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

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

@@ -41,30 +41,13 @@ Modification:
 *************************************************/
 #include "core.h"
 #include "memlayout.h"
-
-#include "log.h"
-#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)
+#include "assert.h"
-{
+#include "multicores.h"
-    if ((fault_status & 0xd) == 0x1) // Alignment failure
+#include "syscall.h"
-        KPrintf("reason: alignment\n");
+#include "task.h"
-    else if ((fault_status & 0xd) == 0x5) // External abort "on translation"
-        KPrintf("reason: ext. abort on trnslt.\n");
-    else if ((fault_status & 0xd) == 0x5) // Translation
-        KPrintf("reason: sect. translation\n");
-    else if ((fault_status & 0xd) == 0x9) // Domain
-        KPrintf("reason: sect. domain\n");
-    else if ((fault_status & 0xd) == 0xd) // Permission
-        KPrintf("reason: sect. permission\n");
-    else if ((fault_status & 0xd) == 0x8) // External abort
-        KPrintf("reason: ext. abort\n");
-    else
-        KPrintf("reason: unknown???\n");
-}
 
 void dump_tf(struct trapframe* tf)
 {
@@ -86,6 +69,57 @@ void dump_tf(struct trapframe* tf)
     KPrintf("     pc: 0x%x\n", tf->pc);
 }
 
+void dabort_reason(struct trapframe* r)
+{
+    uint32_t fault_status, dfa;
+    __asm__ __volatile__("mrc p15, 0, %0, c5, c0, 0" : "=r"(fault_status)::);
+    __asm__ __volatile__("mrc p15, 0, %0, c6, c0, 0" : "=r"(dfa)::);
+    LOG("program counter: 0x%x caused\n", r->pc);
+    LOG("data abort at 0x%x, status 0x%x\n", dfa, fault_status);
+
+    if ((fault_status & 0xd) == 0x1) // Alignment failure
+        KPrintf("reason: alignment\n");
+    else if ((fault_status & 0xd) == 0x5) // External abort "on translation"
+        KPrintf("reason: ext. abort on trnslt.\n");
+    else if ((fault_status & 0xd) == 0x5) // Translation
+        KPrintf("reason: sect. translation\n");
+    else if ((fault_status & 0xd) == 0x9) // Domain
+        KPrintf("reason: sect. domain\n");
+    else if ((fault_status & 0xd) == 0xd) // Permission
+        KPrintf("reason: sect. permission\n");
+    else if ((fault_status & 0xd) == 0x8) // External abort
+        KPrintf("reason: ext. abort\n");
+    else
+        KPrintf("reason: unknown???\n");
+
+    dump_tf(r);
+}
+
+void iabort_reason(struct trapframe* r)
+{
+    uint32_t fault_status, ifa;
+    __asm__ __volatile__("mrc p15, 0, %0, c5, c0, 1" : "=r"(fault_status)::);
+    __asm__ __volatile__("mrc p15, 0, %0, c6, c0, 2" : "=r"(ifa)::);
+    LOG("prefetch abort at 0x%x, status 0x%x\n", ifa, fault_status);
+
+    if ((fault_status & 0xd) == 0x1) // Alignment failure
+        KPrintf("reason: alignment\n");
+    else if ((fault_status & 0xd) == 0x5) // External abort "on translation"
+        KPrintf("reason: ext. abort on trnslt.\n");
+    else if ((fault_status & 0xd) == 0x5) // Translation
+        KPrintf("reason: sect. translation\n");
+    else if ((fault_status & 0xd) == 0x9) // Domain
+        KPrintf("reason: sect. domain\n");
+    else if ((fault_status & 0xd) == 0xd) // Permission
+        KPrintf("reason: sect. permission\n");
+    else if ((fault_status & 0xd) == 0x8) // External abort
+        KPrintf("reason: ext. abort\n");
+    else
+        KPrintf("reason: unknown???\n");
+
+    dump_tf(r);
+}
+
 void handle_undefined_instruction(struct trapframe* tf)
 {
     // unimplemented trap handler
@@ -105,61 +139,4 @@ 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 (xizi_is_in_kernel()) {
-        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)::);
-        LOG("program counter: 0x%x caused\n", r->pc);
-        LOG("data abort at 0x%x, status 0x%x\n", dfa, dfs);
-        _abort_reason(dfs);
-        dump_tf(r);
-        panic("data abort exception\n");
-    }
-
-    xizi_enter_kernel();
-
-    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)::);
-
-    ERROR("dabort in user space: %s\n", cur_cpu()->task->name);
-    LOG("program counter: 0x%x caused\n", r->pc);
-    LOG("data abort at 0x%x, status 0x%x\n", dfa, dfs);
-    _abort_reason(dfs);
-    dump_tf(r);
-    sys_exit(cur_cpu()->task);
-    context_switch(&cur_cpu()->task->main_thread.context, cur_cpu()->scheduler);
-}
-
-void iabort_handler(struct trapframe* r)
-{
-    if (xizi_is_in_kernel()) {
-        uint32_t ifs, ifa;
-        __asm__ __volatile__("mrc p15, 0, %0, c5, c0, 1" : "=r"(ifs)::);
-        __asm__ __volatile__("mrc p15, 0, %0, c6, c0, 2" : "=r"(ifa)::);
-        LOG("program counter: 0x%x caused\n", r->pc);
-        LOG("prefetch abort at 0x%x, status 0x%x\n", ifa, ifs);
-        _abort_reason(ifs);
-        dump_tf(r);
-        panic("prefetch abort exception\n");
-    }
-
-    xizi_enter_kernel();
-
-    uint32_t ifs, ifa;
-    __asm__ __volatile__("mrc p15, 0, %0, c5, c0, 1" : "=r"(ifs)::);
-    __asm__ __volatile__("mrc p15, 0, %0, c6, c0, 2" : "=r"(ifa)::);
-
-    ERROR("iabort in user space: %s\n", cur_cpu()->task->name);
-    LOG("program counter: 0x%x(%s) caused\n", r->pc, cur_cpu()->task);
-    LOG("prefetch abort at 0x%x, status 0x%x\n", ifa, ifs);
-    _abort_reason(ifs);
-    dump_tf(r);
-    sys_exit(cur_cpu()->task);
-    context_switch(&cur_cpu()->task->main_thread.context, cur_cpu()->scheduler);
-}

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv7-a/cortex-a9/zynq7000-zc702/trap_common.c

@@ -42,12 +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();
     KPrintf("panic: %s\n", s);
     for (;;)
         ;
@@ -55,7 +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;
@@ -72,19 +72,6 @@ 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)
 {
 
@@ -101,18 +88,18 @@ static void _sys_irq_init(int cpu_id)
         vector_base[5] = (uint32_t)handle_reserved; // Reserved
         vector_base[6] = (uint32_t)trap_irq_enter; // IRQ
         vector_base[7] = (uint32_t)handle_fiq; // FIQ
-    }
 
-    /* active hardware irq responser */
+        /* active hardware irq responser */
-    XScuGic_Config* gic_config = XScuGic_LookupConfig(XPAR_PS7_SCUGIC_0_DEVICE_ID);
+        XScuGic_Config* gic_config = XScuGic_LookupConfig(XPAR_PS7_SCUGIC_0_DEVICE_ID);
-    if (NULL == gic_config) {
+        if (NULL == gic_config) {
-        ERROR("Error while looking up gic config\n");
+            ERROR("Error while looking up gic config\n");
-        return;
+            return;
-    }
+        }
-    int gic_init_status = XScuGic_CfgInitialize(&IntcInstance, gic_config, gic_config->CpuBaseAddress);
+        int gic_init_status = XScuGic_CfgInitialize(&IntcInstance, gic_config, gic_config->CpuBaseAddress);
-    if (gic_init_status != XST_SUCCESS) {
+        if (gic_init_status != XST_SUCCESS) {
-        ERROR("Error initializing gic\n");
+            ERROR("Error initializing gic\n");
-        return;
+            return;
+        }
     }
 
     xizi_trap_driver.switch_hw_irqtbl((uint32_t*)&_vector_jumper);
@@ -226,6 +213,6 @@ static struct XiziTrapDriver xizi_trap_driver = {
 struct XiziTrapDriver* hardkernel_intr_init(struct TraceTag* hardkernel_tag)
 {
     xizi_trap_driver.sys_irq_init(0);
-    xizi_trap_driver.cpu_irq_enable();
+    xizi_trap_driver.cpu_irq_disable();
     return &xizi_trap_driver;
 }

Ubiquitous/XiZi_AIoT/hardkernel/intr/spinlock.c

@@ -27,8 +27,8 @@
 #include "multicores.h"
 
 struct lock_node {
-    int cpu_id;
     struct double_list_node node;
+    int cpu_id;
 };
 
 static struct double_list_node lock_request_guard;
@@ -63,15 +63,18 @@ void _spinlock_unlock(struct spinlock* lock);
 
 void spinlock_lock(struct spinlock* lock)
 {
-    if (lock->owner_cpu != SPINLOCK_STATE_UNLOCK && lock->owner_cpu == cur_cpuid()) {
+    int cur_cpu_id = cur_cpuid();
+    if (lock->owner_cpu != SPINLOCK_STATE_UNLOCK && lock->owner_cpu == cur_cpu_id) {
         ERROR("spinlock %s lock double locked by core %d\n", lock->name, lock->owner_cpu);
         panic("");
     }
+
+    struct double_list_node* p_lock_node = &core_lock_request[cur_cpu_id].node;
     _spinlock_lock(&request_lock, SPINLOCK_LOCK_WAITFOREVER);
-    doubleListAddOnBack(&core_lock_request[cur_cpuid()].node, &lock_request_guard);
+    doubleListAddOnBack(p_lock_node, &lock_request_guard);
     _spinlock_unlock(&request_lock);
 
-    while (lock_request_guard.next != &core_lock_request[cur_cpuid()].node)
+    while (lock_request_guard.next != p_lock_node)
         ;
 
     _spinlock_lock(lock, SPINLOCK_LOCK_WAITFOREVER);
@@ -79,15 +82,38 @@ void spinlock_lock(struct spinlock* lock)
 
 void spinlock_unlock(struct spinlock* lock)
 {
-    assert(lock_request_guard.next == &core_lock_request[cur_cpuid()].node);
+    struct double_list_node* p_lock_node = &core_lock_request[cur_cpuid()].node;
+    assert(lock_request_guard.next == p_lock_node);
     _spinlock_lock(&request_lock, SPINLOCK_LOCK_WAITFOREVER);
-    _double_list_del(core_lock_request[cur_cpuid()].node.prev, core_lock_request[cur_cpuid()].node.next);
+    _double_list_del(p_lock_node->prev, p_lock_node->next);
     _spinlock_unlock(&request_lock);
 
     _spinlock_unlock(lock);
 }
 
-bool is_spinlock_locked(struct spinlock* lock)
+bool spinlock_try_lock(struct spinlock* lock)
 {
-    return lock->owner_cpu != SPINLOCK_STATE_UNLOCK;
+    int cur_cpu_id = cur_cpuid();
+    if (lock->owner_cpu != SPINLOCK_STATE_UNLOCK && lock->owner_cpu == cur_cpu_id) {
+        ERROR("spinlock %s lock double locked by core %d\n", lock->name, lock->owner_cpu);
+        panic("");
+    }
+
+    struct double_list_node* p_lock_node = &core_lock_request[cur_cpu_id].node;
+    _spinlock_lock(&request_lock, SPINLOCK_LOCK_WAITFOREVER);
+    doubleListAddOnBack(p_lock_node, &lock_request_guard);
+    if (lock_request_guard.next != p_lock_node) {
+        _double_list_del(p_lock_node->prev, p_lock_node->next);
+        _spinlock_unlock(&request_lock);
+        return false;
+    }
+    _spinlock_unlock(&request_lock);
+    _spinlock_lock(lock, SPINLOCK_LOCK_WAITFOREVER);
+
+    return true;
+}
+
+bool is_spinlock_hold_by_current_cpu(struct spinlock* lock)
+{
+    return lock->owner_cpu;
 }

Ubiquitous/XiZi_AIoT/hardkernel/intr/spinlock.h

@@ -42,4 +42,5 @@ bool module_spinlock_use_intr_init(void);
 void spinlock_init(struct spinlock* lock, char* name);
 void spinlock_lock(struct spinlock* lock);
 void spinlock_unlock(struct spinlock* lock);
-bool is_spinlock_locked(struct spinlock* lock);
+bool spinlock_try_lock(struct spinlock* lock);
+bool is_spinlock_hold_by_current_cpu(struct spinlock* lock);

Ubiquitous/XiZi_AIoT/hardkernel/intr/trap_common.h

@@ -100,4 +100,7 @@ void panic(char* s);
 bool intr_distributer_init(struct IrqDispatcherRightGroup*);
 void intr_irq_dispatch(struct trapframe* tf);
 bool swi_distributer_init(struct SwiDispatcherRightGroup*);
-void software_irq_dispatch(struct trapframe* tf);
+void software_irq_dispatch(struct trapframe* tf);
+
+void dabort_reason(struct trapframe* r);
+void iabort_reason(struct trapframe* r);

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;

Ubiquitous/XiZi_AIoT/softkernel/include/multicores.h

@@ -50,5 +50,6 @@ static inline struct CPU* cur_cpu(void)
 struct spinlock whole_kernel_lock;
 
 void xizi_enter_kernel();
+bool xizi_try_enter_kernel();
 void xizi_leave_kernel();
 bool xizi_is_in_kernel();

Ubiquitous/XiZi_AIoT/softkernel/include/syscall.h

@@ -64,6 +64,12 @@ 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;
@@ -80,7 +86,7 @@ int syscall(int sys_num, uintptr_t param1, uintptr_t param2, uintptr_t param3, u
 
 int sys_spawn(char* img_start, char* name, char** argv);
 int sys_exit(struct TaskMicroDescriptor* ptask);
-int sys_yield();
+int sys_yield(task_yield_reason reason);
 int sys_kill(int id);
 
 int sys_register_as_server(char* name);

Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_register_irq.c

@@ -34,6 +34,7 @@ Modification:
 #include "actracer.h"
 #include "assert.h"
 #include "ipc.h"
+#include "kalloc.h"
 #include "mmu_common.h"
 #include "multicores.h"
 #include "share_page.h"
@@ -52,9 +53,10 @@ static void send_irq_to_user(int irq_num)
     struct Session* session = &irq_forward_table[irq_num].session;
     int len = IPC_ARG_INFO_BASE_OFFSET;
     len += sizeof(struct IpcArgInfo);
+    /* get message space and add session tail */
 
-    /* add session tail */
+    void* session_kern_vaddr = P2V(xizi_pager.address_translate(&kernel_irq_proxy->pgdir, (uintptr_t)session->buf));
-    struct IpcMsg* buf = session->buf + session->tail;
+    struct IpcMsg* buf = session_kern_vaddr + session->tail;
     memset((void*)buf, 0, len);
     session->tail = (session->tail + len) % session->capacity;
 
@@ -73,20 +75,13 @@ static void send_irq_to_user(int irq_num)
 
 int user_irq_handler(int irq, void* tf, void* arg)
 {
-    static struct MmuCommonDone* p_mmu_driver = NULL;
-    if (p_mmu_driver == NULL) {
-        struct TraceTag mmu_driver_tag;
-        AchieveResourceTag(&mmu_driver_tag, RequireRootTag(), "/hardkernel/mmu-ac-resource");
-        p_mmu_driver = (struct MmuCommonDone*)AchieveResource(&mmu_driver_tag);
-    }
-
     if (irq_forward_table[irq].handle_task != NULL) {
-        p_mmu_driver->LoadPgdir((uintptr_t)V2P(kernel_irq_proxy->pgdir.pd_addr));
         send_irq_to_user(irq);
-        p_mmu_driver->LoadPgdir((uintptr_t)V2P(cur_cpu()->task->pgdir.pd_addr));
 
         next_task_emergency = irq_forward_table[irq].handle_task;
-        xizi_task_manager.task_yield_noschedule(cur_cpu()->task, false);
+        if (cur_cpu()->task != NULL) {
+            xizi_task_manager.task_yield_noschedule(cur_cpu()->task, false);
+        }
     }
     return 0;
 }

Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_yield.c

@@ -33,7 +33,7 @@ Modification:
 
 #include "log.h"
 
-int sys_yield()
+int sys_yield(task_yield_reason reason)
 {
     xizi_task_manager.task_yield_noschedule(cur_cpu()->task, false);
     return 0;

Ubiquitous/XiZi_AIoT/softkernel/syscall/syscall.c

@@ -48,7 +48,7 @@ int syscall(int sys_num, uintptr_t param1, uintptr_t param2, uintptr_t param3, u
         ret = sys_exit(cur_cpu()->task);
         break;
     case SYSCALL_YIELD:
-        ret = sys_yield();
+        ret = sys_yield((task_yield_reason)param1);
         break;
     case SYSCALL_SERVER:
         ret = sys_register_as_server((char*)param1);

Ubiquitous/XiZi_AIoT/softkernel/task/Makefile

@@ -1,3 +1,3 @@
-SRC_FILES := task.c scheduler.c 
+SRC_FILES := task.c schedule.c 
 
 include $(KERNEL_ROOT)/compiler.mk

Ubiquitous/XiZi_AIoT/softkernel/task/task.c

@@ -259,6 +259,7 @@ static void _scheduler(struct SchedulerRightGroup right_group)
         cpu->task = next_task;
         p_mmu_driver->LoadPgdir((uintptr_t)V2P(next_task->pgdir.pd_addr));
         context_switch(&cpu->scheduler, next_task->main_thread.context);
+        assert(cur_cpu()->task == NULL);
         assert(next_task->state != RUNNING);
     }
 }

Ubiquitous/XiZi_AIoT/softkernel/trap/Makefile

@@ -1,6 +1,7 @@
 
 SRC_FILES := default_irq_handler.c \
 	clock_irq_handler.c \
-	software_irq_handler.c
+	software_irq_handler.c \
+	abort_handler.c 
 
 include $(KERNEL_ROOT)/compiler.mk

Ubiquitous/XiZi_AIoT/softkernel/trap/abort_handler.c

@@ -0,0 +1,86 @@
+/* Copyright (c) 2006-2018 Frans Kaashoek, Robert Morris, Russ Cox,
+ *                        Massachusetts Institute of Technology
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+/**
+ * @file abort_handler.c
+ * @brief handle program abort
+ * @version 3.0
+ * @author AIIT XUOS Lab
+ * @date 2023.11.23
+ */
+
+/*************************************************
+File name: abort_handler.c
+Description: handle program abort
+Others:
+History:
+1. Date: 2023-11-23
+Author: AIIT XUOS Lab
+Modification:
+1. Modify iabort and dabort handler(in dabort_handler() and iabort_handler())
+*************************************************/
+#include "core.h"
+#include "memlayout.h"
+#include "spinlock.h"
+#include "trap_common.h"
+
+#include "assert.h"
+#include "multicores.h"
+#include "syscall.h"
+#include "task.h"
+
+extern void context_switch(struct context**, struct context*);
+void dabort_handler(struct trapframe* r)
+{
+    if (r->pc >= DEV_VRTMEM_BASE && is_spinlock_hold_by_current_cpu(&whole_kernel_lock)) {
+        assert(is_spinlock_hold_by_current_cpu(&whole_kernel_lock));
+        dabort_reason(r);
+        panic("data abort exception\n");
+    }
+
+    xizi_enter_kernel();
+
+    struct TaskMicroDescriptor* cur_task = cur_cpu()->task;
+    ERROR("dabort in user space: %s\n", cur_task->name);
+    dabort_reason(r);
+    sys_exit(cur_task);
+    assert(cur_cpu()->task == NULL);
+    context_switch(&cur_task->main_thread.context, cur_cpu()->scheduler);
+}
+
+void iabort_handler(struct trapframe* r)
+{
+    if (r->pc >= DEV_VRTMEM_BASE && is_spinlock_hold_by_current_cpu(&whole_kernel_lock)) {
+        assert(is_spinlock_hold_by_current_cpu(&whole_kernel_lock));
+        iabort_reason(r);
+        panic("kernel prefetch abort exception\n");
+    }
+
+    xizi_enter_kernel();
+
+    struct TaskMicroDescriptor* cur_task = cur_cpu()->task;
+    ERROR("iabort in user space: %s\n", cur_task->name);
+    iabort_reason(r);
+    sys_exit(cur_task);
+    assert(cur_cpu()->task == NULL);
+    context_switch(&cur_task->main_thread.context, cur_cpu()->scheduler);
+}

Ubiquitous/XiZi_AIoT/softkernel/trap/default_irq_handler.c

@@ -66,9 +66,8 @@ void intr_irq_dispatch(struct trapframe* tf)
     }
 
     struct TaskMicroDescriptor* current_task = cur_cpu()->task;
-    if (LIKELY(current_task != NULL)) {
+    assert(current_task != NULL);
-        current_task->main_thread.trapframe = tf;
+    current_task->main_thread.trapframe = tf;
-    }
 
     unsigned cpu = p_intr_driver->hw_cur_int_cpu(int_info);
     unsigned irq = p_intr_driver->hw_cur_int_num(int_info);
@@ -86,7 +85,7 @@ void intr_irq_dispatch(struct trapframe* tf)
     p_intr_driver->curr_int[cpu] = 0;
     p_intr_driver->hw_after_irq(int_info);
 
-    if ((cur_cpu()->task == NULL && current_task != NULL) || current_task->state != RUNNING) {
+    if (cur_cpu()->task == NULL || current_task->state != RUNNING) {
         cur_cpu()->task = NULL;
         context_switch(&current_task->main_thread.context, cur_cpu()->scheduler);
     }
@@ -102,13 +101,18 @@ void xizi_enter_kernel()
     spinlock_lock(&whole_kernel_lock);
 }
 
+bool xizi_try_enter_kernel()
+{
+    p_intr_driver->cpu_irq_disable();
+    if (spinlock_try_lock(&whole_kernel_lock)) {
+        return true;
+    }
+
+    return false;
+}
+
 void xizi_leave_kernel()
 {
     spinlock_unlock(&whole_kernel_lock);
     p_intr_driver->cpu_irq_enable();
-}
-
-bool xizi_is_in_kernel()
-{
-    return is_spinlock_locked(&whole_kernel_lock);
 }

Ubiquitous/XiZi_AIoT/softkernel/trap/software_irq_handler.c

@@ -71,10 +71,10 @@ void software_irq_dispatch(struct trapframe* tf)
         cur_cpu()->task = NULL;
         context_switch(&cur_task->main_thread.context, cur_cpu()->scheduler);
     }
-    assert(cur_task == cur_cpu()->task);
     if (syscall_num == SYSCALL_EXIT) {
         panic("Exit reaches");
     }
 
+    assert(cur_task == cur_cpu()->task);
     xizi_leave_kernel();
 }