Merge pull request #2573 from xuzhuoyi/tms320f28379d

[bsp][tms320f28379d] Improve finsh support and update README.md
2019-04-14 15:39:37 +08:00 · 2019-04-14 15:39:37 +08:00 · 41aabf3736
commit 41aabf3736
parent 54316fa060 5a00718e32
18 changed files with 192 additions and 50 deletions
--- a/bsp/tms320f28379d/.config
+++ b/bsp/tms320f28379d/.config
@ -84,29 +84,30 @@ CONFIG_RT_USING_COMPONENTS_INIT=y
 #
 # Command shell
 #
-# CONFIG_RT_USING_FINSH is not set
+CONFIG_RT_USING_FINSH=y
+CONFIG_FINSH_THREAD_NAME="tshell"
+CONFIG_FINSH_USING_HISTORY=y
+CONFIG_FINSH_HISTORY_LINES=5
+# CONFIG_FINSH_USING_SYMTAB is not set
+# CONFIG_FINSH_USING_DESCRIPTION is not set
+# CONFIG_FINSH_ECHO_DISABLE_DEFAULT is not set
+CONFIG_FINSH_THREAD_PRIORITY=6
+CONFIG_FINSH_THREAD_STACK_SIZE=4096
+CONFIG_FINSH_CMD_SIZE=80
+# CONFIG_FINSH_USING_AUTH is not set
+# CONFIG_FINSH_USING_MSH is not set

 #
 # Device virtual file system
 #
-CONFIG_RT_USING_DFS=y
-CONFIG_DFS_USING_WORKDIR=y
-CONFIG_DFS_FILESYSTEMS_MAX=2
-CONFIG_DFS_FILESYSTEM_TYPES_MAX=2
-CONFIG_DFS_FD_MAX=16
-# CONFIG_RT_USING_DFS_MNTTABLE is not set
-# CONFIG_RT_USING_DFS_ELMFAT is not set
-CONFIG_RT_USING_DFS_DEVFS=y
-# CONFIG_RT_USING_DFS_ROMFS is not set
-# CONFIG_RT_USING_DFS_RAMFS is not set
-# CONFIG_RT_USING_DFS_UFFS is not set
-# CONFIG_RT_USING_DFS_JFFS2 is not set
+# CONFIG_RT_USING_DFS is not set

 #
 # Device Drivers
 #
 CONFIG_RT_USING_DEVICE_IPC=y
 CONFIG_RT_PIPE_BUFSZ=512
+# CONFIG_RT_USING_SYSTEM_WORKQUEUE is not set
 CONFIG_RT_USING_SERIAL=y
 CONFIG_RT_SERIAL_USING_DMA=y
 CONFIG_RT_SERIAL_RB_BUFSZ=64
--- a/bsp/tms320f28379d/.cproject
+++ b/bsp/tms320f28379d/.cproject
@ -32,12 +32,13 @@
 								<option id="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.LARGE_MEMORY_MODEL.2001892821" name="Option deprecated, set by default (--large_memory_model, -ml)" superClass="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.LARGE_MEMORY_MODEL" value="true" valueType="boolean"/>
 								<option id="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.UNIFIED_MEMORY.1224119119" name="Unified memory (--unified_memory, -mt)" superClass="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.UNIFIED_MEMORY" value="true" valueType="boolean"/>
 								<option id="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.SILICON_VERSION.1107602335" name="Processor version (--silicon_version, -v)" superClass="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.SILICON_VERSION" value="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.SILICON_VERSION.28" valueType="enumerated"/>
-								<option id="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.FLOAT_SUPPORT.1330432923" name="Specify floating point support (--float_support)" superClass="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.FLOAT_SUPPORT" value="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.FLOAT_SUPPORT.fpu32" valueType="enumerated"/>
+								<option id="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.FLOAT_SUPPORT.1330432923" name="Specify floating point support (--float_support)" superClass="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.FLOAT_SUPPORT" value="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.FLOAT_SUPPORT.softlib" valueType="enumerated"/>
 								<option id="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.CLA_SUPPORT.1090597518" name="Specify CLA support (--cla_support)" superClass="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.CLA_SUPPORT" value="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.CLA_SUPPORT.cla1" valueType="enumerated"/>
 								<option id="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.VCU_SUPPORT.1640791193" name="Specify VCU support (--vcu_support)" superClass="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.VCU_SUPPORT" value="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.VCU_SUPPORT.vcu2" valueType="enumerated"/>
 								<option id="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.TMU_SUPPORT.1184307973" name="Specify TMU support (--tmu_support)" superClass="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.TMU_SUPPORT" value="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.TMU_SUPPORT.tmu0" valueType="enumerated"/>
 								<option id="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.INCLUDE_PATH.559432837" name="Add dir to #include search path (--include_path, -I)" superClass="com.ti.ccstudio.buildDefinitions.C2000_18.1.compilerID.INCLUDE_PATH" valueType="includePath">
 									<listOptionValue builtIn="false" value="${PROJECT_ROOT}"/>
+									<listOptionValue builtIn="false" value="${PROJECT_LOC}/../../components/finsh"/>
 									<listOptionValue builtIn="false" value="${PROJECT_LOC}/../../components/drivers/include"/>
 									<listOptionValue builtIn="false" value="${PROJECT_LOC}/libraries/headers/include"/>
 									<listOptionValue builtIn="false" value="${PROJECT_LOC}/libraries/common/include"/>
@ -83,7 +84,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="libraries/common/source/F2837xD_SWPrioritizedPieVect.c|libraries/headers/cmd/F2837xD_Headers_nonBIOS_cpu2.cmd|libraries/headers/cmd/F2837xD_Headers_BIOS_cpu1.cmd|libraries/headers/cmd/F2837xD_Headers_BIOS_cpu2.cmd|libraries/common/source/device.c|libraries/common/source/usb.c|libraries/common/source/usb_hal.c|libraries/common/targetConfigs|libraries/common/deprecated|libraries/common/cmd" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="finsh/msh.c|finsh/msh_file.c|finsh/msh_cmd.c|libraries/common/source/F2837xD_SWPrioritizedPieVect.c|libraries/headers/cmd/F2837xD_Headers_nonBIOS_cpu2.cmd|libraries/headers/cmd/F2837xD_Headers_BIOS_cpu1.cmd|libraries/headers/cmd/F2837xD_Headers_BIOS_cpu2.cmd|libraries/common/source/device.c|libraries/common/source/usb.c|libraries/common/source/usb_hal.c|libraries/common/targetConfigs|libraries/common/deprecated|libraries/common/cmd" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
--- a/bsp/tms320f28379d/.project
+++ b/bsp/tms320f28379d/.project
@ -40,6 +40,11 @@
 			<type>2</type>
 			<locationURI>PARENT-2-PROJECT_LOC/libcpu/ti-dsp/c28x</locationURI>
 		</link>
+		<link>
+			<name>finsh</name>
+			<type>2</type>
+			<locationURI>PARENT-2-PROJECT_LOC/components/finsh</locationURI>
+		</link>
 		<link>
 			<name>DeviceDrivers/serial.c</name>
 			<type>1</type>
--- a/bsp/tms320f28379d/.settings/org.eclipse.core.resources.prefs
+++ b/bsp/tms320f28379d/.settings/org.eclipse.core.resources.prefs
@ -11,6 +11,8 @@ encoding//Debug/c28x/subdir_rules.mk=UTF-8
 encoding//Debug/c28x/subdir_vars.mk=UTF-8
 encoding//Debug/drivers/subdir_rules.mk=UTF-8
 encoding//Debug/drivers/subdir_vars.mk=UTF-8
+encoding//Debug/finsh/subdir_rules.mk=UTF-8
+encoding//Debug/finsh/subdir_vars.mk=UTF-8
 encoding//Debug/libraries/common/source/subdir_rules.mk=UTF-8
 encoding//Debug/libraries/common/source/subdir_vars.mk=UTF-8
 encoding//Debug/libraries/headers/cmd/subdir_rules.mk=UTF-8
--- a/bsp/tms320f28379d/README.md
+++ b/bsp/tms320f28379d/README.md
@ -4,12 +4,16 @@
 ## 1. 简介

 TMS320F28379D BSP 基于 C2000 Delfino MCU F28379D LaunchPad 开发套件开发。   
-TMS320F28379D 是一款功能强大的 32 位浮点微控制器单元 (MCU)，针对高级闭环控制应用而设计，例如工业驱动器和伺服电机控制、太阳能逆变器和转换器、数字电源、电力输送以及电力线通信。包括如下硬件特性：
+TMS320F28379D 是一款功能强大的 32 位浮点微控制器单元 (MCU)，针对高级闭环控制应用而设计，例如工业驱动器和伺服电机控制、太阳能逆变器和转换器、数字电源、电力输送以及电力线通信。
+
+![launch-28379d](figures/launch-28379d.png)
+
+包括如下硬件特性：

 | 硬件 | 描述 |
 | -- | -- |
 |芯片型号| TMS320F28379D |
-|多核 CPU| 两个 TMS320C28x 32 位 CPU
+|多核 CPU| 两个 TMS320C28x 32 位 CPU |
 || 两个可编程控制律加速器 (CLA) |
 |主频| 200MHz |
 |CLA 频率| 200MHz |
@ -17,43 +21,88 @@ TMS320F28379D 是一款功能强大的 32 位浮点微控制器单元 (MCU)，
 |片内SRAM| 204kB |
 |片内Flash| 1MB |

-## 2. 编译说明
+F28379D LaunchPad 板载资源如下：
+* USB 调试和下载接口通过电气隔离的高速 XDS100v2 调试器实现，同时包含虚拟串口功能
+* TMS320F28379D CPU
+* 两个 LED
+* 设备复位按钮
+* 易于使用的引出引脚，用于调试或用作扩展板的接口
+* 双 5V 正交编码接口
+* 带集成收发器的 CAN 接口 
+* 拨码开关用于启动模式选择
+* 差分放大器向差分模式 ADC 提供 16 位模式的缓冲信号
+* 可选的 SMA 连接点
+* 四个 Sigma-Delta 解调器输入到 BP 接口

-编译使用 Code Composer Studio，在 Code Composer Studio 8.1.0 使用 TI v18.1.3.LTS 编译器已测试编译通过。
+## 2. 编译说明
+TMS320F28379D 程序的编译和下载要使用的是 TI 官方提供的 Code Composer Studio，TMS320F28379D 至少需要 CCS6.0 以上的版本才能正常编译调试。本 BSP 在 CCS7/CCS8 版本上测试通过，其他版本未做测试。可以在 TI 的官方站点上下载最新版本的 CCS。[CCS 官方下载站点][3]
+### 2.1 导入工程
+首先打开 Code Composer Studio，点击 Project -> Import CCS Projects...
+
+![import](figures/import.png)
+
+在打开的对话框中，点击 Select search -> directory 右边的 Browse... 选择 TMS320F28379D BSP 所在文件夹，如图所示。选择完成后点击 Finish 完成导入。
+
+![import_dia](figures/import_dia.png)
+
+### 2.2 编译工程
+使用 CCS 内置的 C 编译器可以进行工程的编译，本文使用的是 Code Composer Studio 8.1.0 和 TI v18.1.3.LTS 编译器的组合。
+
+导入工程后，在右边的 Project Explorer 列表里可以看到刚刚导入的 rt-thread 工程，右键点击，在弹出的菜单中选择 Build Project 即可开始编译。
+
+![build](figures/build.png)

 ## 3. 烧写及执行

-连接开发板电源后，使用 CCS 中的烧写功能可直接通过板载 XDS100v2 仿真器烧写并执行。在终端工具里打开相应的串口（115200-8-1-N），复位设备后，可以看到 RT-Thread 的输出信息:
+编译完成后，可以开始下载和调试。把开发板和电脑通过 Mini-USB 线连接，使用 CCS 中的烧写功能可直接通过板载 XDS100v2 仿真器烧写并执行。
+
+![debug_as](figures/debug_as.png)
+
+在右边的 Project Explorer 的列表中右键点击 rt-thread 工程，在弹出的菜单中选择 Debug As -> 1 Code Composer Debug Session。
+
+![launching](figures/launching.png)
+
+在弹出的 Launching Debug Session 对话框中可以选择要调试的 CPU 核和 CLA 核，这里我们只选择 C28xx_CPU1，点击 OK 开始下载和调试。
+
+下载完成后，CCS 将进入调试模式，可以选择继续运行、单步调试、复位等操作。
+
+退出 CCS 调试模式，在终端工具里打开相应的串口（115200-8-1-N），按下板子上的复位按钮执行复位操作后，可以看到 RT-Thread 的输出信息:
 ```bash
 \ | /
 - RT -     Thread Operating System
 / | \     4.0.1 build Feb 21 2019
 2006 - 2019 Copyright by rt-thread team
+finsh >
 ```

-## 4. 驱动支持情况及计划
+## 4. 注意事项
+
+* 由于当前还暂未编写 Scons 编译系统对 CCS 开发环境的支持，所以在使用 env 中的 menuconfig 进行配置后，如果添加了新的组件或软件包，需要手动在 CCS 中添加相应的 C 源文件和头文件。
+
+## 5. 驱动支持情况及计划

 | 驱动 | 支持情况  |  备注  |
 | ------ | ----  | :------:  |
 | CPU Timer | 支持 |  |
 | GPIO | 支持 | |
-| SCI | 支持 | SCIA |
-| ePWM | | 预计2019年3月支持 |
-| ADC | | 预计2019/Q2支持 |
+| SCI | 支持 | SCIA/B/C |
+| ePWM | | |
+| ADC | | |
 | DAC | | |
 | I2C | | |
 | SPI | | |
 | CAN | | |
 | eCAP | | |

-## 5. 联系人信息
+## 6. 联系人信息

 维护人：xuzhuoyi < xzy476386434@vip.qq.com >

-## 6. 参考
+## 7. 参考

 * [C2000 Delfino MCU F28379D LaunchPad 开发套件][1]
 * TMS320F28379D [相关技术文档][2]

  [1]: http://www.ti.com.cn/tool/cn/launchxl-f28379d
  [2]: http://www.ti.com.cn/product/cn/tms320f28379d/technicaldocuments
+  [3]: http://processors.wiki.ti.com/index.php/Download_CCS#Download_the_latest_CCS
--- a/bsp/tms320f28379d/applications/application.c
+++ b/bsp/tms320f28379d/applications/application.c
@ -12,11 +12,15 @@
 #include <board.h>
 #include <rtthread.h>

+#ifdef RT_USING_FINSH
+#include "shell.h"
+#endif
+
 void rt_init_thread_entry(void* parameter)
 {
-    /* initialization RT-Thread Components */
-    rt_components_init();
-	
+#ifdef RT_USING_FINSH
+    finsh_system_init();
+#endif
 }

 int rt_application_init()
--- a/bsp/tms320f28379d/drivers/board.c
+++ b/bsp/tms320f28379d/drivers/board.c
@ -13,15 +13,23 @@
 #include "drv_sci.h"
 #include "F28x_Project.h"

+extern rt_uint32_t rt_thread_switch_interrupt_flag;
+
 extern interrupt void RTOSINT_Handler();

+void trap_rtosint()
+{
+    if(rt_thread_switch_interrupt_flag)
+        asm(" trap #16");
+}
+
 /**
 * This is the timer interrupt service routine.
 *
 */
 interrupt void cpu_timer2_isr(void)
 {
-    CpuTimer2Regs.TCR.all = 0x8000;
+    CpuTimer2Regs.TCR.all = 0xC000;
    /* enter interrupt */
    rt_interrupt_enter();

@ -31,7 +39,7 @@ interrupt void cpu_timer2_isr(void)
 }

 /**
- * This function will initial STM32 board.
+ * This function will initial TMS320F28379D board.
 */
 void rt_hw_board_init()
 {
@ -68,4 +76,5 @@ void rt_hw_board_init()
 #ifdef RT_USING_CONSOLE
    rt_console_set_device(RT_CONSOLE_DEVICE_NAME);
 #endif
+    rt_interrupt_leave_sethook((void (*)(void))trap_rtosint);
 }
--- a/bsp/tms320f28379d/drivers/drv_sci.c
+++ b/bsp/tms320f28379d/drivers/drv_sci.c
@ -147,8 +147,25 @@ static int c28x_putc(struct rt_serial_device *serial, char c)
 static int c28x_getc(struct rt_serial_device *serial)
 {
    char ch;
-    SCI_read(0, &ch, 1);
+    if(SCI_read(0, &ch, 1))
        return ch;
+    else
+        return -1;
+}
+
+/**
+ * Uart common interrupt process. This need add to uart ISR.
+ *
+ * @param serial serial device
+ */
+static void uart_isr(struct rt_serial_device *serial) {
+    struct c28x_uart *uart = (struct c28x_uart *) serial->parent.user_data;
+
+    RT_ASSERT(uart != RT_NULL);
+
+    rt_hw_serial_isr(serial, RT_SERIAL_EVENT_RX_IND);
+    SciaRegs.SCIFFRX.bit.RXFFINTCLR = 1;   // Clear Interrupt flag
+    PieCtrlRegs.PIEACK.all |= 0x100;       // Issue PIE ack
 }

 static const struct rt_uart_ops c28x_uart_ops =
@ -159,6 +176,20 @@ static const struct rt_uart_ops c28x_uart_ops =
    .getc = c28x_getc,
 };

+//
+// sciaRxFifoIsr - SCIA Receive FIFO ISR
+//
+interrupt void sciaRxFifoIsr(void)
+{
+    /* enter interrupt */
+    rt_interrupt_enter();
+
+    uart_isr(&uart_obj[0].serial);
+
+    /* leave interrupt */
+    rt_interrupt_leave();
+}
+
 int rt_hw_sci_init(void)
 {
    EALLOW;
@ -182,8 +213,18 @@ int rt_hw_sci_init(void)
    CpuSysRegs.PCLKCR7.bit.SCI_B = 1;
    CpuSysRegs.PCLKCR7.bit.SCI_C = 1;

+    PieVectTable.SCIA_RX_INT = &sciaRxFifoIsr;
+
    EDIS;

+    //
+    // Enable interrupts required for this example
+    //
+    PieCtrlRegs.PIECTRL.bit.ENPIE = 1;   // Enable the PIE block
+    PieCtrlRegs.PIEIER9.bit.INTx1 = 1;   // PIE Group 9, INT1
+    IER |= 0x100;                        // Enable CPU INT
+    EINT;
+
    struct serial_configure config = RT_SERIAL_CONFIG_DEFAULT;
    rt_err_t result = 0;

@ -202,7 +243,6 @@ int rt_hw_sci_init(void)
    uart_obj[2].name          = "scic";
    uart_obj[2].sci_regs      = &ScicRegs;

-
    /* register UART device */
    result = rt_hw_serial_register(&uart_obj[0].serial, uart_obj[0].name,
                                   RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX,
--- a/bsp/tms320f28379d/figures/build.png
+++ b/bsp/tms320f28379d/figures/build.png
--- a/bsp/tms320f28379d/figures/debug_as.png
+++ b/bsp/tms320f28379d/figures/debug_as.png
--- a/bsp/tms320f28379d/figures/import.png
+++ b/bsp/tms320f28379d/figures/import.png
--- a/bsp/tms320f28379d/figures/import_dia.png
+++ b/bsp/tms320f28379d/figures/import_dia.png
--- a/bsp/tms320f28379d/figures/launch-28379d.png
+++ b/bsp/tms320f28379d/figures/launch-28379d.png
--- a/bsp/tms320f28379d/figures/launching.png
+++ b/bsp/tms320f28379d/figures/launching.png
--- a/bsp/tms320f28379d/libraries/common/include/stdint.h
+++ b/bsp/tms320f28379d/libraries/common/include/stdint.h
@ -69,6 +69,8 @@
    typedef          int    int32_t;
    typedef unsigned int   uint32_t;
 #else
+    typedef          char   int8_t;
+    typedef unsigned char  uint8_t;
    typedef          int    int16_t;
    typedef unsigned int   uint16_t;
    typedef          long   int32_t;
@ -187,9 +189,6 @@
 /* sorry, [u]int_fast64_t not implemented for C54x, C55x */
 #endif

-typedef uint_fast8_t uint8_t;
-typedef int_fast8_t int8_t;
-
 /* 7.18.1.4 Integer types capable of holding object pointers */
 #if defined(_TMS320C5XX) || defined(__TMS320C55X__)        || \
    (defined(__MSP430__) && defined(__LARGE_CODE_MODEL__)) || \
--- a/bsp/tms320f28379d/rtconfig.h
+++ b/bsp/tms320f28379d/rtconfig.h
@ -55,15 +55,16 @@

 /* Command shell */

+#define RT_USING_FINSH
+#define FINSH_THREAD_NAME "tshell"
+#define FINSH_USING_HISTORY
+#define FINSH_HISTORY_LINES 5
+#define FINSH_THREAD_PRIORITY 6
+#define FINSH_THREAD_STACK_SIZE 4096
+#define FINSH_CMD_SIZE 80

 /* Device virtual file system */

-#define RT_USING_DFS
-#define DFS_USING_WORKDIR
-#define DFS_FILESYSTEMS_MAX 2
-#define DFS_FILESYSTEM_TYPES_MAX 2
-#define DFS_FD_MAX 16
-#define RT_USING_DFS_DEVFS

 /* Device Drivers */

--- a/libcpu/ti-dsp/c28x/context.s
+++ b/libcpu/ti-dsp/c28x/context.s
@ -94,7 +94,6 @@ _rt_hw_interrupt_enable:
 
    .asmfunc
 _rt_hw_context_switch_interrupt:
-_rt_hw_context_switch:
    MOVL    XAR0, #0
    MOV     AR0, AL
    MOVL    XAR4, *-SP[4]
@ -114,6 +113,36 @@ _reswitch:
    MOVL    XAR5, #_rt_interrupt_to_thread     ; set rt_interrupt_to_thread
    MOVL    *XAR5, XAR4

+    LRETR
+    .endasmfunc
+
+;
+; void rt_hw_context_switch(rt_uint32 from, rt_uint32 to);
+; r0 --> from
+; r4 --> to
+
+
+    .asmfunc
+_rt_hw_context_switch:
+    MOVL    XAR0, #0
+    MOV     AR0, AL
+    MOVL    XAR4, *-SP[4]
+    ; set rt_thread_switch_interrupt_flag to 1 
+    MOVL    XAR5, #_rt_thread_switch_interrupt_flag
+    MOVL    XAR6, *XAR5
+    MOVL    ACC, XAR6
+    CMPB    AL, #1
+    B       _reswitch2, EQ
+    MOVL     XAR6, #1
+    MOVL    *XAR5, XAR6
+
+    MOVL    XAR5, #_rt_interrupt_from_thread   ; set rt_interrupt_from_thread
+    MOVL    *XAR5, XAR0
+
+_reswitch2:
+    MOVL    XAR5, #_rt_interrupt_to_thread     ; set rt_interrupt_to_thread
+    MOVL    *XAR5, XAR4
+
    TRAP    #16
    LRETR
    .endasmfunc
@ -140,8 +169,6 @@ _RTOSINT_Handler:
    CMP     AR1, #0
    B       switch_to_thread, EQ    ; skip register save at the first time 
    
-    ;MOVZ    AR1, @SP                 ; get from thread stack pointer 
-    
 ;#if defined (__VFP_FP__) && !defined(__SOFTFP__)
 ;    TST     lr, #0x10           ; if(!EXC_RETURN[4]) 
 ;    VSTMDBEQ r1!, {d8 - d15}    ; push FPU register s16~s31 
@ -159,7 +186,7 @@ _RTOSINT_Handler:
 ;#endif

    MOV     AL, *AR0
-    MOV     AR1, AL
+    MOV     AR0, AL
    MOVZ    AR1, @SP                 ; get from thread stack pointer
    MOV     *AR0, AR1                ; update from thread stack pointer

@ -175,7 +202,7 @@ switch_to_thread:
 ;#endif

    MOV     @SP, AR1
-    INC     SP
+
    RT_CTX_RESTORE     ; pop r4 - r11 register

 rtosint_exit:
--- a/libcpu/ti-dsp/c28x/cpuport.c
+++ b/libcpu/ti-dsp/c28x/cpuport.c
@ -17,6 +17,9 @@ rt_uint32_t rt_thread_switch_interrupt_flag;
 /* exception hook */
 static rt_err_t (*rt_exception_hook)(void *context) = RT_NULL;

+extern rt_uint16_t rt_hw_get_st0(void);
+extern rt_uint16_t rt_hw_get_st1(void);
+
 struct exception_stack_frame
 {
    rt_uint32_t t_st0;
@ -59,6 +62,7 @@ rt_uint8_t *rt_hw_stack_init(void       *tentry,
    stk  = stack_addr;
    stk  = (rt_uint8_t *)RT_ALIGN((rt_uint32_t)stk, 8);
    //stk -= sizeof(struct stack_frame);
+    stk += 1;

    stack_frame = (struct stack_frame *)stk;