system/kernel/isr.c

   1 /* -------------------------------- Arctic Core ------------------------------
   2  * Arctic Core - the open source AUTOSAR platform http://arccore.com
   3  *
   4  * Copyright (C) 2009  ArcCore AB <contact@arccore.com>
   5  *
   6  * This source code is free software; you can redistribute it and/or modify it
   7  * under the terms of the GNU General Public License version 2 as published by the
   8  * Free Software Foundation; See <http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt>.
   9  *
  10  * This program is distributed in the hope that it will be useful, but
  11  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  12  * or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
  13  * for more details.
  14  * -------------------------------- Arctic Core ------------------------------*/
  15
  16 #include <sys/types.h>
  17 #include <stdint.h>
  18 #include <string.h>
  19 #include "internal.h"
  20 #include "irq.h"
  21 #if 0
  22
  23
  24 #include <stdint.h>
  25 #include <stdlib.h>
  26 #include <assert.h>
  27 #include <sys/queue.h>
  28 #include <string.h>
  29 #include "internal.h"
  30
  31 #endif
  32
  33
  34 // TODO: remove. Make soft links or whatever
  35 #if defined(CFG_ARM_CM3)
  36 #include "irq_types.h"
  37 //#include "stm32f10x.h"
  38 //#include "stm32f10x_arc.h"
  39 #endif
  40
  41 extern caddr_t *sbrk(int);
  42
  43 #define os_alloc(_x)    sbrk(_x)
  44
  45 OsPcbType * os_alloc_new_pcb( void ) {
  46         void *h = os_alloc(sizeof(OsPcbType));
  47         memset(h,0,sizeof(OsPcbType));
  48         assert(h!=NULL);
  49         return h;
  50 }
  51
  52 #if 0
  53 typedef void (*Os_IsrEntryType)(void);
  54
  55
  56 typedef Os_IsrInfo_s {
  57         Os_IsrEntryType entry;
  58         uint32_t vector;
  59         uint8_t priority;
  60 } Os_IsrInfoType;
  61 #endif
  62
  63
  64 extern TaskType Os_AddTask( OsPcbType *pcb );
  65
  66 static uint8 stackTop = 0x42;
  67
  68 /**
  69  * Creates an ISR dynamically
  70  * @param entry
  71  * @param prio
  72  * @param name
  73  *
  74  * @return The PID of the ISR created
  75  */
  76 TaskType Os_Arc_CreateIsr( void (*entry)(void ), uint8_t prio, const char *name )
  77 {
  78         OsPcbType *pcb = os_alloc_new_pcb();
  79         strncpy(pcb->name,name,TASK_NAME_SIZE);
  80         pcb->vector = -1;
  81         pcb->prio = prio;
  82         /* TODO: map to interrupt controller priority */
  83         assert(prio<=OS_TASK_PRIORITY_MAX);
  84         pcb->proc_type  = PROC_ISR2;
  85         pcb->state = ST_SUSPENDED;
  86         pcb->entry = entry;
  87         pcb->stack.top = &stackTop;
  88
  89         return Os_AddTask(pcb);
  90 }
  91
  92
  93 #if defined(CFG_ARM_CM3)
  94 extern void Irq_EOI2( void );
  95 #endif
  96
  97
  98 /**
  99  * Handle ISR type 2 interrupts from interrupt controller.
 100  *
 101  * @param stack Ptr to the current stack
 102  * @param vector The vector that took the interrupt
 103  */
 104 void *Os_Isr( void *stack, void *pcb_p ) {
 105         struct OsPcb *pcb;
 106         struct OsPcb *preempted_pcb;
 107
 108         os_sys.int_nest_cnt++;
 109
 110         // Save info for preempted pcb
 111         preempted_pcb = get_curr_pcb();
 112         preempted_pcb->stack.curr = stack;
 113         preempted_pcb->state = ST_READY;
 114         OS_DEBUG(D_TASK,"Preempted %s\n",preempted_pcb->name);
 115
 116         Os_StackPerformCheck(preempted_pcb);
 117
 118         POSTTASKHOOK();
 119
 120         pcb = (struct OsPcb *)pcb_p;
 121         pcb->state = ST_RUNNING;
 122         set_curr_pcb(pcb);
 123
 124         PRETASKHOOK();
 125
 126         // We should not get here if we're NON
 127         if( pcb->scheduling == NON) {
 128                 // TODO:
 129                 // assert(0);
 130                 while(1);
 131         }
 132
 133         Irq_SOI();
 134
 135 #ifndef CFG_HCS12D
 136         Irq_Enable();
 137         pcb->entry();
 138         Irq_Disable();
 139 #else
 140         pcb->entry();
 141 #endif
 142
 143         /** @req OS368 */
 144         if( Os_IrqAnyDisabled() ) {
 145                 Os_IrqClearAll();
 146                 ERRORHOOK(E_OS_DISABLEDINT);
 147         }
 148
 149         /** @req OS369 */
 150         Os_ResourceCheckAndRelease(pcb);
 151
 152         pcb->state = ST_SUSPENDED;
 153         POSTTASKHOOK();
 154
 155         Irq_EOI();
 156
 157         --os_sys.int_nest_cnt;
 158
 159         // TODO: Check stack check marker....
 160         // We have preempted a task
 161         if( (os_sys.int_nest_cnt == 0) && (os_sys.scheduler_lock==0) ) { //&& is_idle_task() ) {
 162                 /* If we get here:
 163                  * - the preempted task is saved with large context.
 164                  * - We are on interrupt stack..( this function )
 165                  *
 166                  * if we find a new task:
 167                  * - just switch in the new context( don't save the old because
 168                  *   its already saved )
 169                  */
 170                 OsPcbType *new_pcb;
 171                 new_pcb = Os_TaskGetTop();
 172
 173                 Os_StackPerformCheck(new_pcb);
 174
 175                 if( new_pcb != preempted_pcb ) {
 176                         OS_DEBUG(D_TASK,"Found candidate %s\n",new_pcb->name);
 177 //#warning Os_TaskSwapContextTo should call the pretaskswaphook
 178 // TODO: This shuould go away!!!!
 179 #if defined(CFG_ARM_CM3)
 180                         Irq_EOI2();
 181 #endif
 182                         Os_TaskSwapContextTo(NULL,new_pcb);
 183                 } else {
 184                         if( new_pcb == NULL ) {
 185                                 assert(0);
 186                         }
 187                         preempted_pcb->state = ST_RUNNING;
 188                         set_curr_pcb(preempted_pcb);
 189                 }
 190         } else {
 191                 set_curr_pcb(preempted_pcb);
 192                 PRETASKHOOK();
 193         }
 194
 195         return stack;
 196 }