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nuttx/arch/arm/src/sam34/sam_irq.c
anjiahao bb0a706bdc arch/arm:add up_debugpoint api 
on armv8-m/armv7-m,implement breakpoint & watchpoint using FBP & DWT

Signed-off-by: anjiahao <anjiahao@xiaomi.com>
2023-12-11 08:43:26 -08:00

596 lines
17 KiB
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/****************************************************************************
* arch/arm/src/sam34/sam_irq.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <assert.h>
#include <debug.h>
#include <nuttx/irq.h>
#include <nuttx/arch.h>
#include <arch/irq.h>
#include <arch/armv7-m/nvicpri.h>
#include "nvic.h"
#include "ram_vectors.h"
#include "arm_internal.h"
#ifdef CONFIG_SAM34_GPIO_IRQ
# include "sam_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)
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: sam_dumpnvic
*
* Description:
* Dump some interesting NVIC registers
*
****************************************************************************/
#if defined(CONFIG_DEBUG_IRQ_INFO)
static void sam_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\n",
getreg32(NVIC_IRQ0_31_ENABLE),
getreg32(NVIC_IRQ32_63_ENABLE),
getreg32(NVIC_IRQ64_95_ENABLE));
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 SAM_IRQ_NEXTINT > 15
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 SAM_IRQ_NEXTINT > 31
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 SAM_IRQ_NEXTINT > 47
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 SAM_IRQ_NEXTINT > 63
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 SAM_IRQ_NEXTINT > 79
# warning Missing logic
#endif
leave_critical_section(flags);
}
#else
# define sam_dumpnvic(msg, irq)
#endif
/****************************************************************************
* Name: sam_nmi, sam_pendsv, sam_pendsv, sam_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 sam_nmi(int irq, void *context, void *arg)
{
up_irq_save();
_err("PANIC!!! NMI received\n");
PANIC();
return 0;
}
static int sam_pendsv(int irq, void *context, void *arg)
{
up_irq_save();
_err("PANIC!!! PendSV received\n");
PANIC();
return 0;
}
static int sam_reserved(int irq, void *context, void *arg)
{
up_irq_save();
_err("PANIC!!! Reserved interrupt\n");
PANIC();
return 0;
}
#endif
/****************************************************************************
* Name: sam_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 sam_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: sam_irqinfo
*
* Description:
* Given an IRQ number, provide the register and bit setting to enable or
* disable the irq.
*
****************************************************************************/
static int sam_irqinfo(int irq, uintptr_t *regaddr, uint32_t *bit,
uintptr_t offset)
{
unsigned int extint = irq - SAM_IRQ_EXTINT;
DEBUGASSERT(irq >= SAM_IRQ_NMI && irq < NR_IRQS);
/* Check for external interrupt */
if (irq >= SAM_IRQ_EXTINT)
{
#if SAM_IRQ_NEXTINT <= 32
if (extint < SAM_IRQ_NEXTINT)
{
*regaddr = (NVIC_IRQ0_31_ENABLE + offset);
*bit = 1 << extint;
}
else
#elif SAM_IRQ_NEXTINT <= 64
if (extint < 32)
{
*regaddr = (NVIC_IRQ0_31_ENABLE + offset);
*bit = 1 << extint;
}
else if (extint < SAM_IRQ_NEXTINT)
{
*regaddr = (NVIC_IRQ32_63_ENABLE + offset);
*bit = 1 << (extint - 32);
}
else
#elif SAM_IRQ_NEXTINT <= 96
if (extint < 32)
{
*regaddr = (NVIC_IRQ0_31_ENABLE + offset);
*bit = 1 << extint;
}
else if (extint < 64)
{
*regaddr = (NVIC_IRQ32_63_ENABLE + offset);
*bit = 1 << (extint - 32);
}
else if (extint < SAM_IRQ_NEXTINT)
{
*regaddr = (NVIC_IRQ64_95_ENABLE + offset);
*bit = 1 << (extint - 64);
}
else
#else
# warning Missing logic
#endif
{
return ERROR; /* Invalid interrupt */
}
}
/* Handle processor exceptions. Only a few can be disabled */
else
{
*regaddr = NVIC_SYSHCON;
if (irq == SAM_IRQ_MEMFAULT)
{
*bit = NVIC_SYSHCON_MEMFAULTENA;
}
else if (irq == SAM_IRQ_BUSFAULT)
{
*bit = NVIC_SYSHCON_BUSFAULTENA;
}
else if (irq == SAM_IRQ_USAGEFAULT)
{
*bit = NVIC_SYSHCON_USGFAULTENA;
}
else if (irq == SAM_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 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_CLEAR;
i > 0;
i--, regaddr += 4)
{
putreg32(0xffffffff, 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.
*/
arm_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);
}
/* 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(SAM_IRQ_SVCALL, arm_svcall, NULL);
irq_attach(SAM_IRQ_HARDFAULT, arm_hardfault, NULL);
/* Set the priority of the SVCall interrupt */
#ifdef CONFIG_ARCH_IRQPRIO
/* up_prioritize_irq(SAM_IRQ_PENDSV, NVIC_SYSH_PRIORITY_MIN); */
#endif
#ifdef CONFIG_ARMV7M_USEBASEPRI
sam_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(SAM_IRQ_MEMFAULT, arm_memfault, NULL);
up_enable_irq(SAM_IRQ_MEMFAULT);
#endif
/* Attach all other processor exceptions (except reset and sys tick) */
#ifdef CONFIG_DEBUG_FEATURES
irq_attach(SAM_IRQ_NMI, sam_nmi, NULL);
#ifndef CONFIG_ARM_MPU
irq_attach(SAM_IRQ_MEMFAULT, arm_memfault, NULL);
#endif
irq_attach(SAM_IRQ_BUSFAULT, arm_busfault, NULL);
irq_attach(SAM_IRQ_USAGEFAULT, arm_usagefault, NULL);
irq_attach(SAM_IRQ_PENDSV, sam_pendsv, NULL);
arm_enable_dbgmonitor();
irq_attach(SAM_IRQ_DBGMONITOR, arm_dbgmonitor, NULL);
irq_attach(SAM_IRQ_RESERVED, sam_reserved, NULL);
#endif
sam_dumpnvic("initial", SAM_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_SAM34_GPIO_IRQ
sam_gpioirqinitialize();
#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 (sam_irqinfo(irq, &regaddr, &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 >= SAM_IRQ_EXTINT)
{
putreg32(bit, regaddr);
}
else
{
regval = getreg32(regaddr);
regval &= ~bit;
putreg32(regval, regaddr);
}
}
#ifdef CONFIG_SAM34_GPIO_IRQ
else
{
/* Maybe it is a (derived) GPIO IRQ */
sam_gpioirqdisable(irq);
}
#endif
#if 0 /* Might be useful in early bring-up */
sam_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 (sam_irqinfo(irq, &regaddr, &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 >= SAM_IRQ_EXTINT)
{
putreg32(bit, regaddr);
}
else
{
regval = getreg32(regaddr);
regval |= bit;
putreg32(regval, regaddr);
}
}
#ifdef CONFIG_SAM34_GPIO_IRQ
else
{
/* Maybe it is a (derived) GPIO IRQ */
sam_gpioirqenable(irq);
}
#endif
#if 0 /* Might be useful in early bring-up */
sam_dumpnvic("enable", irq);
#endif
}
/****************************************************************************
* Name: arm_ack_irq
*
* Description:
* Acknowledge the IRQ
*
****************************************************************************/
void arm_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 >= SAM_IRQ_MEMFAULT && irq < SAM_IRQ_NIRQS &&
(unsigned)priority <= NVIC_SYSH_PRIORITY_MIN);
if (irq < SAM_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 -= SAM_IRQ_EXTINT;
regaddr = NVIC_IRQ_PRIORITY(irq);
}
regval = getreg32(regaddr);
shift = ((irq & 3) << 3);
regval &= ~(0xff << shift);
regval |= (priority << shift);
putreg32(regval, regaddr);
sam_dumpnvic("prioritize", irq);
return OK;
}
#endif
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