Add interrupt management logic

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@2494 42af7a65-404d-4744-a932-0658087f49c3

3 files changed, 451 insertions, 1 deletions

diff --git a/nuttx/arch/arm/src/sam3u/Make.defs b/nuttx/arch/arm/src/sam3u/Make.defs
index 9f9522667..66a6ad756 100755
--- a/nuttx/arch/arm/src/sam3u/Make.defs
+++ b/nuttx/arch/arm/src/sam3u/Make.defs
@@ -45,5 +45,5 @@ CMN_CSRCS	= up_allocateheap.c up_assert.c up_blocktask.c up_copystate.c \
 		  up_usestack.c up_doirq.c up_hardfault.c up_svcall.c
 
 CHIP_ASRCS	= 
-CHIP_CSRCS	= sam3u_start.c
+CHIP_CSRCS	= sam3u_irq.c sam3u_start.c
 
diff --git a/nuttx/arch/arm/src/sam3u/chip.h b/nuttx/arch/arm/src/sam3u/chip.h
index 749459ca9..3f675a6f2 100755
--- a/nuttx/arch/arm/src/sam3u/chip.h
+++ b/nuttx/arch/arm/src/sam3u/chip.h
@@ -54,6 +54,16 @@
 
 #include "sam3u_memorymap.h"
 
+/* NVIC priority levels *************************************************************/
+/* Each priority field holds a priority value, 0-15. The lower the value, the greater
+ * the priority of the corresponding interrupt. The processor implements only
+ * bits[7:4] of each field, bits[3:0] read as zero and ignore writes.
+ */
+
+#define NVIC_SYSH_PRIORITY_MIN     0xf0 /* All bits[7:4] set is minimum priority */
+#define NVIC_SYSH_PRIORITY_DEFAULT 0x80 /* Midpoint is the default */
+#define NVIC_SYSH_PRIORITY_MAX     0x00 /* Zero is maximum priority */
+
 /************************************************************************************
  * Public Types
  ************************************************************************************/
diff --git a/nuttx/arch/arm/src/sam3u/sam3u_irq.c b/nuttx/arch/arm/src/sam3u/sam3u_irq.c
new file mode 100755
index 000000000..d7be1f3d2
--- /dev/null
+++ b/nuttx/arch/arm/src/sam3u/sam3u_irq.c
@@ -0,0 +1,440 @@
+/****************************************************************************
+ * arch/arm/src/sam3u/sam3u_irq.c
+ * arch/arm/src/chip/sam3u_irq.c
+ *
+ *   Copyright (C) 2009 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <debug.h>
+
+#include <nuttx/irq.h>
+#include <nuttx/arch.h>
+#include <arch/irq.h>
+
+#include "nvic.h"
+#include "up_arch.h"
+#include "os_internal.h"
+#include "up_internal.h"
+#include "sam3u_internal.h"
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+/* Enable NVIC debug features that are probably only desireable during
+ * bringup
+ */
+
+#undef SAM3U_IRQ_DEBUG
+
+/* Get a 32-bit version of the default priority */
+
+#define DEFPRIORITY32 \
+  (NVIC_SYSH_PRIORITY_DEFAULT << 24 |\
+   NVIC_SYSH_PRIORITY_DEFAULT << 16 |\
+   NVIC_SYSH_PRIORITY_DEFAULT << 8  |\
+   NVIC_SYSH_PRIORITY_DEFAULT)
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+uint32_t *current_regs;
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: sam3u_dumpnvic
+ *
+ * Description:
+ *   Dump some interesting NVIC registers
+ *
+ ****************************************************************************/
+
+#if defined(SAM3U_IRQ_DEBUG) && defined (CONFIG_DEBUG)
+static void sam3u_dumpnvic(const char *msg, int irq)
+{
+  irqstate_t flags;
+
+  flags = irqsave();
+  slldbg("NVIC (%s, irq=%d):\n", msg, irq);
+  slldbg("  INTCTRL:    %08x VECTAB: %08x\n",
+         getreg32(NVIC_INTCTRL), getreg32(NVIC_VECTAB));
+#if 0
+  slldbg("  SYSH ENABLE MEMFAULT: %08x BUSFAULT: %08x USGFAULT: %08x SYSTICK: %08x\n",
+         getreg32(NVIC_SYSHCON_MEMFAULTENA), getreg32(NVIC_SYSHCON_BUSFAULTENA),
+         getreg32(NVIC_SYSHCON_USGFAULTENA), getreg32(NVIC_SYSTICK_CTRL_ENABLE));
+#endif
+  slldbg("  IRQ ENABLE: %08x\n", getreg32(NVIC_IRQ0_31_ENABLE));
+  slldbg("  SYSH_PRIO:  %08x %08x %08x\n",
+         getreg32(NVIC_SYSH4_7_PRIORITY), getreg32(NVIC_SYSH8_11_PRIORITY),
+         getreg32(NVIC_SYSH12_15_PRIORITY));
+  slldbg("  IRQ PRIO:   %08x %08x %08x %08x\n", 
+        getreg32(NVIC_IRQ0_3_PRIORITY), getreg32(NVIC_IRQ4_7_PRIORITY),
+        getreg32(NVIC_IRQ8_11_PRIORITY), getreg32(NVIC_IRQ12_15_PRIORITY));
+  slldbg("              %08x %08x %08x %08x\n", 
+        getreg32(NVIC_IRQ16_19_PRIORITY), getreg32(NVIC_IRQ20_23_PRIORITY),
+        getreg32(NVIC_IRQ24_27_PRIORITY), getreg32(NVIC_IRQ28_31_PRIORITY));
+  irqrestore(flags);
+}
+#else
+#  define sam3u_dumpnvic(msg, irq)
+#endif
+
+/****************************************************************************
+ * Name: sam3u_nmi, sam3u_mpu, sam3u_busfault, sam3u_usagefault, sam3u_pendsv,
+ *       sam3u_dbgmonitor, sam3u_pendsv, sam3u_reserved
+ *
+ * Description:
+ *   Handlers for various execptions.  None are handled and all are fatal
+ *   error conditions.  The only advantage these provided over the default
+ *   unexpected interrupt handler is that they provide a diagnostic output.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG
+static int sam3u_nmi(int irq, FAR void *context)
+{
+  (void)irqsave();
+  dbg("PANIC!!! NMI received\n");
+  PANIC(OSERR_UNEXPECTEDISR);
+  return 0;
+}
+
+static int sam3u_mpu(int irq, FAR void *context)
+{
+  (void)irqsave();
+  dbg("PANIC!!! MPU interrupt received\n");
+  PANIC(OSERR_UNEXPECTEDISR);
+  return 0;
+}
+
+static int sam3u_busfault(int irq, FAR void *context)
+{
+  (void)irqsave();
+  dbg("PANIC!!! Bus fault recived\n");
+  PANIC(OSERR_UNEXPECTEDISR);
+  return 0;
+}
+
+static int sam3u_usagefault(int irq, FAR void *context)
+{
+  (void)irqsave();
+  dbg("PANIC!!! Usage fault received\n");
+  PANIC(OSERR_UNEXPECTEDISR);
+  return 0;
+}
+
+static int sam3u_pendsv(int irq, FAR void *context)
+{
+  (void)irqsave();
+  dbg("PANIC!!! PendSV received\n");
+  PANIC(OSERR_UNEXPECTEDISR);
+  return 0;
+}
+
+static int sam3u_dbgmonitor(int irq, FAR void *context)
+{
+  (void)irqsave();
+  dbg("PANIC!!! Debug Monitor receieved\n");
+  PANIC(OSERR_UNEXPECTEDISR);
+  return 0;
+}
+
+static int sam3u_reserved(int irq, FAR void *context)
+{
+  (void)irqsave();
+  dbg("PANIC!!! Reserved interrupt\n");
+  PANIC(OSERR_UNEXPECTEDISR);
+  return 0;
+}
+#endif
+
+/****************************************************************************
+ * Name: sam3u_irqinfo
+ *
+ * Description:
+ *   Given an IRQ number, provide the register and bit setting to enable or
+ *   disable the irq.
+ *
+ ****************************************************************************/
+
+static int sam3u_irqinfo(int irq, uint32_t *regaddr, uint32_t *bit)
+{
+  DEBUGASSERT(irq >= SAM3U_IRQ_NMI && irq < NR_IRQS);
+
+  /* Check for external interrupt */
+
+  if (irq >= SAM3U_IRQ_EXTINT)
+    {
+      if (irq < NR_IRQS)
+        {
+           *regaddr = NVIC_IRQ0_31_ENABLE;
+           *bit     = 1 << (irq - SAM3U_IRQ_EXTINT);
+        }
+      else
+        {
+          return ERROR; /* Invalid interrupt */
+        }
+    }
+
+  /* Handle processor exceptions.  Only a few can be disabled */
+
+  else
+    {
+       *regaddr = NVIC_SYSHCON;
+       if (irq == SAM3U_IRQ_MPU)
+        {
+          *bit = NVIC_SYSHCON_MEMFAULTENA;
+        }
+      else if (irq == SAM3U_IRQ_BUSFAULT)
+        {
+          *bit = NVIC_SYSHCON_BUSFAULTENA;
+        }
+      else if (irq == SAM3U_IRQ_USAGEFAULT)
+        {
+          *bit = NVIC_SYSHCON_USGFAULTENA;
+        }
+      else if (irq == SAM3U_IRQ_SYSTICK)
+        {
+          *regaddr = NVIC_SYSTICK_CTRL;
+          *bit = NVIC_SYSTICK_CTRL_ENABLE;
+        }
+      else
+        {
+          return ERROR; /* Invalid or unsupported exception */
+        }
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: up_irqinitialize
+ ****************************************************************************/
+
+void up_irqinitialize(void)
+{
+  /* Disable all interrupts */
+
+  putreg32(0, NVIC_IRQ0_31_ENABLE);
+
+  /* Set up the vector table address */
+
+#ifdef CONFIG_SAM3U_DFU
+  putreg32((uint32_t)sam3u_vectors, NVIC_VECTAB);
+#endif
+
+  /* Set all interrrupts (and exceptions) to the default priority */
+
+  putreg32(DEFPRIORITY32, NVIC_SYSH4_7_PRIORITY);
+  putreg32(DEFPRIORITY32, NVIC_SYSH8_11_PRIORITY);
+  putreg32(DEFPRIORITY32, NVIC_SYSH12_15_PRIORITY);
+
+  putreg32(DEFPRIORITY32, NVIC_IRQ0_3_PRIORITY);
+  putreg32(DEFPRIORITY32, NVIC_IRQ4_7_PRIORITY);
+  putreg32(DEFPRIORITY32, NVIC_IRQ8_11_PRIORITY);
+  putreg32(DEFPRIORITY32, NVIC_IRQ12_15_PRIORITY);
+  putreg32(DEFPRIORITY32, NVIC_IRQ16_19_PRIORITY);
+  putreg32(DEFPRIORITY32, NVIC_IRQ20_23_PRIORITY);
+  putreg32(DEFPRIORITY32, NVIC_IRQ24_27_PRIORITY);
+  putreg32(DEFPRIORITY32, NVIC_IRQ28_31_PRIORITY);
+
+  /* currents_regs is non-NULL only while processing an interrupt */
+
+  current_regs = NULL;
+
+  /* Attach the SVCall and Hard Fault exception handlers.  The SVCall
+   * exception is used for performing context switches; The Hard Fault
+   * must also be caught because a SVCall may show up as a Hard Fault
+   * under certain conditions.
+   */
+
+  irq_attach(SAM3U_IRQ_SVCALL, up_svcall);
+  irq_attach(SAM3U_IRQ_HARDFAULT, up_hardfault);
+
+  /* Set the priority of the SVCall interrupt */
+
+#ifdef CONFIG_ARCH_IRQPRIO
+/* up_prioritize_irq(SAM3U_IRQ_PENDSV, NVIC_SYSH_PRIORITY_MIN); */
+#endif
+
+  /* Attach all other processor exceptions (except reset and sys tick) */
+
+#ifdef CONFIG_DEBUG
+  irq_attach(SAM3U_IRQ_NMI, sam3u_nmi);
+  irq_attach(SAM3U_IRQ_MPU, sam3u_mpu);
+  irq_attach(SAM3U_IRQ_BUSFAULT, sam3u_busfault);
+  irq_attach(SAM3U_IRQ_USAGEFAULT, sam3u_usagefault);
+  irq_attach(SAM3U_IRQ_PENDSV, sam3u_pendsv);
+  irq_attach(SAM3U_IRQ_DBGMONITOR, sam3u_dbgmonitor);
+  irq_attach(SAM3U_IRQ_RESERVED, sam3u_reserved);
+#endif
+
+  sam3u_dumpnvic("initial", NR_IRQS);
+
+#ifndef CONFIG_SUPPRESS_INTERRUPTS
+
+  /* Initialize FIQs */
+
+#ifdef CONFIG_ARCH_FIQ
+  up_fiqinitialize();
+#endif
+
+  /* And finally, enable interrupts */
+
+  setbasepri(NVIC_SYSH_PRIORITY_MAX);
+  irqrestore(0);
+#endif
+}
+
+/****************************************************************************
+ * Name: up_disable_irq
+ *
+ * Description:
+ *   Disable the IRQ specified by 'irq'
+ *
+ ****************************************************************************/
+
+void up_disable_irq(int irq)
+{
+  uint32_t regaddr;
+  uint32_t regval;
+  uint32_t bit;
+
+  if (sam3u_irqinfo(irq, &regaddr, &bit) == 0)
+    {
+      /* Clear the appropriate bit in the register to enable the interrupt */
+
+      regval  = getreg32(regaddr);
+      regval &= ~bit;
+      putreg32(regval, regaddr);
+    }
+  sam3u_dumpnvic("disable", irq);
+}
+
+/****************************************************************************
+ * Name: up_enable_irq
+ *
+ * Description:
+ *   Enable the IRQ specified by 'irq'
+ *
+ ****************************************************************************/
+
+void up_enable_irq(int irq)
+{
+  uint32_t regaddr;
+  uint32_t regval;
+  uint32_t bit;
+
+  if (sam3u_irqinfo(irq, &regaddr, &bit) == 0)
+    {
+      /* Set the appropriate bit in the register to enable the interrupt */
+
+      regval  = getreg32(regaddr);
+      regval |= bit;
+      putreg32(regval, regaddr);
+    }
+  sam3u_dumpnvic("enable", irq);
+}
+
+/****************************************************************************
+ * Name: up_maskack_irq
+ *
+ * Description:
+ *   Mask the IRQ and acknowledge it
+ *
+ ****************************************************************************/
+
+void up_maskack_irq(int irq)
+{
+  up_disable_irq(irq);
+}
+
+/****************************************************************************
+ * Name: up_prioritize_irq
+ *
+ * Description:
+ *   Set the priority of an IRQ.
+ *
+ *   Since this API is not supported on all architectures, it should be
+ *   avoided in common implementations where possible.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_IRQPRIO
+int up_prioritize_irq(int irq, int priority)
+{
+  uint32_t regaddr;
+  uint32_t regval;
+  int shift;
+
+  DEBUGASSERT(irq >= SAM3U_IRQ_MPU && irq < NR_IRQS && (unsigned)priority <= NVIC_SYSH_PRIORITY_MIN);
+
+  if (irq < SAM3U_IRQ_EXTINT)
+    {
+      irq    -= 4;
+      regaddr = NVIC_SYSH_PRIORITY(irq);
+    }
+  else
+    {
+      irq    -= SAM3U_IRQ_EXTINT;
+      regaddr = NVIC_IRQ_PRIORITY(irq);
+    }
+
+  regval      = getreg32(regaddr);
+  shift       = ((irq & 3) << 3);
+  regval     &= ~(0xff << shift);
+  regval     |= (priority << shift);
+  putreg32(regval, regaddr);
+
+  sam3u_dumpnvic("prioritize", irq);
+  return OK;
+}
+#endif