static int kinetis_busfault(int irq, FAR void *context)
{
(void)up_irq_save();
_err("PANIC!!! Bus fault recived\n");
PANIC();
return 0;
}
void _exit(int status)
{
struct tcb_s *tcb;
/* Disable interrupts. They will be restored when the next task is
* started.
*/
(void)up_irq_save();
sinfo("TCB=%p exiting\n", this_task());
#ifdef CONFIG_DUMP_ON_EXIT
sinfo("Other tasks:\n");
sched_foreach(_xtensa_dumponexit, NULL);
#endif
#if XCHAL_CP_NUM > 0
/* Disable co-processor support for the task that is exit-ing. */
tcb = this_task();
xtensa_coproc_disable(&tcb->xcp.cpstate, XTENSA_CP_ALLSET);
#endif
/* Destroy the task at the head of the ready to run list. */
(void)task_exit();
/* Now, perform the context switch to the new ready-to-run task at the
* head of the list.
*/
tcb = this_task();
#if XCHAL_CP_NUM > 0
/* Set up the co-processor state for the newly started thread. */
xtensa_coproc_restorestate(&tcb->xcp.cpstate);
#endif
#ifdef CONFIG_ARCH_ADDRENV
/* Make sure that the address environment for the previously running
* task is closed down gracefully (data caches dump, MMU flushed) and
* set up the address environment for the new thread at the head of
* the ready-to-run list.
*/
(void)group_addrenv(tcb);
#endif
/* Then switch contexts */
xtensa_context_restore(tcb->xcp.regs);
/* xtensa_full_context_restore() should not return but could if the software
* interrupts are disabled.
*/
PANIC();
}
static int xmc4_usagefault(int irq, FAR void *context, FAR void *arg)
{
(void)up_irq_save();
_err("PANIC!!! Usage fault received\n");
PANIC();
return 0;
}
irqstate_t enter_critical_section(void)
{
FAR struct tcb_s *rtcb;
/* Do nothing if called from an interrupt handler */
if (up_interrupt_context())
{
/* The value returned does not matter. We assume only that it is a
* scalar here.
*/
return (irqstate_t)0;
}
/* Do we already have interrupts disabled? */
rtcb = this_task();
DEBUGASSERT(rtcb != NULL);
if (rtcb->irqcount > 0)
{
/* Yes... make sure that the spinlock is set and increment the IRQ
* lock count.
*/
DEBUGASSERT(g_cpu_irqlock == SP_LOCKED && rtcb->irqcount < INT16_MAX);
rtcb->irqcount++;
}
else
{
/* NO.. Take the spinlock to get exclusive access and set the lock
* count to 1.
*
* We must avoid that case where a context occurs between taking the
* g_cpu_irqlock and disabling interrupts. Also interrupts disables
* must follow a stacked order. We cannot other context switches to
* re-order the enabling/disabling of interrupts.
*
* The scheduler accomplishes this by treating the irqcount like
* lockcount: Both will disable pre-emption.
*/
spin_setbit(&g_cpu_irqset, this_cpu(), &g_cpu_irqsetlock,
&g_cpu_irqlock);
rtcb->irqcount = 1;
#ifdef CONFIG_SCHED_INSTRUMENTATION_CSECTION
/* Note that we have entered the critical section */
sched_note_csection(rtcb, true);
#endif
}
/* Then disable interrupts (they may already be disabled, be we need to
* return valid interrupt status in any event).
*/
return up_irq_save();
}
int irq_unexpected_isr(int irq, FAR void *context)
{
(void)up_irq_save();
lldbg("irq: %d\n", irq);
PANIC();
return OK; /* Won't get here */
}
static int sam_pendsv(int irq, FAR void *context)
{
(void)up_irq_save();
_err("PANIC!!! PendSV received\n");
PANIC();
return 0;
}
static int stm32_dbgmonitor(int irq, FAR void *context, FAR void *arg)
{
(void)up_irq_save();
_err("PANIC!!! Debug Monitor received\n");
PANIC();
return 0;
}
static void _up_assert(int errorcode)
{
/* Flush any buffered SYSLOG data */
(void)syslog_flush();
/* Are we in an interrupt handler or the idle task? */
if (g_current_regs || this_task()->pid == 0)
{
(void)up_irq_save();
for (; ; )
{
#if CONFIG_BOARD_RESET_ON_ASSERT >= 1
board_reset(0);
#endif
#ifdef CONFIG_ARCH_LEDS
board_autoled_on(LED_PANIC);
up_mdelay(250);
board_autoled_off(LED_PANIC);
up_mdelay(250);
#endif
}
}
else
{
#if CONFIG_BOARD_RESET_ON_ASSERT >= 2
board_reset(0);
#endif
exit(errorcode);
}
}
static int lpc43_busfault(int irq, FAR void *context, FAR void *arg)
{
(void)up_irq_save();
_err("PANIC!!! Bus fault recived\n");
PANIC();
return 0;
}
static int lpc43_usagefault(int irq, FAR void *context)
{
(void)up_irq_save();
dbg("PANIC!!! Usage fault received\n");
PANIC();
return 0;
}
static int lpc43_dbgmonitor(int irq, FAR void *context)
{
(void)up_irq_save();
dbg("PANIC!!! Debug Monitor received\n");
PANIC();
return 0;
}
static int lpc43_nmi(int irq, FAR void *context)
{
(void)up_irq_save();
dbg("PANIC!!! NMI received\n");
PANIC();
return 0;
}
static int sam_reserved(int irq, FAR void *context)
{
(void)up_irq_save();
_err("PANIC!!! Reserved interrupt\n");
PANIC();
return 0;
}
static int sam_busfault(int irq, FAR void *context)
{
(void)up_irq_save();
_err("PANIC!!! Bus fault received: %08x\n", getreg32(NVIC_CFAULTS));
PANIC();
return 0;
}
static int stm32_usagefault(int irq, FAR void *context, FAR void *arg)
{
(void)up_irq_save();
_err("PANIC!!! Usage fault received: %08x\n", getreg32(NVIC_CFAULTS));
PANIC();
return 0;
}
static int sam_nmi(int irq, FAR void *context)
{
(void)up_irq_save();
_err("PANIC!!! NMI received\n");
PANIC();
return 0;
}
void up_sigdeliver(void)
{
#ifndef CONFIG_DISABLE_SIGNALS
struct tcb_s *rtcb = this_task();
uint32_t regs[XCPTCONTEXT_REGS];
sig_deliver_t sigdeliver;
/* Save the errno. This must be preserved throughout the signal handling
* so that the user code final gets the correct errno value (probably
* EINTR).
*/
int saved_errno = rtcb->pterrno;
board_autoled_on(LED_SIGNAL);
sinfo("rtcb=%p sigdeliver=%p sigpendactionq.head=%p\n",
rtcb, rtcb->xcp.sigdeliver, rtcb->sigpendactionq.head);
ASSERT(rtcb->xcp.sigdeliver != NULL);
/* Save the real return state on the stack. */
up_copystate(regs, rtcb->xcp.regs);
regs[REG_PC] = rtcb->xcp.saved_pc;
regs[REG_SR] = rtcb->xcp.saved_sr;
/* Get a local copy of the sigdeliver function pointer. We do this so
* that we can nullify the sigdeliver function pointer in the TCB and
* accept more signal deliveries while processing the current pending
* signals.
*/
sigdeliver = rtcb->xcp.sigdeliver;
rtcb->xcp.sigdeliver = NULL;
/* Then restore the task interrupt state. */
up_irq_restore(regs[REG_SR] & 0x000000f0);
/* Deliver the signals */
sigdeliver(rtcb);
/* Output any debug messages BEFORE restoring errno (because they may
* alter errno), then disable interrupts again and restore the original
* errno that is needed by the user logic (it is probably EINTR).
*/
sinfo("Resuming\n");
(void)up_irq_save();
rtcb->pterrno = saved_errno;
/* Then restore the correct state for this thread of execution. */
board_autoled_off(LED_SIGNAL);
up_fullcontextrestore(regs);
#endif
}
void _exit(int status)
{
struct tcb_s *tcb;
/* Disable interrupts. They will be restored when the next
* task is started.
*/
(void)up_irq_save();
sinfo("TCB=%p exiting\n", this_task());
#ifdef CONFIG_DUMP_ON_EXIT
sinfo("Other tasks:\n");
sched_foreach(_up_dumponexit, NULL);
#endif
/* Destroy the task at the head of the ready to run list. */
(void)task_exit();
/* Now, perform the context switch to the new ready-to-run task at the
* head of the list.
*/
tcb = this_task();
#ifdef CONFIG_ARCH_ADDRENV
/* Make sure that the address environment for the previously running
* task is closed down gracefully (data caches dump, MMU flushed) and
* set up the address environment for the new thread at the head of
* the ready-to-run list.
*/
(void)group_addrenv(tcb);
#endif
/* Then switch contexts */
up_fullcontextrestore(tcb->xcp.regs);
/* up_fullcontextrestore() should not return but could if the software
* interrupts are disabled.
*/
PANIC();
}
/* Then disable interrupts (they may already be disabled, be we need to
* return valid interrupt status in any event).
*/
return up_irq_save();
}
#else /* defined(CONFIG_SCHED_INSTRUMENTATION_CSECTION) */
irqstate_t enter_critical_section(void)
{
/* Check if we were called from an interrupt handler */
if (!up_interrupt_context())
{
FAR struct tcb_s *rtcb = this_task();
DEBUGASSERT(rtcb != NULL);
/* No.. note that we have entered the critical section */
sched_note_csection(rtcb, true);
}
/* And disable interrupts */
return up_irq_save();
}
int up_memfault(int irq, FAR void *context, FAR void *arg)
{
/* Dump some memory management fault info */
(void)up_irq_save();
_alert("PANIC!!! Memory Management Fault:\n");
mfinfo(" IRQ: %d context: %p\n", irq, regs);
_alert(" CFAULTS: %08x MMFAR: %08x\n",
getreg32(NVIC_CFAULTS), getreg32(NVIC_MEMMANAGE_ADDR));
mfinfo(" BASEPRI: %08x PRIMASK: %08x IPSR: %08x CONTROL: %08x\n",
getbasepri(), getprimask(), getipsr(), getcontrol());
mfinfo(" R0: %08x %08x %08x %08x %08x %08x %08x %08x\n",
regs[REG_R0], regs[REG_R1], regs[REG_R2], regs[REG_R3],
regs[REG_R4], regs[REG_R5], regs[REG_R6], regs[REG_R7]);
mfinfo(" R8: %08x %08x %08x %08x %08x %08x %08x %08x\n",
regs[REG_R8], regs[REG_R9], regs[REG_R10], regs[REG_R11],
regs[REG_R12], regs[REG_R13], regs[REG_R14], regs[REG_R15]);
#ifdef CONFIG_ARMV7M_USEBASEPRI
# ifdef REG_EXC_RETURN
mfinfo(" xPSR: %08x BASEPRI: %08x EXC_RETURN: %08x (saved)\n",
CURRENT_REGS[REG_XPSR], CURRENT_REGS[REG_BASEPRI],
CURRENT_REGS[REG_EXC_RETURN]);
# else
mfinfo(" xPSR: %08x BASEPRI: %08x (saved)\n",
CURRENT_REGS[REG_XPSR], CURRENT_REGS[REG_BASEPRI]);
# endif
#else
# ifdef REG_EXC_RETURN
mfinfo(" xPSR: %08x PRIMASK: %08x EXC_RETURN: %08x (saved)\n",
CURRENT_REGS[REG_XPSR], CURRENT_REGS[REG_PRIMASK],
CURRENT_REGS[REG_EXC_RETURN]);
# else
mfinfo(" xPSR: %08x PRIMASK: %08x (saved)\n",
CURRENT_REGS[REG_XPSR], CURRENT_REGS[REG_PRIMASK]);
# endif
#endif
PANIC();
return OK; /* Won't get here */
}
static void _up_assert(int errorcode) /* noreturn_function */
{
/* Are we in an interrupt handler or the idle task? */
if (up_interrupt_context() || this_task()->pid == 0)
{
(void)up_irq_save();
for (;;)
{
#ifdef CONFIG_ARCH_LEDS
board_autoled_on(LED_PANIC);
up_mdelay(250);
board_autoled_off(LED_PANIC);
up_mdelay(250);
#endif
}
}
else
{
exit(errorcode);
}
}
static void _up_assert(int errorcode)
{
/* Are we in an interrupt handler or the idle task? */
if (g_current_regs || this_task()->pid == 0)
{
(void)up_irq_save();
for (; ; )
{
#ifdef CONFIG_ARCH_LEDS
board_autoled_on(LED_PANIC);
up_mdelay(250);
board_autoled_off(LED_PANIC);
up_mdelay(250);
#endif
}
}
else
{
exit(errorcode);
}
}
int dram_main(int argc, char *argv)
{
/* Here we have a in memory value we can change in the debugger
* to begin booting in NOR Flash
*/
static volatile uint32_t wait = DRAM_BOOT_MODE;
int ret;
/* Disable the PMC. This is necessary on the SAMA5D4-MB Rev C. board. On
* that board, the PMIC can lock up the I2C bus. The work around is
* awkward:
*
* 1. Open JP23 (disabling the WM8904 data line)
* 2. Execute DRAMBOOT. The WM8904 will be disabled while JP23 is open.
* 3. At the prompt to "Send the Intel HEX file now", close JP23,
* enabling the WM8904.
* 4. Send the NuttX file. When NuttX starts, the WM8904 is initialized,
* JP23 will be closed and the PMIC will be initialized.
*/
sam_pmic_initialize();
/* DRAM was already initialized at boot time, so we are ready to load the
* Intel HEX stream into DRAM.
*
* Hmm.. With no hardware handshake, there is a possibility of data loss
* to overrunning incoming data buffer. So far I have not seen this at
* 115200 8N1, but still it is a possibility.
*/
printf("Send Intel HEX file now\n");
fflush(stdout);
ret = hex2mem(0, /* Accept Intel HEX on stdin */
(uint32_t)SAM_DDRCS_VSECTION,
(uint32_t)(SAM_DDRCS_VSECTION + CONFIG_SAMA5_DDRCS_SIZE),
0);
if (ret < 0)
{
/* We failed the load */
printf("ERROR: Intel HEX file load failed: %d\n", ret);
fflush(stdout);
for(;;);
}
/* No success indication.. The following cache/MMU operations will clobber
* any I/O that we attempt (Hmm.. unless, perhaps, if we delayed. But who
* wants a delay?).
*/
/* Flush the entire data cache assure that everything is in memory before
* we disable caching.
*/
arch_clean_dcache((uintptr_t)SAM_DDRCS_VSECTION,
(uintptr_t)(SAM_DDRCS_VSECTION + CONFIG_SAMA5_DDRCS_SIZE));
/* Interrupts must be disabled through the following. In this configuration,
* there should only be timer interrupts. Your NuttX configuration must use
* CONFIG_SERIAL_LOWCONSOLE=y or printf() will hang when the interrupts
* are disabled!
*/
(void)up_irq_save();
/* Disable the caches and the MMU. Disabling the MMU should be safe here
* because there is a 1-to-1 identity mapping between the physical and
* virtual addressing.
*/
cp15_disable_mmu();
cp15_disable_caches();
/* Invalidate caches and TLBs */
cp15_invalidate_icache();
cp15_invalidate_dcache_all();
cp15_invalidate_tlbs();
/* Then jump into NOR flash */
while (wait)
{
}
DRAM_ENTRY();
return 0; /* We should not get here in either case */
}
void up_sigdeliver(void)
{
struct tcb_s *rtcb = this_task();
#if 0
uint32_t regs[XCPTCONTEXT_REGS+3]; /* Why +3? See below */
#else
uint32_t regs[XCPTCONTEXT_REGS];
#endif
sig_deliver_t sigdeliver;
/* Save the errno. This must be preserved throughout the signal handling
* so that the user code final gets the correct errno value (probably EINTR).
*/
int saved_errno = rtcb->pterrno;
board_autoled_on(LED_SIGNAL);
sdbg("rtcb=%p sigdeliver=%p sigpendactionq.head=%p\n",
rtcb, rtcb->xcp.sigdeliver, rtcb->sigpendactionq.head);
ASSERT(rtcb->xcp.sigdeliver != NULL);
/* Save the real return state on the stack. */
up_copystate(regs, rtcb->xcp.regs);
regs[REG_PC] = rtcb->xcp.saved_pc;
regs[REG_SR] = rtcb->xcp.saved_sr;
/* Get a local copy of the sigdeliver function pointer. We do this so that
* we can nullify the sigdeliver function pointer in the TCB and accept
* more signal deliveries while processing the current pending signals.
*/
sigdeliver = rtcb->xcp.sigdeliver;
rtcb->xcp.sigdeliver = NULL;
/* Then restore the task interrupt state */
up_irq_restore(regs[REG_SR]);
/* Deliver the signals */
sigdeliver(rtcb);
/* Output any debug messages BEFORE restoring errno (because they may
* alter errno), then disable interrupts again and restore the original
* errno that is needed by the user logic (it is probably EINTR).
*/
sdbg("Resuming\n");
(void)up_irq_save();
rtcb->pterrno = saved_errno;
/* Then restore the correct state for this thread of execution. This is an
* unusual case that must be handled by up_fullcontextresore. This case is
* unusal in two ways:
*
* 1. It is not a context switch between threads. Rather, up_fullcontextrestore
* must behave more it more like a longjmp within the same task, using
* he same stack.
* 2. In this case, up_fullcontextrestore is called with r12 pointing to
* a register save area on the stack to be destroyed. This is
* dangerous because there is the very real possibility that the new
* stack pointer might overlap with the register save area and hat stack
* usage in up_fullcontextrestore might corrupt the register save data
* before the state is restored. At present, there does not appear to
* be any stack overlap problems. If there were, then adding 3 words
* to the size of register save structure size will protect its contents.
*/
board_autoled_off(LED_SIGNAL);
up_fullcontextrestore(regs);
}
unsigned int metal_irq_save_disable(void)
{
return up_irq_save();
}
void up_sigdeliver(void)
{
struct tcb_s *rtcb = this_task();
uint32_t regs[XCPTCONTEXT_REGS];
sig_deliver_t sigdeliver;
/* Save the errno. This must be preserved throughout the signal handling
* so that the user code final gets the correct errno value (probably
* EINTR).
*/
int saved_errno = rtcb->pterrno;
board_autoled_on(LED_SIGNAL);
sinfo("rtcb=%p sigdeliver=%p sigpendactionq.head=%p\n",
rtcb, rtcb->xcp.sigdeliver, rtcb->sigpendactionq.head);
ASSERT(rtcb->xcp.sigdeliver != NULL);
/* Save the real return state on the stack. */
up_copystate(regs, rtcb->xcp.regs);
regs[REG_EPC] = rtcb->xcp.saved_epc;
regs[REG_STATUS] = rtcb->xcp.saved_status;
/* Get a local copy of the sigdeliver function pointer. We do this so that
* we can nullify the sigdeliver function pointer in the TCB and accept
* more signal deliveries while processing the current pending signals.
*/
sigdeliver = rtcb->xcp.sigdeliver;
rtcb->xcp.sigdeliver = NULL;
/* Then restore the task interrupt state */
up_irq_restore((irqstate_t)regs[REG_STATUS]);
/* Deliver the signals */
sigdeliver(rtcb);
/* Output any debug messages BEFORE restoring errno (because they may
* alter errno), then disable interrupts again and restore the original
* errno that is needed by the user logic (it is probably EINTR).
*/
sinfo("Resuming EPC: %08x STATUS: %08x\n", regs[REG_EPC], regs[REG_STATUS]);
(void)up_irq_save();
rtcb->pterrno = saved_errno;
/* Then restore the correct state for this thread of
* execution.
*/
board_autoled_off(LED_SIGNAL);
up_fullcontextrestore(regs);
/* up_fullcontextrestore() should not return but could if the software
* interrupts are disabled.
*/
PANIC();
}