[freertos] /

/******************************************************************************
*
* Copyright (C) 2010 - 2015 Xilinx, Inc.  All rights reserved.
*
* 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.
*
* Use of the Software is limited solely to applications:
* (a) running on a Xilinx device, or
* (b) that interact with a Xilinx device through a bus or interconnect.
*
* 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
* XILINX  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.
*
* Except as contained in this notice, the name of the Xilinx shall not be used
* in advertising or otherwise to promote the sale, use or other dealings in
* this Software without prior written authorization from Xilinx.
*
******************************************************************************/
/*****************************************************************************/
/**
*
* @file xscugic_hw.c
* @addtogroup scugic_v3_1
* @{
*
* This file contains low-level driver functions that can be used to access the
* device.  The user should refer to the hardware device specification for more
* details of the device operation.
* These routines are used when the user does not want to create an instance of
* XScuGic structure but still wants to use the ScuGic device. Hence the
* routines provided here take device id or scugic base address as arguments.
* Separate static versions of DistInit and CPUInit are provided to implement
* the low level driver routines.
*
* <pre>
* MODIFICATION HISTORY:
*
* Ver   Who  Date     Changes
* ----- ---- -------- -------------------------------------------------------
* 1.01a sdm  07/18/11 First release
* 1.03a srt  02/27/13 Moved Offset calculation macros from *_hw.c (CR
*                     702687).
*                                         Added support to direct interrupts to the appropriate CPU.
*                         Earlier interrupts were directed to CPU1 (hard coded). Now
*                         depending upon the CPU selected by the user (xparameters.h),
*                         interrupts will be directed to the relevant CPU.
*                         This fixes CR 699688.
* 1.04a hk   05/04/13 Fix for CR#705621. Moved functions
*                         XScuGic_SetPriTrigTypeByDistAddr and
*             XScuGic_GetPriTrigTypeByDistAddr here from xscugic.c
* 3.00  kvn  02/13/15 Modified code for MISRA-C:2012 compliance.
*
* </pre>
*
******************************************************************************/


/***************************** Include Files *********************************/

#include "xil_types.h"
#include "xil_assert.h"
#include "xscugic.h"
#include "xparameters.h"

/************************** Constant Definitions *****************************/

/**************************** Type Definitions *******************************/

/***************** Macros (Inline Functions) Definitions *********************/

/************************** Function Prototypes ******************************/

static void DistInit(XScuGic_Config *Config, u32 CpuID);
static void CPUInit(XScuGic_Config *Config);
static XScuGic_Config *LookupConfigByBaseAddress(u32 CpuBaseAddress);

/************************** Variable Definitions *****************************/

extern XScuGic_Config XScuGic_ConfigTable[XPAR_XSCUGIC_NUM_INSTANCES];

/*****************************************************************************/
/**
*
* DistInit initializes the distributor of the GIC. The
* initialization entails:
*
* - Write the trigger mode, priority and target CPU
* - All interrupt sources are disabled
* - Enable the distributor
*
* @param        InstancePtr is a pointer to the XScuGic instance.
* @param        CpuID is the Cpu ID to be initialized.
*
* @return       None
*
* @note         None.
*
******************************************************************************/
static void DistInit(XScuGic_Config *Config, u32 CpuID)
{
        u32 Int_Id;
        u32 LocalCpuID = CpuID;

#if USE_AMP==1
        #warning "Building GIC for AMP"

        /*
         * The distrubutor should not be initialized by FreeRTOS in the case of
         * AMP -- it is assumed that Linux is the master of this device in that
         * case.
         */
        return;
#endif

        XScuGic_WriteReg(Config->DistBaseAddress, XSCUGIC_DIST_EN_OFFSET, 0U);

        /*
         * Set the security domains in the int_security registers for non-secure
         * interrupts. All are secure, so leave at the default. Set to 1 for
         * non-secure interrupts.
         */


        /*
         * For the Shared Peripheral Interrupts INT_ID[MAX..32], set:
         */

        /*
         * 1. The trigger mode in the int_config register
         * Only write to the SPI interrupts, so start at 32
         */
        for (Int_Id = 32U; Int_Id<XSCUGIC_MAX_NUM_INTR_INPUTS;Int_Id=Int_Id+16U) {
        /*
         * Each INT_ID uses two bits, or 16 INT_ID per register
         * Set them all to be level sensitive, active HIGH.
         */
                XScuGic_WriteReg(Config->DistBaseAddress,
                        XSCUGIC_INT_CFG_OFFSET_CALC(Int_Id), 0U);
        }


#define DEFAULT_PRIORITY        0xa0a0a0a0U
        for (Int_Id = 0U; Int_Id<XSCUGIC_MAX_NUM_INTR_INPUTS;Int_Id=Int_Id+4U) {
                /*
                 * 2. The priority using int the priority_level register
                 * The priority_level and spi_target registers use one byte per
                 * INT_ID.
                 * Write a default value that can be changed elsewhere.
                 */
                XScuGic_WriteReg(Config->DistBaseAddress,
                                XSCUGIC_PRIORITY_OFFSET_CALC(Int_Id),
                                DEFAULT_PRIORITY);
        }

        for (Int_Id = 32U; Int_Id<XSCUGIC_MAX_NUM_INTR_INPUTS;Int_Id=Int_Id+4U) {
                /*
                 * 3. The CPU interface in the spi_target register
                 * Only write to the SPI interrupts, so start at 32
                 */
                LocalCpuID |= LocalCpuID << 8U;
                LocalCpuID |= LocalCpuID << 16U;

                XScuGic_WriteReg(Config->DistBaseAddress,
                                XSCUGIC_SPI_TARGET_OFFSET_CALC(Int_Id), LocalCpuID);
        }

        for (Int_Id = 0U; Int_Id<XSCUGIC_MAX_NUM_INTR_INPUTS;Int_Id=Int_Id+32U) {
        /*
         * 4. Enable the SPI using the enable_set register. Leave all disabled
         * for now.
         */
                XScuGic_WriteReg(Config->DistBaseAddress,
                XSCUGIC_EN_DIS_OFFSET_CALC(XSCUGIC_DISABLE_OFFSET,
                Int_Id),
                0xFFFFFFFFU);

        }

        XScuGic_WriteReg(Config->DistBaseAddress, XSCUGIC_DIST_EN_OFFSET,
                                                XSCUGIC_EN_INT_MASK);

}

/*****************************************************************************/
/**
*
* CPUInit initializes the CPU Interface of the GIC. The initialization entails:
*
* - Set the priority of the CPU.
* - Enable the CPU interface
*
* @param        ConfigPtr is a pointer to a config table for the particular
*               device this driver is associated with.
*
* @return       None
*
* @note         None.
*
******************************************************************************/
static void CPUInit(XScuGic_Config *Config)
{
        /*
         * Program the priority mask of the CPU using the Priority mask
         * register
         */
        XScuGic_WriteReg(Config->CpuBaseAddress, XSCUGIC_CPU_PRIOR_OFFSET,
                                                                        0xF0U);

        /*
         * If the CPU operates in both security domains, set parameters in the
         * control_s register.
         * 1. Set FIQen=1 to use FIQ for secure interrupts,
         * 2. Program the AckCtl bit
         * 3. Program the SBPR bit to select the binary pointer behavior
         * 4. Set EnableS = 1 to enable secure interrupts
         * 5. Set EnbleNS = 1 to enable non secure interrupts
         */

        /*
         * If the CPU operates only in the secure domain, setup the
         * control_s register.
         * 1. Set FIQen=1,
         * 2. Set EnableS=1, to enable the CPU interface to signal secure .
         * interrupts Only enable the IRQ output unless secure interrupts
         * are needed.
         */
        XScuGic_WriteReg(Config->CpuBaseAddress, XSCUGIC_CONTROL_OFFSET, 0x07U);

}

/*****************************************************************************/
/**
*
* CfgInitialize a specific interrupt controller instance/driver. The
* initialization entails:
*
* - Initialize fields of the XScuGic structure
* - Initial vector table with stub function calls
* - All interrupt sources are disabled
*
* @param InstancePtr is a pointer to the XScuGic instance to be worked on.
* @param ConfigPtr is a pointer to a config table for the particular device
*        this driver is associated with.
* @param EffectiveAddr is the device base address in the virtual memory address
*        space. The caller is responsible for keeping the address mapping
*        from EffectiveAddr to the device physical base address unchanged
*        once this function is invoked. Unexpected errors may occur if the
*        address mapping changes after this function is called. If address
*        translation is not used, use Config->BaseAddress for this parameters,
*        passing the physical address instead.
*
* @return
*
* - XST_SUCCESS if initialization was successful
*
* @note
*
* None.
*
******************************************************************************/
s32 XScuGic_DeviceInitialize(u32 DeviceId)
{
        XScuGic_Config *Config;
        u32 Cpu_Id = (u32)XPAR_CPU_ID + (u32)1;

        Config = &XScuGic_ConfigTable[(u32 )DeviceId];

        DistInit(Config, Cpu_Id);

        CPUInit(Config);

        return XST_SUCCESS;
}

/*****************************************************************************/
/**
* This function is the primary interrupt handler for the driver.  It must be
* connected to the interrupt source such that it is called when an interrupt of
* the interrupt controller is active. It will resolve which interrupts are
* active and enabled and call the appropriate interrupt handler. It uses
* the Interrupt Type information to determine when to acknowledge the
* interrupt.Highest priority interrupts are serviced first.
*
* This function assumes that an interrupt vector table has been previously
* initialized.  It does not verify that entries in the table are valid before
* calling an interrupt handler.
*
* @param        DeviceId is the unique identifier for the ScuGic device.
*
* @return       None.
*
* @note         None.
*
******************************************************************************/
void XScuGic_DeviceInterruptHandler(void *DeviceId)
{

        u32 InterruptID;
        u32 IntIDFull;
        XScuGic_VectorTableEntry *TablePtr;
        XScuGic_Config *CfgPtr;

        CfgPtr = &XScuGic_ConfigTable[(INTPTR )DeviceId];

        /*
         * Read the int_ack register to identify the highest priority
         * interrupt ID and make sure it is valid. Reading Int_Ack will
         * clear the interrupt in the GIC.
         */
        IntIDFull = XScuGic_ReadReg(CfgPtr->CpuBaseAddress, XSCUGIC_INT_ACK_OFFSET);
        InterruptID = IntIDFull & XSCUGIC_ACK_INTID_MASK;
        if(XSCUGIC_MAX_NUM_INTR_INPUTS < InterruptID){
                goto IntrExit;
        }

        /*
         * If the interrupt is shared, do some locking here if there are
         * multiple processors.
         */
        /*
         * If pre-eption is required:
         * Re-enable pre-emption by setting the CPSR I bit for non-secure ,
         * interrupts or the F bit for secure interrupts
         */

        /*
         * If we need to change security domains, issue a SMC instruction here.
         */

        /*
         * Execute the ISR. Jump into the Interrupt service routine based on
         * the IRQSource. A software trigger is cleared by the ACK.
         */
        TablePtr = &(CfgPtr->HandlerTable[InterruptID]);
        if(TablePtr != NULL) {
                TablePtr->Handler(TablePtr->CallBackRef);
        }

IntrExit:
        /*
         * Write to the EOI register, we are all done here.
         * Let this function return, the boot code will restore the stack.
         */
        XScuGic_WriteReg(CfgPtr->CpuBaseAddress, XSCUGIC_EOI_OFFSET, IntIDFull);

        /*
         * Return from the interrupt. Change security domains could happen
         * here.
         */
}

/*****************************************************************************/
/**
*
* Register a handler function for a specific interrupt ID.  The vector table
* of the interrupt controller is updated, overwriting any previous handler.
* The handler function will be called when an interrupt occurs for the given
* interrupt ID.
*
* @param        BaseAddress is the CPU Interface Register base address of the
*               interrupt controller whose vector table will be modified.
* @param        InterruptId is the interrupt ID to be associated with the input
*               handler.
* @param        Handler is the function pointer that will be added to
*               the vector table for the given interrupt ID.
* @param        CallBackRef is the argument that will be passed to the new
*               handler function when it is called. This is user-specific.
*
* @return       None.
*
* @note
*
* Note that this function has no effect if the input base address is invalid.
*
******************************************************************************/
void XScuGic_RegisterHandler(u32 BaseAddress, s32 InterruptID,
                             Xil_InterruptHandler IntrHandler, void *CallBackRef)
{
        XScuGic_Config *CfgPtr;
        CfgPtr = LookupConfigByBaseAddress(BaseAddress);

        if(CfgPtr != NULL) {
                if( IntrHandler != NULL) {
                        CfgPtr->HandlerTable[InterruptID].Handler = IntrHandler;
                }
                if( CallBackRef != NULL) {
                        CfgPtr->HandlerTable[InterruptID].CallBackRef = CallBackRef;
                }
        }
}

/*****************************************************************************/
/**
*
* Looks up the device configuration based on the CPU interface base address of
* the device. A table contains the configuration info for each device in the
* system.
*
* @param        CpuBaseAddress is the CPU Interface Register base address.
*
* @return       A pointer to the configuration structure for the specified
*               device, or NULL if the device was not found.
*
* @note         None.
*
******************************************************************************/
static XScuGic_Config *LookupConfigByBaseAddress(u32 CpuBaseAddress)
{
        XScuGic_Config *CfgPtr = NULL;
        u32 Index;

        for (Index = 0U; Index < XPAR_SCUGIC_NUM_INSTANCES; Index++) {
                if (XScuGic_ConfigTable[Index].CpuBaseAddress ==
                                CpuBaseAddress) {
                        CfgPtr = &XScuGic_ConfigTable[Index];
                        break;
                }
        }

        return (XScuGic_Config *)CfgPtr;
}

/****************************************************************************/
/**
* Sets the interrupt priority and trigger type for the specificd IRQ source.
*
* @param        BaseAddr is the device base address
* @param        Int_Id is the IRQ source number to modify
* @param        Priority is the new priority for the IRQ source. 0 is highest
*                       priority, 0xF8 (248) is lowest. There are 32 priority levels
*                       supported with a step of 8. Hence the supported priorities are
*                       0, 8, 16, 32, 40 ..., 248.
* @param        Trigger is the new trigger type for the IRQ source.
* Each bit pair describes the configuration for an INT_ID.
* SFI    Read Only    b10 always
* PPI    Read Only    depending on how the PPIs are configured.
*                    b01    Active HIGH level sensitive
*                    b11 Rising edge sensitive
* SPI                LSB is read only.
*                    b01    Active HIGH level sensitive
*                    b11 Rising edge sensitive/
*
* @return       None.
*
* @note         This API has the similar functionality of XScuGic_SetPriority
*               TriggerType() and should be used when there is no InstancePtr.
*
*****************************************************************************/
void XScuGic_SetPriTrigTypeByDistAddr(u32 DistBaseAddress, u32 Int_Id,
                                        u8 Priority, u8 Trigger)
{
        u32 RegValue;
        u8 LocalPriority = Priority;

        Xil_AssertVoid(Int_Id < XSCUGIC_MAX_NUM_INTR_INPUTS);
        Xil_AssertVoid(Trigger <= XSCUGIC_INT_CFG_MASK);
        Xil_AssertVoid(LocalPriority <= XSCUGIC_MAX_INTR_PRIO_VAL);

        /*
         * Determine the register to write to using the Int_Id.
         */
        RegValue = XScuGic_ReadReg(DistBaseAddress,
                        XSCUGIC_PRIORITY_OFFSET_CALC(Int_Id));

        /*
         * The priority bits are Bits 7 to 3 in GIC Priority Register. This
         * means the number of priority levels supported are 32 and they are
         * in steps of 8. The priorities can be 0, 8, 16, 32, 48, ... etc.
         * The lower order 3 bits are masked before putting it in the register.
         */
        LocalPriority = LocalPriority & XSCUGIC_INTR_PRIO_MASK;
        /*
         * Shift and Mask the correct bits for the priority and trigger in the
         * register
         */
        RegValue &= ~(XSCUGIC_PRIORITY_MASK << ((Int_Id%4U)*8U));
        RegValue |= (u32)LocalPriority << ((Int_Id%4U)*8U);

        /*
         * Write the value back to the register.
         */
        XScuGic_WriteReg(DistBaseAddress, XSCUGIC_PRIORITY_OFFSET_CALC(Int_Id),
                                        RegValue);
        /*
         * Determine the register to write to using the Int_Id.
         */
        RegValue = XScuGic_ReadReg(DistBaseAddress,
                        XSCUGIC_INT_CFG_OFFSET_CALC (Int_Id));

        /*
         * Shift and Mask the correct bits for the priority and trigger in the
         * register
         */
        RegValue &= ~(XSCUGIC_INT_CFG_MASK << ((Int_Id%16U)*2U));
        RegValue |= (u32)Trigger << ((Int_Id%16U)*2U);

        /*
         * Write the value back to the register.
         */
        XScuGic_WriteReg(DistBaseAddress, XSCUGIC_INT_CFG_OFFSET_CALC(Int_Id),
                                RegValue);
}

/****************************************************************************/
/**
* Gets the interrupt priority and trigger type for the specificd IRQ source.
*
* @param        BaseAddr is the device base address
* @param        Int_Id is the IRQ source number to modify
* @param        Priority is a pointer to the value of the priority of the IRQ
*               source. This is a return value.
* @param        Trigger is pointer to the value of the trigger of the IRQ
*               source. This is a return value.
*
* @return       None.
*
* @note         This API has the similar functionality of XScuGic_GetPriority
*               TriggerType() and should be used when there is no InstancePtr.
*
*****************************************************************************/
void XScuGic_GetPriTrigTypeByDistAddr(u32 DistBaseAddress, u32 Int_Id,
                                        u8 *Priority, u8 *Trigger)
{
        u32 RegValue;

        Xil_AssertVoid(Int_Id < XSCUGIC_MAX_NUM_INTR_INPUTS);
        Xil_AssertVoid(Priority != NULL);
        Xil_AssertVoid(Trigger != NULL);

        /*
         * Determine the register to read to using the Int_Id.
         */
        RegValue = XScuGic_ReadReg(DistBaseAddress,
            XSCUGIC_PRIORITY_OFFSET_CALC(Int_Id));

        /*
         * Shift and Mask the correct bits for the priority and trigger in the
         * register
         */
        RegValue = RegValue >> ((Int_Id%4U)*8U);
        *Priority = (u8)(RegValue & XSCUGIC_PRIORITY_MASK);

        /*
         * Determine the register to read to using the Int_Id.
         */
        RegValue = XScuGic_ReadReg(DistBaseAddress,
            XSCUGIC_INT_CFG_OFFSET_CALC (Int_Id));

        /*
         * Shift and Mask the correct bits for the priority and trigger in the
         * register
         */
        RegValue = RegValue >> ((Int_Id%16U)*2U);

        *Trigger = (u8)(RegValue & XSCUGIC_INT_CFG_MASK);
}
/** @} */