[libcpu/aarch64] rt_hw_trap_irq get irq instead of iar when using gicv2 (#5601)

* [libcpu/aarch64] add smp support
* [libcpu/aarch64] rt_hw_trap_irq get irq instead of iar when using gicv2

bsp/qemu-virt64-aarch64/rtconfig.py

 import os
-import platform
 
 # toolchains options
 ARCH        ='aarch64'

bsp/raspberry-pi/raspi3-64/.config

@@ -239,6 +239,17 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # Socket is in the 'Network' category
 #
 
+#
+# Interprocess Communication (IPC)
+#
+# CONFIG_RT_USING_POSIX_PIPE is not set
+# CONFIG_RT_USING_POSIX_MESSAGE_QUEUE is not set
+# CONFIG_RT_USING_POSIX_MESSAGE_SEMAPHORE is not set
+
+#
+# Socket is in the 'Network' category
+#
+
 #
 # Network
 #
@@ -552,6 +563,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_MCUBOOT is not set
 # CONFIG_PKG_USING_TINYUSB is not set
 # CONFIG_PKG_USING_USB_STACK is not set
+# CONFIG_PKG_USING_LUATOS_SOC is not set
 
 #
 # peripheral libraries and drivers

bsp/raspberry-pi/raspi4-64/.config

@@ -234,6 +234,17 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # Socket is in the 'Network' category
 #
 
+#
+# Interprocess Communication (IPC)
+#
+# CONFIG_RT_USING_POSIX_PIPE is not set
+# CONFIG_RT_USING_POSIX_MESSAGE_QUEUE is not set
+# CONFIG_RT_USING_POSIX_MESSAGE_SEMAPHORE is not set
+
+#
+# Socket is in the 'Network' category
+#
+
 #
 # Network
 #
@@ -619,6 +630,7 @@ CONFIG_YMODEM_USING_FILE_TRANSFER=y
 # CONFIG_PKG_USING_MCUBOOT is not set
 # CONFIG_PKG_USING_TINYUSB is not set
 # CONFIG_PKG_USING_USB_STACK is not set
+# CONFIG_PKG_USING_LUATOS_SOC is not set
 
 #
 # peripheral libraries and drivers

libcpu/aarch64/common/interrupt.c

@@ -25,26 +25,8 @@ rt_ubase_t rt_interrupt_from_thread        = 0;
 rt_ubase_t rt_interrupt_to_thread          = 0;
 rt_ubase_t rt_thread_switch_interrupt_flag = 0;
 
-const unsigned int VECTOR_BASE = 0x00;
 extern int system_vectors;
 
-#ifdef RT_USING_SMP
-#define rt_interrupt_nest rt_cpu_self()->irq_nest
-#else
-extern volatile rt_uint8_t rt_interrupt_nest;
-#endif
-
-#ifndef BSP_USING_GIC
-static void default_isr_handler(int vector, void *param)
-{
-#ifdef RT_USING_SMP
-    rt_kprintf("cpu %d unhandled irq: %d\n", rt_hw_cpu_id(), vector);
-#else
-    rt_kprintf("unhandled irq: %d\n", vector);
-#endif
-}
-#endif
-
 void rt_hw_vector_init(void)
 {
     rt_hw_set_current_vbar((rt_ubase_t)&system_vectors);
@@ -55,52 +37,21 @@ void rt_hw_vector_init(void)
  */
 void rt_hw_interrupt_init(void)
 {
-#ifndef BSP_USING_GIC
-    rt_uint32_t index;
     /* initialize vector table */
     rt_hw_vector_init();
 
     /* initialize exceptions table */
     rt_memset(isr_table, 0x00, sizeof(isr_table));
 
+#ifndef BSP_USING_GIC
     /* mask all of interrupts */
     IRQ_DISABLE_BASIC = 0x000000ff;
     IRQ_DISABLE1      = 0xffffffff;
     IRQ_DISABLE2      = 0xffffffff;
-    for (index = 0; index < MAX_HANDLERS; index ++)
-    {
-        isr_table[index].handler = default_isr_handler;
-        isr_table[index].param = RT_NULL;
-#ifdef RT_USING_INTERRUPT_INFO
-        rt_strncpy(isr_table[index].name, "unknown", RT_NAME_MAX);
-        isr_table[index].counter = 0;
-#endif
-    }
-
-    /* init interrupt nest, and context in thread sp */
-    rt_interrupt_nest = 0;
-    rt_interrupt_from_thread = 0;
-    rt_interrupt_to_thread = 0;
-    rt_thread_switch_interrupt_flag = 0;
 #else
-    rt_uint64_t gic_cpu_base;
-    rt_uint64_t gic_dist_base;
-    rt_uint64_t gic_irq_start;
-
-    /* initialize vector table */
-    rt_hw_vector_init();
-
-    /* initialize exceptions table */
-    rt_memset(isr_table, 0x00, sizeof(isr_table));
-
     /* initialize ARM GIC */
-    gic_dist_base = platform_get_gic_dist_base();
-    gic_cpu_base = platform_get_gic_cpu_base();
-
-    gic_irq_start = GIC_IRQ_START;
-
-    arm_gic_dist_init(0, gic_dist_base, gic_irq_start);
-    arm_gic_cpu_init(0, gic_cpu_base);
+    arm_gic_dist_init(0, platform_get_gic_dist_base(), GIC_IRQ_START);
+    arm_gic_cpu_init(0, platform_get_gic_cpu_base());
 #endif
 }
 

libcpu/aarch64/common/trap.c

@@ -148,7 +148,7 @@ void rt_hw_trap_irq(void)
     }
 #else
     void *param;
-    int ir;
+    int ir, ir_self;
     rt_isr_handler_t isr_func;
     extern struct rt_irq_desc isr_table[];
 
@@ -160,17 +160,20 @@ void rt_hw_trap_irq(void)
         return;
     }
 
+    /* bit 10~12 is cpuid, bit 0~9 is interrupt id */
+    ir_self = ir & 0x3ffUL;
+
     /* get interrupt service routine */
-    isr_func = isr_table[ir].handler;
+    isr_func = isr_table[ir_self].handler;
 #ifdef RT_USING_INTERRUPT_INFO
-    isr_table[ir].counter++;
+    isr_table[ir_self].counter++;
 #endif
     if (isr_func)
     {
         /* Interrupt for myself. */
-        param = isr_table[ir].param;
+        param = isr_table[ir_self].param;
         /* turn to interrupt service routine */
-        isr_func(ir, param);
+        isr_func(ir_self, param);
     }
 
     /* end of interrupt */

libcpu/aarch64/common/vector_gcc.S

@@ -4,58 +4,45 @@
  * SPDX-License-Identifier: Apache-2.0
  *
  * Date           Author       Notes
- * 2018-10-06     ZhaoXiaowei    the first version
+ * 2018-10-06     ZhaoXiaowei  the first version
+ * 2022-02-16     GuEe-GUI     replace vectors entry to macro
  */
 
-.text
+#include "rtconfig.h"
+
+#ifndef RT_USING_VMTHREAD
+.macro  ventry label
+    .align 7
+    b   \label
+.endm
 
 .globl system_vectors
 .globl vector_error
 .globl vector_irq
 .globl vector_fiq
-
-system_vectors:
 .align 11
-    .set    VBAR, system_vectors
-    .org    VBAR
-    // Exception from CurrentEL (EL1) with SP_EL0 (SPSEL=0)
-    .org (VBAR + 0x00 + 0)
-    B vector_error      //          Synchronous
-    .org (VBAR + 0x80 + 0)
-    B vector_irq        //          IRQ/vIRQ
-    .org (VBAR + 0x100 + 0)
-    B vector_fiq        //          FIQ/vFIQ
-    .org (VBAR + 0x180 + 0)
-    B vector_error      //          Error/vError
+system_vectors:
+    /* Exception from CurrentEL (EL1t) with SP_EL0 (SPSEL = 0) */
+    ventry  vector_error    /* Synchronous */
+    ventry  vector_irq      /* IRQ/vIRQ */
+    ventry  vector_fiq      /* FIQ/vFIQ */
+    ventry  vector_error    /* SError/vSError */
 
-    // Exception from CurrentEL (EL1) with SP_ELn
-    .org (VBAR + 0x200 + 0)
-    B vector_error      //          Synchronous
-    .org (VBAR + 0x280 + 0)
-    B vector_irq        //          IRQ/vIRQ
-    .org (VBAR + 0x300 + 0)
-    B vector_fiq        //          FIQ/vFIQ
-    .org (VBAR + 0x380 + 0)
-    B vector_error
+    /* Exception from CurrentEL (EL1h) with SP_ELn */
+    ventry  vector_error    /* Synchronous */
+    ventry  vector_irq      /* IRQ/vIRQ */
+    ventry  vector_fiq      /* FIQ/vFIQ */
+    ventry  vector_error    /* SError/vSError */
 
-    // Exception from lower EL, aarch64
-    .org (VBAR + 0x400 + 0)
-    B vector_error
-    .org (VBAR + 0x480 + 0)
-    B vector_error
-    .org (VBAR + 0x500 + 0)
-    B vector_error
-    .org (VBAR + 0x580 + 0)
-    B vector_error
+    /* Exception from lower EL, aarch64 */
+    ventry  vector_error    /* Synchronous */
+    ventry  vector_error    /* IRQ/vIRQ */
+    ventry  vector_error    /* FIQ/vFIQ */
+    ventry  vector_error    /* SError/vSError */
 
-    // Exception from lower EL, aarch32
-    .org (VBAR + 0x600 + 0)
-    B vector_error
-    .org (VBAR + 0x680 + 0)
-    B vector_error
-    .org (VBAR + 0x700 + 0)
-    B vector_error
-    .org (VBAR + 0x780 + 0)
-    B vector_error
-    .org (VBAR + 0x800 + 0)
-    B vector_error
+    /* Exception from lower EL, aarch32 */
+    ventry  vector_error    /* Synchronous */
+    ventry  vector_error    /* IRQ/vIRQ */
+    ventry  vector_error    /* FIQ/vFIQ */
+    ventry  vector_error    /* SError/vSError */
+#endif /* !RT_USING_VMTHREAD */