a29adde5c0
Enable 6th-order jerk-controlled motion planning in real-time. Only for 32bit MCUs. (AVR simply does not have enough processing power for this!)
62 lines
1.9 KiB
C++
62 lines
1.9 KiB
C++
/***************************************************************************
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* ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk
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* Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle
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*
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* This program is PUBLIC DOMAIN.
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* This means that there is no copyright and anyone is able to take a copy
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* for free and use it as they wish, with or without modifications, and in
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* any context, commercially or otherwise. The only limitation is that I
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* don't guarantee that the software is fit for any purpose or accept any
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* liability for it's use or misuse - this software is without warranty.
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***************************************************************************
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* File Description: Implementation of the interface into the ARM unwinder.
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**************************************************************************/
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#if defined(__arm__) || defined(__thumb__)
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#define MODULE_NAME "UNWINDER"
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#include <stdio.h>
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#include <string.h>
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#include "unwinder.h"
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#include "unwarm.h"
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#include "unwarmbytab.h"
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/* These symbols point to the unwind index and should be provide by the linker script */
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extern "C" const UnwTabEntry __exidx_start[];
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extern "C" const UnwTabEntry __exidx_end[];
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// Detect if unwind information is present or not
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static int HasUnwindTableInfo(void) {
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// > 16 because there are default entries we can't supress
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return ((char*)(&__exidx_end) - (char*)(&__exidx_start)) > 16 ? 1 : 0;
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}
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UnwResult UnwindStart(UnwindFrame* frame, const UnwindCallbacks *cb, void *data) {
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if (HasUnwindTableInfo()) {
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/* We have unwind information tables */
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return UnwindByTableStart(frame, cb, data);
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} else {
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/* We don't have unwind information tables */
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UnwState state;
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/* Initialise the unwinding state */
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UnwInitState(&state, cb, data, frame->pc, frame->sp);
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/* Check the Thumb bit */
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if(frame->pc & 0x1) {
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return UnwStartThumb(&state);
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}
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else {
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return UnwStartArm(&state);
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}
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}
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}
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#endif
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