Fully support userland interrupt handler. Use fixed common abort handler.

Ubiquitous/XiZi_AIoT/services/app/Makefile

@@ -23,7 +23,11 @@ INC_DIR = 	-I$(KERNEL_ROOT)/services/shell/letter-shell \
 			-I$(KERNEL_ROOT)/services/boards/$(BOARD) \
 			-I$(KERNEL_ROOT)/services/app 
 
+ifeq ($(BOARD), imx6q-sabrelite)
 all: init test_fs simple_client simple_server shell fs_server test_priority test_irq_hdlr test_irq_send readme.txt | bin
+else 
+all: init test_fs simple_client simple_server shell fs_server test_priority test_irq_hdlr readme.txt | bin
+endif
 	../tools/mkfs/mkfs ./fs.img $^
 	@mv $(filter-out readme.txt, $^) bin
 	@mv *.o bin
@@ -32,9 +36,11 @@ all: init test_fs simple_client simple_server shell fs_server test_priority test
 bin:
 	@mkdir -p bin
 
+ifeq ($(BOARD), imx6q-sabrelite)
 test_irq_send: test_irq_sender.o usyscall.o libserial.o
 	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
 	@${objdump} -S $@ > $@.asm
+endif
 
 test_irq_hdlr: test_irq_handler.o libserial.o libipc.o session.o usyscall.o libmem.o
 	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}

Ubiquitous/XiZi_AIoT/services/app/shell_port.c

@@ -35,7 +35,7 @@ signed short userShellRead(char* data, unsigned short len)
     while (length--) {
         cur_read = getc();
         if (cur_read == 0xff) {
-            yield();
+            yield(SYS_TASK_YIELD_NO_REASON);
         }
         // *data++ = getc();
         *data++ = cur_read;

Ubiquitous/XiZi_AIoT/services/boards/imx6q-sabrelite/test_irq_sender.c

@@ -89,7 +89,7 @@ int main()
     mmap(ARM_PERIPHERAL_VIRT_BASE, ARM_PERIPHERAL_BASE, 0x2000, true);
 
     printf("%s: Sending soft interrupt\n", prog_name);
-    gic_send_sgi(SW_INTERRUPT_3, 0, kGicSgiFilter_OnlyThisCPU);
+    gic_send_sgi(SW_INTERRUPT_3, 0xF, kGicSgiFilter_UseTargetList);
     printf("%s: Soft interrupt send done\n", prog_name);
     exit();
 }

Ubiquitous/XiZi_AIoT/services/boards/imx6q-sabrelite/usyscall.c

@@ -53,9 +53,9 @@ int exit()
     return syscall(SYSCALL_EXIT, 0, 0, 0, 0);
 }
 
-int yield()
+int yield(task_yield_reason reason)
 {
-    return syscall(SYSCALL_YIELD, 0, 0, 0, 0);
+    return syscall(SYSCALL_YIELD, (uintptr_t)reason, 0, 0, 0);
 }
 
 int kill(int pid)

Ubiquitous/XiZi_AIoT/services/boards/imx6q-sabrelite/usyscall.h

@@ -44,6 +44,12 @@ typedef enum {
     SYS_STATE_SHOW_CPU_INFO,
 } sys_state_option;
 
+typedef enum {
+    SYS_TASK_YIELD_NO_REASON = 0x0,
+    SYS_TASK_YIELD_FOREVER = 0x1,
+    SYS_TASK_YIELD_BLOCK_IPC = 0x2,
+} task_yield_reason;
+
 typedef union {
     struct {
         uintptr_t memblock_start;
@@ -58,7 +64,7 @@ typedef int (*ipc_write_fn)(struct Session* session, int fd, char* src, int offs
 
 int spawn(struct Session* session, int fd, ipc_read_fn ipc_read, ipc_fsize_fn ipc_fsize, char* name, char** argv);
 int exit();
-int yield();
+int yield(task_yield_reason reason);
 int kill(int pid);
 int register_server(char* name);
 int session(char* path, int capacity, struct Session* user_session);

Ubiquitous/XiZi_AIoT/services/boards/zynq7000-zc702/usyscall.c

@@ -53,9 +53,9 @@ int exit()
     return syscall(SYSCALL_EXIT, 0, 0, 0, 0);
 }
 
-int yield()
+int yield(task_yield_reason reason)
 {
-    return syscall(SYSCALL_YIELD, 0, 0, 0, 0);
+    return syscall(SYSCALL_YIELD, (uintptr_t)reason, 0, 0, 0);
 }
 
 int kill(int pid)

Ubiquitous/XiZi_AIoT/services/boards/zynq7000-zc702/usyscall.h

@@ -44,6 +44,12 @@ typedef enum {
     SYS_STATE_SHOW_CPU_INFO,
 } sys_state_option;
 
+typedef enum {
+    SYS_TASK_YIELD_NO_REASON = 0x0,
+    SYS_TASK_YIELD_FOREVER = 0x1,
+    SYS_TASK_YIELD_BLOCK_IPC = 0x2,
+} task_yield_reason;
+
 typedef union {
     struct {
         uintptr_t memblock_start;
@@ -58,7 +64,7 @@ typedef int (*ipc_write_fn)(struct Session* session, int fd, char* src, int offs
 
 int spawn(struct Session* session, int fd, ipc_read_fn ipc_read, ipc_fsize_fn ipc_fsize, char* name, char** argv);
 int exit();
-int yield();
+int yield(task_yield_reason reason);
 int kill(int pid);
 int register_server(char* name);
 int session(char* path, int capacity, struct Session* user_session);

Ubiquitous/XiZi_AIoT/services/lib/ipc/libipc.c

@@ -121,7 +121,7 @@ void ipc_msg_send_wait(struct IpcMsg* msg)
     msg->header.done = 0;
     while (msg->header.done == 0) {
         /// @todo syscall yield with prio decrease
-        yield();
+        yield(SYS_TASK_YIELD_BLOCK_IPC);
     }
     assert(msg->header.done == 1);
 }
@@ -138,7 +138,7 @@ int ipc_session_wait(struct Session* session)
     struct IpcMsg* msg = IPCSESSION_MSG(session);
     while (msg->header.done == 0) {
         /// @todo syscall yield with prio decrease
-        yield();
+        yield(SYS_TASK_YIELD_BLOCK_IPC);
     }
     assert(msg->header.done == 1);
     return msg->header.ret_val;
@@ -169,7 +169,7 @@ void ipc_server_loop(struct IpcNode* ipc_node)
         /* handle each session */
         for (int i = 0; i < NR_MAX_SESSION; i++) {
             if (session_list[i].buf == NULL) {
-                yield();
+                yield(SYS_TASK_YIELD_NO_REASON);
                 break;
             }
             cur_sess_id = session_list[i].id;