void up_timerinit(void)
{
/* Configure and enable TIMER1. Used the computed TCKPS divider and timer
* match valude. The source will be either the internal PBCLOCK (TCS=0) or
* the external SOSC (TCS=1)
*/
putreg32((TIMER1_CON_TCKPS|TIMER1_CON_TCS), PIC32MX_TIMER1_CON);
putreg32(0, PIC32MX_TIMER1_CNT);
putreg32(TIMER1_MATCH-1, PIC32MX_TIMER1_PR);
putreg32(TIMER_CON_ON, PIC32MX_TIMER1_CONSET);
/* Configure the timer interrupt */
up_clrpend_irq(PIC32MX_IRQSRC_T1);
(void)up_prioritize_irq(PIC32MX_IRQ_T1, CONFIG_PIC32MX_T1PRIO);
/* Attach the timer interrupt vector */
(void)irq_attach(PIC32MX_IRQ_T1, (xcpt_t)up_timerisr);
/* And enable the timer interrupt */
up_enable_irq(PIC32MX_IRQSRC_T1);
}
int up_swint0(int irq, FAR void *context)
{
uint32_t *regs = (uint32_t*)context;
uint32_t cause;
DEBUGASSERT(regs && regs == current_regs);
/* Software interrupt 0 is invoked with REG_A0 (REG_R4) = system call
* command and REG_A1-3 and REG_T0-2 (REG_R5-10) = variable number of
* arguments depending on the system call.
*/
#ifdef CONFIG_DEBUG_SYSCALL
swidbg("Entry: regs: %p cmd: %d\n", regs, regs[REG_R4]);
up_registerdump(regs);
#endif
/* Handle the SWInt according to the command in $4 */
switch (regs[REG_R4])
{
/* R4=SYS_restore_context: This a restore context command:
*
* void up_fullcontextrestore(uint32_t *restoreregs) noreturn_function;
*
* At this point, the following values are saved in context:
*
* R4 = SYS_restore_context
* R5 = restoreregs
*
* In this case, we simply need to set current_regs to restore register
* area referenced in the saved R1. context == current_regs is the normal
* exception return. By setting current_regs = context[R1], we force
* the return to the saved context referenced in R1.
*/
case SYS_restore_context:
{
DEBUGASSERT(regs[REG_A1] != 0);
current_regs = (uint32_t*)regs[REG_A1];
}
break;
/* R4=SYS_switch_context: This a switch context command:
*
* void up_switchcontext(uint32_t *saveregs, uint32_t *restoreregs);
*
* At this point, the following values are saved in context:
*
* R4 = SYS_switch_context
* R5 = saveregs
* R6 = restoreregs
*
* In this case, we save the context registers to the save register
* area reference by the saved contents of R5 and then set
* current_regs to to the save register area referenced by the saved
* contents of R6.
*/
case SYS_switch_context:
{
DEBUGASSERT(regs[REG_A1] != 0 && regs[REG_A2] != 0);
up_copystate((uint32_t*)regs[REG_A1], regs);
current_regs = (uint32_t*)regs[REG_A2];
}
break;
/* R0=SYS_syscall_return: This a switch context command:
*
* void up_sycall_return(void);
*
* At this point, the following values are saved in context:
*
* R0 = SYS_syscall_return
*
* We need to restore the saved return address and return in
* unprivileged thread mode.
*/
#ifdef CONFIG_BUILD_KERNEL
case SYS_syscall_return:
{
struct tcb_s *rtcb = sched_self();
int index = (int)rtcb->xcp.nsyscalls - 1;
/* Make sure that there is a saved syscall return address. */
DEBUGASSERT(index >= 0);
/* Setup to return to the saved syscall return address in
* the original mode.
*/
current_regs[REG_EPC] = rtcb->xcp.syscall[index].sysreturn;
#error "Missing logic -- need to restore the original mode"
rtcb->xcp.nsyscalls = index;
}
break;
#endif
/* This is not an architecture-specify system call. If NuttX is built
* as a standalone kernel with a system call interface, then all of the
* additional system calls must be handled as in the default case.
*/
default:
{
#ifdef CONFIG_BUILD_KERNEL
FAR struct tcb_s *rtcb = sched_self();
int index = rtcb->xcp.nsyscalls;
/* Verify that the SYS call number is within range */
DEBUGASSERT(current_regs[REG_A0] < SYS_maxsyscall);
/* Make sure that we got here that there is a no saved syscall
* return address. We cannot yet handle nested system calls.
*/
DEBUGASSERT(index < CONFIG_SYS_NNEST);
/* Setup to return to dispatch_syscall in privileged mode. */
rtcb->xcpsyscall[index].sysreturn = regs[REG_EPC];
#error "Missing logic -- Need to save mode"
rtcb->xcp.nsyscalls = index + 1;
regs[REG_EPC] = (uint32_t)dispatch_syscall;
#error "Missing logic -- Need to set privileged mode"
/* Offset R0 to account for the reserved values */
current_regs[REG_R0] -= CONFIG_SYS_RESERVED;
#else
slldbg("ERROR: Bad SYS call: %d\n", regs[REG_A0]);
#endif
}
break;
}
/* Report what happened. That might difficult in the case of a context switch */
#ifdef CONFIG_DEBUG_SYSCALL
if (regs != current_regs)
{
swidbg("SWInt Return: Context switch!\n");
up_registerdump((const uint32_t*)current_regs);
}
else
{
swidbg("SWInt Return: %d\n", regs[REG_V0]);
}
#endif
/* Clear the pending software interrupt 0 in the PIC32 interrupt block */
up_clrpend_irq(PIC32MX_IRQSRC_CS0);
/* And reset the software interrupt bit in the MIPS CAUSE register */
cause = cp0_getcause();
cause &= ~CP0_CAUSE_IP0;
cp0_putcause(cause);
return OK;
}
static int pic32mx_cninterrupt(int irq, FAR void *context)
{
int status;
int ret = OK;
int i;
/* Call all attached handlers */
for (i = 0; i < IOPORT_NUMCN; i++)
{
/* Is this one attached */
if (g_cnisrs[i])
{
/* Call the attached handler */
status = g_cnisrs[i](irq, context);
/* Keep track of the status of the last handler that failed */
if (status < 0)
{
ret = status;
}
}
/* Clear the pending interrupt */
up_clrpend_irq(PIC32MX_IRQ_CN);
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: pic32mx_gpioirqinitialize
*
* Description:
* Initialize logic to support a GPIO change notification interrupts.
* This function is called internally by the system on power up and should
* not be called again.
*
****************************************************************************/
void pic32mx_gpioirqinitialize(void)
{
int ret;
/* Attach the change notice interrupt handler */
ret = irqattach(PIC32MX_IRQ_CN, pic32mx_cninterrupt);
DEBUGASSERT(ret == OK);
/* Set the interrupt priority */
#ifdef CONFIG_ARCH_IRQPRIO
ret = up_prioritize_irq(PIC32MX_IRQ_CN, CONFIG_PIC32MX_CNPRIO);
DEBUGASSERT(ret == OK);
#endif
/* Reset all registers and enable the CN module */
putreg32(IOPORT_CN_ALL, PIC32MX_IOPORT_CNENCLR);
putreg32(IOPORT_CN_ALL, PIC32MX_IOPORT_CNPUECLR);
putreg32(IOPORT_CNCON_ON, PIC32MX_IOPORT_CNCON);
/* And enable the GPIO interrupt */
ret = up_enable_irq(PIC32MX_IRQSRC_CN);
DEBUGASSERT(ret == OK);
}
int up_swint0(int irq, FAR void *context)
{
uint32_t *regs = (uint32_t*)context;
DEBUGASSERT(regs && regs == current_regs);
/* Software interrupt 0 is invoked with REG_A0 (REG_R4) = system call
* command and REG_A1-3 and REG_T0-2 (REG_R5-10) = variable number of
* arguments depending on the system call.
*/
#ifdef DEBUG_SWINT0
swidbg("Entry: regs: %p cmd: %d\n", regs, regs[REG_R4]);
up_registerdump(regs);
#endif
/* Handle the SWInt according to the command in $4 */
switch (regs[REG_R4])
{
/* R4=SYS_restore_context: This a restore context command:
*
* void up_fullcontextrestore(uint32_t *restoreregs) __attribute__ ((noreturn));
*
* At this point, the following values are saved in context:
*
* R4 = SYS_restore_context
* R5 = restoreregs
*
* In this case, we simply need to set current_regs to restore register
* area referenced in the saved R1. context == current_regs is the normal
* exception return. By setting current_regs = context[R1], we force
* the return to the saved context referenced in R1.
*/
case SYS_restore_context:
{
DEBUGASSERT(regs[REG_A1] != 0);
current_regs = (uint32_t*)regs[REG_A1];
}
break;
/* R4=SYS_switch_context: This a switch context command:
*
* void up_switchcontext(uint32_t *saveregs, uint32_t *restoreregs);
*
* At this point, the following values are saved in context:
*
* R4 = SYS_switch_context
* R5 = saveregs
* R6 = restoreregs
*
* In this case, we save the context registers to the save register
* area reference by the saved contents of R5 and then set
* current_regs to to the save register area referenced by the saved
* contents of R6.
*/
case SYS_switch_context:
{
DEBUGASSERT(regs[REG_A1] != 0 && regs[REG_A2] != 0);
up_copystate((uint32_t*)regs[REG_A1], regs);
current_regs = (uint32_t*)regs[REG_A2];
}
break;
/* This is not an architecture-specify system call. If NuttX is built
* as a standalone kernel with a system call interface, then all of the
* additional system calls must be handled as in the default case.
*/
default:
#ifdef CONFIG_NUTTX_KERNEL
dispatch_syscall(regs);
#else
slldbg("ERROR: Bad SYS call: %d\n", regs[REG_A0]);
#endif
break;
}
/* Report what happened. That might difficult in the case of a context switch */
#ifdef DEBUG_SWINT0
if (regs != current_regs)
{
swidbg("SWInt Return: Context switch!\n");
up_registerdump(current_regs);
}
else
{
swidbg("SWInt Return: %d\n", regs[REG_V0]);
}
#endif
/* Clear the pending software interrupt 0 */
up_clrpend_irq(PIC32MX_IRQSRC_CS0);
return OK;
}
