From aa3fd9876abe2131d2ebda9a418ade6a4b89f72c Mon Sep 17 00:00:00 2001
From: NIIBE Yutaka <gniibe@fsij.org>
Date: Wed, 22 May 2013 16:43:58 +0900
Subject: Implement interrupt as thread
---
ChangeLog | 9 +++++++
chopstx.c | 83 ++++++++++++++++++++++++++++++++++++++++++++++++++++++---------
chopstx.h | 3 ++-
entry.c | 23 +++++++++++++++---
4 files changed, 101 insertions(+), 17 deletions(-)
diff --git a/ChangeLog b/ChangeLog
index e8f77e2..19274fa 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,12 @@
+2013-05-22 Niibe Yutaka <gniibe@fsij.org>
+
+ * chopstx.c (chx_enable_intr, chx_disable_intr): Implement.
+ (chx_set_intr_prio): New.
+ (chx_handle_intr): Use list to register interrupt threads.
+ (chx_init): Set PendSV priority (as minimum: bigger).
+
+ * entry.c (vector_table): set chx_handle_intr for all interrupts.
+
2013-05-21 Niibe Yutaka <gniibe@fsij.org>
* Initial commit.
diff --git a/chopstx.c b/chopstx.c
index cb46f80..80df272 100644
--- a/chopstx.c
+++ b/chopstx.c
@@ -99,6 +99,31 @@ struct chx_stack_regs {
#define INITIAL_XPSR 0x01000000 /* T=1 */
+/*
+ * NVIC: Nested Vectored Interrupt Controller
+ */
+struct NVIC {
+ uint32_t ISER[8];
+ uint32_t unused1[24];
+ uint32_t ICER[8];
+ uint32_t unused2[24];
+ uint32_t ISPR[8];
+ uint32_t unused3[24];
+ uint32_t ICPR[8];
+ uint32_t unused4[24];
+ uint32_t IABR[8];
+ uint32_t unused5[56];
+ uint32_t IPR[60];
+};
+
+static struct NVIC *const NVICBase = (struct NVIC *const)0xE000E100;
+#define NVIC_ISER(n) (NVICBase->ISER[n >> 5])
+#define NVIC_ICER(n) (NVICBase->ICER[n >> 5])
+#define NVIC_ICPR(n) (NVICBase->ICPR[n >> 5])
+#define NVIC_IPR(n) (NVICBase->IPR[n >> 2])
+
+#define USB_LP_CAN1_RX0_IRQn 20
+
/*
* SysTick registers.
*/
@@ -465,21 +490,51 @@ chx_timer_expired (void)
static void
chx_enable_intr (uint8_t irq_num)
{
+ NVIC_ISER (irq_num) = 1 << (irq_num & 0x1f);
}
static void
chx_disable_intr (uint8_t irq_num)
{
+ NVIC_ICER (irq_num) = 1 << (irq_num & 0x1f);
}
-void
-chx_handle_intr (chopstix_intr_t *intr)
+#define INTR_PRIO (11<<4)
+
+static void
+chx_set_intr_prio (uint8_t n)
{
- chx_disable_intr (intr->irq_num);
- asm volatile ("cpsid i" : : : "memory");
- intr->ready++;
- if (intr->t)
+ unsigned int sh = (n & 3) << 3;
+
+ NVIC_IPR (n) = (NVIC_IPR(n) & ~(0xFF << sh)) | (INTR_PRIO << sh);
+}
+
+static chopstix_intr_t *intr_top;
+
+void
+chx_handle_intr (void)
+{
+ chopstix_intr_t *intr;
+ register uint32_t irq_num;
+
+ asm volatile ("cpsid i\n\t"
+ "mrs %0, IPSR\n\t"
+ "sub %0, #16" /* Exception # - 16 = interrupt number. */
+ : "=r" (irq_num) : /* no input */ : "memory");
+ chx_disable_intr (irq_num);
+ for (intr = intr_top; intr; intr = intr->next)
+ if (intr->irq_num == irq_num)
+ break;
+
+ if (intr == NULL)
+ { /* Interrupt from unregistered source. */
+ asm volatile ("cpsie i" : : : "memory");
+ return;
+ }
+
+ if (intr->t && intr->t->v == THREAD_WAIT_INT)
{
+ intr->ready++;
chx_ready_enqueue (intr->t);
chx_preempt ();
}
@@ -494,11 +549,16 @@ chx_systick_init (void)
*SYST_CSR = 7;
}
+static uint32_t *const SHPR3 = (uint32_t *const)0xE000ED20;
+#define INTR_PRIO_PENDSV (15<<4)
+
#define PRIO_DEFAULT 1
void
chx_init (struct chx_thread *tp)
{
+ *SHPR3 = (INTR_PRIO_PENDSV << 16);
+
memset (&tp->tc, 0, sizeof (tp->tc));
q_ready.next = q_ready.prev = (struct chx_thread *)&q_ready;
q_timer.next = q_timer.prev = (struct chx_thread *)&q_timer;
@@ -784,14 +844,13 @@ chopstx_cond_broadcast (chopstx_cond_t *cond)
}
-#define MAX_INTR_NUM 16
-
-chopstix_intr_t *intr_table[MAX_INTR_NUM];
-
void
chopstx_intr_register (chopstix_intr_t *intr, uint8_t irq_num)
{
- intr_table[irq_num] = intr;
+ chx_disable_intr (irq_num);
+ chx_set_intr_prio (irq_num);
+ intr->next = intr_top;
+ intr_top = intr;
intr->irq_num = irq_num;
intr->t = running;
intr->ready = 0;
@@ -801,8 +860,8 @@ chopstx_intr_register (chopstix_intr_t *intr, uint8_t irq_num)
void
chopstx_wait_intr (chopstix_intr_t *intr)
{
- chx_enable_intr (intr->irq_num);
asm volatile ("cpsid i" : : : "memory");
+ chx_enable_intr (intr->irq_num);
while (intr->ready == 0)
{
intr->t = running;
diff --git a/chopstx.h b/chopstx.h
index 6ab9b87..83c9999 100644
--- a/chopstx.h
+++ b/chopstx.h
@@ -77,8 +77,9 @@ void chopstx_cond_signal (chopstx_cond_t *cond);
void chopstx_cond_broadcast (chopstx_cond_t *cond);
typedef struct chx_intr {
- struct chx_thread *t;
+ struct chx_intr *next;
struct chx_spinlock lock;
+ struct chx_thread *t;
uint8_t irq_num;
uint8_t ready;
} chopstix_intr_t;
diff --git a/entry.c b/entry.c
index 45f0da6..0eceaca 100644
--- a/entry.c
+++ b/entry.c
@@ -314,6 +314,7 @@ extern uint8_t __main_stack_end__;
extern void svc (void);
extern void preempt (void);
extern void chx_timer_expired (void);
+extern void chx_handle_intr (void);
handler vector_table[] __attribute__ ((section(".startup.vectors"))) = {
(handler)&__main_stack_end__,
@@ -333,11 +334,25 @@ handler vector_table[] __attribute__ ((section(".startup.vectors"))) = {
preempt, /* PendSV */
chx_timer_expired, /* SysTick */
/* 0x40 */
- none, none, none, none, none, none, none, none,
+ chx_handle_intr /* WWDG */, chx_handle_intr /* PVD */,
+ chx_handle_intr /* TAMPER */, chx_handle_intr /* RTC */,
+ chx_handle_intr /* FLASH */, chx_handle_intr /* RCC */,
+ chx_handle_intr /* EXTI0 */, chx_handle_intr /* EXTI1 */,
/* 0x60 */
- none, none, none, none, none, none, none, none,
+ chx_handle_intr /* EXTI2 */, chx_handle_intr /* EXTI3 */,
+ chx_handle_intr /* EXTI4 */, chx_handle_intr /* DMA1 CH1 */,
+ chx_handle_intr /* DMA1 CH2 */, chx_handle_intr /* DMA1 CH3 */,
+ chx_handle_intr /* DMA1 CH4 */, chx_handle_intr /* DMA1 CH5 */,
/* 0x80 */
- none, none, none, none,
+ chx_handle_intr /* DMA1 CH6 */, chx_handle_intr /* DMA1 CH7 */,
+ chx_handle_intr /* ADC1_2 */, chx_handle_intr /* USB HP */,
/* 0x90 */
- none,
+ chx_handle_intr, /* USB LP */
+ /* ... and more. CAN, EXT9_5, TIMx, I2C, SPI, USART, EXT15_10 */
+ chx_handle_intr, chx_handle_intr, chx_handle_intr, chx_handle_intr,
+ chx_handle_intr, chx_handle_intr, chx_handle_intr, chx_handle_intr,
+ chx_handle_intr, chx_handle_intr, chx_handle_intr, chx_handle_intr,
+ chx_handle_intr, chx_handle_intr, chx_handle_intr, chx_handle_intr,
+ chx_handle_intr, chx_handle_intr, chx_handle_intr, chx_handle_intr,
+ chx_handle_intr, chx_handle_intr,
};
--
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