/**************************************************************************** * arch/mips/src/mips32/up_swint0.c * * Copyright (C) 2011 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * 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 #include #include #include #include #include #include #include #include #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_A0]; 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_A1]); break; /* Number of parameters: 2 */ case 2: ret = g_stublookup[index].stub2(regs[REG_A1], regs[REG_A2]); break; /* Number of parameters: 3 */ case 3: ret = g_stublookup[index].stub3(regs[REG_A1], regs[REG_A2], regs[REG_A3]); break; /* Number of parameters: 4 */ case 4: ret = g_stublookup[index].stub4(regs[REG_A1], regs[REG_A2], regs[REG_A3], regs[REG_T0]); break; /* Number of parameters: 5 */ case 5: ret = g_stublookup[index].stub5(regs[REG_A1], regs[REG_A2], regs[REG_A3], regs[REG_T0], regs[REG_T1]); break; /* Number of parameters: 6 */ case 6: ret = g_stublookup[index].stub6(regs[REG_A1], regs[REG_A2], regs[REG_A3], regs[REG_T0], regs[REG_T1], regs[REG_T2]); 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 v0 */ swidbg("Return value regs: %p value: %d\n", regs, ret); regs[REG_v0] = (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; uint32_t cause; DEBUGASSERT(regs && regs == current_regs); /* Software interrupt 0 is invoked with REG_A0 (REG_R4) = system call * command and REG_A1-3 and REG_T0-2 (REG_R5-10) = 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_A1] != 0); current_regs = (uint32_t*)regs[REG_A1]; } 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_A1] != 0 && regs[REG_A2] != 0); up_copystate((uint32_t*)regs[REG_A1], regs); current_regs = (uint32_t*)regs[REG_A2]; } 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_A0]); #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_V0]); } #endif /* Clear the pending software interrupt 0 in the PIC32 interrupt block */ up_clrpend_irq(PIC32MX_IRQSRC_CS0); /* And reset the software interrupt bit in the MIPS CAUSE register */ cause = cp0_getcause(); cause &= ~CP0_CAUSE_IP0; cp0_putcause(cause); return OK; }