[add] 添加gicv3中断控制器代码，更新menuconfig配置选项与utest的config.h

examples/utest/configs/utest_self/config.h

@@ -55,6 +55,7 @@
 #define RT_VER_NUM 0x40004
 #define ARCH_ARM
 #define ARCH_ARM_CORTEX_A
+#define RT_USING_GIC_V2
 #define ARCH_ARM_CORTEX_A9
 
 /* RT-Thread Components */

libcpu/Kconfig

@@ -58,6 +58,26 @@ config ARCH_ARM_CORTEX_A
     bool
     select ARCH_ARM
 
+    if ARCH_ARM_CORTEX_A
+        config RT_SMP_AUTO_BOOT
+            bool
+            default n
+
+        choice
+            prompt "GIC controller selection"
+            default RT_USING_GIC_V2
+
+            config RT_USING_GIC_V2
+                bool " Gic version 2 "
+
+            config RT_USING_GIC_V3
+                bool " Gic version 3 "
+
+            config RT_NO_USING_GIC
+                bool " GIC controller is not used "
+        endchoice
+    endif
+
 config ARCH_ARM_CORTEX_A5
     bool
     select ARCH_ARM_CORTEX_A

libcpu/arm/cortex-a/SConscript

@@ -5,9 +5,27 @@ from building import *
 Import('rtconfig')
 
 cwd     = GetCurrentDir()
-src     = Glob('*.c') + Glob('*.cpp')
+src     = Split('''
+cache.c
+cpu.c
+gtimer.c
+mmu.c
+pmu.c
+stack.c
+
+''')
 CPPPATH = [cwd]
 
+if GetDepend('RT_USING_GIC_V2'):
+    src += ['interrupt.c']
+    src += ['gic.c']
+    src += ['trap.c']
+
+if GetDepend('RT_USING_GIC_V3'):
+    src += ['interrupt.c']
+    src += ['gicv3.c']
+    src += ['trap.c']
+
 if rtconfig.PLATFORM == 'armcc':
     src += Glob('*_rvds.S')
 
@@ -18,6 +36,9 @@ if rtconfig.PLATFORM == 'gcc':
 if rtconfig.PLATFORM == 'iar':
     src += Glob('*_iar.S')
 
+if rtconfig.PLATFORM == 'iar':
+    src += Glob('*_iar.S')
+
 group = DefineGroup('CPU', src, depend = [''], CPPPATH = CPPPATH)
 
 Return('group')

libcpu/arm/cortex-a/gicv3.c

+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2013-07-20     Bernard      first version
+ * 2014-04-03     Grissiom     many enhancements
+ * 2018-11-22     Jesven       add rt_hw_ipi_send()
+ *                             add rt_hw_ipi_handler_install()
+ */
+
+#include <rthw.h>
+#include <rtthread.h>
+
+#include "gicv3.h"
+#include "cp15.h"
+
+#ifndef RT_CPUS_NR
+#define RT_CPUS_NR 1
+#endif
+
+struct arm_gic_v3
+{
+    rt_uint32_t offset;                     /* the first interrupt index in the vector table */
+    rt_uint32_t redist_hw_base[RT_CPUS_NR]; /* the pointer of the gic redistributor */
+    rt_uint32_t dist_hw_base;               /* the base address of the gic distributor */
+    rt_uint32_t cpu_hw_base[RT_CPUS_NR];    /* the base addrees of the gic cpu interface */
+};
+
+/* 'ARM_GIC_MAX_NR' is the number of cores */
+static struct arm_gic_v3 _gic_table[ARM_GIC_MAX_NR];
+static unsigned int _gic_max_irq;
+
+/**
+ * @name: arm_gic_cpumask_to_affval
+ * @msg:
+ * @in param cpu_mask:
+ * @out param cluster_id: aff1 [0:7],aff2 [8:15],aff3 [16:23]
+ * @out param target_list:  Target List. The set of PEs for which SGI interrupts will be generated. Each bit corresponds to the
+ *                          PE within a cluster with an Affinity 0 value equal to the bit number.
+ * @return {rt_uint32_t} 0 is finish , 1 is data valid
+ */
+RT_WEAK rt_uint32_t arm_gic_cpumask_to_affval(rt_uint32_t *cpu_mask, rt_uint32_t *cluster_id, rt_uint32_t *target_list)
+{
+    return 0;
+}
+
+RT_WEAK rt_uint64_t get_main_cpu_affval(void)
+{
+    return 0;
+}
+
+int arm_gic_get_active_irq(rt_uint32_t index)
+{
+    int irq;
+
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    __get_gicv3_reg(ICC_IAR1, irq);
+
+    irq = (irq & 0x1FFFFFF) + _gic_table[index].offset;
+    return irq;
+}
+
+void arm_gic_ack(rt_uint32_t index, int irq)
+{
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+    RT_ASSERT(irq >= 0U);
+
+    __asm__ volatile("dsb 0xF" ::
+                         : "memory");
+    __set_gicv3_reg(ICC_EOIR1, irq);
+}
+
+void arm_gic_mask(rt_uint32_t index, int irq)
+{
+    rt_uint32_t mask = 1U << (irq % 32U);
+
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    if (irq < 32U)
+    {
+        rt_int32_t cpu_id = rt_hw_cpu_id();
+        RT_ASSERT((cpu_id) < RT_CPUS_NR);
+        GIC_RDISTSGI_ICENABLER0(_gic_table[index].redist_hw_base[cpu_id]) = mask;
+    }
+    else
+    {
+        GIC_DIST_ENABLE_CLEAR(_gic_table[index].dist_hw_base, irq) = mask;
+    }
+}
+
+void arm_gic_umask(rt_uint32_t index, int irq)
+{
+    rt_uint32_t mask = 1U << (irq % 32U);
+
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    if (irq < 32U)
+    {
+        rt_int32_t cpu_id = rt_hw_cpu_id();
+        RT_ASSERT((cpu_id) < RT_CPUS_NR);
+        GIC_RDISTSGI_ISENABLER0(_gic_table[index].redist_hw_base[cpu_id]) = mask;
+    }
+    else
+    {
+        GIC_DIST_ENABLE_SET(_gic_table[index].dist_hw_base, irq) = mask;
+    }
+}
+
+rt_uint32_t arm_gic_get_pending_irq(rt_uint32_t index, int irq)
+{
+    rt_uint32_t pend;
+
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    if (irq >= 16U)
+    {
+        pend = (GIC_DIST_PENDING_SET(_gic_table[index].dist_hw_base, irq) >> (irq % 32U)) & 0x1UL;
+    }
+    else
+    {
+        /* INTID 0-15 Software Generated Interrupt */
+        pend = (GIC_DIST_SPENDSGI(_gic_table[index].dist_hw_base, irq) >> ((irq % 4U) * 8U)) & 0xFFUL;
+        /* No CPU identification offered */
+        if (pend != 0U)
+        {
+            pend = 1U;
+        }
+        else
+        {
+            pend = 0U;
+        }
+    }
+
+    return (pend);
+}
+
+void arm_gic_set_pending_irq(rt_uint32_t index, int irq)
+{
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    if (irq >= 16U)
+    {
+        GIC_DIST_PENDING_SET(_gic_table[index].dist_hw_base, irq) = 1U << (irq % 32U);
+    }
+    else
+    {
+        /* INTID 0-15 Software Generated Interrupt */
+        /* Forward the interrupt to the CPU interface that requested it */
+        GIC_DIST_SOFTINT(_gic_table[index].dist_hw_base) = (irq | 0x02000000U);
+    }
+}
+
+void arm_gic_clear_pending_irq(rt_uint32_t index, int irq)
+{
+    rt_uint32_t mask;
+
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    if (irq >= 16U)
+    {
+        mask = 1U << (irq % 32U);
+        GIC_DIST_PENDING_CLEAR(_gic_table[index].dist_hw_base, irq) = mask;
+    }
+    else
+    {
+        mask = 1U << ((irq % 4U) * 8U);
+        GIC_DIST_CPENDSGI(_gic_table[index].dist_hw_base, irq) = mask;
+    }
+}
+
+void arm_gic_set_configuration(rt_uint32_t index, int irq, uint32_t config)
+{
+    rt_uint32_t icfgr;
+    rt_uint32_t shift;
+
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    icfgr = GIC_DIST_CONFIG(_gic_table[index].dist_hw_base, irq);
+    shift = (irq % 16U) << 1U;
+
+    icfgr &= (~(3U << shift));
+    icfgr |= (config << shift);
+
+    GIC_DIST_CONFIG(_gic_table[index].dist_hw_base, irq) = icfgr;
+}
+
+rt_uint32_t arm_gic_get_configuration(rt_uint32_t index, int irq)
+{
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    return (GIC_DIST_CONFIG(_gic_table[index].dist_hw_base, irq) >> ((irq % 16U) >> 1U));
+}
+
+void arm_gic_clear_active(rt_uint32_t index, int irq)
+{
+    rt_uint32_t mask = 1U << (irq % 32U);
+
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    GIC_DIST_ACTIVE_CLEAR(_gic_table[index].dist_hw_base, irq) = mask;
+}
+
+/* Set up the cpu mask for the specific interrupt */
+void arm_gic_set_cpu(rt_uint32_t index, int irq, unsigned int cpumask)
+{
+    rt_uint32_t old_tgt;
+
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    old_tgt = GIC_DIST_TARGET(_gic_table[index].dist_hw_base, irq);
+
+    old_tgt &= ~(0x0FFUL << ((irq % 4U) * 8U));
+    old_tgt |= cpumask << ((irq % 4U) * 8U);
+
+    GIC_DIST_TARGET(_gic_table[index].dist_hw_base, irq) = old_tgt;
+}
+
+rt_uint32_t arm_gic_get_target_cpu(rt_uint32_t index, int irq)
+{
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    return (GIC_DIST_TARGET(_gic_table[index].dist_hw_base, irq) >> ((irq % 4U) * 8U)) & 0xFFUL;
+}
+
+void arm_gic_set_priority(rt_uint32_t index, int irq, rt_uint32_t priority)
+{
+    rt_uint32_t mask;
+
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    if (irq < 32U)
+    {
+        rt_int32_t cpu_id = rt_hw_cpu_id();
+        RT_ASSERT((cpu_id) < RT_CPUS_NR);
+
+        mask = GIC_RDISTSGI_IPRIORITYR(_gic_table[index].redist_hw_base[cpu_id], irq);
+        mask &= ~(0xFFUL << ((irq % 4U) * 8U));
+        mask |= ((priority & 0xFFUL) << ((irq % 4U) * 8U));
+        GIC_RDISTSGI_IPRIORITYR(_gic_table[index].redist_hw_base[cpu_id], irq) = mask;
+    }
+    else
+    {
+        mask = GIC_DIST_PRI(_gic_table[index].dist_hw_base, irq);
+        mask &= ~(0xFFUL << ((irq % 4U) * 8U));
+        mask |= ((priority & 0xFFUL) << ((irq % 4U) * 8U));
+        GIC_DIST_PRI(_gic_table[index].dist_hw_base, irq) = mask;
+    }
+}
+
+rt_uint32_t arm_gic_get_priority(rt_uint32_t index, int irq)
+{
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    if (irq < 32U)
+    {
+        rt_int32_t cpu_id = rt_hw_cpu_id();
+
+        RT_ASSERT((cpu_id) < RT_CPUS_NR);
+        return (GIC_RDISTSGI_IPRIORITYR(_gic_table[index].redist_hw_base[cpu_id], irq) >> ((irq % 4U) * 8U)) & 0xFFUL;
+    }
+    else
+    {
+        return (GIC_DIST_PRI(_gic_table[index].dist_hw_base, irq) >> ((irq % 4U) * 8U)) & 0xFFUL;
+    }
+}
+
+void arm_gic_set_system_register_enable_mask(rt_uint32_t index, rt_uint32_t value)
+{
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    value &= 0xFFUL;
+    /* set priority mask */
+    __set_gicv3_reg(ICC_SRE, value);
+    __asm__ volatile ("isb 0xF"::
+                        :"memory");
+}
+
+rt_uint32_t arm_gic_get_system_register_enable_mask(rt_uint32_t index)
+{
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+    rt_uint32_t value;
+
+    __get_gicv3_reg(ICC_SRE, value);
+    return value;
+}
+
+void arm_gic_set_interface_prior_mask(rt_uint32_t index, rt_uint32_t priority)
+{
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    priority &= 0xFFUL;
+    /* set priority mask */
+    __set_gicv3_reg(ICC_PMR, priority);
+}
+
+rt_uint32_t arm_gic_get_interface_prior_mask(rt_uint32_t index)
+{
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+    rt_uint32_t priority;
+
+    __get_gicv3_reg(ICC_PMR, priority);
+    return priority;
+}
+
+void arm_gic_set_binary_point(rt_uint32_t index, rt_uint32_t binary_point)
+{
+    index = index;
+    binary_point &= 0x7U;
+
+    __set_gicv3_reg(ICC_BPR1, binary_point);
+}
+
+rt_uint32_t arm_gic_get_binary_point(rt_uint32_t index)
+{
+    rt_uint32_t binary_point;
+
+    index = index;
+    __get_gicv3_reg(ICC_BPR1, binary_point);
+    return binary_point;
+}
+
+rt_uint32_t arm_gic_get_irq_status(rt_uint32_t index, int irq)
+{
+    rt_uint32_t pending;
+    rt_uint32_t active;
+
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    active = (GIC_DIST_ACTIVE_SET(_gic_table[index].dist_hw_base, irq) >> (irq % 32U)) & 0x1UL;
+    pending = (GIC_DIST_PENDING_SET(_gic_table[index].dist_hw_base, irq) >> (irq % 32U)) & 0x1UL;
+
+    return ((active << 1U) | pending);
+}
+
+void arm_gic_send_affinity_sgi(rt_uint32_t index, int irq, rt_uint32_t cpu_mask, rt_uint32_t routing_mode)
+{
+    rt_uint64_t sgi_val;
+
+    if (routing_mode)
+    {
+        sgi_val = (1ULL << 40) | ((irq & 0x0FULL) << 24); //Interrupts routed to all PEs in the system, excluding "self".
+        /*  Write the ICC_SGI1R registers */
+        __asm__ volatile("dsb 0xF" ::
+                            : "memory");
+        __set_cp64(15, 0, sgi_val, 12);
+        __asm__ volatile("isb 0xF" ::
+                            : "memory");
+    }
+    else
+    {
+        rt_uint32_t cluster_id, target_list;
+        while (arm_gic_cpumask_to_affval(&cpu_mask, &cluster_id, &target_list))
+        {
+            sgi_val = ((irq & 0x0FULL) << 24 |
+                       target_list |
+                       ((cluster_id >> 8) & 0xFFULL) << GIC_RSGI_AFF1_OFFSET |
+                       ((cluster_id >> 16) & 0xFFULL) << GIC_RSGI_AFF2_OFFSET |
+                       ((cluster_id >> 24) & 0xFFull) << GIC_RSGI_AFF3_OFFSET);
+
+            __asm__ volatile("dsb 0xF" ::
+                                : "memory");
+            __set_cp64(15, 0, sgi_val, 12);
+            __asm__ volatile("isb 0xF" ::
+                                : "memory");
+        }
+    }
+}
+
+rt_uint32_t arm_gic_get_high_pending_irq(rt_uint32_t index)
+{
+    rt_uint32_t irq;
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    index = index;
+    __get_gicv3_reg(ICC_HPPIR1, irq);
+    return irq;
+}
+
+rt_uint32_t arm_gic_get_interface_id(rt_uint32_t index)
+{
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    return GIC_CPU_IIDR(_gic_table[index].cpu_hw_base);
+}
+
+void arm_gic_set_group(rt_uint32_t index, int irq, rt_uint32_t group)
+{
+    uint32_t igroupr;
+    uint32_t shift;
+
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+    RT_ASSERT(group <= 1U);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    igroupr = GIC_DIST_IGROUP(_gic_table[index].dist_hw_base, irq);
+    shift = (irq % 32U);
+    igroupr &= (~(1U << shift));
+    igroupr |= ((group & 0x1U) << shift);
+
+    GIC_DIST_IGROUP(_gic_table[index].dist_hw_base, irq) = igroupr;
+}
+
+rt_uint32_t arm_gic_get_group(rt_uint32_t index, int irq)
+{
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    irq = irq - _gic_table[index].offset;
+    RT_ASSERT(irq >= 0U);
+
+    return (GIC_DIST_IGROUP(_gic_table[index].dist_hw_base, irq) >> (irq % 32U)) & 0x1UL;
+}
+
+static int arm_gicv3_wait_rwp(rt_uint32_t index, rt_uint32_t irq)
+{
+    rt_uint32_t rwp_bit;
+    rt_uint32_t base;
+
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    if (irq < 32u)
+    {
+        rt_int32_t cpu_id = rt_hw_cpu_id();
+
+        RT_ASSERT((cpu_id) < RT_CPUS_NR);
+        base = _gic_table[index].redist_hw_base[cpu_id];
+        rwp_bit = GICR_CTLR_RWP;
+    }
+    else
+    {
+        base = _gic_table[index].dist_hw_base;
+        rwp_bit = GICD_CTLR_RWP;
+    }
+
+    while (__REG32(base) & rwp_bit)
+    {
+        ;
+    }
+
+    return 0;
+}
+
+int arm_gic_dist_init(rt_uint32_t index, rt_uint32_t dist_base, int irq_start)
+{
+    rt_uint64_t cpu0_affval;
+    unsigned int gic_type, i;
+
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    _gic_table[index].dist_hw_base = dist_base;
+    _gic_table[index].offset = irq_start;
+
+    /* Find out how many interrupts are supported. */
+    gic_type = GIC_DIST_TYPE(dist_base);
+    _gic_max_irq = ((gic_type & 0x1fU) + 1U) * 32U;
+
+    /*
+     * The GIC only supports up to 1020 interrupt sources.
+     * Limit this to either the architected maximum, or the
+     * platform maximum.
+     */
+    if (_gic_max_irq > 1020U)
+        _gic_max_irq = 1020U;
+    if (_gic_max_irq > ARM_GIC_NR_IRQS) /* the platform maximum interrupts */
+        _gic_max_irq = ARM_GIC_NR_IRQS;
+
+    GIC_DIST_CTRL(dist_base) = 0x0U;
+    /* Wait for register write pending */
+    arm_gicv3_wait_rwp(0, 32);
+
+    /* Set all global interrupts to be level triggered, active low. */
+    for (i = 32U; i < _gic_max_irq; i += 16U)
+        GIC_DIST_CONFIG(dist_base, i) = 0x0U;
+
+    arm_gicv3_wait_rwp(0, 32);
+
+    cpu0_affval = get_main_cpu_affval();
+    /* Set all global interrupts to this CPU only. */
+    for (i = 32U; i < _gic_max_irq; i++)
+    {
+        GIC_DIST_IROUTER_LOW(dist_base, i) = cpu0_affval;
+        GIC_DIST_IROUTER_HIGH(dist_base, i) = cpu0_affval >> 32;
+    }
+
+    arm_gicv3_wait_rwp(0, 32);
+
+    /* Set priority on spi interrupts. */
+    for (i = 32U; i < _gic_max_irq; i += 4U)
+        GIC_DIST_PRI(dist_base, i) = 0xa0a0a0a0U;
+
+    arm_gicv3_wait_rwp(0, 32);
+    /* Disable all interrupts. */
+    for (i = 0U; i < _gic_max_irq; i += 32U)
+    {
+        GIC_DIST_PENDING_CLEAR(dist_base, i) = 0xffffffffU;
+        GIC_DIST_ENABLE_CLEAR(dist_base, i) = 0xffffffffU;
+    }
+
+    arm_gicv3_wait_rwp(0, 32);
+    /* All interrupts defaults to IGROUP1(IRQ). */
+    for (i = 0U; i < _gic_max_irq; i += 32U)
+        GIC_DIST_IGROUP(dist_base, i) = 0xffffffffU;
+
+    arm_gicv3_wait_rwp(0, 32);
+
+    /*
+            The Distributor control register (GICD_CTLR) must be configured to enable the interrupt groups and to set the routing mode.
+            Enable Affinity routing (ARE bits) The ARE bits in GICD_CTLR control whether affinity routing is enabled.
+            If affinity routing is not enabled, GICv3 can be configured for legacy operation.
+            Whether affinity routing is enabled or not can be controlled separately for Secure and Non-secure state.
+            Enables GICD_CTLR contains separate enable bits for Group 0, Secure Group 1 and Non-secure Group 1:
+            GICD_CTLR.EnableGrp1S enables distribution of Secure Group 1 interrupts.
+            GICD_CTLR.EnableGrp1NS enables distribution of Non-secure Group 1 interrupts.
+            GICD_CTLR.EnableGrp0 enables distribution of Group 0 interrupts.
+      */
+    GIC_DIST_CTRL(dist_base) = GICD_CTLR_ARE_NS | GICD_CTLR_ENGRP1NS;
+
+    return 0;
+}
+
+int arm_gic_redist_address_set(rt_uint32_t index, rt_uint32_t redist_addr, rt_uint32_t cpu_id)
+{
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+    RT_ASSERT((cpu_id) < RT_CPUS_NR);
+    _gic_table[index].redist_hw_base[cpu_id] = redist_addr;
+
+    return 0;
+}
+
+int arm_gic_cpu_interface_address_set(rt_uint32_t index, rt_uint32_t interface_addr, rt_uint32_t cpu_id)
+{
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+    RT_ASSERT((cpu_id) < RT_CPUS_NR);
+    _gic_table[index].cpu_hw_base[cpu_id] = interface_addr;
+
+    return 0;
+}
+
+int arm_gic_redist_init(rt_uint32_t index)
+{
+    unsigned int i;
+    rt_uint32_t base;
+    rt_int32_t cpu_id = rt_hw_cpu_id();
+
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+    RT_ASSERT((cpu_id) < RT_CPUS_NR);
+
+    base = _gic_table[index].redist_hw_base[cpu_id];
+    /* redistributor enable */
+    GIC_RDIST_WAKER(base) &= ~(1U << 1);
+    while (GIC_RDIST_WAKER(base) & (1 << 2))
+    {
+        ;
+    }
+
+    /* Disable all sgi and ppi interrupt */
+    GIC_RDISTSGI_ICENABLER0(base) = 0xFFFFFFFF;
+    arm_gicv3_wait_rwp(0, 0);
+
+    /* Clear all inetrrupt pending */
+    GIC_RDISTSGI_ICPENDR0(base) = 0xFFFFFFFF;
+
+    /* the corresponding interrupt is Group 1 or Non-secure Group 1. */
+    GIC_RDISTSGI_IGROUPR0(base, 0) = 0xFFFFFFFF;
+    GIC_RDISTSGI_IGRPMODR0(base, 0) = 0xFFFFFFFF;
+
+    /* Configure default priorities for SGI 0:15 and PPI 16:31. */
+    for (i = 0; i < 32; i += 4)
+    {
+        GIC_RDISTSGI_IPRIORITYR(base, i) = 0xa0a0a0a0U;
+    }
+
+    /* Trigger level for PPI interrupts*/
+    GIC_RDISTSGI_ICFGR1(base) = 0x0U; // PPI is level-sensitive.
+    return 0;
+}
+
+int arm_gic_cpu_init(rt_uint32_t index)
+{
+    rt_uint32_t value;
+    RT_ASSERT(index < ARM_GIC_MAX_NR);
+
+    value = arm_gic_get_system_register_enable_mask(index);
+    value |= (1U << 0);
+    arm_gic_set_system_register_enable_mask(index, value);
+    __set_gicv3_reg(ICC_CTLR, 0);
+
+    arm_gic_set_interface_prior_mask(index, 0xFFU);
+
+    /* Enable group1 interrupt */
+    value = 0x1U;
+    __set_gicv3_reg(ICC_IGRPEN1, value);
+
+    arm_gic_set_binary_point(0, 0);
+
+    /* ICC_BPR0_EL1 determines the preemption group for both
+       Group 0 and Group 1 interrupts.
+       */
+    value = 0x1U;
+    __set_gicv3_reg(ICC_CTLR, value);
+
+    return 0;
+}
+
+#ifdef RT_USING_SMP
+void arm_gic_secondary_cpu_init(void)
+{
+    arm_gic_redist_init(0);
+
+    arm_gic_cpu_init(0);
+}
+#endif
+
+void arm_gic_dump_type(rt_uint32_t index)
+{
+    unsigned int gic_type;
+
+    gic_type = GIC_DIST_TYPE(_gic_table[index].dist_hw_base);
+    rt_kprintf("GICv%d on %p, max IRQs: %d, %s security extension(%08x)\n",
+               (GIC_DIST_ICPIDR2(_gic_table[index].dist_hw_base) >> 4U) & 0xfUL,
+               _gic_table[index].dist_hw_base,
+               _gic_max_irq,
+               gic_type & (1U << 10U) ? "has" : "no",
+               gic_type);
+}
+
+void arm_gic_dump(rt_uint32_t index)
+{
+    unsigned int i, k;
+
+    k = arm_gic_get_high_pending_irq(0);
+    rt_kprintf("--- high pending priority: %d(%08x)\n", k, k);
+    rt_kprintf("--- hw mask ---\n");
+    for (i = 0U; i < _gic_max_irq / 32U; i++)
+    {
+        rt_kprintf("0x%08x, ",
+                   GIC_DIST_ENABLE_SET(_gic_table[index].dist_hw_base,
+                                       i * 32U));
+    }
+    rt_kprintf("\n--- hw pending ---\n");
+    for (i = 0U; i < _gic_max_irq / 32U; i++)
+    {
+        rt_kprintf("0x%08x, ",
+                   GIC_DIST_PENDING_SET(_gic_table[index].dist_hw_base,
+                                        i * 32U));
+    }
+    rt_kprintf("\n--- hw active ---\n");
+    for (i = 0U; i < _gic_max_irq / 32U; i++)
+    {
+        rt_kprintf("0x%08x, ",
+                   GIC_DIST_ACTIVE_SET(_gic_table[index].dist_hw_base,
+                                       i * 32U));
+    }
+    rt_kprintf("\n");
+}
+
+long gic_dump(void)
+{
+    arm_gic_dump_type(0);
+    arm_gic_dump(0);
+
+    return 0;
+}
+MSH_CMD_EXPORT(gic_dump, show gic status);

libcpu/arm/cortex-a/gicv3.h

+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2013-07-20     Bernard      first version
+ */
+
+#ifndef __GIC_V3_H__
+#define __GIC_V3_H__
+
+#include <rthw.h>
+#include <board.h>
+
+#define __get_gicv3_reg(CR, Rt) __asm__ volatile("MRC " CR  \
+                                                 : "=r"(Rt) \
+                                                 :          \
+                                                 : "memory")
+#define __set_gicv3_reg(CR, Rt) __asm__ volatile("MCR " CR \
+                                                 :         \
+                                                 : "r"(Rt) \
+                                                 : "memory")
+
+
+/* AArch32 System register interface to GICv3 */
+#define ICC_IAR0    "p15, 0, %0, c12, c8, 0"
+#define ICC_IAR1    "p15, 0, %0, c12, c12, 0"
+#define ICC_EOIR0   "p15, 0, %0, c12, c8, 1"
+#define ICC_EOIR1   "p15, 0, %0, c12, c12, 1"
+#define ICC_HPPIR0  "p15, 0, %0, c12, c8, 2"
+#define ICC_HPPIR1  "p15, 0, %0, c12, c12, 2"
+#define ICC_BPR0    "p15, 0, %0, c12, c8, 3"
+#define ICC_BPR1    "p15, 0, %0, c12, c12, 3"
+#define ICC_DIR     "p15, 0, %0, c12, c11, 1"
+#define ICC_PMR     "p15, 0, %0, c4, c6, 0"
+#define ICC_RPR     "p15, 0, %0, c12, c11, 3"
+#define ICC_CTLR    "p15, 0, %0, c12, c12, 4"
+#define ICC_MCTLR   "p15, 6, %0, c12, c12, 4"
+#define ICC_SRE     "p15, 0, %0, c12, c12, 5"
+#define ICC_HSRE    "p15, 4, %0, c12, c9, 5"
+#define ICC_MSRE    "p15, 6, %0, c12, c12, 5"
+#define ICC_IGRPEN0 "p15, 0, %0, c12, c12, 6"
+#define ICC_IGRPEN1 "p15, 0, %0, c12, c12, 7"
+#define ICC_MGRPEN1 "p15, 6, %0, c12, c12, 7"
+
+#define __REG32(x) (*((volatile unsigned int*)((rt_uint32_t)x)))
+
+#define ROUTED_TO_ALL (1)
+#define ROUTED_TO_SPEC (0)
+
+/** Macro to access the Distributor Control Register (GICD_CTLR)
+*/
+#define GICD_CTLR_RWP (1<<31)
+#define GICD_CTLR_E1NWF (1<<7)
+#define GICD_CTLR_DS (1<<6)
+#define GICD_CTLR_ARE_NS (1<<5)
+#define GICD_CTLR_ARE_S (1<<4)
+#define GICD_CTLR_ENGRP1S (1<<2)
+#define GICD_CTLR_ENGRP1NS (1<<1)
+#define GICD_CTLR_ENGRP0 (1<<0)
+
+/** Macro to access the Redistributor Control Register (GICR_CTLR)
+*/
+#define GICR_CTLR_UWP (1<<31)
+#define GICR_CTLR_DPG1S (1<<26)
+#define GICR_CTLR_DPG1NS (1<<25)
+#define GICR_CTLR_DPG0 (1<<24)
+#define GICR_CTLR_RWP (1<<3)
+#define GICR_CTLR_IR (1<<2)
+#define GICR_CTLR_CES (1<<1)
+#define GICR_CTLR_EnableLPI (1<<0)
+
+/** Macro to access the Generic Interrupt Controller Interface (GICC)
+*/
+#define GIC_CPU_CTRL(hw_base)               __REG32((hw_base) + 0x00U)
+#define GIC_CPU_PRIMASK(hw_base)            __REG32((hw_base) + 0x04U)
+#define GIC_CPU_BINPOINT(hw_base)           __REG32((hw_base) + 0x08U)
+#define GIC_CPU_INTACK(hw_base)             __REG32((hw_base) + 0x0cU)
+#define GIC_CPU_EOI(hw_base)                __REG32((hw_base) + 0x10U)
+#define GIC_CPU_RUNNINGPRI(hw_base)         __REG32((hw_base) + 0x14U)
+#define GIC_CPU_HIGHPRI(hw_base)            __REG32((hw_base) + 0x18U)
+#define GIC_CPU_IIDR(hw_base)               __REG32((hw_base) + 0xFCU)
+
+/** Macro to access the Generic Interrupt Controller Distributor (GICD)
+*/
+#define GIC_DIST_CTRL(hw_base)              __REG32((hw_base) + 0x000U)
+#define GIC_DIST_TYPE(hw_base)              __REG32((hw_base) + 0x004U)
+#define GIC_DIST_IGROUP(hw_base, n)         __REG32((hw_base) + 0x080U + ((n)/32U) * 4U)
+#define GIC_DIST_ENABLE_SET(hw_base, n)     __REG32((hw_base) + 0x100U + ((n)/32U) * 4U)
+#define GIC_DIST_ENABLE_CLEAR(hw_base, n)   __REG32((hw_base) + 0x180U + ((n)/32U) * 4U)
+#define GIC_DIST_PENDING_SET(hw_base, n)    __REG32((hw_base) + 0x200U + ((n)/32U) * 4U)
+#define GIC_DIST_PENDING_CLEAR(hw_base, n)  __REG32((hw_base) + 0x280U + ((n)/32U) * 4U)
+#define GIC_DIST_ACTIVE_SET(hw_base, n)     __REG32((hw_base) + 0x300U + ((n)/32U) * 4U)
+#define GIC_DIST_ACTIVE_CLEAR(hw_base, n)   __REG32((hw_base) + 0x380U + ((n)/32U) * 4U)
+#define GIC_DIST_PRI(hw_base, n)            __REG32((hw_base) + 0x400U + ((n)/4U) * 4U)
+#define GIC_DIST_TARGET(hw_base, n)         __REG32((hw_base) + 0x800U + ((n)/4U) * 4U)
+#define GIC_DIST_CONFIG(hw_base, n)         __REG32((hw_base) + 0xc00U + ((n)/16U) * 4U)
+#define GIC_DIST_SOFTINT(hw_base)           __REG32((hw_base) + 0xf00U)
+#define GIC_DIST_CPENDSGI(hw_base, n)       __REG32((hw_base) + 0xf10U + ((n)/4U) * 4U)
+#define GIC_DIST_SPENDSGI(hw_base, n)       __REG32((hw_base) + 0xf20U + ((n)/4U) * 4U)
+#define GIC_DIST_ICPIDR2(hw_base)           __REG32((hw_base) + 0xfe8U)
+#define GIC_DIST_IROUTER_LOW(hw_base, n)    __REG32((hw_base) + 0x6000U + (n)*8U)
+#define GIC_DIST_IROUTER_HIGH(hw_base, n)   __REG32((hw_base) + 0x6000U + (n)*8U + 4)
+
+/* SGI base address  is at 64K offset from Redistributor base address */
+#define GIC_RSGI_OFFSET 0x10000
+
+/** Macro to access the Generic Interrupt Controller Redistributor (GICD)
+*/
+#define GIC_RDIST_CTRL(hw_base)              __REG32((hw_base) + 0x000U)
+#define GIC_RDIST_IIDR(hw_base)              __REG32((hw_base) + 0x004U)
+#define GIC_RDIST_TYPER(hw_base)             __REG32((hw_base) + 0x008U)
+#define GIC_RDIST_TSTATUSR(hw_base)          __REG32((hw_base) + 0x010U)
+#define GIC_RDIST_WAKER(hw_base)             __REG32((hw_base) + 0x014U)
+#define GIC_RDIST_SETLPIR(hw_base)           __REG32((hw_base) + 0x040U)
+#define GIC_RDIST_CLRLPIR(hw_base)           __REG32((hw_base) + 0x048U)
+#define GIC_RDIST_PROPBASER(hw_base)         __REG32((hw_base) + 0x070U)
+#define GIC_RDIST_PENDBASER(hw_base)         __REG32((hw_base) + 0x078U)
+#define GIC_RDIST_INVLPIR(hw_base)           __REG32((hw_base) + 0x0A0U)
+#define GIC_RDIST_INVALLR(hw_base)           __REG32((hw_base) + 0x0B0U)
+#define GIC_RDIST_SYNCR(hw_base)             __REG32((hw_base) + 0x0C0U)
+
+#define GIC_RDISTSGI_IGROUPR0(hw_base, n)    __REG32((hw_base) + GIC_RSGI_OFFSET + 0x080U + (n)*4U)
+#define GIC_RDISTSGI_ISENABLER0(hw_base)     __REG32((hw_base) + GIC_RSGI_OFFSET + 0x100U)
+#define GIC_RDISTSGI_ICENABLER0(hw_base)     __REG32((hw_base) + GIC_RSGI_OFFSET + 0x180U)
+#define GIC_RDISTSGI_ISPENDR0(hw_base)       __REG32((hw_base) + GIC_RSGI_OFFSET + 0x200U)
+#define GIC_RDISTSGI_ICPENDR0(hw_base)       __REG32((hw_base) + GIC_RSGI_OFFSET + 0x280U)
+#define GIC_RDISTSGI_ISACTIVER0(hw_base)     __REG32((hw_base) + GIC_RSGI_OFFSET + 0x300U)
+#define GIC_RDISTSGI_ICACTIVER0(hw_base)     __REG32((hw_base) + GIC_RSGI_OFFSET + 0x380U)
+#define GIC_RDISTSGI_IPRIORITYR(hw_base, n)  __REG32((hw_base) + GIC_RSGI_OFFSET + 0x400U + ((n) / 4U) * 4U)
+#define GIC_RDISTSGI_ICFGR0(hw_base)         __REG32((hw_base) + GIC_RSGI_OFFSET + 0xC00U)
+#define GIC_RDISTSGI_ICFGR1(hw_base)         __REG32((hw_base) + GIC_RSGI_OFFSET + 0xC04U)
+#define GIC_RDISTSGI_IGRPMODR0(hw_base, n)   __REG32((hw_base) + GIC_RSGI_OFFSET + 0xD00U + (n)*4)
+#define GIC_RDISTSGI_NSACR(hw_base)          __REG32((hw_base) + GIC_RSGI_OFFSET + 0xE00U)
+
+#define GIC_RSGI_AFF1_OFFSET    16
+#define GIC_RSGI_AFF2_OFFSET    32
+#define GIC_RSGI_AFF3_OFFSET    48
+
+rt_uint32_t arm_gic_cpumask_to_affval(rt_uint32_t *cpu_mask, rt_uint32_t *cluster_id, rt_uint32_t *target_list);
+rt_uint64_t get_main_cpu_affval(void);
+int arm_gic_get_active_irq(rt_uint32_t index);
+void arm_gic_ack(rt_uint32_t index, int irq);
+
+void arm_gic_mask(rt_uint32_t index, int irq);
+void arm_gic_umask(rt_uint32_t index, int irq);
+
+rt_uint32_t arm_gic_get_pending_irq(rt_uint32_t index, int irq);
+void arm_gic_set_pending_irq(rt_uint32_t index, int irq);
+void arm_gic_clear_pending_irq(rt_uint32_t index, int irq);
+
+void arm_gic_set_configuration(rt_uint32_t index, int irq, uint32_t config);
+rt_uint32_t arm_gic_get_configuration(rt_uint32_t index, int irq);
+
+void arm_gic_clear_active(rt_uint32_t index, int irq);
+
+void arm_gic_set_cpu(rt_uint32_t index, int irq, unsigned int cpumask);
+rt_uint32_t arm_gic_get_target_cpu(rt_uint32_t index, int irq);
+
+void arm_gic_set_priority(rt_uint32_t index, int irq, rt_uint32_t priority);
+rt_uint32_t arm_gic_get_priority(rt_uint32_t index, int irq);
+
+void arm_gic_set_interface_prior_mask(rt_uint32_t index, rt_uint32_t priority);
+rt_uint32_t arm_gic_get_interface_prior_mask(rt_uint32_t index);
+
+void arm_gic_set_binary_point(rt_uint32_t index, rt_uint32_t binary_point);
+rt_uint32_t arm_gic_get_binary_point(rt_uint32_t index);
+
+rt_uint32_t arm_gic_get_irq_status(rt_uint32_t index, int irq);
+
+void arm_gic_send_affinity_sgi(rt_uint32_t index, int irq, rt_uint32_t cpu_mask, rt_uint32_t routing_mode);
+rt_uint32_t arm_gic_get_high_pending_irq(rt_uint32_t index);
+
+rt_uint32_t arm_gic_get_interface_id(rt_uint32_t index);
+
+void arm_gic_set_group(rt_uint32_t index, int irq, rt_uint32_t group);
+rt_uint32_t arm_gic_get_group(rt_uint32_t index, int irq);
+
+int arm_gic_redist_address_set(rt_uint32_t index, rt_uint32_t redist_addr, rt_uint32_t cpu_id);
+int arm_gic_cpu_interface_address_set(rt_uint32_t index, rt_uint32_t interface_addr, rt_uint32_t cpu_id);
+int arm_gic_dist_init(rt_uint32_t index, rt_uint32_t dist_base, int irq_start);
+int arm_gic_cpu_init(rt_uint32_t index);
+int arm_gic_redist_init(rt_uint32_t index);
+
+void arm_gic_dump_type(rt_uint32_t index);
+void arm_gic_dump(rt_uint32_t index);
+
+void arm_gic_set_system_register_enable_mask(rt_uint32_t index, rt_uint32_t value);
+rt_uint32_t arm_gic_get_system_register_enable_mask(rt_uint32_t index);
+void arm_gic_secondary_cpu_init(void);
+#endif
+

libcpu/arm/cortex-a/interrupt.c

@@ -12,8 +12,12 @@
 #include <rthw.h>
 #include <rtthread.h>
 #include "interrupt.h"
-#include "gic.h"
 
+#ifdef RT_USING_GIC_V2
+#include "gic.h"
+#else
+#include "gicv3.h"
+#endif
 
 /* exception and interrupt handler table */
 struct rt_irq_desc isr_table[MAX_HANDLERS];
@@ -34,6 +38,7 @@ void rt_hw_vector_init(void)
     rt_cpu_vector_set_base((unsigned int)&system_vectors);
 }
 
+#ifdef RT_USING_GIC_V2
 /**
  * This function will initialize hardware interrupt
  */
@@ -58,6 +63,33 @@ void rt_hw_interrupt_init(void)
     arm_gic_dist_init(0, gic_dist_base, gic_irq_start);
     arm_gic_cpu_init(0, gic_cpu_base);
 }
+#else
+/**
+ * This function will initialize hardware interrupt
+ * Called by the primary cpu(cpu0)
+ */
+void rt_hw_interrupt_init(void)
+{
+    rt_uint32_t gic_dist_base;
+    rt_uint32_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_irq_start = GIC_IRQ_START;
+
+    arm_gic_dist_init(0, gic_dist_base, gic_irq_start);
+
+    arm_gic_cpu_init(0);
+    arm_gic_redist_init(0);
+}
+
+#endif
 
 /**
  * This function will mask a interrupt.
@@ -245,7 +277,7 @@ unsigned int rt_hw_interrupt_get_prior_group_bits(void)
  * @param old_handler the old interrupt service routine
  */
 rt_isr_handler_t rt_hw_interrupt_install(int vector, rt_isr_handler_t handler,
-        void *param, const char *name)
+                                         void *param, const char *name)
 {
     rt_isr_handler_t old_handler = RT_NULL;
 
@@ -269,7 +301,11 @@ rt_isr_handler_t rt_hw_interrupt_install(int vector, rt_isr_handler_t handler,
 #ifdef RT_USING_SMP
 void rt_hw_ipi_send(int ipi_vector, unsigned int cpu_mask)
 {
+#ifdef RT_USING_GIC_V2
     arm_gic_send_sgi(0, ipi_vector, cpu_mask, 0);
+#else
+    arm_gic_send_affinity_sgi(0, ipi_vector, cpu_mask, ROUTED_TO_SPEC);
+#endif
 }
 
 void rt_hw_ipi_handler_install(int ipi_vector, rt_isr_handler_t ipi_isr_handler)