Merge pull request #85 from thejpster/add-pl190-driver

jonathanpallant · web-flow · commit d2ac569195f0 · 2025-10-31T09:22:16.000Z
Adds fuller PL190 example.
diff --git a/examples/versatileab/Cargo.toml b/examples/versatileab/Cargo.toml
@@ -18,10 +18,11 @@ version = "0.0.0"
 [dependencies]
 aarch32-cpu = { path = "../../aarch32-cpu", features = ["critical-section-single-core"] }
 aarch32-rt = { path = "../../aarch32-rt" }
-semihosting = { version = "0.1.18", features = ["stdio"] }
-libm = "0.2.15"
 derive-mmio = "0.6.1"
+libm = "0.2.15"
+pl190-vic = "0.1.0"
 portable-atomic = { version = "1.11.1", features = ["critical-section"] }
+semihosting = { version = "0.1.18", features = ["stdio"] }
 
 [build-dependencies]
 arm-targets = { version = "0.3.0", path = "../../arm-targets" }
diff --git a/examples/versatileab/reference/interrupt-armv4t-none-eabi.out b/examples/versatileab/reference/interrupt-armv4t-none-eabi.out
@@ -1,3 +1,15 @@
+Setting up interrupts...
 Firing interrupt...
-Clearing interrupt...
+> interrupt_handler()
+> soft_handler1()
+> interrupt_handler()
+> soft_handler2()
+< soft_handler2()
+< interrupt_handler()
+< soft_handler1()
+< interrupt_handler()
 Got interrupted :)
+> interrupt_handler()
+catchall_handler() fired
+< interrupt_handler()
+catch all works. All done!
diff --git a/examples/versatileab/reference/interrupt-armv5te-none-eabi.out b/examples/versatileab/reference/interrupt-armv5te-none-eabi.out
@@ -1,3 +1,15 @@
+Setting up interrupts...
 Firing interrupt...
-Clearing interrupt...
+> interrupt_handler()
+> soft_handler1()
+> interrupt_handler()
+> soft_handler2()
+< soft_handler2()
+< interrupt_handler()
+< soft_handler1()
+< interrupt_handler()
 Got interrupted :)
+> interrupt_handler()
+catchall_handler() fired
+< interrupt_handler()
+catch all works. All done!
diff --git a/examples/versatileab/reference/interrupt-armv7a-none-eabi.out b/examples/versatileab/reference/interrupt-armv7a-none-eabi.out
@@ -1,3 +1,15 @@
+Setting up interrupts...
 Firing interrupt...
-Clearing interrupt...
+> interrupt_handler()
+> soft_handler1()
+> interrupt_handler()
+> soft_handler2()
+< soft_handler2()
+< interrupt_handler()
+< soft_handler1()
+< interrupt_handler()
 Got interrupted :)
+> interrupt_handler()
+catchall_handler() fired
+< interrupt_handler()
+catch all works. All done!
diff --git a/examples/versatileab/reference/interrupt-armv7a-none-eabihf-dp.out b/examples/versatileab/reference/interrupt-armv7a-none-eabihf-dp.out
@@ -0,0 +1,15 @@
+Setting up interrupts...
+Firing interrupt...
+> interrupt_handler()
+> soft_handler1()
+> interrupt_handler()
+> soft_handler2()
+< soft_handler2()
+< interrupt_handler()
+< soft_handler1()
+< interrupt_handler()
+Got interrupted :)
+> interrupt_handler()
+catchall_handler() fired
+< interrupt_handler()
+catch all works. All done!
diff --git a/examples/versatileab/reference/interrupt-armv7a-none-eabihf.out b/examples/versatileab/reference/interrupt-armv7a-none-eabihf.out
@@ -1,3 +1,15 @@
+Setting up interrupts...
 Firing interrupt...
-Clearing interrupt...
+> interrupt_handler()
+> soft_handler1()
+> interrupt_handler()
+> soft_handler2()
+< soft_handler2()
+< interrupt_handler()
+< soft_handler1()
+< interrupt_handler()
 Got interrupted :)
+> interrupt_handler()
+catchall_handler() fired
+< interrupt_handler()
+catch all works. All done!
diff --git a/examples/versatileab/reference/interrupt-armv7r-none-eabi.out b/examples/versatileab/reference/interrupt-armv7r-none-eabi.out
@@ -1,3 +1,15 @@
+Setting up interrupts...
 Firing interrupt...
-Clearing interrupt...
+> interrupt_handler()
+> soft_handler1()
+> interrupt_handler()
+> soft_handler2()
+< soft_handler2()
+< interrupt_handler()
+< soft_handler1()
+< interrupt_handler()
 Got interrupted :)
+> interrupt_handler()
+catchall_handler() fired
+< interrupt_handler()
+catch all works. All done!
diff --git a/examples/versatileab/reference/interrupt-armv7r-none-eabihf.out b/examples/versatileab/reference/interrupt-armv7r-none-eabihf.out
@@ -1,3 +1,15 @@
+Setting up interrupts...
 Firing interrupt...
-Clearing interrupt...
+> interrupt_handler()
+> soft_handler1()
+> interrupt_handler()
+> soft_handler2()
+< soft_handler2()
+< interrupt_handler()
+< soft_handler1()
+< interrupt_handler()
 Got interrupted :)
+> interrupt_handler()
+catchall_handler() fired
+< interrupt_handler()
+catch all works. All done!
diff --git a/examples/versatileab/reference/interrupt-thumbv4t-none-eabi.out b/examples/versatileab/reference/interrupt-thumbv4t-none-eabi.out
@@ -1,3 +1,15 @@
+Setting up interrupts...
 Firing interrupt...
-Clearing interrupt...
+> interrupt_handler()
+> soft_handler1()
+> interrupt_handler()
+> soft_handler2()
+< soft_handler2()
+< interrupt_handler()
+< soft_handler1()
+< interrupt_handler()
 Got interrupted :)
+> interrupt_handler()
+catchall_handler() fired
+< interrupt_handler()
+catch all works. All done!
diff --git a/examples/versatileab/reference/interrupt-thumbv5te-none-eabi.out b/examples/versatileab/reference/interrupt-thumbv5te-none-eabi.out
@@ -1,3 +1,15 @@
+Setting up interrupts...
 Firing interrupt...
-Clearing interrupt...
+> interrupt_handler()
+> soft_handler1()
+> interrupt_handler()
+> soft_handler2()
+< soft_handler2()
+< interrupt_handler()
+< soft_handler1()
+< interrupt_handler()
 Got interrupted :)
+> interrupt_handler()
+catchall_handler() fired
+< interrupt_handler()
+catch all works. All done!
diff --git a/examples/versatileab/reference/svc-a32-thumbv4t-none-eabi.out b/examples/versatileab/reference/svc-a32-thumbv4t-none-eabi.out
@@ -1,4 +1,6 @@
 x = 1, y = 2, z = 3.000
+In svc_handler, with arg=0xabcdef
+In svc_handler, with arg=0x456789
 x = 1, y = 2, z = 3.000
 PANIC: PanicInfo {
     message: I am an example panic,
diff --git a/examples/versatileab/reference/svc-a32-thumbv5te-none-eabi.out b/examples/versatileab/reference/svc-a32-thumbv5te-none-eabi.out
@@ -1,4 +1,6 @@
 x = 1, y = 2, z = 3.000
+In svc_handler, with arg=0xabcdef
+In svc_handler, with arg=0x456789
 x = 1, y = 2, z = 3.000
 PANIC: PanicInfo {
     message: I am an example panic,
diff --git a/examples/versatileab/src/bin/interrupt.rs b/examples/versatileab/src/bin/interrupt.rs
@@ -6,31 +6,58 @@
 use portable_atomic::{AtomicU32, Ordering::SeqCst};
 
 use aarch32_rt::{entry, exception};
+use pl190_vic::{InterruptId, Pl190Driver, VectorId};
 use semihosting::println;
-use versatileab::Pl190;
 
 static MARKER: AtomicU32 = AtomicU32::new(0);
 
+static PL190: Pl190Driver = unsafe { Pl190Driver::new_static(versatileab::PL190_BASE_ADDRESS) };
+
+// We can pick any three interrupt ID values here
+const TEST_INTERRUPT1: InterruptId = InterruptId::new(1);
+const TEST_INTERRUPT2: InterruptId = InterruptId::new(2);
+const TEST_INTERRUPT3: InterruptId = InterruptId::new(3);
+
+// We can pick any two vector ID values here, as long as TEST_VECTOR1 is
+// higher than TEST_VECTOR2 (i.e. TEST_VECTOR2 is higher priority than
+// TEST_VECTOR1).
+const TEST_VECTOR1: VectorId = VectorId::new(7);
+const TEST_VECTOR2: VectorId = VectorId::new(4);
+
 /// The entry-point to the Rust application.
 ///
 /// It is called by the start-up.
 #[entry]
 fn my_main() -> ! {
-    let mut pl190 = Pl190::create();
-
     // Safety: Not in a critical-section
     unsafe {
         aarch32_cpu::interrupt::enable();
     }
 
+    println!("Setting up interrupts...");
+    PL190.set_handler(TEST_INTERRUPT1, TEST_VECTOR1, Some(soft_handler1));
+    PL190.set_handler(TEST_INTERRUPT2, TEST_VECTOR2, Some(soft_handler2));
+    PL190.set_default_handler(catchall_handler);
+    PL190.enable_interrupt(TEST_INTERRUPT1);
+    PL190.enable_interrupt(TEST_INTERRUPT2);
+    PL190.enable_interrupt(TEST_INTERRUPT3);
+
     println!("Firing interrupt...");
-    pl190.write_vic_intenable(1);
-    pl190.write_vic_softint(1);
+    PL190.pend_sw_interrupt(TEST_INTERRUPT1);
 
     // wait for it
     for _ in 0..1_000 {
         if MARKER.load(SeqCst) == 1 {
             println!("Got interrupted :)");
+            // this one has no handler
+            PL190.pend_sw_interrupt(TEST_INTERRUPT3);
+            break;
+        }
+    }
+
+    for _ in 0..1_000 {
+        if MARKER.load(SeqCst) == 2 {
+            println!("catch all works. All done!");
             semihosting::process::exit(0);
         }
     }
@@ -39,10 +66,37 @@ fn my_main() -> ! {
     semihosting::process::exit(1);
 }
 
+/// Our low-prio handler re-enables interrupts and triggers a second,
+/// higher-priority, handler.
+fn soft_handler1() {
+    unsafe {
+        aarch32_cpu::interrupt::enable();
+    }
+    println!("> soft_handler1()");
+    PL190.clear_sw_interrupt(TEST_INTERRUPT1);
+    PL190.pend_sw_interrupt(TEST_INTERRUPT2);
+    println!("< soft_handler1()");
+}
+
+/// Our high-prio handler sets a global flag
+fn soft_handler2() {
+    println!("> soft_handler2()");
+    PL190.clear_sw_interrupt(TEST_INTERRUPT2);
+    MARKER.store(1, SeqCst);
+    println!("< soft_handler2()");
+}
+
+/// Our catch-all handler sets a global flag
+fn catchall_handler() {
+    println!("catchall_handler() fired");
+    PL190.clear_sw_interrupt(TEST_INTERRUPT3);
+    MARKER.store(2, SeqCst);
+}
+
+/// Our IRQ handler asks the PL190 what to do, and does it.
 #[exception(Irq)]
 unsafe fn interrupt_handler() {
-    println!("Clearing interrupt...");
-    let mut pl190 = Pl190::create();
-    pl190.write_vic_softintclear(1);
-    MARKER.store(1, SeqCst);
+    println!("> interrupt_handler()");
+    PL190.irq_process();
+    println!("< interrupt_handler()");
 }
diff --git a/examples/versatileab/src/bin/svc-a32.rs b/examples/versatileab/src/bin/svc-a32.rs
@@ -16,9 +16,9 @@ fn main() -> ! {
     let y = x + 1;
     let z = (y as f64) * 1.5;
     println!("x = {}, y = {}, z = {:0.3}", x, y, z);
-    #[cfg(arm_isa = "a32")]
-    aarch32_cpu::svc!(0xABCDEF);
+    do_svc1();
     println!("x = {}, y = {}, z = {:0.3}", x, y, z);
+
     panic!("I am an example panic");
 }
 
@@ -28,7 +28,22 @@ fn svc_handler(arg: u32) {
     println!("In svc_handler, with arg=0x{:06x}", arg);
     if arg == 0xABCDEF {
         // test nested SVC calls
-        #[cfg(arm_isa = "a32")]
-        aarch32_cpu::svc!(0x456789);
+        do_svc2();
     }
 }
+
+#[cfg_attr(
+    any(arm_architecture = "v4t", arm_architecture = "v5te"),
+    instruction_set(arm::a32)
+)]
+fn do_svc1() {
+    aarch32_cpu::svc!(0xABCDEF);
+}
+
+#[cfg_attr(
+    any(arm_architecture = "v4t", arm_architecture = "v5te"),
+    instruction_set(arm::a32)
+)]
+fn do_svc2() {
+    aarch32_cpu::svc!(0x456789);
+}
diff --git a/examples/versatileab/src/lib.rs b/examples/versatileab/src/lib.rs
@@ -2,10 +2,8 @@
 
 #![no_std]
 
-mod pl190;
-
-#[doc(inline)]
-pub use pl190::Pl190;
+/// The base address of our PL190 interrupt controller
+pub const PL190_BASE_ADDRESS: usize = 0x1014_0000;
 
 #[cfg(arm_architecture = "v8-r")]
 compile_error!("This example/board is not compatible with the ARMv8-R architecture");
diff --git a/examples/versatileab/src/pl190.rs b/examples/versatileab/src/pl190.rs
