PIC32MZ: Add error exception handling and interrupt decode logic

3 files changed, 399 insertions, 1 deletions

diff --git a/nuttx/arch/mips/src/pic32mz/Make.defs b/nuttx/arch/mips/src/pic32mz/Make.defs
index 1035ef802..b893fdfd2 100644
--- a/nuttx/arch/mips/src/pic32mz/Make.defs
+++ b/nuttx/arch/mips/src/pic32mz/Make.defs
@@ -64,6 +64,7 @@ endif
 # Required PIC32MZ files
 
 CHIP_ASRCS  =
-CHIP_CSRCS  = pic32mz-lowinit.c pic32mz-irq.c pic32mz-timerisr.c
+CHIP_CSRCS  = pic32mz-lowinit.c pic32mz-exception.c pic32mz-decodeirq.c
+CHIP_CSRCS += pic32mz-irq.c pic32mz-timerisr.c
 
 # Configuration-dependent PIC32MZ files
diff --git a/nuttx/arch/mips/src/pic32mz/pic32mz-decodeirq.c b/nuttx/arch/mips/src/pic32mz/pic32mz-decodeirq.c
new file mode 100644
index 000000000..d0c8e5489
--- /dev/null
+++ b/nuttx/arch/mips/src/pic32mz/pic32mz-decodeirq.c
@@ -0,0 +1,199 @@
+/****************************************************************************
+ * arch/mips/src/pic32mz/pic32mz-decodeirq.c
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include  <debug.h>
+
+#include <stdint.h>
+#include <assert.h>
+
+#include <nuttx/irq.h>
+#include <nuttx/arch.h>
+#include <arch/board/board.h>
+
+#include "up_arch.h"
+#include "up_internal.h"
+
+#include "chip/pic32mz-int.h"
+
+#include "group/group.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: pic32mz_decodeirq
+ *
+ * Description:
+ *   Called from assembly language logic when an interrupt exception occurs.
+ *   This function decodes and dispatches the interrupt.
+ *
+ ****************************************************************************/
+
+uint32_t *pic32mz_decodeirq(uint32_t *regs)
+{
+#ifdef CONFIG_PIC32MZ_NESTED_INTERRUPTS
+  uint32_t *savestate;
+#endif
+  uint32_t regval;
+  int irq;
+
+  /* If the board supports LEDs, turn on an LED now to indicate that we are
+   * processing an interrupt.
+   */
+
+  board_led_on(LED_INIRQ);
+
+  /* Save the current value of current_regs (to support nested interrupt
+   * handling).  Then set current_regs to regs, indicating that this is
+   * the interrupted context that is being processed now.
+   */
+
+#ifdef CONFIG_PIC32MZ_NESTED_INTERRUPTS
+  savestate = (uint32_t*)current_regs;
+#else
+  DEBUGASSERT(current_regs == NULL);
+#endif
+  current_regs = regs;
+
+  /* Loop while there are pending interrupts with priority greater than zero */
+
+  for (;;)
+    {
+      /* Read the INTSTAT register.  This register contains both the priority
+       * and the interrupt vector number.
+       */
+
+      regval = getreg32(PIC32MZ_INT_INTSTAT);
+      if ((regval & INT_INTSTAT_SRIPL_MASK) == 0)
+        {
+          /* Break out of the loop when the priority is zero meaning that
+           * there are no further pending interrupts.
+           */
+
+          break;
+        }
+
+      /* Get the vector number.  The IRQ numbers have been arranged so that
+       * vector numbers and NuttX IRQ numbers are the same value.
+       */
+
+      irq = ((regval) & INT_INTSTAT_SIRQ_MASK) >> INT_INTSTAT_SIRQ_SHIFT;
+
+      /* Deliver the IRQ */
+
+      irq_dispatch(irq, regs);
+    }
+
+  /* If a context switch occurred while processing the interrupt then
+   * current_regs may have change value.  If we return any value different
+   * from the input regs, then the lower level will know that a context
+   * switch occurred during interrupt processing.
+   */
+
+  regs = (uint32_t*)current_regs;
+
+#if defined(CONFIG_ARCH_FPU) || defined(CONFIG_ARCH_ADDRENV)
+  /* Check for a context switch.  If a context switch occurred, then
+   * current_regs will have a different value than it did on entry.  If an
+   * interrupt level context switch has occurred, then restore the floating
+   * point state and the establish the correct address environment before
+   * returning from the interrupt.
+   */
+
+  if (regs != current_regs)
+    {
+#ifdef CONFIG_ARCH_FPU
+      /* Restore floating point registers */
+
+      up_restorefpu((uint32_t*)current_regs);
+#endif
+
+#ifdef CONFIG_ARCH_ADDRENV
+      /* Make sure that the address environment for the previously
+       * running task is closed down gracefully (data caches dump,
+       * MMU flushed) and set up the address environment for the new
+       * thread at the head of the ready-to-run list.
+       */
+
+      (void)group_addrenv(NULL);
+#endif
+    }
+#endif
+
+#ifdef CONFIG_PIC32MZ_NESTED_INTERRUPTS
+  /* Restore the previous value of current_regs.  NULL would indicate that
+   * we are no longer in an interrupt handler.  It will be non-NULL if we
+   * are returning from a nested interrupt.
+   *
+   * REVISIT: There are task switching issues!  You should not enable
+   * nested interrupts unless you are ready to deal with the complexities
+   * of fixing nested context switching.  The logic here is insufficient.
+   */
+
+  current_regs = savestate;
+  if (current_regs == NULL)
+    {
+      board_led_off(LED_INIRQ);
+    }
+#else
+  current_regs = NULL;
+  board_led_off(LED_INIRQ);
+#endif
+
+  return regs;
+}
diff --git a/nuttx/arch/mips/src/pic32mz/pic32mz-exception.c b/nuttx/arch/mips/src/pic32mz/pic32mz-exception.c
new file mode 100644
index 000000000..134544148
--- /dev/null
+++ b/nuttx/arch/mips/src/pic32mz/pic32mz-exception.c
@@ -0,0 +1,198 @@
+/****************************************************************************
+ * arch/mips/src/pic32mz/pic32mz-exception.c
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <assert.h>
+#include <debug.h>
+
+#include <nuttx/irq.h>
+#include <nuttx/arch.h>
+
+#include <arch/board/board.h>
+#include <arch/pic32mz/cp0.h>
+
+#include "up_arch.h"
+#include "up_internal.h"
+
+#include "chip/pic32mz-int.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/************************************************************************************
+ * Name: pic32mz_exception
+ *
+ * Description:
+ *   Called from assembly language logic on all other exceptions.
+ *
+ ************************************************************************************/
+
+uint32_t *pic32mz_exception(uint32_t *regs)
+{
+#ifdef CONFIG_DEBUG
+  uint32_t cause;
+  uint32_t epc;
+#endif
+
+  /* If the board supports LEDs, turn on an LED now to indicate that we are
+   * processing an interrupt.
+   */
+
+  board_led_on(LED_INIRQ);
+
+#ifdef CONFIG_DEBUG
+  /* Get the cause of the exception from the CAUSE register */
+
+  asm volatile("\tmfc0 %0,$13,0\n" : "=r"(cause));
+  asm volatile("\tmfc0 %0,$14,0\n" : "=r"(epc));
+
+#ifdef CONFIG_DEBUG_VERBOSE
+  switch (cause & CP0_CAUSE_EXCCODE_MASK)
+    {
+    case CP0_CAUSE_EXCCODE_INT:      /* Interrupt */
+      llvdbg("EXCEPTION: Interrupt"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_TLBL:     /* TLB exception (load or instruction fetch) */
+      llvdbg("EXCEPTION: TLB exception (load or instruction fetch)"
+             " CAUSE: %08x EPC:%08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_TLBS:     /* TLB exception (store) */
+      llvdbg("EXCEPTION: TLB exception (store)"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_ADEL:     /* Address error exception (load or instruction fetch) */
+      llvdbg("EXCEPTION: Address error exception (load or instruction fetch)"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_ADES:     /* Address error exception (store) */
+      llvdbg("EXCEPTION: Address error exception (store)"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_IBE:      /* Bus error exception (instruction fetch) */
+      llvdbg("EXCEPTION: Bus error exception (instruction fetch)"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_DBE:      /* Bus error exception (data reference: load or store) */
+      llvdbg("EXCEPTION: Bus error exception (data reference: load or store)"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_SYS:      /* Syscall exception */
+      llvdbg("EXCEPTION: Syscall exception"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_BP:       /* Breakpoint exception */
+      llvdbg("EXCEPTION: Breakpoint exception"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_RI:       /* Reserved instruction exception */
+      llvdbg("EXCEPTION: Reserved instruction exception"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_CPU:      /* Coprocessor Unusable exception */
+      llvdbg("EXCEPTION: Coprocessor Unusable exception"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_OV:       /* Arithmetic Overflow exception */
+      llvdbg("EXCEPTION: Arithmetic Overflow exception"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_TR:       /* Trap exception */
+      llvdbg("EXCEPTION: Trap exception"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_FPE:      /* Floating point exception */
+      llvdbg("EXCEPTION: Floating point exception"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_C2E:      /* Precise Coprocessor 2 exceptions */
+      llvdbg("EXCEPTION: Precise Coprocessor 2 exceptions"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_MDMX:     /* MDMX Unusable (MIPS64) */
+      llvdbg("EXCEPTION: MDMX Unusable (MIPS64)"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_WATCH:    /* WatchHi/WatchLo address */
+      llvdbg("EXCEPTION: WatchHi/WatchLo address"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_MCHECK:   /* Machine check */
+      llvdbg("EXCEPTION: Machine check"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    case CP0_CAUSE_EXCCODE_CACHEERR: /* Cache error */
+      llvdbg("EXCEPTION: Cache error"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    default:
+      llvdbg("EXCEPTION: Unknown"
+             " CAUSE: %08x EPC: %08x\n", cause, epc);
+      break;
+    }
+#else
+  lldbg("EXCEPTION: CAUSE: %08x EPC: %08x\n", cause, epc);
+#endif
+#endif
+
+  /* Crash with currents_regs set so that we can dump the register contents. */
+
+  current_regs = regs;
+  PANIC();
+  return regs; /* Won't get here */
+}