/**************************************************************************** * arch/arm/src/imxrt/imxrt_irq.c * * Copyright (C) 2018 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 "nvic.h" #include "ram_vectors.h" #include "up_arch.h" #include "up_internal.h" #ifdef CONFIG_IMXRT_GPIO_IRQ # include "imxrt_gpio.h" #endif /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /* 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) /* Given the address of a NVIC ENABLE register, this is the offset to * the corresponding CLEAR ENABLE register. */ #define NVIC_ENA_OFFSET (0) #define NVIC_CLRENA_OFFSET (NVIC_IRQ0_31_CLEAR - NVIC_IRQ0_31_ENABLE) /**************************************************************************** * Public Data ****************************************************************************/ /* g_current_regs[] holds a references to the current interrupt level * register storage structure. If is non-NULL only during interrupt * processing. Access to g_current_regs[] must be through the macro * CURRENT_REGS for portability. */ volatile uint32_t *g_current_regs[1]; /* This is the address of the exception vector table (determined by the * linker script). */ extern uint32_t _vectors[]; /**************************************************************************** * Private Data ****************************************************************************/ /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Name: imxrt_dumpnvic * * Description: * Dump some interesting NVIC registers * ****************************************************************************/ #if defined(CONFIG_DEBUG_IRQ_INFO) static void imxrt_dumpnvic(const char *msg, int irq) { irqstate_t flags; flags = enter_critical_section(); irqinfo("NVIC (%s, irq=%d):\n", msg, irq); irqinfo(" INTCTRL: %08x VECTAB: %08x\n", getreg32(NVIC_INTCTRL), getreg32(NVIC_VECTAB)); #if 0 irqinfo(" 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 irqinfo(" IRQ ENABLE: %08x %08x %08x %08x\n", getreg32(NVIC_IRQ0_31_ENABLE), getreg32(NVIC_IRQ32_63_ENABLE), getreg32(NVIC_IRQ64_95_ENABLE), getreg32(NVIC_IRQ96_127_ENABLE)); #if IMXRT_IRQ_NEXTINT > 128 irqinfo(" %08x %08x %08x %08x\n", getreg32(NVIC_IRQ128_159_ENABLE), getreg32(NVIC_IRQ160_191_ENABLE), getreg32(NVIC_IRQ192_223_ENABLE), getreg32(NVIC_IRQ224_239_ENABLE)); #endif irqinfo(" SYSH_PRIO: %08x %08x %08x\n", getreg32(NVIC_SYSH4_7_PRIORITY), getreg32(NVIC_SYSH8_11_PRIORITY), getreg32(NVIC_SYSH12_15_PRIORITY)); irqinfo(" 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)); #if IMXRT_IRQ_NEXTINT > 16 irqinfo(" %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)); #endif #if IMXRT_IRQ_NEXTINT > 32 irqinfo(" %08x %08x %08x %08x\n", getreg32(NVIC_IRQ32_35_PRIORITY), getreg32(NVIC_IRQ36_39_PRIORITY), getreg32(NVIC_IRQ40_43_PRIORITY), getreg32(NVIC_IRQ44_47_PRIORITY)); #endif #if IMXRT_IRQ_NEXTINT > 48 irqinfo(" %08x %08x %08x %08x\n", getreg32(NVIC_IRQ48_51_PRIORITY), getreg32(NVIC_IRQ52_55_PRIORITY), getreg32(NVIC_IRQ56_59_PRIORITY), getreg32(NVIC_IRQ60_63_PRIORITY)); #endif #if IMXRT_IRQ_NEXTINT > 64 irqinfo(" %08x %08x %08x %08x\n", getreg32(NVIC_IRQ64_67_PRIORITY), getreg32(NVIC_IRQ68_71_PRIORITY), getreg32(NVIC_IRQ72_75_PRIORITY), getreg32(NVIC_IRQ76_79_PRIORITY)); #endif #if IMXRT_IRQ_NEXTINT > 80 irqinfo(" %08x %08x %08x %08x\n", getreg32(NVIC_IRQ80_83_PRIORITY), getreg32(NVIC_IRQ84_87_PRIORITY), getreg32(NVIC_IRQ88_91_PRIORITY), getreg32(NVIC_IRQ92_95_PRIORITY)); #endif #if IMXRT_IRQ_NEXTINT > 96 irqinfo(" %08x %08x %08x %08x\n", getreg32(NVIC_IRQ96_99_PRIORITY), getreg32(NVIC_IRQ100_103_PRIORITY), getreg32(NVIC_IRQ104_107_PRIORITY), getreg32(NVIC_IRQ108_111_PRIORITY)); #endif #if IMXRT_IRQ_NEXTINT > 112 irqinfo(" %08x %08x %08x %08x\n", getreg32(NVIC_IRQ112_115_PRIORITY), getreg32(NVIC_IRQ116_119_PRIORITY), getreg32(NVIC_IRQ120_123_PRIORITY), getreg32(NVIC_IRQ124_127_PRIORITY)); #endif #if IMXRT_IRQ_NEXTINT > 128 irqinfo(" %08x %08x %08x %08x\n", getreg32(NVIC_IRQ128_131_PRIORITY), getreg32(NVIC_IRQ132_135_PRIORITY), getreg32(NVIC_IRQ136_139_PRIORITY), getreg32(NVIC_IRQ140_143_PRIORITY)); #endif #if IMXRT_IRQ_NEXTINT > 144 irqinfo(" %08x %08x %08x %08x\n", getreg32(NVIC_IRQ144_147_PRIORITY), getreg32(NVIC_IRQ148_151_PRIORITY), getreg32(NVIC_IRQ152_155_PRIORITY), getreg32(NVIC_IRQ156_159_PRIORITY)); #endif #if IMXRT_IRQ_NEXTINT > 160 # warning Missing logic #endif leave_critical_section(flags); } #else # define imxrt_dumpnvic(msg, irq) #endif /**************************************************************************** * Name: imxrt_nmi, imxrt_busfault, imxrt_usagefault, imxrt_pendsv, * imxrt_dbgmonitor, imxrt_pendsv, imxrt_reserved * * Description: * Handlers for various exceptions. 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_FEATURES static int imxrt_nmi(int irq, FAR void *context, FAR void *arg) { (void)up_irq_save(); _err("PANIC!!! NMI received\n"); PANIC(); return 0; } static int imxrt_busfault(int irq, FAR void *context, FAR void *arg) { (void)up_irq_save(); _err("PANIC!!! Bus fault received: %08x\n", getreg32(NVIC_CFAULTS)); PANIC(); return 0; } static int imxrt_usagefault(int irq, FAR void *context, FAR void *arg) { (void)up_irq_save(); _err("PANIC!!! Usage fault received: %08x\n", getreg32(NVIC_CFAULTS)); PANIC(); return 0; } static int imxrt_pendsv(int irq, FAR void *context, FAR void *arg) { (void)up_irq_save(); _err("PANIC!!! PendSV received\n"); PANIC(); return 0; } static int imxrt_dbgmonitor(int irq, FAR void *context, FAR void *arg) { (void)up_irq_save(); _err("PANIC!!! Debug Monitor received\n"); PANIC(); return 0; } static int imxrt_reserved(int irq, FAR void *context, FAR void *arg) { (void)up_irq_save(); _err("PANIC!!! Reserved interrupt\n"); PANIC(); return 0; } #endif /**************************************************************************** * Name: imxrt_prioritize_syscall * * Description: * Set the priority of an exception. This function may be needed * internally even if support for prioritized interrupts is not enabled. * ****************************************************************************/ #ifdef CONFIG_ARMV7M_USEBASEPRI static inline void imxrt_prioritize_syscall(int priority) { uint32_t regval; /* SVCALL is system handler 11 */ regval = getreg32(NVIC_SYSH8_11_PRIORITY); regval &= ~NVIC_SYSH_PRIORITY_PR11_MASK; regval |= (priority << NVIC_SYSH_PRIORITY_PR11_SHIFT); putreg32(regval, NVIC_SYSH8_11_PRIORITY); } #endif /**************************************************************************** * Name: imxrt_irqinfo * * Description: * Given an IRQ number, provide the register and bit setting to enable or * disable the irq. * ****************************************************************************/ static int imxrt_irqinfo(int irq, uintptr_t *regaddr, uint32_t *bit, uintptr_t offset) { unsigned int extint = irq - IMXRT_IRQ_EXTINT; DEBUGASSERT(irq >= IMXRT_IRQ_NMI && irq < NR_IRQS); /* Check for external interrupt */ if (irq >= IMXRT_IRQ_EXTINT) { if (extint < 32) { *regaddr = (NVIC_IRQ0_31_ENABLE + offset); *bit = 1 << extint; } else #if IMXRT_IRQ_NEXTINT > 32 if (extint < 64) { *regaddr = (NVIC_IRQ32_63_ENABLE + offset); *bit = 1 << (extint - 32); } else #endif #if IMXRT_IRQ_NEXTINT > 64 if (extint < 96) { *regaddr = (NVIC_IRQ64_95_ENABLE + offset); *bit = 1 << (extint - 64); } else #endif #if IMXRT_IRQ_NEXTINT > 96 if (extint < 128) { *regaddr = (NVIC_IRQ96_127_ENABLE + offset); *bit = 1 << (extint - 96); } else #endif #if IMXRT_IRQ_NEXTINT > 128 if (extint < 160) { *regaddr = (NVIC_IRQ128_159_ENABLE + offset); *bit = 1 << (extint - 128); } else #endif #if IMXRT_IRQ_NEXTINT > 160 # error Missing logic #endif { return ERROR; /* Invalid interrupt */ } } /* Handle processor exceptions. Only a few can be disabled */ else { *regaddr = NVIC_SYSHCON; if (irq == IMXRT_IRQ_MEMFAULT) { *bit = NVIC_SYSHCON_MEMFAULTENA; } else if (irq == IMXRT_IRQ_BUSFAULT) { *bit = NVIC_SYSHCON_BUSFAULTENA; } else if (irq == IMXRT_IRQ_USAGEFAULT) { *bit = NVIC_SYSHCON_USGFAULTENA; } else if (irq == IMXRT_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) { uintptr_t regaddr; #if defined(CONFIG_DEBUG_SYMBOLS) && !defined(CONFIG_ARMV7M_USEBASEPRI) uint32_t regval; #endif int nintlines; int i; /* The NVIC ICTR register (bits 0-4) holds the number of of interrupt * lines that the NVIC supports, defined in groups of 32. That is, * the total number of interrupt lines is up to (32*(INTLINESNUM+1)). * * 0 -> 32 interrupt lines, 1 enable register, 8 priority registers * 1 -> 64 " " " ", 2 enable registers, 16 priority registers * 2 -> 96 " " " ", 3 enable registers, 24 priority registers * ... */ nintlines = (getreg32(NVIC_ICTR) & NVIC_ICTR_INTLINESNUM_MASK) + 1; /* Disable all interrupts. There are nintlines interrupt enable * registers. */ for (i = nintlines, regaddr = NVIC_IRQ0_31_ENABLE; i > 0; i--, regaddr += 4) { putreg32(0, regaddr); } /* Make sure that we are using the correct vector table. The default * vector address is 0x0000:0000 but if we are executing code that is * positioned in SRAM or in external FLASH, then we may need to reset * the interrupt vector so that it refers to the table in SRAM or in * external FLASH. */ putreg32((uint32_t)_vectors, NVIC_VECTAB); #ifdef CONFIG_ARCH_RAMVECTORS /* If CONFIG_ARCH_RAMVECTORS is defined, then we are using a RAM-based * vector table that requires special initialization. */ up_ramvec_initialize(); #endif /* Set all interrupts (and exceptions) to the default priority */ putreg32(DEFPRIORITY32, NVIC_SYSH4_7_PRIORITY); putreg32(DEFPRIORITY32, NVIC_SYSH8_11_PRIORITY); putreg32(DEFPRIORITY32, NVIC_SYSH12_15_PRIORITY); /* Now set all of the interrupt lines to the default priority. There are * nintlines * 8 priority registers. */ for (i = (nintlines << 3), regaddr = NVIC_IRQ0_3_PRIORITY; i > 0; i--, regaddr += 4) { putreg32(DEFPRIORITY32, regaddr); } /* 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(IMXRT_IRQ_SVCALL, up_svcall, NULL); irq_attach(IMXRT_IRQ_HARDFAULT, up_hardfault, NULL); /* Set the priority of the SVCall interrupt */ #ifdef CONFIG_ARCH_IRQPRIO /* up_prioritize_irq(IMXRT_IRQ_PENDSV, NVIC_SYSH_PRIORITY_MIN); */ #endif #ifdef CONFIG_ARMV7M_USEBASEPRI imxrt_prioritize_syscall(NVIC_SYSH_SVCALL_PRIORITY); #endif /* If the MPU is enabled, then attach and enable the Memory Management * Fault handler. */ #ifdef CONFIG_ARM_MPU irq_attach(IMXRT_IRQ_MEMFAULT, up_memfault, NULL); up_enable_irq(IMXRT_IRQ_MEMFAULT); #endif /* Attach all other processor exceptions (except reset and sys tick) */ #ifdef CONFIG_DEBUG_FEATURES irq_attach(IMXRT_IRQ_NMI, imxrt_nmi, NULL); #ifndef CONFIG_ARM_MPU irq_attach(IMXRT_IRQ_MEMFAULT, up_memfault, NULL); #endif irq_attach(IMXRT_IRQ_BUSFAULT, imxrt_busfault, NULL); irq_attach(IMXRT_IRQ_USAGEFAULT, imxrt_usagefault, NULL); irq_attach(IMXRT_IRQ_PENDSV, imxrt_pendsv, NULL); irq_attach(IMXRT_IRQ_DBGMONITOR, imxrt_dbgmonitor, NULL); irq_attach(IMXRT_IRQ_RESERVED, imxrt_reserved, NULL); #endif imxrt_dumpnvic("initial", IMXRT_IRQ_NIRQS); /* If a debugger is connected, try to prevent it from catching hardfaults. * If CONFIG_ARMV7M_USEBASEPRI, no hardfaults are expected in normal * operation. */ #if defined(CONFIG_DEBUG_SYMBOLS) && !defined(CONFIG_ARMV7M_USEBASEPRI) regval = getreg32(NVIC_DEMCR); regval &= ~NVIC_DEMCR_VCHARDERR; putreg32(regval, NVIC_DEMCR); #endif #ifndef CONFIG_SUPPRESS_INTERRUPTS /* Initialize logic to support a second level of interrupt decoding for * GPIO pins. */ #ifdef CONFIG_IMXRT_GPIO_IRQ imxrt_gpioirq_initialize(); #endif /* And finally, enable interrupts */ up_irq_enable(); #endif } /**************************************************************************** * Name: up_disable_irq * * Description: * Disable the IRQ specified by 'irq' * ****************************************************************************/ void up_disable_irq(int irq) { uintptr_t regaddr; uint32_t regval; uint32_t bit; if (imxrt_irqinfo(irq, ®addr, &bit, NVIC_CLRENA_OFFSET) == 0) { /* Modify the appropriate bit in the register to disable the interrupt. * For normal interrupts, we need to set the bit in the associated * Interrupt Clear Enable register. For other exceptions, we need to * clear the bit in the System Handler Control and State Register. */ if (irq >= IMXRT_IRQ_EXTINT) { putreg32(bit, regaddr); } else { regval = getreg32(regaddr); regval &= ~bit; putreg32(regval, regaddr); } } #ifdef CONFIG_IMXRT_GPIO_IRQ else { /* Maybe it is a (derived) GPIO IRQ */ imxrt_gpioirq_disable(irq); } #endif #if 0 /* Might be useful in early bring-up */ imxrt_dumpnvic("disable", irq); #endif } /**************************************************************************** * Name: up_enable_irq * * Description: * Enable the IRQ specified by 'irq' * ****************************************************************************/ void up_enable_irq(int irq) { uintptr_t regaddr; uint32_t regval; uint32_t bit; if (imxrt_irqinfo(irq, ®addr, &bit, NVIC_ENA_OFFSET) == 0) { /* Modify the appropriate bit in the register to enable the interrupt. * For normal interrupts, we need to set the bit in the associated * Interrupt Set Enable register. For other exceptions, we need to * set the bit in the System Handler Control and State Register. */ if (irq >= IMXRT_IRQ_EXTINT) { putreg32(bit, regaddr); } else { regval = getreg32(regaddr); regval |= bit; putreg32(regval, regaddr); } } #ifdef CONFIG_IMXRT_GPIO_IRQ else { /* Maybe it is a (derived) GPIO IRQ */ imxrt_gpioirq_enable(irq); } #endif #if 0 /* Might be useful in early bring-up */ imxrt_dumpnvic("enable", irq); #endif } /**************************************************************************** * Name: up_ack_irq * * Description: * Acknowledge the IRQ * ****************************************************************************/ void up_ack_irq(int 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 >= IMXRT_IRQ_MEMFAULT && irq < IMXRT_IRQ_NIRQS && (unsigned)priority <= NVIC_SYSH_PRIORITY_MIN); if (irq < IMXRT_IRQ_EXTINT) { /* NVIC_SYSH_PRIORITY() maps {0..15} to one of three priority * registers (0-3 are invalid) */ regaddr = NVIC_SYSH_PRIORITY(irq); irq -= 4; } else { /* NVIC_IRQ_PRIORITY() maps {0..} to one of many priority registers */ irq -= IMXRT_IRQ_EXTINT; regaddr = NVIC_IRQ_PRIORITY(irq); } regval = getreg32(regaddr); shift = ((irq & 3) << 3); regval &= ~(0xff << shift); regval |= (priority << shift); putreg32(regval, regaddr); imxrt_dumpnvic("prioritize", irq); return OK; } #endif