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rt-thread/libcpu/ti-dsp/c6x/trap.c

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add new bsp tms320c6678 原始提交PR：https://gitee.com/rtthread/rt-thread/pulls/372 提交者：https://gitee.com/wei-handong ---------------------- 在TI公司C6000 DSP处理器上成功移植rt-thread操作系统；主要在libcpu/ti-dsp/c6x添加keystone架构底层代码，在bsp/ti-c6678添加bsp工程，该工程已在本人的开发板上成功运行 * 添加TMS320C6678处理器，keystone架构底层代码 * 添加支持中断栈部分代码，修改格式 * 修改汇编rt_hw_context_switch_to处关于时间槽的使用；修改格式 * 修改使用C语言构建任务栈帧，清除fls和ffs对<c6x.h>文件的依赖 * 修改bsp tms320c6678工程，并测试 * 删除依赖TI的KeyStone_common.c文件 * 添加编译说明 * update bsp/ti-tms320c6678/README.md. * format code Co-authored-by: Huang bo <hb265419@126.com> Co-authored-by: hdwei <1147479335@qq.com> Co-authored-by: bernard <bernard.xiong@gmail.com> Co-authored-by: rtthread-bot <48120998+rtthread-bot@users.noreply.github.com> Co-authored-by: Meco Man <920369182@qq.com>
2022-01-29 02:50:04 +08:00
/*
* Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2021-11-16 Dystopia the first version
*/
#include "trap.h"
#include "c66xx.h"
#include <rthw.h>
#include <rtdef.h>
#include <rtthread.h>
#define RT_SYS_STACK_SIZE 4096
rt_uint8_t rt_system_stack[RT_SYS_STACK_SIZE];
rt_uint8_t *rt_system_stack_top;
void rt_trap_init(void)
{
rt_system_stack_top = &rt_system_stack[RT_SYS_STACK_SIZE-1];
rt_system_stack_top = (rt_uint8_t *)RT_ALIGN_DOWN((rt_uint32_t)rt_system_stack_top, 8);
ack_exception(EXCEPT_TYPE_NXF);
ack_exception(EXCEPT_TYPE_EXC);
ack_exception(EXCEPT_TYPE_IXF);
ack_exception(EXCEPT_TYPE_SXF);
rt_hw_enable_exception();
}
void show_regs(struct rt_hw_exp_stack_register *regs)
{
rt_kprintf("\n");
rt_kprintf("PC: %08lx SP: %08lx\n",
regs->pc, regs->hw_register.sp);
rt_kprintf("Status: %08lx ORIG_A4: %08lx\n",
regs->csr, regs->orig_a4);
rt_kprintf("A0: %08lx B0: %08lx\n",
regs->hw_register.a0, regs->hw_register.b0);
rt_kprintf("A1: %08lx B1: %08lx\n",
regs->hw_register.a1, regs->hw_register.b1);
rt_kprintf("A2: %08lx B2: %08lx\n",
regs->hw_register.a2, regs->hw_register.b2);
rt_kprintf("A3: %08lx B3: %08lx\n",
regs->hw_register.a3, regs->hw_register.b3);
rt_kprintf("A4: %08lx B4: %08lx\n",
regs->hw_register.a4, regs->hw_register.b4);
rt_kprintf("A5: %08lx B5: %08lx\n",
regs->hw_register.a5, regs->hw_register.b5);
rt_kprintf("A6: %08lx B6: %08lx\n",
regs->hw_register.a6, regs->hw_register.b6);
rt_kprintf("A7: %08lx B7: %08lx\n",
regs->hw_register.a7, regs->hw_register.b7);
rt_kprintf("A8: %08lx B8: %08lx\n",
regs->hw_register.a8, regs->hw_register.b8);
rt_kprintf("A9: %08lx B9: %08lx\n",
regs->hw_register.a9, regs->hw_register.b9);
rt_kprintf("A10: %08lx B10: %08lx\n",
regs->hw_register.a10, regs->hw_register.b10);
rt_kprintf("A11: %08lx B11: %08lx\n",
regs->hw_register.a11, regs->hw_register.b11);
rt_kprintf("A12: %08lx B12: %08lx\n",
regs->hw_register.a12, regs->hw_register.b12);
rt_kprintf("A13: %08lx B13: %08lx\n",
regs->hw_register.a13, regs->hw_register.b13);
rt_kprintf("A14: %08lx B14: %08lx\n",
regs->hw_register.a14, regs->hw_register.dp);
rt_kprintf("A15: %08lx B15: %08lx\n",
regs->hw_register.a15, regs->hw_register.sp);
rt_kprintf("A16: %08lx B16: %08lx\n",
regs->hw_register.a16, regs->hw_register.b16);
rt_kprintf("A17: %08lx B17: %08lx\n",
regs->hw_register.a17, regs->hw_register.b17);
rt_kprintf("A18: %08lx B18: %08lx\n",
regs->hw_register.a18, regs->hw_register.b18);
rt_kprintf("A19: %08lx B19: %08lx\n",
regs->hw_register.a19, regs->hw_register.b19);
rt_kprintf("A20: %08lx B20: %08lx\n",
regs->hw_register.a20, regs->hw_register.b20);
rt_kprintf("A21: %08lx B21: %08lx\n",
regs->hw_register.a21, regs->hw_register.b21);
rt_kprintf("A22: %08lx B22: %08lx\n",
regs->hw_register.a22, regs->hw_register.b22);
rt_kprintf("A23: %08lx B23: %08lx\n",
regs->hw_register.a23, regs->hw_register.b23);
rt_kprintf("A24: %08lx B24: %08lx\n",
regs->hw_register.a24, regs->hw_register.b24);
rt_kprintf("A25: %08lx B25: %08lx\n",
regs->hw_register.a25, regs->hw_register.b25);
rt_kprintf("A26: %08lx B26: %08lx\n",
regs->hw_register.a26, regs->hw_register.b26);
rt_kprintf("A27: %08lx B27: %08lx\n",
regs->hw_register.a27, regs->hw_register.b27);
rt_kprintf("A28: %08lx B28: %08lx\n",
regs->hw_register.a28, regs->hw_register.b28);
rt_kprintf("A29: %08lx B29: %08lx\n",
regs->hw_register.a29, regs->hw_register.b29);
rt_kprintf("A30: %08lx B30: %08lx\n",
regs->hw_register.a30, regs->hw_register.b30);
rt_kprintf("A31: %08lx B31: %08lx\n",
regs->hw_register.a31, regs->hw_register.b31);
}
void do_trap(struct rt_exception_info *except_info, struct rt_hw_exp_stack_register *regs)
{
rt_kprintf("Enter exception: %s\n", except_info->kernel_str);
show_regs(regs);
for(;;){}
}
static struct rt_exception_info iexcept_table[10] = {
{ " - instruction fetch", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - fetch packet", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - execute packet", ABORT_TYPE_UNDDEF, ABORT_OPCODE_ILL },
{ " - undefined instruction", ABORT_TYPE_UNDDEF, ABORT_OPCODE_ILL },
{ " - resource conflict", ABORT_TYPE_UNDDEF, ABORT_OPCODE_ILL },
{ " - resource access", ABORT_TYPE_UNDDEF, ABORT_PRVREG_ILL },
{ " - privilege", ABORT_TYPE_UNDDEF, ABORT_PRVOPC_ILL },
{ " - loops buffer", ABORT_TYPE_UNDDEF, ABORT_PRVOPC_ILL },
{ " - software exception", ABORT_TYPE_UNDDEF, ABORT_ILLTRP_ILL },
{ " - unknown exception", ABORT_TYPE_UNDDEF, ABORT_PRVOPC_ILL }
};
/*
* Process an internal exception (non maskable)
*/
static int process_iexcept(struct rt_hw_exp_stack_register *regs)
{
unsigned int iexcept_report = get_iexcept();
unsigned int iexcept_num = 0;
ack_exception(EXCEPT_TYPE_IXF);
while(iexcept_report)
{
iexcept_num = ffs(iexcept_report);
iexcept_report &= ~(1 << iexcept_num);
set_iexcept(iexcept_report);
if (*(unsigned int *)regs->pc == BKPT_OPCODE)
{
/* This is a breakpoint */
struct rt_exception_info bkpt_exception = \
{ " - undefined instruction",\
ABORT_TYPE_UNDDEF, ABORT_BRKPT_ILL };
do_trap(&bkpt_exception, regs);
iexcept_report &= ~(0xFF);
set_iexcept(iexcept_report);
continue;
}
do_trap(&iexcept_table[iexcept_num], regs);
}
return 0;
}
static struct rt_exception_info eexcept_table[128] = {
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
{ " - CPU memory protection fault", ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
{ " - CPU memory protection fault in L1P", ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
{ " - DMA memory protection fault in L1P", ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
{ " - CPU memory protection fault in L1D", ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
{ " - DMA memory protection fault in L1D", ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
{ " - CPU memory protection fault in L2", ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
{ " - DMA memory protection fault in L2", ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
{ " - EMC CPU memory protection fault", ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
{ " - EMC bus error", ABORT_TYPE_MAP, ABORT_BUS_ADDRERR }
};
/*
* Process an external exception (maskable)
*/
static void process_eexcept(struct rt_hw_exp_stack_register *regs)
{
int except_num = 0;
int bank = 0;
int i = 0;
for (i = 0; i <= 3; i++)
{
while (INTC_MEXPMASK[i])
{
__dint();
except_num = ffs(INTC_MEXPMASK[i]);
INTC_MEXPMASK[i] &= ~(1 << except_num); /* ack the external exception */
__rint();
do_trap(&eexcept_table[except_num + (bank << 5)], regs);
}
bank++;
}
ack_exception(EXCEPT_TYPE_EXC);
}
extern void hw_nmi_handler(struct rt_hw_exp_stack_register *regs);
/*
* Main exception processing
*/
int rt_hw_process_exception(struct rt_hw_exp_stack_register *regs)
{
int type = 0;
int type_num = 0;
int ie_num = 9; /* default is unknown exception */
while ((type = get_except_type()) != 0) {
type_num = fls(type) - 1;
switch(type_num) {
case EXCEPT_TYPE_NXF: /* NMI exception */
ack_exception(EXCEPT_TYPE_NXF); /* clear exception */
if (hw_nmi_handler != RT_NULL)
{
hw_nmi_handler(regs);
}
break;
case EXCEPT_TYPE_IXF: /* internal exception */
if (process_iexcept(regs))
{
return 1;
}
break;
case EXCEPT_TYPE_EXC: /* external exception */
process_eexcept(regs);
break;
case EXCEPT_TYPE_SXF: /* software exception */
ie_num = 8;
ack_exception(type_num);
break;
default: /* clear exception */
ack_exception(type_num);
do_trap(&iexcept_table[ie_num], regs);
break;
}
}
return 0;
}