添加TMS320C6678处理器，keystone架构底层代码

2021-11-16 18:32:11 +08:00 · 2021-11-16 18:32:11 +08:00 · 3639963a97
commit 3639963a97
parent 4907b44930
27 changed files with 8002 additions and 0 deletions
--- a/bsp/ti-c6678/.ccsproject
+++ b/bsp/ti-c6678/.ccsproject
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--- a/bsp/ti-c6678/.cproject
+++ b/bsp/ti-c6678/.cproject
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+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>com.ti.ccstudio.core.ccsNature</nature>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+	<linkedResources>
+		<link>
+			<name>SConscript</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/SConscript</locationURI>
+		</link>
+		<link>
+			<name>clock.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/clock.c</locationURI>
+		</link>
+		<link>
+			<name>components.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/components.c</locationURI>
+		</link>
+		<link>
+			<name>context.asm</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/libcpu/ti-dsp/c6x/context.asm</locationURI>
+		</link>
+		<link>
+			<name>cpu.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/cpu.c</locationURI>
+		</link>
+		<link>
+			<name>cpuport.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/libcpu/ti-dsp/c6x/cpuport.c</locationURI>
+		</link>
+		<link>
+			<name>device.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/device.c</locationURI>
+		</link>
+		<link>
+			<name>idle.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/idle.c</locationURI>
+		</link>
+		<link>
+			<name>inct.asm</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/libcpu/ti-dsp/c6x/inct.asm</locationURI>
+		</link>
+		<link>
+			<name>interrupt.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/libcpu/ti-dsp/c6x/interrupt.c</locationURI>
+		</link>
+		<link>
+			<name>ipc.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/ipc.c</locationURI>
+		</link>
+		<link>
+			<name>irq.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/irq.c</locationURI>
+		</link>
+		<link>
+			<name>kservice.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/kservice.c</locationURI>
+		</link>
+		<link>
+			<name>mem.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/mem.c</locationURI>
+		</link>
+		<link>
+			<name>memheap.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/memheap.c</locationURI>
+		</link>
+		<link>
+			<name>mempool.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/mempool.c</locationURI>
+		</link>
+		<link>
+			<name>object.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/object.c</locationURI>
+		</link>
+		<link>
+			<name>scheduler.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/scheduler.c</locationURI>
+		</link>
+		<link>
+			<name>signal.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/signal.c</locationURI>
+		</link>
+		<link>
+			<name>slab.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/slab.c</locationURI>
+		</link>
+		<link>
+			<name>stack.asm</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/libcpu/ti-dsp/c6x/stack.asm</locationURI>
+		</link>
+		<link>
+			<name>thread.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/thread.c</locationURI>
+		</link>
+		<link>
+			<name>timer.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/src/timer.c</locationURI>
+		</link>
+		<link>
+			<name>trap.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/libcpu/ti-dsp/c6x/trap.c</locationURI>
+		</link>
+		<link>
+			<name>vector.asm</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/libcpu/ti-dsp/c6x/vector.asm</locationURI>
+		</link>
+	</linkedResources>
+</projectDescription>
--- a/bsp/ti-c6678/.settings/org.eclipse.cdt.codan.core.prefs
+++ b/bsp/ti-c6678/.settings/org.eclipse.cdt.codan.core.prefs
@ -0,0 +1,3 @@
+eclipse.preferences.version=1
+inEditor=false
+onBuild=false
--- a/bsp/ti-c6678/.settings/org.eclipse.cdt.debug.core.prefs
+++ b/bsp/ti-c6678/.settings/org.eclipse.cdt.debug.core.prefs
@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+org.eclipse.cdt.debug.core.toggleBreakpointModel=com.ti.ccstudio.debug.CCSBreakpointMarker
--- a/bsp/ti-c6678/.settings/org.eclipse.core.resources.prefs
+++ b/bsp/ti-c6678/.settings/org.eclipse.core.resources.prefs
@ -0,0 +1,10 @@
+eclipse.preferences.version=1
+encoding//Debug/applications/subdir_rules.mk=UTF-8
+encoding//Debug/applications/subdir_vars.mk=UTF-8
+encoding//Debug/driver/subdir_rules.mk=UTF-8
+encoding//Debug/driver/subdir_vars.mk=UTF-8
+encoding//Debug/makefile=UTF-8
+encoding//Debug/objects.mk=UTF-8
+encoding//Debug/sources.mk=UTF-8
+encoding//Debug/subdir_rules.mk=UTF-8
+encoding//Debug/subdir_vars.mk=UTF-8
--- a/bsp/ti-c6678/KeyStone.cmd
+++ b/bsp/ti-c6678/KeyStone.cmd
@ -0,0 +1,47 @@
+/****************************************************************************/
+/*                                                                          */
+/*                               M6678.cmd                                  */
+/*                         Copyright (c): NUDT                              */
+/*                                                                          */
+/*                                                                          */
+/*    Description: This file is a sample linker command file that can be    */
+/*                 used for linking programs built with the C compiler and  */
+/*                 running the resulting .out file on an M6678              */
+/*                 device.  Use it as a guideline.  You will want to        */
+/*                 change the memory layout to match your specific C6xxx    */
+/*                 target system.  You may want to change the allocation    */
+/*                 scheme according to the size of your program.            */
+/*                                                                          */
+/*                                                                          */
+/****************************************************************************/
+
+-heap  0x800
+-stack 0x1000
+
+MEMORY
+{
+	VECTORS:		o = 0x00800000  l = 0x00000200
+	LL2_CODE:		o = 0x00800200  l = 0x0001FE00
+	LL2_RW_DATA: 	o = 0x00820000  l = 0x00020000   /*set memory protection attribitue as read/write*/
+}
+
+SECTIONS
+{
+	.vecs       	>    VECTORS
+
+	.text           >    LL2_CODE
+	.cinit          >    LL2_CODE
+	.const          >    LL2_CODE
+	.switch         >    LL2_CODE
+	.stack          >    LL2_RW_DATA
+	GROUP
+	{
+		.neardata
+		.rodata
+		.bss
+	} 		>    LL2_RW_DATA
+	.far            >    LL2_RW_DATA
+	.fardata        >    LL2_RW_DATA
+	.cio            >    LL2_RW_DATA
+	.sysmem         >    LL2_RW_DATA
+}
--- a/bsp/ti-c6678/applications/board.c
+++ b/bsp/ti-c6678/applications/board.c
@ -0,0 +1,60 @@
+/*
+ * 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 "board.h"
+#include "trap.h"
+#include "interrupt.h"
+#include "drv_timer.h"
+#include "KeyStone_common.h"
+
+#include <rtthread.h>
+
+/**
+ * This is the timer interrupt service routine.
+ *
+ */
+void rt_hw_systick_isr(void)
+{
+    /* enter interrupt */
+    rt_interrupt_enter();
+
+    rt_tick_increase();
+
+    /* leave interrupt */
+    rt_interrupt_leave();
+}
+
+/**
+ * This function will initial board.
+ */
+void rt_hw_board_init(void)
+{
+	// initial CPU core
+	KeyStone_common_CPU_init();
+
+	// initial interrupt controller
+	rt_hw_interrupt_init();
+
+	// initial system trap
+	rt_trap_init();
+
+	// initial system timer
+    hw_system_timer_init();
+
+#ifdef RT_USING_HEAP
+    /* initialize memory system */
+    rt_kprintf("heap: 0x%08x - 0x%08x\n", RT_HW_HEAP_BEGIN, RT_HW_HEAP_END);
+    rt_system_heap_init(RT_HW_HEAP_BEGIN, RT_HW_HEAP_END);
+#endif
+    // ......
+
+    hw_system_timer_start();
+}
+
--- a/bsp/ti-c6678/applications/board.h
+++ b/bsp/ti-c6678/applications/board.h
@ -0,0 +1,20 @@
+/*
+ * 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
+ */
+
+#ifndef __BOARD_H__
+#define __BOARD_H__
+
+#define RT_HW_HEAP_BEGIN    (void*)0x0C000000
+#define RT_HW_HEAP_END      (void*)0x0C100000
+
+void rt_hw_board_init(void);
+
+#endif /* __BOARD_H__ */
+
--- a/bsp/ti-c6678/applications/main.c
+++ b/bsp/ti-c6678/applications/main.c
@ -0,0 +1,99 @@
+/*
+ * 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 <rthw.h>
+#include <rtthread.h>
+
+#include "board.h"
+
+void rt_init_thread_entry(void *parameter)
+{
+
+    while(1)
+    {
+        rt_thread_sleep(10);
+    }
+}
+
+void rt_my_thread_entry(void *parameter)
+{
+    while(1)
+    {
+        rt_thread_sleep(20);
+    }
+}
+
+int rt_application_init(void)
+{
+    rt_thread_t tid;
+
+    tid = rt_thread_create("init", rt_init_thread_entry, RT_NULL, 4096, 3, 200);
+    if (tid != RT_NULL)
+    {
+        rt_thread_startup(tid);
+    } else {
+        return -1;
+    }
+    /******************************************************************/
+    tid = rt_thread_create("mythread", rt_my_thread_entry, RT_NULL, 4096, 3, 200);
+    if (tid != RT_NULL)
+    {
+        rt_thread_startup(tid);
+    } else {
+        return -1;
+    }
+
+    return 0;
+}
+
+/**
+ * This function will startup RT-Thread RTOS.
+ */
+void rtthread_startup(void)
+{
+    /* disable interrupt first */
+    rt_hw_interrupt_disable();
+
+    /* init board */
+    rt_hw_board_init();
+
+    /* show version */
+    rt_show_version();
+
+    /* init timer system */
+    rt_system_timer_init();
+
+    /* init scheduler system */
+    rt_system_scheduler_init();
+
+    /* init application */
+    rt_application_init();
+
+    /* init timer thread */
+    rt_system_timer_thread_init();
+
+    /* init idle thread */
+    rt_thread_idle_init();
+
+    /* start scheduler */
+    rt_system_scheduler_start();
+
+    /* never reach here */
+    return ;
+}
+
+void main(void)
+{
+    /* startup RT-Thread RTOS */
+    rtthread_startup();
+
+    for ( ; ; );
+}
+
--- a/bsp/ti-c6678/driver/KeyStone_common.c
+++ b/bsp/ti-c6678/driver/KeyStone_common.c
--- a/bsp/ti-c6678/driver/KeyStone_common.h
+++ b/bsp/ti-c6678/driver/KeyStone_common.h
--- a/bsp/ti-c6678/driver/drv_timer.c
+++ b/bsp/ti-c6678/driver/drv_timer.c
@ -0,0 +1,55 @@
+/*
+ * 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 "drv_timer.h"
+#include "KeyStone_common.h"
+
+#include <rthw.h>
+#include <rtthread.h>
+
+/**
+ *  @b Description
+ *  @n
+ *      The function initial system timer.
+ * 		Use local timer (==DNUM of a core) to generate a clock on TIMO0,interrupts are generated as well
+ *
+ *  @param[]
+ *
+ *  @retval
+ *		NULL
+ */
+void hw_system_timer_init(void)
+{
+	// initial system timer interrupt
+    // map local timer interrupt to INT14
+    gpCGEM_regs->INTMUX3 = (CSL_GEM_TINTLN<<CSL_CGEM_INTMUX3_INTSEL14_SHIFT);
+    // enable INT14
+    CPU_interrupt_enable(1<<14);
+
+    return ;
+}
+
+void hw_system_timer_start(void)
+{
+    Timer64_Config tmrCfg;
+
+    //select output on TIMO0 from local timer.
+    gpBootCfgRegs->TOUTSEL = (DNUM*2)<<CSL_BOOTCFG_TOUTSEL_TOUTSEL0_SHIFT;
+
+    /* configure the timer to generate clocks and interrupts */
+    tmrCfg.timer_num= DNUM;
+    tmrCfg.timerMode= TIMER_PERIODIC_CLOCK;
+    tmrCfg.period= (unsigned long long) RT_TICK_PER_SECOND*gDSP_Core_Speed_Hz/6000;
+    tmrCfg.reload_period= 0; //not used for this case
+
+    // initial timer
+    Timer64_Init(&tmrCfg);
+}
+
--- a/bsp/ti-c6678/driver/drv_timer.h
+++ b/bsp/ti-c6678/driver/drv_timer.h
@ -0,0 +1,19 @@
+/*
+ * 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
+ */
+
+#ifndef __SYS_TIMER_H__
+#define __SYS_TIMER_H__
+
+void hw_system_timer_init(void);
+
+void hw_system_timer_start(void);
+
+#endif	/* __SYS_TIMER_H__ */
+
--- a/bsp/ti-c6678/rtconfig.h
+++ b/bsp/ti-c6678/rtconfig.h
@ -0,0 +1,122 @@
+#ifndef RT_CONFIG_H__
+#define RT_CONFIG_H__
+
+/* Automatically generated file; DO NOT EDIT. */
+/* RT-Thread Configuration */
+
+#define SOC_C6678
+
+/* RT-Thread Kernel */
+
+#define RT_NAME_MAX 8
+#define RT_USING_ARCH_DATA_TYPE
+#define RT_ALIGN_SIZE 4
+#define RT_THREAD_PRIORITY_8
+#define RT_THREAD_PRIORITY_MAX 8
+#define RT_TICK_PER_SECOND 100
+//#define RT_USING_HOOK
+//#define RT_USING_IDLE_HOOK
+//#define RT_IDLE_HOOK_LIST_SIZE 4
+#define IDLE_THREAD_STACK_SIZE 4096
+//#define RT_DEBUG
+//#define RT_DEBUG_COLOR
+
+/* Inter-Thread communication */
+
+#define RT_USING_SEMAPHORE
+#define RT_USING_MUTEX
+#define RT_USING_EVENT
+#define RT_USING_MAILBOX
+#define RT_USING_MESSAGEQUEUE
+
+/* Memory Management */
+
+#define RT_USING_MEMPOOL
+#define RT_USING_SMALL_MEM
+#define RT_USING_HEAP
+
+/* Kernel Device Object */
+
+/* RT-Thread Components */
+
+/* C++ features */
+
+
+/* Command shell */
+
+/* Device virtual file system */
+
+
+/* Device Drivers */
+
+/* Using WiFi */
+
+
+/* Using USB */
+
+
+/* POSIX layer and C standard library */
+
+
+/* Network */
+
+/* Socket abstraction layer */
+
+
+/* light weight TCP/IP stack */
+
+
+/* Modbus master and slave stack */
+
+
+/* AT commands */
+
+
+/* VBUS(Virtual Software BUS) */
+
+
+/* Utilities */
+
+
+/* RT-Thread online packages */
+
+/* IoT - internet of things */
+
+
+/* Wi-Fi */
+
+/* Marvell WiFi */
+
+
+/* Wiced WiFi */
+
+
+/* IoT Cloud */
+
+
+/* security packages */
+
+
+/* language packages */
+
+
+/* multimedia packages */
+
+
+/* tools packages */
+
+
+/* system packages */
+
+
+/* peripheral libraries and drivers */
+
+
+/* miscellaneous packages */
+
+
+/* samples: kernel and components samples */
+
+#include "rtconfig_project.h"
+
+#endif
--- a/bsp/ti-c6678/rtconfig_project.h
+++ b/bsp/ti-c6678/rtconfig_project.h
@ -0,0 +1,23 @@
+/*
+ * Copyright (c) 2006-2019, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2019-03-27     xuzhuoyi     the first version
+ */
+
+#ifndef __RTCONFIG_PROJECT_H__
+#define __RTCONFIG_PROJECT_H__
+
+typedef signed   char                   rt_int8_t;      /**<  8bit integer type */
+typedef signed   short                  rt_int16_t;     /**< 16bit integer type */
+typedef signed   long                   rt_int32_t;     /**< 32bit integer type */
+typedef signed   long long              rt_int64_t;     /**< 64bit integer type */
+typedef unsigned char                   rt_uint8_t;     /**<  8bit unsigned integer type */
+typedef unsigned short                  rt_uint16_t;    /**< 16bit unsigned integer type */
+typedef unsigned long                   rt_uint32_t;    /**< 32bit unsigned integer type */
+typedef unsigned long long              rt_uint64_t;    /**< 64bit unsigned integer type */
+
+#endif
--- a/libcpu/ti-dsp/c6x/SConscript
+++ b/libcpu/ti-dsp/c6x/SConscript
@ -0,0 +1,14 @@
+# RT-Thread building script for component
+
+from building import *
+
+Import('rtconfig')
+
+cwd     = GetCurrentDir()
+src     = Glob('*.c') + Glob('*.cpp') + Glob('*.asm')
+CPPPATH = [cwd]
+ASFLAGS = ''
+
+group = DefineGroup('CPU', src, depend = [''], CPPPATH = CPPPATH, ASFLAGS = ASFLAGS)
+
+Return('group')
--- a/libcpu/ti-dsp/c6x/c66xx.h
+++ b/libcpu/ti-dsp/c6x/c66xx.h
@ -0,0 +1,106 @@
+/*
+ * 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
+ */
+
+#ifndef __C66XX_H__
+#define __C66XX_H__
+
+#include <c6x.h>
+
+#ifdef _BIG_ENDIAN
+#define REG_PAIR(odd, even) unsigned long odd; unsigned long even
+#else
+#define REG_PAIR(odd, even) unsigned long even; unsigned long odd
+#endif
+
+/*
+ * this struct defines the way the registers are stored on the
+ * stack during a system call. fields defined with REG_PAIR
+ * are saved and restored using double-word memory operations
+ * which means the word ordering of the pair depends on endianess.
+ */
+
+struct rt_hw_register
+{
+	REG_PAIR(b17, b16);
+	REG_PAIR(b19, b18);
+	REG_PAIR(b21, b20);
+	REG_PAIR(b23, b22);
+	REG_PAIR(b25, b24);
+	REG_PAIR(b27, b26);
+	REG_PAIR(b29, b28);
+	REG_PAIR(b31, b30);
+
+	REG_PAIR(b1, b0);
+	REG_PAIR(b3, b2);
+	REG_PAIR(b5, b4);
+	REG_PAIR(b7, b6);
+	REG_PAIR(b9, b8);
+	REG_PAIR(b11, b10);
+	REG_PAIR(b13, b12);
+
+	REG_PAIR(a17, a16);
+	REG_PAIR(a19, a18);
+	REG_PAIR(a21, a20);
+	REG_PAIR(a23, a22);
+	REG_PAIR(a25, a24);
+	REG_PAIR(a27, a26);
+	REG_PAIR(a29, a28);
+	REG_PAIR(a31, a30);
+
+	REG_PAIR(a1, a0);
+	REG_PAIR(a3, a2);
+	REG_PAIR(a5, a4);
+	REG_PAIR(a7, a6);
+	REG_PAIR(a9, a8);
+	REG_PAIR(a11, a10);
+	REG_PAIR(a13, a12);
+
+	REG_PAIR(a15, a14);
+	REG_PAIR(sp, dp);
+};
+
+struct rt_hw_exp_stack_register
+{
+	REG_PAIR(tsr, orig_a4);
+	REG_PAIR(rilc, ilc);
+	REG_PAIR(pc, csr);
+    struct rt_hw_register hw_register;
+};
+
+extern cregister volatile unsigned int IERR;    /* Internal Exception Report Register */
+extern cregister volatile unsigned int ECR;     /* Exception Clear Register */
+extern cregister volatile unsigned int EFR;     /* Exception Flag Register */
+extern cregister volatile unsigned int TSR;     /* Task State Register */
+extern cregister volatile unsigned int ITSR;    /* Interrupt Task State Register */
+extern cregister volatile unsigned int NTSR;    /* NMI/exception Task State Register */
+extern cregister volatile unsigned int TSCL;    /* Time Stamp Counter Register - Low Half  */
+extern cregister volatile unsigned int TSCH;    /* Time Stamp Counter Register - High Half */
+extern cregister volatile unsigned int DNUM;    /* Core number */
+
+#define get_creg(reg)    reg
+#define set_creg(reg, v) reg = (v)
+#define or_creg(reg, n)  reg |= (n)
+#define and_creg(reg, n) reg &= (n)
+
+#define __dint()				asm(" DINT")
+#define __rint()				asm(" RINT")
+
+#define __system_call()			asm(" SWE")
+#define __enter_idle()			asm(" IDLE")
+#define __nop()					asm(" NOP")
+#define __mfence()				asm(" MFENCE")
+
+#define __SYSREG(ADDR, TYPE) 	(*(volatile TYPE*)(ADDR))
+#define __SYSREGA(ADDR, TYPE) 	((volatile TYPE*)(ADDR))
+
+extern void rt_hw_enable_exception(void);
+
+#endif /* __C66XX_H__ */
+
--- a/libcpu/ti-dsp/c6x/context.asm
+++ b/libcpu/ti-dsp/c6x/context.asm
@ -0,0 +1,312 @@
+;
+; 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
+;
+
+;-----------------------------------------------------------
+; context switch for C6678 DSP
+;-----------------------------------------------------------
+
+;-----------------------------------------------------------
+; 						macro definition
+;-----------------------------------------------------------
+DP	.set	B14
+SP	.set	B15
+
+;
+;-----------------------------------------------------------
+;
+
+;-----------------------------------------------------------
+; 						global variable
+;-----------------------------------------------------------
+	.global	rt_interrupt_from_thread
+	.global	rt_interrupt_to_thread
+	.global	rt_thread_switch_interrupt_flag
+
+;
+;-----------------------------------------------------------
+;
+    .sect   ".text"
+;-----------------------------------------------------------
+; void rt_hw_enable_exception(void)
+;-----------------------------------------------------------
+	.global	rt_hw_enable_exception
+rt_hw_enable_exception:
+	DINT
+	MVC	.S2	TSR,B0
+	MVC	.S2	B3,NRP
+	MVK	.L2	0xc,B1
+	OR	.D2	B0,B1,B0
+	MVC	.S2	B0,TSR			;  Set GEE and XEN in TSR
+	B	.S2	NRP
+	NOP	5
+
+;-----------------------------------------------------------
+; rt_base_t rt_hw_interrupt_enable(void)
+;-----------------------------------------------------------
+	.global	rt_hw_interrupt_disable
+rt_hw_interrupt_disable:
+;{
+	MVC	CSR,B4
+	MV	B4,A4
+	AND	1,B4,B0
+ [!B0]	CLR B4,1,1,B4
+ [B0]	SET B4,1,1,B4
+	CLR B4,0,0,B4
+	MVC B4,CSR
+	B 	B3
+	NOP	5
+;}
+
+;-----------------------------------------------------------
+; void rt_hw_interrupt_enable(rt_base_t scr)
+;-----------------------------------------------------------
+	.global	rt_hw_interrupt_enable
+rt_hw_interrupt_enable:
+;{
+	MVC	A4,CSR
+	B	B3
+	NOP 5
+;}
+
+;
+;-----------------------------------------------------------
+;
+
+;
+; void rt_hw_context_switch(rt_uint32 from, rt_uint32 to);
+; A4 --> from
+; B4 --> to
+;
+	.global	rt_hw_context_switch
+rt_hw_context_switch:
+; {
+	SUBAW	.D2	SP,2,SP
+	ADD	.D1X	SP,-8,A15
+ ||	STDW	.D2T1	A15:A14,*SP--[3]	; Store A15:A14
+
+	STDW	.D2T2	B13:B12,*SP--[1]	; Store B13:B12
+ ||	STDW	.D1T1	A13:A12,*A15--[1]	; Store A13:A12
+ ||	MV		B3,B13
+	STDW	.D2T2	B11:B10,*SP--[1]	; Store B11:B10
+ ||	STDW	.D1T1	A11:A10,*A15--[1]	; Store A11:A10
+ ||	MVC	.S2	CSR,B12
+	STDW	.D2T2	B13:B12,*SP--[1]	; Store PC:CSR
+ ||	MVC	.S2	TSR,B5
+
+	MVC	ILC,B11							;
+	MVC	RILC,B10						;
+	STDW	.D2T2	B11:B10,*SP--[1]	; Store RILC:ILC
+ ||	MV	.S1X	B5,A3
+
+	ZERO	A2          				;
+	STDW	.D2T1	A3:A2,*SP--[1]		; Store TSR:stack type
+	STW	SP,*A4							; Save thread's stack pointer
+
+	MV	B4,A4							;
+	B	rt_hw_context_switch_to
+	NOP	5
+;}
+
+;
+; void rt_hw_context_switch_to(rt_uint32 to);
+; A4 --> to
+;
+	.global	rt_hw_context_switch_to
+rt_hw_context_switch_to:
+;{
+	LDW	*A4,SP
+	NOP	4
+	LDDW	.D2T2	*++SP[1],B9:B8		; get TSR (B9) and stack frame type (B8)
+	LDDW	.D2T2	*++SP[1],B11:B10	; get RILC (B11) and ILC (B10)
+	LDDW	.D2T2	*++SP[1],B13:B12	; get PC (B13) and CSR (B12)
+	NOP	2
+	MV	B8,B0
+ [B0]   B	_rt_thread_interrupt_stack 	;
+ 	NOP	5
+;
+; this maybe do better
+;
+	MVC	.S2	B11,RILC					; Restore RILC
+	MVC	.S2	B10,ILC						; Restore ILC
+	MV	B13,B3							; Restore PC
+	MVC	.S2	B12,CSR						; Restore CSR
+
+	LDDW	*++SP[1],B11:B10
+  	LDDW	*++SP[1],B13:B12
+	LDDW	*++SP[1],A11:A10
+	LDDW	*++SP[1],A13:A12
+	LDDW	*++SP[1],A15:A14
+	B	B3                              ; Return to caller
+	ADDAW	SP,2,SP
+	NOP	4                               ; Delay slots
+_rt_thread_interrupt_stack:
+	ADDAW	.D1X	SP,30,A15
+	LDDW	.D1T1	*++A15[1],A17:A16
+ ||	LDDW	.D2T2	*++SP[1],B17:B16
+	LDDW	.D1T1	*++A15[1],A19:A18
+ ||	LDDW	.D2T2	*++SP[1],B19:B18
+	LDDW	.D1T1	*++A15[1],A21:A20
+ ||	LDDW	.D2T2	*++SP[1],B21:B20
+	LDDW	.D1T1	*++A15[1],A23:A22
+ ||	LDDW	.D2T2	*++SP[1],B23:B22
+	LDDW	.D1T1	*++A15[1],A25:A24
+ ||	LDDW	.D2T2	*++SP[1],B25:B24
+	LDDW	.D1T1	*++A15[1],A27:A26
+ ||	LDDW	.D2T2	*++SP[1],B27:B26
+	LDDW	.D1T1	*++A15[1],A29:A28
+ ||	LDDW	.D2T2	*++SP[1],B29:B28
+	LDDW	.D1T1	*++A15[1],A31:A30
+ ||	LDDW	.D2T2	*++SP[1],B31:B30
+
+	LDDW	.D1T1	*++A15[1],A1:A0
+ ||	LDDW	.D2T2	*++SP[1],B1:B0
+
+	LDDW	.D1T1	*++A15[1],A3:A2
+ ||	LDDW	.D2T2	*++SP[1],B3:B2
+ ||	MVC	.S2	B9,ITSR						; Restore ITSR
+	LDDW	.D1T1	*++A15[1],A5:A4
+ ||	LDDW	.D2T2	*++SP[1],B5:B4
+ ||	MVC	.S2	B11,RILC					; Restore RILC
+	LDDW	.D1T1	*++A15[1],A7:A6
+ ||	LDDW	.D2T2	*++SP[1],B7:B6
+ ||	MVC	.S2	B10,ILC						; Restore ILC
+
+	LDDW	.D1T1	*++A15[1],A9:A8
+ ||	LDDW	.D2T2	*++SP[1],B9:B8
+ ||	MVC	.S2	B13,IRP						; Restore IPR
+
+	LDDW	.D1T1	*++A15[1],A11:A10
+ ||	LDDW	.D2T2	*++SP[1],B11:B10
+ ||	MVC	.S2	B12,CSR						; Restore CSR
+
+	LDDW	.D1T1	*++A15[1],A13:A12
+ ||	LDDW	.D2T2	*++SP[1],B13:B12
+
+	MV	.D2X	A15,SP
+	LDDW	.D2T1	*++SP[1],A15:A14
+	B	IRP                             ; Return to point of interrupt
+	LDDW	.D2T2	*+SP[1],SP:DP
+	NOP	4                               ; Delay slots
+;}
+
+;
+;-----------------------------------------------------------
+;
+
+;
+; void rt_hw_context_switch_interrupt(rt_uint32_t from, rt_uint32_t to)
+; A4 --> from
+; B4 --> to
+	.global	rt_hw_context_switch_interrupt
+rt_hw_context_switch_interrupt:
+	SUB		B15,0x8,B15
+	STW		B4,*B15[2]
+	STW		A4,*B15[1]
+	LDW		*+B14(rt_thread_switch_interrupt_flag),B4
+	NOP		4
+	CMPEQ	1,B4,B0
+	[ B0]  BNOP	_reswitch,5
+	MVK		1,B4
+	STW		B4,*+B14(rt_thread_switch_interrupt_flag)
+	MV			A4,B4
+	STW		B4,*+B14(rt_interrupt_from_thread)
+_reswitch:
+	LDW		*B15[2],B4
+	NOP		4
+	STW		B4,*+B14(rt_interrupt_to_thread)
+	ADD		8,B15,B15
+	BNOP	B3,5
+;}
+
+;-----------------------------------------------------------
+;
+;void rt_interrupt_context_restore(void)
+;
+	.global	rt_interrupt_context_restore
+rt_interrupt_context_restore:
+;{
+; if rt_switch_interrupt_flag set, jump to rt_hw_context_switch_interrupt and don't return
+	MVKL	rt_thread_switch_interrupt_flag,A3
+	MVKH	rt_thread_switch_interrupt_flag,A3
+	LDW		*A3,A1
+	NOP		4
+	CMPEQ	1,A1,A2
+ [A2]  BNOP	 rt_preempt_context_restore,5
+	NOP		5
+	LDDW	.D2T2	*++SP[1],B9:B8		; get TSR (B9)
+	LDDW	.D2T2	*++SP[1],B11:B10	; get RILC (B11) and ILC (B10)
+	LDDW	.D2T2	*++SP[1],B13:B12	; get PC (B13) and CSR (B12)
+
+	ADDAW	.D1X	SP,30,A15
+
+	LDDW	.D1T1	*++A15[1],A17:A16
+ ||	LDDW	.D2T2	*++SP[1],B17:B16
+	LDDW	.D1T1	*++A15[1],A19:A18
+ ||	LDDW	.D2T2	*++SP[1],B19:B18
+	LDDW	.D1T1	*++A15[1],A21:A20
+ ||	LDDW	.D2T2	*++SP[1],B21:B20
+	LDDW	.D1T1	*++A15[1],A23:A22
+ ||	LDDW	.D2T2	*++SP[1],B23:B22
+	LDDW	.D1T1	*++A15[1],A25:A24
+ ||	LDDW	.D2T2	*++SP[1],B25:B24
+	LDDW	.D1T1	*++A15[1],A27:A26
+ ||	LDDW	.D2T2	*++SP[1],B27:B26
+	LDDW	.D1T1	*++A15[1],A29:A28
+ ||	LDDW	.D2T2	*++SP[1],B29:B28
+	LDDW	.D1T1	*++A15[1],A31:A30
+ ||	LDDW	.D2T2	*++SP[1],B31:B30
+
+	LDDW	.D1T1	*++A15[1],A1:A0
+ ||	LDDW	.D2T2	*++SP[1],B1:B0
+	LDDW	.D1T1	*++A15[1],A3:A2
+ ||	LDDW	.D2T2	*++SP[1],B3:B2
+ ||	MVC	.S2	B9,ITSR
+	LDDW	.D1T1	*++A15[1],A5:A4
+ ||	LDDW	.D2T2	*++SP[1],B5:B4
+ ||	MVC	.S2	B11,RILC
+	LDDW	.D1T1	*++A15[1],A7:A6
+ ||	LDDW	.D2T2	*++SP[1],B7:B6
+ ||	MVC	.S2	B10,ILC
+	LDDW	.D1T1	*++A15[1],A9:A8
+ ||	LDDW	.D2T2	*++SP[1],B9:B8
+ ||	MVC	.S2	B13,IRP
+
+	LDDW	.D1T1	*++A15[1],A11:A10
+ ||	LDDW	.D2T2	*++SP[1],B11:B10
+ ||	MVC	.S2	B12,CSR
+	LDDW	.D1T1	*++A15[1],A13:A12
+ ||	LDDW	.D2T2	*++SP[1],B13:B12
+
+	MV	.D2X	A15,SP
+ 	LDDW	.D2T1	*++SP[1],A15:A14
+	B	.S2	IRP							; return from interruption
+	LDDW	.D2T2	*+SP[1],SP:DP
+	NOP		4
+
+rt_preempt_context_restore:
+	ZERO	A12
+	STW	A12,*A3								; clear rt_thread_switch_interrupt_flag
+
+    MVKL	rt_interrupt_from_thread,A11
+    MVKH	rt_interrupt_from_thread,A11
+    LDW		*A11,A10
+    NOP
+    MVKL	rt_interrupt_to_thread,B10
+    MVKH	rt_interrupt_to_thread,B10
+    LDW		*B10,B11
+    NOP		3
+    STW		SP,*A10	    					; store sp in preempted tasks's TCB
+	MV		B11,A4							;
+	B		rt_hw_context_switch_to
+	NOP		5
+;}
+
+	.end
+
--- a/libcpu/ti-dsp/c6x/cpuport.c
+++ b/libcpu/ti-dsp/c6x/cpuport.c
@ -0,0 +1,225 @@
+/*
+ * 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 <rthw.h>
+#include <rtthread.h>
+
+#include "trap.h"
+
+/*------------ rt_hw_cpu_shutdown() function ----------------------------------
+ * DESCRIPTION: Shutdown CPU
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+RT_WEAK void rt_hw_cpu_shutdown(void)
+{
+    rt_kprintf("shutdown...\n");
+
+    rt_hw_interrupt_disable();
+
+    RT_ASSERT(0);
+}
+//-----------------------------------------------------------------------------
+
+/*------------ nested_exception_handler() function ---------------------------
+ * DESCRIPTION: Function handles Nested Exception
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+
+void nested_exception_handler(void)
+{
+	for ( ; ; );
+}
+//-----------------------------------------------------------------------------
+
+
+/*------------ hw_nmi_handler() function --------------------------------------
+ * DESCRIPTION: Function handles NMI interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_nmi_handler(struct rt_hw_exp_stack_register *regs)
+{
+	for ( ; ; );
+}
+//-----------------------------------------------------------------------------
+
+
+/*------------ hw_bad_handler() function --------------------------------------
+ * DESCRIPTION: Function handles Bad interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_bad_handler(void)
+{
+	for ( ; ; );
+}
+//-----------------------------------------------------------------------------
+
+
+/*------------ hw_int4_handler() function -------------------------------------
+ * DESCRIPTION: Function handles INT4 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int4_handler(void)
+{
+
+}
+//-----------------------------------------------------------------------------
+
+
+/*------------ hw_int5_handler() function -------------------------------------
+ * DESCRIPTION: Function handles INT5 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int5_handler(void)
+{
+
+}
+//-----------------------------------------------------------------------------
+
+
+/*------------ hw_int6_handler() function -------------------------------------
+ * DESCRIPTION: Function handles INT6 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int6_handler(void)
+{
+
+}
+//-----------------------------------------------------------------------------
+
+
+/*------------ hw_int7_handler() function -------------------------------------
+ * DESCRIPTION: Function handles INT7 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int7_handler(void)
+{
+
+}
+//-----------------------------------------------------------------------------
+
+
+/*------------ hw_int8_handler() function -------------------------------------
+ * DESCRIPTION: Function handles INT8 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int8_handler(void)
+{
+
+}
+//-----------------------------------------------------------------------------
+
+
+/*------------ hw_int9_handler() function -------------------------------------
+ * DESCRIPTION: Function handles INT9 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int9_handler(void)
+{
+
+}
+//-----------------------------------------------------------------------------
+
+
+/*------------ hw_int10_handler() function ------------------------------------
+ * DESCRIPTION: Function handles INT10 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int10_handler(void)
+{
+
+}
+//-----------------------------------------------------------------------------
+
+
+/*------------ hw_int11_handler() function ------------------------------------
+ * DESCRIPTION: Function handles INT11 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int11_handler(void)
+{
+
+}
+//-----------------------------------------------------------------------------
+
+
+/*------------ hw_int12_handler() function ------------------------------------
+ * DESCRIPTION: Function handles INT12 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int12_handler(void)
+{
+}
+//-----------------------------------------------------------------------------
+
+
+/*------------ hw_int13_handler() function ------------------------------------
+ * DESCRIPTION: Function handles INT13 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int13_handler(void)
+{
+
+}
+//-----------------------------------------------------------------------------
+
+
+/*------------------ hw_int14_handler() function ------------------------------
+ * DESCRIPTION: Function handles INT14 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE:
+-----------------------------------------------------------------------------*/
+void hw_int14_handler(void)
+{
+extern void rt_hw_systick_isr();
+	rt_hw_systick_isr();
+}
+//-----------------------------------------------------------------------------
+
+
+/*------------ hw_int15_handler() function ------------------------------------
+ * DESCRIPTION: Function handles INT15 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int15_handler(void)
+{
+
+}
+
--- a/libcpu/ti-dsp/c6x/inct.asm
+++ b/libcpu/ti-dsp/c6x/inct.asm
@ -0,0 +1,374 @@
+;
+; 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
+;
+
+;-----------------------------------------------------------
+; interrupt handler for C6678 DSP
+;-----------------------------------------------------------
+
+;-----------------------------------------------------------
+; 						macro definition
+;-----------------------------------------------------------
+DP	.set	B14
+SP	.set	B15
+;
+;-----------------------------------------------------------
+;
+
+;-----------------------------------------------------------
+; 						global function
+;-----------------------------------------------------------
+    .global _nmi_handler
+    .global _bad_handler
+    .global _int4_handler
+    .global _int5_handler
+    .global _int6_handler
+    .global _int7_handler
+    .global _int8_handler
+    .global _int9_handler
+    .global _int10_handler
+    .global _int11_handler
+    .global _int12_handler
+    .global _int13_handler
+    .global _int14_handler
+    .global _int15_handler
+;
+;-----------------------------------------------------------
+;
+
+;-----------------------------------------------------------
+; 						extern function
+;-----------------------------------------------------------
+	.ref hw_nmi_handler
+	.ref hw_bad_handler
+	.ref hw_int4_handler
+	.ref hw_int5_handler
+	.ref hw_int6_handler
+	.ref hw_int7_handler
+	.ref hw_int8_handler
+	.ref hw_int9_handler
+	.ref hw_int10_handler
+	.ref hw_int11_handler
+	.ref hw_int12_handler
+	.ref hw_int13_handler
+	.ref hw_int14_handler
+	.ref hw_int15_handler
+	.ref rt_hw_process_exception
+	.ref rt_interrupt_context_restore
+;
+;-----------------------------------------------------------
+;
+
+;
+;-----------------------------------------------------------
+;
+
+;-----------------------------------------------------------
+; 						macro definition
+;-----------------------------------------------------------
+SAVE_ALL	.macro  __rp, __tsr
+	STDW	.D2T2	SP:DP,*--SP[1]
+	SUBAW	.D2	SP,2,SP
+	ADD	.D1X	SP,-8,A15
+ ||	STDW	.D2T1	A15:A14,*SP--[16]	; save A15:A14
+
+	STDW	.D2T2	B13:B12,*SP--[1]
+ ||	STDW	.D1T1	A13:A12,*A15--[1]
+ ||	MVC	.S2	__rp,B13
+
+	STDW	.D2T2	B11:B10,*SP--[1]
+ ||	STDW	.D1T1	A11:A10,*A15--[1]
+ ||	MVC	.S2	CSR,B12
+
+	STDW	.D2T2	B9:B8,*SP--[1]
+ ||	STDW	.D1T1	A9:A8,*A15--[1]
+ ||	MVC	.S2	RILC,B11
+	STDW	.D2T2	B7:B6,*SP--[1]
+ ||	STDW	.D1T1	A7:A6,*A15--[1]
+ ||	MVC	.S2	ILC,B10
+
+	STDW	.D2T2	B5:B4,*SP--[1]
+ ||	STDW	.D1T1	A5:A4,*A15--[1]
+
+	STDW	.D2T2	B3:B2,*SP--[1]
+ ||	STDW	.D1T1	A3:A2,*A15--[1]
+ ||	MVC	.S2	__tsr,B5
+
+	STDW	.D2T2	B1:B0,*SP--[1]
+ ||	STDW	.D1T1	A1:A0,*A15--[1]
+ ||	MV	.S1X	B5,A5
+
+	STDW	.D2T2	B31:B30,*SP--[1]
+ ||	STDW	.D1T1	A31:A30,*A15--[1]
+ || MVKL	1,A4
+
+	STDW	.D2T2	B29:B28,*SP--[1]
+ ||	STDW	.D1T1	A29:A28,*A15--[1]
+	STDW	.D2T2	B27:B26,*SP--[1]
+ ||	STDW	.D1T1	A27:A26,*A15--[1]
+	STDW	.D2T2	B25:B24,*SP--[1]
+ ||	STDW	.D1T1	A25:A24,*A15--[1]
+	STDW	.D2T2	B23:B22,*SP--[1]
+ ||	STDW	.D1T1	A23:A22,*A15--[1]
+	STDW	.D2T2	B21:B20,*SP--[1]
+ ||	STDW	.D1T1	A21:A20,*A15--[1]
+	STDW	.D2T2	B19:B18,*SP--[1]
+ ||	STDW	.D1T1	A19:A18,*A15--[1]
+	STDW	.D2T2	B17:B16,*SP--[1]
+ ||	STDW	.D1T1	A17:A16,*A15--[1]
+
+	STDW	.D2T2	B13:B12,*SP--[1]	; save PC and CSR
+
+	STDW	.D2T2	B11:B10,*SP--[1]	; save RILC and ILC
+	STDW	.D2T1	A5:A4,*SP--[1]		; save TSR and orig A4
+			.endm
+
+RESTORE_ALL	.macro  __rp, __tsr
+	LDDW	.D2T2	*++SP[1],B9:B8		; get TSR (B9)
+	LDDW	.D2T2	*++SP[1],B11:B10	; get RILC (B11) and ILC (B10)
+	LDDW	.D2T2	*++SP[1],B13:B12	; get PC (B13) and CSR (B12)
+
+	ADDAW	.D1X	SP,30,A15
+
+	LDDW	.D1T1	*++A15[1],A17:A16
+ ||	LDDW	.D2T2	*++SP[1],B17:B16
+	LDDW	.D1T1	*++A15[1],A19:A18
+ ||	LDDW	.D2T2	*++SP[1],B19:B18
+	LDDW	.D1T1	*++A15[1],A21:A20
+ ||	LDDW	.D2T2	*++SP[1],B21:B20
+	LDDW	.D1T1	*++A15[1],A23:A22
+ ||	LDDW	.D2T2	*++SP[1],B23:B22
+	LDDW	.D1T1	*++A15[1],A25:A24
+ ||	LDDW	.D2T2	*++SP[1],B25:B24
+	LDDW	.D1T1	*++A15[1],A27:A26
+ ||	LDDW	.D2T2	*++SP[1],B27:B26
+	LDDW	.D1T1	*++A15[1],A29:A28
+ ||	LDDW	.D2T2	*++SP[1],B29:B28
+	LDDW	.D1T1	*++A15[1],A31:A30
+ ||	LDDW	.D2T2	*++SP[1],B31:B30
+
+	LDDW	.D1T1	*++A15[1],A1:A0
+ ||	LDDW	.D2T2	*++SP[1],B1:B0
+	LDDW	.D1T1	*++A15[1],A3:A2
+ ||	LDDW	.D2T2	*++SP[1],B3:B2
+ ||	MVC	.S2	B9,__tsr
+	LDDW	.D1T1	*++A15[1],A5:A4
+ ||	LDDW	.D2T2	*++SP[1],B5:B4
+ ||	MVC	.S2	B11,RILC
+	LDDW	.D1T1	*++A15[1],A7:A6
+ ||	LDDW	.D2T2	*++SP[1],B7:B6
+ ||	MVC	.S2	B10,ILC
+	LDDW	.D1T1	*++A15[1],A9:A8
+ ||	LDDW	.D2T2	*++SP[1],B9:B8
+ ||	MVC	.S2	B13,__rp
+
+	LDDW	.D1T1	*++A15[1],A11:A10
+ ||	LDDW	.D2T2	*++SP[1],B11:B10
+ ||	MVC	.S2	B12,CSR
+	LDDW	.D1T1	*++A15[1],A13:A12
+ ||	LDDW	.D2T2	*++SP[1],B13:B12
+
+	MV	.D2X	A15,SP
+ 	LDDW	.D2T1	*++SP[1],A15:A14
+	B	.S2	__rp		; return from interruption
+	LDDW	.D2T2	*+SP[1],SP:DP
+	NOP		4
+			.endm
+;-----------------------------------------------------------
+; 				interrupt macro definition
+;-----------------------------------------------------------
+RT_INTERRUPT_ENTRY	.macro
+	SAVE_ALL	IRP,ITSR
+					.endm
+
+RT_CALL_INT .macro __isr
+	CALLP	__isr,B3
+	B	.S1	rt_interrupt_context_restore
+	NOP    	5
+					.endm
+;-----------------------------------------------------------
+; 				execption macro definition
+;-----------------------------------------------------------
+RT_EXECPTION_ENTRY	.macro
+	SAVE_ALL NRP,NTSR
+					.endm
+
+RT_EXECPTION_EXIT	.macro
+	RESTORE_ALL NRP,NTSR
+					.endm
+
+;
+;-----------------------------------------------------------
+;
+
+    .sect   ".text"
+;
+;-----------------------------------------------------------
+;
+
+;-----------------------------------------------------------
+; handler NMI interrupt
+;-----------------------------------------------------------
+_nmi_handler:
+;{
+	RT_EXECPTION_ENTRY
+	MVC	.S2	EFR,B2
+	CMPEQ	.L2	1,B2,B2
+ ||	MVC	.S2	TSR,B1
+	MV	.D1X	B2,A2
+ ||	CLR	.S2	B1,10,10,B1
+	MVC	.S2	B1,TSR
+ [!A2]	MVKL	.S1	rt_hw_process_exception,A0
+ ||[B2]	MVKL	.S2	rt_hw_software_exception,B1
+ [!A2]	MVKH	.S1	rt_hw_process_exception,A0
+ ||[B2]	MVKH	.S2	rt_hw_software_exception,B1
+ [!B2]	B	.S2X	A0
+ [B2]	B	.S2	B1
+ [!B2]	ADDAW	.D2	SP,2,B1
+ [!B2]	MV	.D1X	B1,A4
+	ADDKPC	.S2	ret_from_trap,B3,2
+;
+; return from trap
+;
+ret_from_trap:
+	MV	.D2X	A4,B0
+ [!B0]	MVKL	.S2	ret_from_exception,B3
+ [!B0]	MVKH	.S2	ret_from_exception,B3
+ [!B0]	BNOP	.S2	B3,5
+;
+; return from trap£¬restore exception context
+;
+ret_from_exception:
+	RT_EXECPTION_EXIT
+;
+rt_hw_software_exception:
+	MVKL	.S1	rt_hw_process_exception,A0
+	MVKH	.S1	rt_hw_process_exception,A0
+	B	.S2X	A0
+	ADDAW	.D2	SP,2,B1
+	MV	.D1X	B1,A4
+	ADDKPC	.S2	ret_from_trap,B3,2
+	NOP	2
+;}
+
+;-----------------------------------------------------------
+; handler bad interrupt
+;-----------------------------------------------------------
+_bad_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_bad_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT4 interrupt
+;-----------------------------------------------------------
+_int4_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int4_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT5 interrupt
+;-----------------------------------------------------------
+_int5_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int5_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT6 interrupt
+;-----------------------------------------------------------
+_int6_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int6_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT7 interrupt
+;-----------------------------------------------------------
+_int7_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int7_handler
+;}
+;-----------------------------------------------------------
+; handler INT8 interrupt
+;-----------------------------------------------------------
+_int8_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int8_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT9 interrupt
+;-----------------------------------------------------------
+_int9_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int9_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT10 interrupt
+;-----------------------------------------------------------
+_int10_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int10_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT11 interrupt
+;-----------------------------------------------------------
+_int11_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int11_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT12 interrupt
+;-----------------------------------------------------------
+_int12_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int12_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT13 interrupt
+;-----------------------------------------------------------
+_int13_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int13_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT14 interrupt
+;-----------------------------------------------------------
+_int14_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int14_handler
+;}
+;-----------------------------------------------------------
+; handler INT15 interrupt
+;-----------------------------------------------------------
+_int15_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int15_handler
+;}
+	.end
--- a/libcpu/ti-dsp/c6x/interrupt.c
+++ b/libcpu/ti-dsp/c6x/interrupt.c
@ -0,0 +1,90 @@
+/*
+ * 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 "c66xx.h"
+#include "interrupt.h"
+
+#define MAX_HANDLERS 128
+
+extern volatile rt_uint8_t rt_interrupt_nest;
+struct rt_irq_desc isr_table[MAX_HANDLERS];
+rt_uint32_t rt_interrupt_from_thread;
+rt_uint32_t rt_interrupt_to_thread;
+rt_uint32_t rt_thread_switch_interrupt_flag;
+
+/**
+ * This function will initialize hardware interrupt
+ */
+void rt_hw_interrupt_init(void)
+{
+    /* init exceptions table */
+    rt_memset(isr_table, 0x00, sizeof(isr_table));
+
+    /* init interrupt nest, and context in thread sp */
+    rt_interrupt_nest = 0;
+    rt_interrupt_from_thread = 0;
+    rt_interrupt_to_thread = 0;
+    rt_thread_switch_interrupt_flag = 0;
+}
+
+/**
+ * This function will mask a interrupt.
+ * @param vector the interrupt number
+ */
+void rt_hw_interrupt_mask(int vector)
+{
+    if (vector < 0 || vector >= MAX_HANDLERS)
+        return;
+}
+
+/**
+ * This function will un-mask a interrupt.
+ * @param vector the interrupt number
+ */
+void rt_hw_interrupt_umask(int vector)
+{
+    if (vector < 0 || vector >= MAX_HANDLERS)
+        return;
+}
+
+/**
+ * This function will install a interrupt service routine to a interrupt.
+ * @param vector the interrupt number
+ * @param new_handler the interrupt service routine to be installed
+ * @param old_handler the old interrupt service routine
+ */
+rt_isr_handler_t rt_hw_interrupt_install(int vector, rt_isr_handler_t handler,
+        void *param, const char *name)
+{
+    rt_isr_handler_t old_handler = RT_NULL;
+
+    if (vector < MAX_HANDLERS || vector >= 0)
+    {
+        old_handler = isr_table[vector].handler;
+
+        if (handler != RT_NULL)
+        {
+#ifdef RT_USING_INTERRUPT_INFO
+            rt_strncpy(isr_table[vector].name, name, RT_NAME_MAX);
+#endif /* RT_USING_INTERRUPT_INFO */
+            isr_table[vector].handler = handler;
+            isr_table[vector].param = param;
+        }
+    }
+
+    return old_handler;
+}
+
+void rt_hw_interrupt_clear(int vector)
+{
+    if (vector < 0 || vector >= MAX_HANDLERS)
+        return;
+}
--- a/libcpu/ti-dsp/c6x/interrupt.h
+++ b/libcpu/ti-dsp/c6x/interrupt.h
@ -0,0 +1,24 @@
+/*
+ * 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
+ */
+
+#ifndef __INTERRUPT_H__
+#define __INTERRUPT_H__
+
+#include <rthw.h>
+#include <rtthread.h>
+
+void rt_hw_interrupt_init(void);
+void rt_hw_interrupt_mask(int vector);
+void rt_hw_interrupt_umask(int vector);
+void rt_hw_interrupt_clear(int vector);
+rt_isr_handler_t rt_hw_interrupt_install(int vector, rt_isr_handler_t handler,
+        void *param, const char *name);
+
+#endif /* __INTERRUPT_H__ */
--- a/libcpu/ti-dsp/c6x/stack.asm
+++ b/libcpu/ti-dsp/c6x/stack.asm
@ -0,0 +1,103 @@
+;
+; 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
+;
+
+;-----------------------------------------------------------
+; build system stack for C6678 DSP
+;-----------------------------------------------------------
+
+;-----------------------------------------------------------
+; 						macro definition
+;-----------------------------------------------------------
+ADDRESS_MSK .set    0xFFFFFFF0
+
+;
+;-----------------------------------------------------------
+;
+
+    .sect   ".text"
+;
+; rt_uint8_t *rt_hw_stack_init(void *tentry, void *parameter, rt_uint8_t *stack_addr, void *texit)
+; tentry  --> A4
+; parameter --> B4
+; stack_addr --> A6
+; texit  --> B6
+;{
+    .global rt_hw_stack_init
+rt_hw_stack_init:
+		SUB         A6,1,B1			;
+        MVKL        ADDRESS_MSK,A1	;
+        MVKH        ADDRESS_MSK,A1	; Build address mask
+        MVC         CSR,B0			;
+        AND         -2,B0,B0		; Clear GIE bit
+        OR          2,B0,B0			; Set PGIE bit for interrupt return
+        AND         A1,B1,B1		; Ensure alignment
+;
+; Actually build the stack frame.
+;
+		MV	B1,A3
+		MV	B14,A2
+		STDW	A3:A2,*--B1[1]		; Initial B15:B14
+		SUBAW	.D2	B1,2,B1
+		ZERO	A2
+		ZERO	A3              	; Clear value
+		STDW	A3:A2,*B1--[1]		; Initial A15:A14
+		STDW	A3:A2,*B1--[1]		; Initial A13:A12
+		STDW	A3:A2,*B1--[1]		; Initial A11:A10
+		STDW	A3:A2,*B1--[1]		; Initial A9:A8
+		STDW	A3:A2,*B1--[1]		; Initial A7:A6
+		MV	B4,A2
+		STDW	A3:A2,*B1--[1]		; Initial A5:A4
+		ZERO	A2
+		STDW	A3:A2,*B1--[1]		; Initial A3:A2
+		STDW	A3:A2,*B1--[1]		; Initial A1:A0
+
+		STDW	A3:A2,*B1--[1]		; Initial A31:A30
+		STDW	A3:A2,*B1--[1]		; Initial A29:A28
+		STDW	A3:A2,*B1--[1]		; Initial A27:A26
+		STDW	A3:A2,*B1--[1]		; Initial A25:A24
+		STDW	A3:A2,*B1--[1]		; Initial A23:A22
+		STDW	A3:A2,*B1--[1]		; Initial A21:A20
+		STDW	A3:A2,*B1--[1]		; Initial A19:A18
+		STDW	A3:A2,*B1--[1]		; Initial A17:A16
+
+		STDW	A3:A2,*B1--[1]		; Initial B13:B12
+		STDW	A3:A2,*B1--[1]		; Initial B11:B10
+		STDW	A3:A2,*B1--[1]		; Initial B9:B8
+		STDW	A3:A2,*B1--[1]		; Initial B7:B6
+		STDW	A3:A2,*B1--[1]		; Initial B5:B4
+		MV	B6,A3
+		STDW	A3:A2,*B1--[1]		; Initial B3:B2
+		ZERO	A3
+		STDW	A3:A2,*B1--[1]		; Initial B1:B0
+
+		STDW	A3:A2,*B1--[1]		; Initial B31:B30
+		STDW	A3:A2,*B1--[1]		; Initial B29:B28
+		STDW	A3:A2,*B1--[1]		; Initial B27:B26
+		STDW	A3:A2,*B1--[1]		; Initial B25:B24
+		STDW	A3:A2,*B1--[1]		; Initial B23:B22
+		STDW	A3:A2,*B1--[1]		; Initial B21:B20
+		STDW	A3:A2,*B1--[1]		; Initial B19:B18
+		STDW	A3:A2,*B1--[1]		; Initial B17:B16
+
+        MV	A4,A3
+        MV	B0,A2
+        STDW	A3:A2,*B1--[1]		; Initial PC:CSR
+
+		ZERO	A2
+		ZERO	A3
+		STDW	A3:A2,*B1--[1]		; Initial ILC:RILC
+        B	B3
+        MVKL	0x3,B0
+      	MV	B0,A3
+        MVKL	1,A2
+        STDW	A3:A2,*B1--[1]		; Initial TSR:stack type
+        MV	B1,A4					; Save to TCB
+;}
+	.end
--- a/libcpu/ti-dsp/c6x/trap.c
+++ b/libcpu/ti-dsp/c6x/trap.c
@ -0,0 +1,352 @@
+/*
+ * 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 <rtthread.h>
+
+void rt_trap_init(void)
+{
+	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;
+
+	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 except_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_except(struct rt_hw_exp_stack_register *regs)
+{
+	int except_num;
+	int bank = 0;
+	int i;
+
+	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(&except_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;
+	int type_num;
+	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_except(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;
+}
+
--- a/libcpu/ti-dsp/c6x/trap.h
+++ b/libcpu/ti-dsp/c6x/trap.h
@ -0,0 +1,76 @@
+/*
+ * 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
+ */
+
+#ifndef __TRAP_H__
+#define __TRAP_H__
+
+#include "c66xx.h"
+
+/*
+ * exception operation macro
+ */
+#define disable_exception()
+#define get_except_type()       EFR
+#define ack_exception(type)     ECR = 1ul << (type)
+#define get_iexcept()           IERR
+#define set_iexcept(mask)       IERR = (mask)
+
+/*
+ * exception types
+ */
+#define EXCEPT_TYPE_NXF   31       /* NMI */
+#define EXCEPT_TYPE_EXC   30       /* external exception */
+#define EXCEPT_TYPE_IXF   1        /* internal exception */
+#define EXCEPT_TYPE_SXF   0        /* software exception */
+
+#define EXCEPT_CAUSE_LBX  (1 << 7) /* loop buffer exception */
+#define EXCEPT_CAUSE_PRX  (1 << 6) /* privilege exception */
+#define EXCEPT_CAUSE_RAX  (1 << 5) /* resource access exception */
+#define EXCEPT_CAUSE_RCX  (1 << 4) /* resource conflict exception */
+#define EXCEPT_CAUSE_OPX  (1 << 3) /* opcode exception */
+#define EXCEPT_CAUSE_EPX  (1 << 2) /* execute packet exception */
+#define EXCEPT_CAUSE_FPX  (1 << 1) /* fetch packet exception */
+#define EXCEPT_CAUSE_IFX  (1 << 0) /* instruction fetch exception */
+
+enum SYSTEM_TRAP_CODE
+{
+	ABORT_BUS_ADDRERR = 0,	// bus address error
+	ABORT_BUS_ACCERR,		// bus access permission error
+	ABORT_OPCODE_ILL,		// illegal opcode
+	ABORT_PRVREG_ILL,		// privilege register
+	ABORT_PRVOPC_ILL,		// privileged opcode
+	ABORT_ILLTRP_ILL,		// illegal trap
+	ABORT_BRKPT_ILL,		// handling breakpoints
+};
+
+/*
+ * abort types
+ */
+#define	ABORT_TYPE_BUS		0			// bus access abnormal
+#define ABORT_TYPE_MAP		1			// page table mapping error
+#define	ABORT_TYPE_UNDDEF	0xff		// undefined exception
+#define ABORT_TYPE_FATAL	0xffffffff	// fatal error
+
+struct rt_exception_info {
+	char *kernel_str;
+	int  type;
+	int  code;
+};
+
+#define BKPT_OPCODE		0x56454314       /* illegal opcode */
+#define INTC_MEXPMASK	__SYSREGA(0x018000e0, unsigned int)
+
+#define __ffs(a)   (_lmbd(1, _bitr(a)))
+#define fls(a)     (!(a) ? 0 : (32 - _lmbd(1, (a))))
+
+void rt_trap_init(void);
+
+#endif /* __TRAP_H__ */
+
--- a/libcpu/ti-dsp/c6x/vector.asm
+++ b/libcpu/ti-dsp/c6x/vector.asm
@ -0,0 +1,95 @@
+;
+; 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
+;
+
+;-----------------------------------------------------------
+; interrupt vector table for C6678 DSP
+;-----------------------------------------------------------
+
+;-----------------------------------------------------------
+; 						extern function
+;-----------------------------------------------------------
+	.ref _c_int00		; entry point
+    .ref _nmi_handler
+    .ref _bad_handler
+    .ref _int4_handler
+    .ref _int5_handler
+    .ref _int6_handler
+    .ref _int7_handler
+    .ref _int8_handler
+    .ref _int9_handler
+    .ref _int10_handler
+    .ref _int11_handler
+    .ref _int12_handler
+    .ref _int13_handler
+    .ref _int14_handler
+    .ref _int15_handler
+
+;-----------------------------------------------------------
+; 						macro definition
+;-----------------------------------------------------------
+
+;
+; create interrupt vector for reset (interrupt 0)
+;
+VEC_RESET .macro addr
+	MVKL  addr,B0
+	MVKH  addr,B0
+	B     B0
+	MVC   PCE1,B0
+	NOP   4
+	.align 32
+	.endm
+
+;
+; create interrupt vector for other used interrupts
+;
+IRQVEC	.macro  __name, __isr
+	.align 32
+	.hidden __name
+	.global __name
+__name:
+	B	.S2	__isr
+	NOP
+	NOP
+	NOP
+	NOP
+	NOP
+	NOP
+	NOP
+		.endm
+;
+;-----------------------------------------------------------
+;
+
+;
+; vector table
+;
+	.sect ".vecs"
+	.align 32
+	.global vector
+vector:
+	VEC_RESET	  _c_int00
+	IRQVEC NMI,   _nmi_handler
+	IRQVEC AINT,  _bad_handler
+	IRQVEC MSGINT,_bad_handler
+	IRQVEC INT4,  _int4_handler
+	IRQVEC INT5,  _int5_handler
+	IRQVEC INT6,  _int6_handler
+	IRQVEC INT7,  _int7_handler
+	IRQVEC INT8,  _int8_handler
+	IRQVEC INT9,  _int9_handler
+	IRQVEC INT10, _int10_handler
+	IRQVEC INT11, _int11_handler
+	IRQVEC INT12, _int12_handler
+	IRQVEC INT13, _int13_handler
+	IRQVEC INT14, _int14_handler
+	IRQVEC INT15, _int15_handler
+
+	.end