Unify kernel entrance.

Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv7-a/cortex-a9/imx6q-sabrelite/clock.c

@@ -41,6 +41,7 @@ static void _sys_clock_init()
     uint32_t freq = get_main_clock(IPG_CLK);
     gpt_init(CLKSRC_IPG_CLK, freq / 1000000, RESTART_MODE, WAIT_MODE_EN | STOP_MODE_EN);
     gpt_set_compare_event(kGPTOutputCompare1, OUTPUT_CMP_DISABLE, 1000);
+    gpt_counter_enable(kGPTOutputCompare1);
 }
 
 static uint32_t _get_clock_int()

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv7-a/cortex-a9/error_debug.c

@@ -46,6 +46,7 @@ Modification:
 #include "multicores.h"
 #include "spinlock.h"
 #include "syscall.h"
+#include "trap_common.h"
 
 __attribute__((always_inline)) static inline void _abort_reason(uint32_t fault_status)
 {
@@ -88,18 +89,30 @@ void dump_tf(struct trapframe* tf)
 void handle_undefined_instruction(struct trapframe* tf)
 {
     // unimplemented trap handler
-    KPrintf("undefined instruction at %x\n", tf->pc);
+    xizi_enter_kernel();
+    ERROR("undefined instruction at %x\n", tf->pc);
     panic("");
 }
 
+void handle_reserved(void)
+{
+    // unimplemented trap handler
+    xizi_enter_kernel();
+    panic("Unimplemented Reserved\n");
+}
+
+void handle_fiq(void)
+{
+    xizi_enter_kernel();
+    panic("Unimplemented FIQ\n");
+}
+
 extern void context_switch(struct context**, struct context*);
 void dabort_handler(struct trapframe* r)
 {
-    if (!is_spinlock_locked(&whole_kernel_lock) || whole_kernel_lock.owner_cpu != cur_cpuid()) {
+    xizi_enter_kernel();
-        spinlock_lock(&whole_kernel_lock);
-    }
-    uint32_t dfs, dfa;
 
+    uint32_t dfs, dfa;
     __asm__ __volatile__("mrc p15, 0, %0, c5, c0, 0" : "=r"(dfs)::);
     __asm__ __volatile__("mrc p15, 0, %0, c6, c0, 0" : "=r"(dfa)::);
 
@@ -116,18 +129,13 @@ void dabort_handler(struct trapframe* r)
         LOG("data abort at 0x%x, status 0x%x\n", dfa, dfs);
         _abort_reason(dfs);
         dump_tf(r);
-        if (is_spinlock_locked(&whole_kernel_lock) && whole_kernel_lock.owner_cpu == cur_cpuid()) {
-            spinlock_unlock(&whole_kernel_lock);
-        }
         panic("data abort exception\n");
     }
 }
 
 void iabort_handler(struct trapframe* r)
 {
-    if (!is_spinlock_locked(&whole_kernel_lock) || whole_kernel_lock.owner_cpu != cur_cpuid()) {
+    xizi_enter_kernel();
-        spinlock_lock(&whole_kernel_lock);
-    }
     uint32_t ifs, ifa;
 
     __asm__ __volatile__("mrc p15, 0, %0, c5, c0, 1" : "=r"(ifs)::);
@@ -146,9 +154,6 @@ void iabort_handler(struct trapframe* r)
         LOG("prefetch abort at 0x%x, status 0x%x\n", ifa, ifs);
         _abort_reason(ifs);
         dump_tf(r);
-        if (is_spinlock_locked(&whole_kernel_lock) && whole_kernel_lock.owner_cpu == cur_cpuid()) {
-            spinlock_unlock(&whole_kernel_lock);
-        }
         panic("prefetch abort exception\n");
     }
 }

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv7-a/cortex-a9/imx6q-sabrelite/trap_common.c

@@ -42,15 +42,13 @@ extern void trap_iabort(void);
 extern void trap_dabort(void);
 extern void trap_irq_enter(void);
 extern void trap_undefined_instruction(void);
+extern void handle_reserved(void);
+extern void handle_fiq(void);
 
 static struct XiziTrapDriver xizi_trap_driver;
 
 void panic(char* s)
 {
-    // xizi_trap_driver.cpu_irq_disable();
-    if (is_spinlock_locked(&whole_kernel_lock) && whole_kernel_lock.owner_cpu == cur_cpuid()) {
-        spinlock_unlock(&whole_kernel_lock);
-    }
     KPrintf("panic: %s\n", s);
     for (;;)
         ;
@@ -58,7 +56,6 @@ void panic(char* s)
 
 /* stack for different mode*/
 static char mode_stack_pages[NR_CPU][NR_MODE_STACKS][MODE_STACK_SIZE];
-
 extern uint32_t _vector_jumper;
 extern uint32_t _vector_start;
 extern uint32_t _vector_end;
@@ -73,19 +70,6 @@ void init_cpu_mode_stacks(int cpu_id)
     }
 }
 
-void handle_reserved(void)
-{
-    // unimplemented trap handler
-    LOG("Unimplemented Reserved\n");
-    panic("");
-}
-
-void handle_fiq(void)
-{
-    LOG("Unimplemented FIQ\n");
-    panic("");
-}
-
 static void _sys_irq_init(int cpu_id)
 {
     /* load exception vectors */

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv7-a/cortex-a9/trampoline.S

@@ -95,106 +95,54 @@ trap_irq_enter:
 	b   	trap_return
 
 trap_reset_enter:
-	mov     r14, 	#0 
+	mov     r14, 	#0           	// lr: not defined on reset
-	sub 	r13, r13, #56
+	stmfd   r13!, 	{r0-r12, r14}
-	str 	r14, [r13, #52]
+	mrs     r2, 	spsr            // copy spsr to r2
-	str 	r12, [r13, #48]
+	stmfd   r13!, 	{r2}       		// save r2(spsr) to the stack
-	str 	r11, [r13, #44]
+	stmfd   r13!, 	{r14}      		// save r14 again (it is not really correct)
-	str 	r10, [r13, #40]
+	stmfd   r13, 	{sp, lr}^      	// save user mode sp and lr
-	str 	r9, [r13, #36]
-	str 	r8, [r13, #32]
-	str 	r7, [r13, #28]
-	str 	r6, [r13, #24]
-	str 	r5, [r13, #20]
-	str 	r4, [r13, #16]
-	str 	r3, [r13, #12]
-	str 	r2, [r13, #8]
-	str 	r1, [r13, #4]
-	str 	r0, [r13]
-
-	mrs     r2, 	spsr       
-	stmfd   r13!, 	{r2}       	
-	stmfd   r13!, 	{r14}      
-	stmfd   r13, 	{sp, lr}^  
 	sub     r13, 	r13, #8
-	mov     r0, 	r13
+
+	# call traps (trapframe *fp)
+	mov     r0, 	r13           	// copy r13_svc to r0
 	bl      _vector_jumper
 
 trap_dabort:
-	sub     r14, 	r14, #8
+	sub     r14, 	r14, #8        	// lr: instruction causing the abort
-	sub 	r13, r13, #56
+	stmfd   r13!, 	{r0-r12, r14}
-	str 	r14, [r13, #52]
+	mrs     r2, 	spsr          	// copy spsr to r2
-	str 	r12, [r13, #48]
+	stmfd   r13!, 	{r2}           	// save r2(spsr) to the stack
-	str 	r11, [r13, #44]
+	stmfd   r13!, 	{r14}         	// save r14 again (it is not really correct)
-	str 	r10, [r13, #40]
+	stmfd   r13, 	{sp, lr}^     	// save user mode sp and lr
-	str 	r9, [r13, #36]
-	str 	r8, [r13, #32]
-	str 	r7, [r13, #28]
-	str 	r6, [r13, #24]
-	str 	r5, [r13, #20]
-	str 	r4, [r13, #16]
-	str 	r3, [r13, #12]
-	str 	r2, [r13, #8]
-	str 	r1, [r13, #4]
-	str 	r0, [r13]
-
-	mrs     r2, 	spsr 
-	stmfd   r13!, 	{r2}     
-	stmfd   r13!, 	{r14} 
-	stmfd   r13, 	{sp, lr}^ 
 	sub     r13, 	r13, #8
-	mov     r0, 	r13
+
+	# call traps (trapframe *fp)
+	mov     r0, r13                 // save trapframe as the first parameter
 	bl      dabort_handler
 
 trap_iabort:
-	sub     r14, 	r14, #4
+	sub     r14, 	r14, #4        	// lr: instruction causing the abort
-	sub 	r13, r13, #56
+	stmfd   r13!, 	{r0-r12, r14}
-	str 	r14, [r13, #52]
+	mrs     r2, 	spsr           	// copy spsr to r2
-	str 	r12, [r13, #48]
+	stmfd   r13!, 	{r2}           	// save r2(spsr) to the stack
-	str 	r11, [r13, #44]
+	stmfd   r13!, 	{r14}          	// save r14 again (it is not really correct)
-	str 	r10, [r13, #40]
+	stmfd   r13, 	{sp, lr}^      	// save user mode sp and lr
-	str 	r9, [r13, #36]
-	str 	r8, [r13, #32]
-	str 	r7, [r13, #28]
-	str 	r6, [r13, #24]
-	str 	r5, [r13, #20]
-	str 	r4, [r13, #16]
-	str 	r3, [r13, #12]
-	str 	r2, [r13, #8]
-	str 	r1, [r13, #4]
-	str 	r0, [r13]
-
-	mrs     r2, 	spsr
-	stmfd   r13!, 	{r2}
-	stmfd   r13!, 	{r14}
-	stmfd   r13, 	{sp, lr}^
 	sub     r13, 	r13, #8
-	mov     r0, 	r13 
+
+	# call traps (trapframe *fp)
+	mov     r0, 	r13            	// save trapframe as the first parameter
 	bl      iabort_handler
 
 trap_undefined_instruction:
-	sub 	r13, r13, #56
+	stmfd   r13!, 	{r0-r12, r14}
-	str 	r14, [r13, #52]
+	mrs     r2, 	spsr           	// copy spsr to r2
-	str 	r12, [r13, #48]
+	stmfd   r13!, 	{r2}           	// save r2(spsr) to the stack
-	str 	r11, [r13, #44]
+	stmfd   r13!, 	{r14}          	// save r14 again (it is not really correct)
-	str 	r10, [r13, #40]
+	stmfd   r13, 	{sp, lr}^      	// save user mode sp and lr
-	str 	r9, [r13, #36]
-	str 	r8, [r13, #32]
-	str 	r7, [r13, #28]
-	str 	r6, [r13, #24]
-	str 	r5, [r13, #20]
-	str 	r4, [r13, #16]
-	str 	r3, [r13, #12]
-	str 	r2, [r13, #8]
-	str 	r1, [r13, #4]
-	str 	r0, [r13]
-
-	mrs     r2, 	spsr 
-	stmfd   r13!, 	{r2}
-	stmfd   r13!, 	{r14}
-	stmfd   r13, 	{sp, lr}^
 	sub     r13, 	r13, #8
-	mov     r0, 	r13
+
+	# call traps (trapframe *fp)
+	mov     r0, 	r13            	// save trapframe as the first parameter
 	bl      handle_undefined_instruction
 
 

Ubiquitous/XiZi_AIoT/softkernel/include/multicores.h

@@ -47,4 +47,7 @@ static inline struct CPU* cur_cpu(void)
     return &global_cpus[cur_cpuid()];
 }
 
-struct spinlock whole_kernel_lock;
+struct spinlock whole_kernel_lock;
+
+void xizi_enter_kernel();
+void xizi_leave_kernel();

Ubiquitous/XiZi_AIoT/softkernel/task/task.c

@@ -171,10 +171,10 @@ struct TaskMicroDescriptor* next_task_emergency = NULL;
 extern void context_switch(struct context**, struct context*);
 static void _scheduler(struct SchedulerRightGroup right_group)
 {
+    xizi_enter_kernel();
     struct MmuCommonDone* p_mmu_driver = AchieveResource(&right_group.mmu_driver_tag);
     struct TaskMicroDescriptor* next_task;
 
-    spinlock_lock(&whole_kernel_lock);
     while (1) {
         next_task = NULL;
         /* find next runnable task */

Ubiquitous/XiZi_AIoT/softkernel/trap/default_irq_handler.c

@@ -56,16 +56,15 @@ void default_interrupt_routine(void)
 extern void context_switch(struct context**, struct context*);
 void intr_irq_dispatch(struct trapframe* tf)
 {
-    assert(p_intr_driver != NULL);
+    xizi_enter_kernel();
-
-    p_intr_driver->cpu_irq_disable();
 
     // enter irq
+    assert(p_intr_driver != NULL);
     uintptr_t int_info = 0;
     if ((int_info = p_intr_driver->hw_before_irq()) == 0) {
+        xizi_leave_kernel();
         return;
     }
-    spinlock_lock(&whole_kernel_lock);
 
     struct TaskMicroDescriptor* current_task = cur_cpu()->task;
     if (LIKELY(current_task != NULL)) {
@@ -94,6 +93,17 @@ void intr_irq_dispatch(struct trapframe* tf)
     }
     assert(current_task == cur_cpu()->task);
 
+    xizi_leave_kernel();
+}
+
+void xizi_enter_kernel()
+{
+    p_intr_driver->cpu_irq_disable();
+    spinlock_lock(&whole_kernel_lock);
+}
+
+void xizi_leave_kernel()
+{
     spinlock_unlock(&whole_kernel_lock);
     p_intr_driver->cpu_irq_enable();
-}
+}

Ubiquitous/XiZi_AIoT/softkernel/trap/software_irq_handler.c

@@ -48,12 +48,9 @@ bool swi_distributer_init(struct SwiDispatcherRightGroup* _right_group)
 extern void context_switch(struct context**, struct context*);
 void software_irq_dispatch(struct trapframe* tf)
 {
-
+    xizi_enter_kernel();
     assert(p_intr_driver != NULL);
 
-    p_intr_driver->cpu_irq_disable();
-    spinlock_lock(&whole_kernel_lock);
-
     // get current task
     struct TaskMicroDescriptor* cur_task = cur_cpu()->task;
     /// @todo: Handle dead task
@@ -79,6 +76,5 @@ void software_irq_dispatch(struct trapframe* tf)
         panic("Exit reaches");
     }
 
-    spinlock_unlock(&whole_kernel_lock);
+    xizi_leave_kernel();
-    p_intr_driver->cpu_irq_enable();
 }