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author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2011-05-18 22:34:11 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2011-05-18 22:34:11 +0000 |
commit | 3a6e6d40569f3b267f88417d3f5c7816f5bde1d5 (patch) | |
tree | 5fbf7e69fc279d8a741a7048afc5cbdd2d95b8b3 | |
parent | 39ec51e53213f317a6f2efbaf9b7495a8eef2c37 (diff) | |
download | px4-nuttx-3a6e6d40569f3b267f88417d3f5c7816f5bde1d5.tar.gz px4-nuttx-3a6e6d40569f3b267f88417d3f5c7816f5bde1d5.tar.bz2 px4-nuttx-3a6e6d40569f3b267f88417d3f5c7816f5bde1d5.zip |
Add MIPS system call infrastructure
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@3626 42af7a65-404d-4744-a932-0658087f49c3
-rw-r--r-- | nuttx/arch/mips/include/mips32/syscall.h | 210 | ||||
-rw-r--r-- | nuttx/arch/mips/include/syscall.h | 2 | ||||
-rw-r--r-- | nuttx/arch/mips/src/common/up_exit.c | 1 | ||||
-rwxr-xr-x | nuttx/arch/mips/src/common/up_internal.h | 3 | ||||
-rwxr-xr-x | nuttx/arch/mips/src/mips32/up_blocktask.c | 3 | ||||
-rwxr-xr-x | nuttx/arch/mips/src/mips32/up_releasepending.c | 2 | ||||
-rwxr-xr-x | nuttx/arch/mips/src/mips32/up_reprioritizertr.c | 3 | ||||
-rw-r--r-- | nuttx/arch/mips/src/mips32/up_sigdeliver.c | 1 | ||||
-rw-r--r-- | nuttx/arch/mips/src/mips32/up_syscall0.S | 94 | ||||
-rwxr-xr-x | nuttx/arch/mips/src/mips32/up_unblocktask.c | 4 | ||||
-rwxr-xr-x | nuttx/arch/mips/src/pic32mx/Make.defs | 2 |
11 files changed, 265 insertions, 60 deletions
diff --git a/nuttx/arch/mips/include/mips32/syscall.h b/nuttx/arch/mips/include/mips32/syscall.h index 0a6c5c3e2..e571e14b0 100644 --- a/nuttx/arch/mips/include/mips32/syscall.h +++ b/nuttx/arch/mips/include/mips32/syscall.h @@ -45,19 +45,140 @@ ****************************************************************************/ #include <nuttx/config.h> -#include <stdint.h> + +#ifndef __ASSEMBLY__ +# include <stdint.h> +#endif /**************************************************************************** - * Pre-Processor Definitions + * Pro-processor Definitions ****************************************************************************/ -#define SYS_syscall 0x80 +#define SYS_syscall 0x00 + +/* Configuration ********************************************************************/ +/* This logic uses three system calls {0,1,2} for context switching. The first three + * syscall values must be reserved. + */ + +#ifdef CONFIG_NUTTX_KERNEL +# ifndef CONFIG_SYS_RESERVED +# error "CONFIG_SYS_RESERVED must be defined to the value 2" +# elif CONFIG_SYS_RESERVED != 2 +# error "CONFIG_SYS_RESERVED must have the value 2" +# endif +#endif + +/* sys_call macros ******************************************************************/ +/* System calls with 3 parameters and fewer are handled by sys_call0 (sys_call1, + * sys_call2, and sys_call3 are aliases for sys_call0). This is because the + * parmeters are passed in a0-a3. a0 is reserved for the syscall number leaving + * up to thre additional parameters that can be passed in registers. The remainder + * would have to be pushed onto the stack. + * + * Instead, these macros are provided which handle parameters four, five and six in + * a non-standard way: The use s0 ($7), s1 ($8), and s2 ($9) to pass the additional + * parameters. + */ + +#ifndef __ASSEMBLY__ + +/* System call SYS_ argument and four additional parameters. */ + +#define sys_call4(nbr,parm1,parm2,parm3,parm4) __extension__({ \ + uintptr_t __result; \ + __asm__ __volatile__ (\ + "\tmove $4, %0\n" \ + "\tmove $5, %1\n" \ + "\tmove $6, %2\n" \ + "\tmove $7, %3\n" \ + "\tmove $8, %4\n" \ + "\la $12, sys_call3\n" \ + "\jalr $12, $31\n" \ + "\tmove %5, $r2\n" \ + : "=r" (nbr) "=r" (parm1) "=r" (parm2) "=r" (parm3) "=r" (parm4) \ + : " "r"(__result)\ + : "memory"\ + ); \ + __result; \ +}) + +/* System call SYS_ argument and five additional parameters. */ + +#define sys_call5(nbr,parm1,parm2,parm3,parm4,parm5) __extension__({ \ + uintptr_t __result; \ + __asm__ __volatile__ (\ + "\tmove $4, %0\n" \ + "\tmove $5, %1\n" \ + "\tmove $6, %2\n" \ + "\tmove $7, %3\n" \ + "\tmove $8, %4\n" \ + "\tmove $9, %5\n" \ + "\la $12, sys_call3\n" \ + "\jalr $12, $31\n" \ + "\tmove %6, $r2\n" \ + : "=r" (nbr) "=r" (parm1) "=r" (parm2) "=r" (parm3) "=r" (parm4) "=r" (parm5) \ + : " "r"(__result)\ + : "memory"\ + ); \ + __result; \ +}) + +/* System call SYS_ argument and six additional parameters. */ + +#define sys_call5(nbr,parm1,parm2,parm3,parm4,parm5,parm6) __extension__({ \ + uintptr_t __result; \ + __asm__ __volatile__ (\ + "\tmove $4, %0\n" \ + "\tmove $5, %1\n" \ + "\tmove $6, %2\n" \ + "\tmove $7, %3\n" \ + "\tmove $8, %4\n" \ + "\tmove $9, %5\n" \ + "\tmove $10, %5\n" \ + "\la $12, sys_call3\n" \ + "\jalr $12, $31\n" \ + "\tmove %6, $r2\n" \ + : "=r" (nbr) "=r" (parm1) "=r" (parm2) "=r" (parm3) "=r" (parm4) "=r" (parm5) \ + : " "r"(__result)\ + : "memory"\ + ); \ + __result; \ +}) + +/* Context switching system calls ***************************************************/ + +/* SYS call 0: + * + * void up_fullcontextrestore(uint32_t *restoreregs) __attribute__ ((noreturn)); + */ + +#define SYS_restore_context (1) +#define up_fullcontextrestore(restoreregs) \ + (void)sys_call1(SYS_restore_context, (uintptr_t)restoreregs) + +/* SYS call 1: + * + * void up_switchcontext(uint32_t *saveregs, uint32_t *restoreregs); + */ + +#define SYS_switch_context (2) +#define up_switchcontext(saveregs, restoreregs) \ + (void)sys_call2(SYS_switch_context, (uintptr_t)saveregs, (uintptr_t)restoreregs) + +#endif /* __ASSEMBLY__ */ /**************************************************************************** * Public Types ****************************************************************************/ /**************************************************************************** + * Inline functions + ****************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************** * Public Variables ****************************************************************************/ @@ -65,7 +186,6 @@ * Public Function Prototypes ****************************************************************************/ -#ifndef __ASSEMBLY__ #ifdef __cplusplus #define EXTERN extern "C" extern "C" { @@ -73,66 +193,52 @@ extern "C" { #define EXTERN extern #endif -/* SWI with SYS_ call number and six parameters */ - -EXTERN uintptr_t sys_call6(unsigned int nbr, uintptr_t parm1, - uintptr_t parm2, uintptr_t parm3, - uintptr_t parm4, uintptr_t parm5, - uintptr_t parm6); - -/* SWI with SYS_ call number and no parameters */ - -static inline uintptr_t sys_call0(unsigned int nbr) -{ - return sys_call6(nbr, 0, 0, 0, 0, 0, 0); -} - -/* SWI with SYS_ call number and one parameter */ - -static inline uintptr_t sys_call1(unsigned int nbr, uintptr_t parm1) -{ - return sys_call6(nbr, parm1, 0, 0, 0, 0, 0); -} - -/* SWI with SYS_ call number and two parameters */ +/**************************************************************************** + * Name: up_syscall0 + * + * Description: + * System call SYS_ argument and no additional parameters. + * + ****************************************************************************/ -static inline uintptr_t sys_call2(unsigned int nbr, uintptr_t parm1, - uintptr_t parm2) -{ - return sys_call6(nbr, parm1, parm2, 0, 0, 0, 0); -} +EXTERN uintptr_t sys_call0(unsigned int nbr); -/* SWI with SYS_ call number and three parameters */ +/**************************************************************************** + * Name: up_syscall1 + * + * Description: + * System call SYS_ argument and one additional parameter. + * + ****************************************************************************/ -static inline uintptr_t sys_call3(unsigned int nbr, uintptr_t parm1, - uintptr_t parm2, uintptr_t parm3) -{ - return sys_call6(nbr, parm1, parm2, parm3, 0, 0, 0); -} +EXTERN uintptr_t sys_call1(unsigned int nbr, uintptr_t parm1); -/* SWI with SYS_ call number and four parameters */ +/**************************************************************************** + * Name: up_syscall2 + * + * Description: + * System call SYS_ argument and two additional parameters. + * + ****************************************************************************/ -static inline uintptr_t sys_call4(unsigned int nbr, uintptr_t parm1, - uintptr_t parm2, uintptr_t parm3, - uintptr_t parm4) -{ - return sys_call6(nbr, parm1, parm2, parm3, parm4, 0, 0); -} +EXTERN uintptr_t sys_call2(unsigned int nbr, uintptr_t parm1, uintptr_t parm2); -/* SWI with SYS_ call number and five parameters */ +/**************************************************************************** + * Name: up_syscall3 + * + * Description: + * System call SYS_ argument and three additional parameters. + * + ****************************************************************************/ -static inline uintptr_t sys_call5(unsigned int nbr, uintptr_t parm1, - uintptr_t parm2, uintptr_t parm3, - uintptr_t parm4, uintptr_t parm5) -{ - return sys_call6(nbr, parm1, parm2, parm3, parm4, parm5, 0); -} +EXTERN uintptr_t sys_call3(unsigned int nbr, uintptr_t parm1, + uintptr_t parm2, uintptr_t parm3); #undef EXTERN #ifdef __cplusplus } #endif -#endif +#endif /* __ASSEMBLY__ */ #endif /* __ARCH_MIPS_INCLUDE_MIPS32_SYSCALL_H */ diff --git a/nuttx/arch/mips/include/syscall.h b/nuttx/arch/mips/include/syscall.h index d59eded48..9fe94e149 100644 --- a/nuttx/arch/mips/include/syscall.h +++ b/nuttx/arch/mips/include/syscall.h @@ -44,7 +44,7 @@ * Included Files ****************************************************************************/ -/* Include MIPS architecture-specific syscall macros */ +/* Include ARM architecture-specific syscall macros */ #ifdef CONFIG_ARCH_MIPS32 # include <arch/mips32/syscall.h> diff --git a/nuttx/arch/mips/src/common/up_exit.c b/nuttx/arch/mips/src/common/up_exit.c index f0ea24d28..cf6b25fda 100644 --- a/nuttx/arch/mips/src/common/up_exit.c +++ b/nuttx/arch/mips/src/common/up_exit.c @@ -40,6 +40,7 @@ #include <nuttx/config.h> #include <sched.h> +#include <syscall.h> #include <debug.h> #include <nuttx/arch.h> diff --git a/nuttx/arch/mips/src/common/up_internal.h b/nuttx/arch/mips/src/common/up_internal.h index 1c8d4ed37..3baa91235 100755 --- a/nuttx/arch/mips/src/common/up_internal.h +++ b/nuttx/arch/mips/src/common/up_internal.h @@ -165,9 +165,6 @@ extern void up_irqinitialize(void); #ifdef CONFIG_ARCH_DMA extern void weak_function up_dmainitialize(void); #endif -extern int up_saveusercontext(uint32_t *saveregs); -extern void up_fullcontextrestore(uint32_t *restoreregs) __attribute__ ((noreturn)); -extern void up_switchcontext(uint32_t *saveregs, uint32_t *restoreregs); extern void up_sigdeliver(void); extern int up_timerisr(int irq, uint32_t *regs); extern void up_lowputc(char ch); diff --git a/nuttx/arch/mips/src/mips32/up_blocktask.c b/nuttx/arch/mips/src/mips32/up_blocktask.c index ce92452b9..eb570b7a1 100755 --- a/nuttx/arch/mips/src/mips32/up_blocktask.c +++ b/nuttx/arch/mips/src/mips32/up_blocktask.c @@ -1,7 +1,7 @@ /**************************************************************************** * arch/mips/src/mips32/up_blocktask.c * - * Copyright (C) 2010 Gregory Nutt. All rights reserved. + * Copyright (C) 2011 Gregory Nutt. All rights reserved. * Author: Gregory Nutt <spudmonkey@racsa.co.cr> * * Redistribution and use in source and binary forms, with or without @@ -41,6 +41,7 @@ #include <stdbool.h> #include <sched.h> +#include <syscall.h> #include <debug.h> #include <nuttx/arch.h> diff --git a/nuttx/arch/mips/src/mips32/up_releasepending.c b/nuttx/arch/mips/src/mips32/up_releasepending.c index ea36d152a..978df0c7d 100755 --- a/nuttx/arch/mips/src/mips32/up_releasepending.c +++ b/nuttx/arch/mips/src/mips32/up_releasepending.c @@ -40,7 +40,9 @@ #include <nuttx/config.h> #include <sched.h> +#include <syscall.h> #include <debug.h> + #include <nuttx/arch.h> #include "os_internal.h" diff --git a/nuttx/arch/mips/src/mips32/up_reprioritizertr.c b/nuttx/arch/mips/src/mips32/up_reprioritizertr.c index 19a4f05c6..24e33693c 100755 --- a/nuttx/arch/mips/src/mips32/up_reprioritizertr.c +++ b/nuttx/arch/mips/src/mips32/up_reprioritizertr.c @@ -1,7 +1,7 @@ /**************************************************************************** * arch/mips/src/mips32/up_reprioritizertr.c * - * Copyright (C) 2010 Gregory Nutt. All rights reserved. + * Copyright (C) 2011 Gregory Nutt. All rights reserved. * Author: Gregory Nutt <spudmonkey@racsa.co.cr> * * Redistribution and use in source and binary forms, with or without @@ -42,6 +42,7 @@ #include <stdint.h> #include <stdbool.h> #include <sched.h> +#include <syscall.h> #include <debug.h> #include <nuttx/arch.h> diff --git a/nuttx/arch/mips/src/mips32/up_sigdeliver.c b/nuttx/arch/mips/src/mips32/up_sigdeliver.c index 05a956070..7a291b58b 100644 --- a/nuttx/arch/mips/src/mips32/up_sigdeliver.c +++ b/nuttx/arch/mips/src/mips32/up_sigdeliver.c @@ -41,6 +41,7 @@ #include <stdint.h> #include <sched.h> +#include <syscall.h> #include <debug.h> #include <nuttx/irq.h> diff --git a/nuttx/arch/mips/src/mips32/up_syscall0.S b/nuttx/arch/mips/src/mips32/up_syscall0.S new file mode 100644 index 000000000..241fd7aa7 --- /dev/null +++ b/nuttx/arch/mips/src/mips32/up_syscall0.S @@ -0,0 +1,94 @@ +/**************************************************************************** + * arch/mips/src/mips32/up_syscall0.S + * + * Copyright (C) 2011 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 <arch/mips32/registers.h> +#include <arch/mips32/cp0.h> + +/**************************************************************************** + * Global Symbols + ****************************************************************************/ + + .file "up_syscall0.S" + .global sys_call0 + .global sys_call1 + .global sys_call2 + .global sys_call3 + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: up_syscall0, up_syscall1, up_syscall2, up_syscall3 + * + * Description: + * up_syscall0 - System call SYS_ argument and no additional parameters. + * up_syscall1 - System call SYS_ argument and one additional parameter. + * up_syscall2 - System call SYS_ argument and two additional parameters. + * up_syscall3 - System call SYS_ argument and three additional parameters. + * + ****************************************************************************/ + + .text + .set noreorder + .ent sys_call0 +sys_call0: /* r4 holds the syscall number */ +sys_call1: /* r4 holds the syscall number, argument in r5 */ +sys_call2: /* r4 holds the syscall number, arguments in r5 and r6 */ +sys_call3: /* r4 holds the syscall number, arguments in r5, r6, and r7 */ + + .set push + .set noat + mfc0 t3, MIPS32_CP0_CAUSE /* t3 = CP0 cause register */ + ori t3, (1 << 8) /* Bit 8: Request software interrupt 0 */ + .set noreorder + mtc0 t3, MIPS32_CP0_CAUSE /* Trigger the software interrupt */ + nop /* Delay slot */ + j ra /* Return with result in v0 */ + .end sys_call0 diff --git a/nuttx/arch/mips/src/mips32/up_unblocktask.c b/nuttx/arch/mips/src/mips32/up_unblocktask.c index c32bc573e..c0106e94c 100755 --- a/nuttx/arch/mips/src/mips32/up_unblocktask.c +++ b/nuttx/arch/mips/src/mips32/up_unblocktask.c @@ -1,7 +1,7 @@ /**************************************************************************** * arch/mips/src/mips32/up_unblocktask.c * - * Copyright (C) 2010 Gregory Nutt. All rights reserved. + * Copyright (C) 2011 Gregory Nutt. All rights reserved. * Author: Gregory Nutt <spudmonkey@racsa.co.cr> * * Redistribution and use in source and binary forms, with or without @@ -40,7 +40,9 @@ #include <nuttx/config.h> #include <sched.h> +#include <syscall.h> #include <debug.h> + #include <nuttx/arch.h> #include "os_internal.h" diff --git a/nuttx/arch/mips/src/pic32mx/Make.defs b/nuttx/arch/mips/src/pic32mx/Make.defs index 011cd1ba9..b297d7fed 100755 --- a/nuttx/arch/mips/src/pic32mx/Make.defs +++ b/nuttx/arch/mips/src/pic32mx/Make.defs @@ -39,7 +39,7 @@ HEAD_ASRC = pic32mx-head.S # Common MIPS files -CMN_ASRCS = +CMN_ASRCS = up_syscall0.S CMN_CSRCS = up_allocateheap.c up_assert.c up_blocktask.c up_copystate.c \ up_createstack.c up_doirq.c up_exit.c up_idle.c up_initialize.c \ up_initialstate.c up_interruptcontext.c up_irq.c up_lowputs.c \ |