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author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2011-05-18 23:01:27 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2011-05-18 23:01:27 +0000 |
commit | 3c9ac1908bae6d6d4eb147366361aa28a1ca972a (patch) | |
tree | 52880c3be23a32a2074a026f380aea8497dc00a5 | |
parent | 3a6e6d40569f3b267f88417d3f5c7816f5bde1d5 (diff) | |
download | px4-nuttx-3c9ac1908bae6d6d4eb147366361aa28a1ca972a.tar.gz px4-nuttx-3c9ac1908bae6d6d4eb147366361aa28a1ca972a.tar.bz2 px4-nuttx-3c9ac1908bae6d6d4eb147366361aa28a1ca972a.zip |
Add S/W interrupt 0 handler
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@3627 42af7a65-404d-4744-a932-0658087f49c3
-rw-r--r-- | nuttx/arch/arm/src/cortexm3/up_svcall.c | 8 | ||||
-rw-r--r-- | nuttx/arch/mips/src/mips32/up_swint0.c | 362 | ||||
-rwxr-xr-x | nuttx/arch/mips/src/pic32mx/Make.defs | 4 |
3 files changed, 368 insertions, 6 deletions
diff --git a/nuttx/arch/arm/src/cortexm3/up_svcall.c b/nuttx/arch/arm/src/cortexm3/up_svcall.c index f7e55a98b..2ec1228b9 100644 --- a/nuttx/arch/arm/src/cortexm3/up_svcall.c +++ b/nuttx/arch/arm/src/cortexm3/up_svcall.c @@ -80,7 +80,7 @@ */ #undef DEBUG_SVCALL /* Define to debug SVCall */ -#ifdef DEBUG_HARDFAULTS +#ifdef DEBUG_SVCALL # define svcdbg(format, arg...) slldbg(format, ##arg) #else # define svcdbg(x...) @@ -99,10 +99,10 @@ ****************************************************************************/ /**************************************************************************** - * Name: up_svcall + * Name: dispatch_syscall * * Description: - * This is SVCall exception handler that performs context switching + * Dispatch a system call to the appropriate handling logic. * ****************************************************************************/ @@ -308,7 +308,7 @@ int up_svcall(int irq, FAR void *context) * R2 = restoreregs * * In this case, we do both: We save the context registers to the save - * register area reference by the saved contents of R1 nad then set + * register area reference by the saved contents of R1 and then set * current_regs to to the save register area referenced by the saved * contents of R2. */ diff --git a/nuttx/arch/mips/src/mips32/up_swint0.c b/nuttx/arch/mips/src/mips32/up_swint0.c new file mode 100644 index 000000000..220822f91 --- /dev/null +++ b/nuttx/arch/mips/src/mips32/up_swint0.c @@ -0,0 +1,362 @@ +/**************************************************************************** + * arch/mips/src/mips32/up_swint0.c + * + * 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 <stdint.h> +#include <string.h> +#include <syscall.h> +#include <assert.h> +#include <debug.h> + +#include <arch/irq.h> +#include <nuttx/sched.h> + +#include "up_internal.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ +/* Configuration ************************************************************/ + +#undef SYSCALL_INTERRUPTIBLE +#if defined(CONFIG_NUTTX_KERNEL) +# if CONFIG_ARCH_INTERRUPTSTACK > 3 +# warning "CONFIG_ARCH_INTERRUPTSTACK and CONFIG_NUTTX_KERNEL are incompatible" +# warning "options as currently implemented. Interrupts will have to be disabled" +# warning "during SYScall processing to avoid un-handled nested interrupts" +# else +# define SYSCALL_INTERRUPTIBLE 1 +# endif +#endif + +/* Debug ********************************************************************/ +/* Debug output from this file may interfere with context switching! To get + * debug output you must enabled the following in your NuttX configuration: + * + * CONFIG_DEBUG and CONFIG_DEBUG_SCHED + * + * And you must explicitly define DEBUG_SWINT0 below: + */ + +#undef DEBUG_SWINT0 /* Define to debug SWInt */ +#ifdef DEBUG_SWINT0 +# define swidbg(format, arg...) slldbg(format, ##arg) +#else +# define swidbg(x...) +#endif + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: up_registerdump + ****************************************************************************/ + +#ifdef DEBUG_SWINT0 +static void up_registerdump(uint32_t *regs) +{ + swidbg("MFLO:%08x MFHI:%08x EPC:%08x STATUS:%08x\n", + regs[REG_MFLO], regs[REG_MFHI], regs[REG_EPC], regs[REG_STATUS]); + swidbg("AT:%08x V0:$08x V1:%08x A0:%08x A1:%08x A2:%08x A3:%08x\n", + regs[REG_AT], regs[REG_V0], regs[REG_V1], regs[REG_A0], + regs[REG_A1], regs[REG_A2], regs[REG_A3]); + swidbg("T0:%08x T1:$08x T2:%08x T3:%08x T4:%08x T5:%08x T6:%08x T7:%08x\n", + regs[REG_T0], regs[REG_T1], regs[REG_T2], regs[REG_T3], + regs[REG_T4], regs[REG_T5], regs[REG_T6], regs[REG_T7]); + swidbg("S0:%08x S1:$08x S2:%08x S3:%08x S4:%08x S5:%08x S6:%08x S7:%08x\n", + regs[REG_S0], regs[REG_S1], regs[REG_S2], regs[REG_S3], + regs[REG_S4], regs[REG_S5], regs[REG_S6], regs[REG_S7]); +#ifdef MIPS32_SAVE_GP + swidbg("T8:%08x T9:$08x GP:%08x SP:%08x FP:%08x RA:%08x\n", + regs[REG_T8], regs[REG_T9], regs[REG_GP], regs[REG_SP], + regs[REG_FP], regs[REG_RA]); +#else + swidbg("T8:%08x T9:$08x SP:%08x FP:%08x RA:%08x\n", + regs[REG_T8], regs[REG_T9], regs[REG_SP], regs[REG_FP], + regs[REG_RA]); +#endif +} +#else +# define up_registerdump(regs) +#endif + +/**************************************************************************** + * Name: dispatch_syscall + * + * Description: + * Dispatch a system call to the appropriate handling logic. + * + ****************************************************************************/ + +#ifdef CONFIG_NUTTX_KERNEL +static inline void dispatch_syscall(uint32_t *regs) +{ + uint32_t cmd = regs[REG_R0]; + FAR _TCB *rtcb = sched_self(); + uintptr_t ret = (uintptr_t)ERROR; + + /* Verify the the SYS call number is within range */ + + if (cmd < SYS_maxsyscall) + { + /* Report error and return ERROR */ + + slldbg("ERROR: Bad SYS call: %d\n", cmd); + } + else + { + /* The index into the syscall table is offset by the number of + * architecture-specific reserved entries at the beginning of the + * SYS call number space. + */ + + int index = cmd - CONFIG_SYS_RESERVED; + + /* Enable interrupts while the SYSCALL executes */ + +#ifdef SYSCALL_INTERRUPTIBLE + irqenable(); +#endif + + /* Call the correct stub for each SYS call, based on the number of + * parameters: $5=parm1, $6=parm2, $7=parm3, $8=parm4, $9=parm5, and + * $10=parm6. + */ + + swidbg("Calling stub%d at %p\n", index, g_stubloopkup[index].stub0); + + switch (g_stubnparms[index]) + { + /* No parameters */ + + case 0: + ret = g_stublookup[index].stub0(); + break; + + /* Number of parameters: 1 */ + + case 1: + ret = g_stublookup[index].stub1(regs[REG_R5]); + break; + + /* Number of parameters: 2 */ + + case 2: + ret = g_stublookup[index].stub2(regs[REG_R5], regs[REG_R6]); + break; + + /* Number of parameters: 3 */ + + case 3: + ret = g_stublookup[index].stub3(regs[REG_R5], regs[REG_R6], + regs[REG_R7]); + break; + + /* Number of parameters: 4 */ + + case 4: + ret = g_stublookup[index].stub4(regs[REG_R5], regs[REG_R6], + regs[REG_R7], regs[REG_R8]); + break; + + /* Number of parameters: 5 */ + + case 5: + ret = g_stublookup[index].stub5(regs[REG_R5], regs[REG_R6], + regs[REG_R7], regs[REG_R8], + regs[REG_R9]); + break; + + /* Number of parameters: 6 */ + + case 6: + ret = g_stublookup[index].stub6(regs[REG_R5], regs[REG_R6], + regs[REG_R7], regs[REG_R8], + regs[REG_R9], regs[REG_R10]); + break; + + /* Unsupported number of paramters. Report error and return ERROR */ + + default: + slldbg("ERROR: Bad SYS call %d number parameters %d\n", + cmd, g_stubnparms[index]); + break; + } + +#ifdef SYSCALL_INTERRUPTIBLE + irqdisable(); +#endif + } + + /* Set up the return vaue. First, check if a context switch occurred. + * In this case, regs will no longer be the same as current_regs. In + * the case of a context switch, we will have to save the return value + * in the TCB where it can be returned later when the task is restarted. + */ + + if (regs != current_regs) + { + regs = rtcb->xcp.regs; + } + + /* Then return the result in R0 */ + + swidbg("Return value regs: %p value: %d\n", regs, ret); + regs[REG_R0] = (uint32_t)ret; +} +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: up_swint0 + * + * Description: + * This is software interrupt 0 exception handler that performs context + * switching and manages system calls + * + ****************************************************************************/ + +int up_swint0(int irq, FAR void *context) +{ + uint32_t *regs = (uint32_t*)context; + + DEBUGASSERT(regs && regs == current_regs); + + /* Software interrupt 0 is invoked with REG_R4 = system call command and + * REG_R5..R10 = variable number of arguments depending on the system call. + */ + +#ifdef DEBUG_SWINT0 + swidbg("Entry: regs: %p cmd: %d\n", regs, regs[REG_R4]); + up_registerdump(regs); +#endif + + /* Handle the SWInt according to the command in $4 */ + + switch (regs[REG_R4]) + { + /* R4=SYS_restore_context: This a restore context command: + * + * void up_fullcontextrestore(uint32_t *restoreregs) __attribute__ ((noreturn)); + * + * At this point, the following values are saved in context: + * + * R4 = SYS_restore_context + * R5 = restoreregs + * + * In this case, we simply need to set current_regs to restore register + * area referenced in the saved R1. context == current_regs is the normal + * exception return. By setting current_regs = context[R1], we force + * the return to the saved context referenced in R1. + */ + + case SYS_restore_context: + { + DEBUGASSERT(regs[REG_R5] != 0); + current_regs = (uint32_t*)regs[REG_R5]; + } + break; + + /* R4=SYS_switch_context: This a switch context command: + * + * void up_switchcontext(uint32_t *saveregs, uint32_t *restoreregs); + * + * At this point, the following values are saved in context: + * + * R4 = SYS_switch_context + * R5 = saveregs + * R6 = restoreregs + * + * In this case, we save the context registers to the save register + * area reference by the saved contents of R5 and then set + * current_regs to to the save register area referenced by the saved + * contents of R6. + */ + + case SYS_switch_context: + { + DEBUGASSERT(regs[REG_R5] != 0 && regs[REG_R6] != 0); + memcpy((uint32_t*)regs[REG_R5], regs, XCPTCONTEXT_SIZE); + current_regs = (uint32_t*)regs[REG_R6]; + } + break; + + /* This is not an architecture-specify system call. If NuttX is built + * as a standalone kernel with a system call interface, then all of the + * additional system calls must be handled as in the default case. + */ + + default: +#ifdef CONFIG_NUTTX_KERNEL + dispatch_syscall(regs); +#else + slldbg("ERROR: Bad SYS call: %d\n", regs[REG_R0]); +#endif + break; + } + + /* Report what happened. That might difficult in the case of a context switch */ + +#ifdef DEBUG_SWINT0 + if (regs != current_regs) + { + swidbg("SWInt Return: Context switch!\n"); + up_registerdump(current_regs); + } + else + { + swidbg("SWInt Return: %d\n", regs[REG_R2]); + } +#endif + + return OK; +} diff --git a/nuttx/arch/mips/src/pic32mx/Make.defs b/nuttx/arch/mips/src/pic32mx/Make.defs index b297d7fed..3d607d64c 100755 --- a/nuttx/arch/mips/src/pic32mx/Make.defs +++ b/nuttx/arch/mips/src/pic32mx/Make.defs @@ -45,8 +45,8 @@ CMN_CSRCS = up_allocateheap.c up_assert.c up_blocktask.c up_copystate.c \ up_initialstate.c up_interruptcontext.c up_irq.c up_lowputs.c \ up_mdelay.c up_modifyreg8.c up_modifyreg16.c up_modifyreg32.c \ up_puts.c up_releasepending.c up_releasestack.c up_reprioritizertr.c \ - up_schedulesigaction.c up_sigdeliver.c up_udelay.c up_unblocktask.c \ - up_usestack.c + up_schedulesigaction.c up_sigdeliver.c up_swint0.c up_udelay.c \ + up_unblocktask.c up_usestack.c # Configuration dependent common files |