rt-thread/bsp/at91sam9260/platform/trap.c

/*
 * File      : trap.c
 * This file is part of RT-Thread RTOS
 * COPYRIGHT (C) 2006, RT-Thread Development Team
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License along
 *  with this program; if not, write to the Free Software Foundation, Inc.,
 *  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 *
 * Change Logs:
 * Date           Author       Notes
 * 2011-01-13     weety      modified from mini2440
 */

#include <rtthread.h>
#include <rthw.h>

#include "at91sam926x.h"

/**
 * @addtogroup AT91SAM926X
 */
/*@{*/

extern struct rt_thread *rt_current_thread;
#ifdef RT_USING_FINSH
extern long list_thread(void);
#endif

/**
 * this function will show registers of CPU
 *
 * @param regs the registers point
 */

void rt_hw_show_register (struct rt_hw_register *regs)
{
	rt_kprintf("Execption:\n");
	rt_kprintf("r00:0x%08x r01:0x%08x r02:0x%08x r03:0x%08x\n", regs->r0, regs->r1, regs->r2, regs->r3);
	rt_kprintf("r04:0x%08x r05:0x%08x r06:0x%08x r07:0x%08x\n", regs->r4, regs->r5, regs->r6, regs->r7);
	rt_kprintf("r08:0x%08x r09:0x%08x r10:0x%08x\n", regs->r8, regs->r9, regs->r10);
	rt_kprintf("fp :0x%08x ip :0x%08x\n", regs->fp, regs->ip);
	rt_kprintf("sp :0x%08x lr :0x%08x pc :0x%08x\n", regs->sp, regs->lr, regs->pc);
	rt_kprintf("cpsr:0x%08x\n", regs->cpsr);
}

/**
 * When ARM7TDMI comes across an instruction which it cannot handle,
 * it takes the undefined instruction trap.
 *
 * @param regs system registers
 *
 * @note never invoke this function in application
 */
void rt_hw_trap_udef(struct rt_hw_register *regs)
{
	rt_hw_show_register(regs);

	rt_kprintf("undefined instruction\n");
	rt_kprintf("thread - %s stack:\n", rt_current_thread->name);

#ifdef RT_USING_FINSH
	list_thread();
#endif
	rt_hw_cpu_shutdown();
}

/**
 * The software interrupt instruction (SWI) is used for entering
 * Supervisor mode, usually to request a particular supervisor
 * function.
 *
 * @param regs system registers
 *
 * @note never invoke this function in application
 */
void rt_hw_trap_swi(struct rt_hw_register *regs)
{
	rt_hw_show_register(regs);

	rt_kprintf("software interrupt\n");
	rt_hw_cpu_shutdown();
}

/**
 * An abort indicates that the current memory access cannot be completed,
 * which occurs during an instruction prefetch.
 *
 * @param regs system registers
 *
 * @note never invoke this function in application
 */
void rt_hw_trap_pabt(struct rt_hw_register *regs)
{
	rt_hw_show_register(regs);

	rt_kprintf("prefetch abort\n");
	rt_kprintf("thread - %s stack:\n", rt_current_thread->name);

#ifdef RT_USING_FINSH
	list_thread();
#endif
	rt_hw_cpu_shutdown();
}

/**
 * An abort indicates that the current memory access cannot be completed,
 * which occurs during a data access.
 *
 * @param regs system registers
 *
 * @note never invoke this function in application
 */
void rt_hw_trap_dabt(struct rt_hw_register *regs)
{
	rt_hw_show_register(regs);

	rt_kprintf("data abort\n");
	rt_kprintf("thread - %s stack:\n", rt_current_thread->name);

#ifdef RT_USING_FINSH
	list_thread();
#endif
	rt_hw_cpu_shutdown();
}

/**
 * Normally, system will never reach here
 *
 * @param regs system registers
 *
 * @note never invoke this function in application
 */
void rt_hw_trap_resv(struct rt_hw_register *regs)
{
	rt_kprintf("not used\n");
	rt_hw_show_register(regs);
	rt_hw_cpu_shutdown();
}

extern struct rt_irq_desc irq_desc[];

void rt_hw_trap_irq()
{
	rt_isr_handler_t isr_func;
	rt_uint32_t irqstat, irq, mask;
	void *param;
	//rt_kprintf("irq interrupt request\n");
	/* get irq number */
	irq = at91_sys_read(AT91_AIC_IVR);
	/* clear pending register */
	irqstat = at91_sys_read(AT91_AIC_ISR);
	if (irqstat == 0)
	{
		rt_kprintf("No interrupt occur\n");
		at91_sys_write(AT91_AIC_EOICR, 0);
		return;
	}
	
	/* get interrupt service routine */
	isr_func = irq_desc[irq].handler;
	param = irq_desc[irq].param;

	/* turn to interrupt service routine */
	isr_func(irq, param);
	at91_sys_write(AT91_AIC_EOICR, 0x55555555); //EIOCR must be write any value after interrupt, or else can't response next interrupt
    irq_desc[irq].counter ++;
}

void rt_hw_trap_fiq()
{
	rt_kprintf("fast interrupt request\n");
}

/*@}*/