number; |
| } |
| |
| static inline void atomic_set(atomic_t *number, long val) |
| { |
| *(volatile long*)number = val; |
| } |
| |
| /* Adds val to number, returning number's original value */ |
| static inline long atomic_fetch_and_add(atomic_t *number, long val) |
| { |
| return __sync_fetch_and_add((long*)number, val); |
| } |
| |
| static inline void atomic_add(atomic_t *number, long val) |
| { |
| atomic_fetch_and_add(number, val); |
| } |
| |
| static inline void atomic_inc(atomic_t *number) |
| { |
| atomic_add(number, 1); |
| } |
| |
| static inline void atomic_dec(atomic_t *number) |
| { |
| atomic_add(number, -1); |
| } |
| |
| /* Adds val to number, so long as number was not zero. Returns TRUE if the |
| * operation succeeded (added, not zero), returns FALSE if number is zero. */ |
| static inline bool atomic_add_not_zero(atomic_t *num, long inc) |
| { |
| long res, tmp; |
| asm volatile ("1:\n" |
| LR_P " %0, 0(%2)\n" // tmp = *num; lock line |
| "li %1, 1\n" // res = 1 |
| "beqz %0, 2f\n" // if (val == 0) goto fail |
| "add %0, %0, %3\n" // tmp += inc |
| SC_P " %1, %0, 0(%2)\n" // if (locked) *num = tmp |
| "bnez %1, 1b\n" // else goto retry |
| "2:\n" |
| : "=&r"(tmp), "=&r"(res) : "r"(num), "r"(inc) : "memory"); |
| return res == 0; |
| } |
| |
| /* Subtraces val from number, returning True if the new value is 0. */ |
| static inline bool atomic_sub_and_test(atomic_t *number, long val) |
| { |
| return __sync_fetch_and_sub((long*)number, val) == val; |
| } |
| |
| static inline void atomic_and(atomic_t *number, long mask) |
| { |
| __sync_fetch_and_and(number, mask); |
| } |
| |
| static inline void atomic_or(atomic_t *number, long mask) |
| { |
| __sync_fetch_and_or(number, mask); |
| } |
| |
| static inline long atomic_swap(atomic_t *addr, long val) |
| { |
| return (long)__sync_lock_test_and_set(addr, val); // yes, really |
| } |
| |
| static inline void *atomic_swap_ptr(void **addr, void *val) |
| { |
| return (void*)__sync_lock_test_and_set(addr, val); |
| } |
| |
| static inline uint32_t atomic_swap_u32(uint32_t *addr, uint32_t val) |
| { |
| return __sync_lock_test_and_set(addr, val); // yes, really |
| } |
| |
| // RISC-V has atomic word ops, not byte ops, so we must manipulate addresses |
| static inline void atomic_andb(volatile uint8_t* number, uint8_t mask) |
| { |
| uintptr_t offset = (uintptr_t)number & 3; |
| uint32_t wmask = (1<<(8*offset+8)) - (1<<(8*offset)); |
| wmask = ~wmask | ((uint32_t)mask << (8*offset)); |
| |
| __sync_fetch_and_and((uint32_t*)((uintptr_t)number & ~3), wmask); |
| } |
| |
| static inline void atomic_orb(volatile uint8_t* number, uint8_t mask) |
| { |
| uintptr_t offset = (uintptr_t)number & 3; |
| uint32_t wmask = (uint32_t)mask << (8*offset); |
| |
| __sync_fetch_and_or((uint32_t*)((uintptr_t)number & ~3), wmask); |
| } |
| |
| static inline bool spin_locked(spinlock_t* lock) |
| { |
| return lock->rlock; |
| } |
| |
| static inline bool __spin_trylock(spinlock_t *lock) |
| { |
| return !__sync_fetch_and_or(&lock->rlock, 1); |
| } |
| |
| static inline void __spin_lock(spinlock_t *lock) |
| { |
| do |
| { |
| while (lock->rlock) |
| ; |
| } while (!__spin_trylock(lock)); |
| mb(); |
| } |
| |
| static inline void __spin_unlock(spinlock_t *lock) |
| { |
| mb(); |
| lock->rlock = 0; |
| } |
| |
| static inline void __spinlock_init(spinlock_t *lock) |
| { |
| lock->rlock = 0; |
| } |