Add S/W interrupt 0 handler

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@3627 42af7a65-404d-4744-a932-0658087f49c3

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.
        */

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;
+}

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_schedulesigaction.c up_sigdeliver.c up_swint0.c up_udelay.c \
-			up_usestack.c
+			up_unblocktask.c up_usestack.c
 
 # Configuration dependent common files