!372 [本次提交内容：在TI公司C6000 DSP处理器上成功移植rt-thread操作系统；主要在libcpu/ti-dsp/c6x添加keystone架构底层代码，在bsp/ti-c6678添加bsp工程，该工程已在本人的开发板上成功运行]

Merge pull request !372 from hdwei/hdwei

bsp/ti-tms320c6678/.ccsproject

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<?ccsproject version="1.0"?>
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+	<rts value="libc.a"/>
+	<templateProperties value="id=com.ti.common.project.core.emptyProjectTemplate,"/>
+	<isTargetManual value="false"/>
+</projectOptions>

bsp/ti-tms320c6678/.cproject

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+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?>
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bsp/ti-tms320c6678/.project

@@ -0,0 +1,154 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>ti-tms320c6678</name>
+	<comment></comment>
+	<projects>
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+	</buildSpec>
+	<natures>
+		<nature>com.ti.ccstudio.core.ccsNature</nature>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+	<linkedResources>
+		<link>
+			<name>clock.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/clock.c</locationURI>
+		</link>
+		<link>
+			<name>components.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/components.c</locationURI>
+		</link>
+		<link>
+			<name>context.asm</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/libcpu/ti-dsp/c6x/context.asm</locationURI>
+		</link>
+		<link>
+			<name>contextinc.asm</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/libcpu/ti-dsp/c6x/contextinc.asm</locationURI>
+		</link>
+		<link>
+			<name>cpu.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/cpu.c</locationURI>
+		</link>
+		<link>
+			<name>cpuport.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/libcpu/ti-dsp/c6x/cpuport.c</locationURI>
+		</link>
+		<link>
+			<name>device.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/device.c</locationURI>
+		</link>
+		<link>
+			<name>idle.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/idle.c</locationURI>
+		</link>
+		<link>
+			<name>interrupt.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/libcpu/ti-dsp/c6x/interrupt.c</locationURI>
+		</link>
+		<link>
+			<name>intexc.asm</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/libcpu/ti-dsp/c6x/intexc.asm</locationURI>
+		</link>
+		<link>
+			<name>ipc.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/ipc.c</locationURI>
+		</link>
+		<link>
+			<name>irq.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/irq.c</locationURI>
+		</link>
+		<link>
+			<name>kservice.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/kservice.c</locationURI>
+		</link>
+		<link>
+			<name>mem.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/mem.c</locationURI>
+		</link>
+		<link>
+			<name>memheap.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/memheap.c</locationURI>
+		</link>
+		<link>
+			<name>mempool.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/mempool.c</locationURI>
+		</link>
+		<link>
+			<name>object.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/object.c</locationURI>
+		</link>
+		<link>
+			<name>scheduler.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/scheduler.c</locationURI>
+		</link>
+		<link>
+			<name>signal.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/signal.c</locationURI>
+		</link>
+		<link>
+			<name>slab.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/slab.c</locationURI>
+		</link>
+		<link>
+			<name>stack.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/libcpu/ti-dsp/c6x/stack.c</locationURI>
+		</link>
+		<link>
+			<name>thread.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/thread.c</locationURI>
+		</link>
+		<link>
+			<name>timer.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/src/timer.c</locationURI>
+		</link>
+		<link>
+			<name>trap.c</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/libcpu/ti-dsp/c6x/trap.c</locationURI>
+		</link>
+		<link>
+			<name>vector.asm</name>
+			<type>1</type>
+			<locationURI>PARENT-2-PROJECT_LOC/git-source/rt-thread/libcpu/ti-dsp/c6x/vector.asm</locationURI>
+		</link>
+	</linkedResources>
+</projectDescription>

bsp/ti-tms320c6678/.settings/org.eclipse.cdt.codan.core.prefs

@@ -0,0 +1,3 @@
+eclipse.preferences.version=1
+inEditor=false
+onBuild=false

bsp/ti-tms320c6678/.settings/org.eclipse.cdt.debug.core.prefs

@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+org.eclipse.cdt.debug.core.toggleBreakpointModel=com.ti.ccstudio.debug.CCSBreakpointMarker

bsp/ti-tms320c6678/.settings/org.eclipse.core.resources.prefs

@@ -0,0 +1,12 @@
+eclipse.preferences.version=1
+encoding//Debug/applications/subdir_rules.mk=UTF-8
+encoding//Debug/applications/subdir_vars.mk=UTF-8
+encoding//Debug/common/subdir_rules.mk=UTF-8
+encoding//Debug/common/subdir_vars.mk=UTF-8
+encoding//Debug/driver/subdir_rules.mk=UTF-8
+encoding//Debug/driver/subdir_vars.mk=UTF-8
+encoding//Debug/makefile=UTF-8
+encoding//Debug/objects.mk=UTF-8
+encoding//Debug/sources.mk=UTF-8
+encoding//Debug/subdir_rules.mk=UTF-8
+encoding//Debug/subdir_vars.mk=UTF-8

bsp/ti-tms320c6678/KeyStone.cmd

@@ -0,0 +1,47 @@
+/****************************************************************************/
+/*                                                                          */
+/*                               M6678.cmd                                  */
+/*                         Copyright (c): NUDT                              */
+/*                                                                          */
+/*                                                                          */
+/*    Description: This file is a sample linker command file that can be    */
+/*                 used for linking programs built with the C compiler and  */
+/*                 running the resulting .out file on an M6678              */
+/*                 device.  Use it as a guideline.  You will want to        */
+/*                 change the memory layout to match your specific C6xxx    */
+/*                 target system.  You may want to change the allocation    */
+/*                 scheme according to the size of your program.            */
+/*                                                                          */
+/*                                                                          */
+/****************************************************************************/
+
+-heap  0x800
+-stack 0x1000
+
+MEMORY
+{
+	VECTORS:		o = 0x00800000  l = 0x00000200
+	LL2_CODE:		o = 0x00800200  l = 0x0001FE00
+	LL2_RW_DATA: 	o = 0x00820000  l = 0x00020000   /*set memory protection attribitue as read/write*/
+}
+
+SECTIONS
+{
+	.vecs       	>    VECTORS
+
+	.text           >    LL2_CODE
+	.cinit          >    LL2_CODE
+	.const          >    LL2_CODE
+	.switch         >    LL2_CODE
+	.stack          >    LL2_RW_DATA
+	GROUP
+	{
+		.neardata
+		.rodata
+		.bss
+	} 		>    LL2_RW_DATA
+	.far            >    LL2_RW_DATA
+	.fardata        >    LL2_RW_DATA
+	.cio            >    LL2_RW_DATA
+	.sysmem         >    LL2_RW_DATA
+}

bsp/ti-tms320c6678/README.md

@@ -0,0 +1,49 @@
+### 1. 简介
+
+TMS320C6678是TI基于KeyStone的多核固定浮点数字信号处理器，DSP集成C66x CorePac，每个核心在1GHz至1.25 GHz的运行。该设备支持高性能的信号处理应用，如任务关键，医疗成像，测试和自动化。
+
+### 2. 编译说明
+
+TMS320C6678 工程的编译和下载要使用的是 TI 官方提供的 Code Composer Studio。在本工程使用的是 CCS5.5 版本编译调试，CCS5.5 Compiler version:TIv8.3.5进行编译，需要安装TI提供的CSL库pdk_C6678_1_1_2_6。
+
+### 2.1 导入工程
+
+首先打开 Code Composer Studio，点击 Project -> Import CCS Projects...
+
+![输入图片说明](figures/import(1).png)
+
+在打开的对话框中，点击 Select search -> directory 右边的 Browse... 选择 TMS320C6678 BSP 所在文件夹，如图所示。选择完成后点击 Finish 完成导入。
+
+![输入图片说明](figures/import(2).png)
+
+### 2.2 检查工程路径和编译器
+
+- 检查工程路径是否正确，是否成功安装pdk_C6678_1_1_2_6，本工程安装路径为C盘。
+
+![输入图片说明](figures/filepath.png)
+
+- 检查编译器版本，本工程使用的是TIv8.3.5
+
+![输入图片说明](figures/general.jpg)
+
+### 3. 编译工程
+
+导入工程后，选中导入的 ti-tms320c6678 工程，右键点击，在弹出的菜单中选择 Build Project 即可开始编译。
+
+### 4. 加载和调试
+
+编译完成后，可以开始加载和调试。将板子和 XDS560 仿真器连接，仿真器可以将编译生成的可执行文件加载到L2或MSMC执行。
+
+- 如下图ti-tms320c6678.out是编译之后生成的可执行文件。
+
+![输入图片说明](figures/debug(1).png)
+
+- 本工程目前只支持单核运行，按如下图加载可执行文件。
+
+![输入图片说明](figures/load.png)
+
+- 加载可执行文件完成后，CCS将进入调试模式，可以选择继续运行、单步调试、复位等操作。
+
+![输入图片说明](figures/debug(2).png)
+
+到此，可以开启tms320c6678 + rt-thread的愉快旅程了 :smile: 。

bsp/ti-tms320c6678/applications/board.c

@@ -0,0 +1,37 @@
+/*
+ * Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-11-16     Dystopia     the first version
+ */
+
+#include "board.h"
+#include "interrupt.h"
+#include "drv_timer.h"
+#include "common.h"
+
+#include <rtthread.h>
+
+/**
+ * This function will initial board.
+ */
+void rt_hw_board_init(void)
+{
+    // initial CPU core
+    keystone_cpu_init();
+
+    // initial interrupt controller
+    rt_hw_interrupt_init();
+
+    // initial system timer
+    rt_hw_system_timer_init();
+
+    /* initialize memory system */
+    rt_kprintf("heap: 0x%08x - 0x%08x\n", RT_HW_HEAP_BEGIN, RT_HW_HEAP_END);
+    rt_system_heap_init(RT_HW_HEAP_BEGIN, RT_HW_HEAP_END);
+
+    rt_hw_system_timer_start();
+}

bsp/ti-tms320c6678/applications/board.h

@@ -0,0 +1,20 @@
+/*
+ * Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-11-16     Dystopia     the first version
+ */
+
+#ifndef __BOARD_H__
+#define __BOARD_H__
+
+#define RT_HW_HEAP_BEGIN    (void*)0x0C000000
+#define RT_HW_HEAP_END      (void*)0x0C100000
+
+void rt_hw_board_init(void);
+
+#endif /* __BOARD_H__ */
+

bsp/ti-tms320c6678/applications/main.c

@@ -0,0 +1,79 @@
+/*
+ * Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-11-16     Dystopia     the first version
+ */
+
+#include <rthw.h>
+#include <rtthread.h>
+
+#include "board.h"
+
+void rt_init_thread_entry(void *parameter)
+{
+    rt_kprintf("hello rt-thread\n");
+}
+
+int rt_application_init(void)
+{
+    rt_thread_t tid;
+
+    tid = rt_thread_create("init", rt_init_thread_entry, RT_NULL, 4096, 3, 200);
+    if (tid != RT_NULL)
+    {
+        rt_thread_startup(tid);
+    } else {
+        return -1;
+    }
+
+    return 0;
+}
+
+/**
+ * This function will startup RT-Thread RTOS.
+ */
+void rtthread_startup(void)
+{
+    /* disable interrupt first */
+    rt_hw_interrupt_disable();
+	
+    /* init board */
+    rt_hw_board_init();
+
+    /* show version */
+    rt_show_version();
+
+    /* init timer system */
+    rt_system_timer_init();
+
+    /* init scheduler system */
+    rt_system_scheduler_init();
+
+    /* init application */
+    rt_application_init();
+
+    /* init timer thread */
+    rt_system_timer_thread_init();
+
+    /* init idle thread */
+    rt_thread_idle_init();
+
+    /* start scheduler */
+    rt_system_scheduler_start();
+
+    /* never reach here */
+    return ;
+}
+
+void main(void)
+{
+    /* startup RT-Thread RTOS */
+    rtthread_startup();
+
+    for(;;){}
+}
+

bsp/ti-tms320c6678/common/common.c

@@ -0,0 +1,203 @@
+/*
+ * Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-11-16     Dystopia     the first version
+ */
+
+#include "common.h"
+
+CSL_BootcfgRegs * gp_bootcfg_regs = (CSL_BootcfgRegs *)CSL_BOOT_CFG_REGS;
+CSL_CgemRegs * gp_cgem_regs = (CSL_CgemRegs *)CSL_CGEM0_5_REG_BASE_ADDRESS_REGS;
+CSL_TmrPlusRegs * gp_timer_regs[9] = {
+    (CSL_TmrPlusRegs *)CSL_TIMER_0_REGS,
+    (CSL_TmrPlusRegs *)CSL_TIMER_1_REGS,
+    (CSL_TmrPlusRegs *)CSL_TIMER_2_REGS,
+    (CSL_TmrPlusRegs *)CSL_TIMER_3_REGS,
+    (CSL_TmrPlusRegs *)CSL_TIMER_4_REGS,
+    (CSL_TmrPlusRegs *)CSL_TIMER_5_REGS,
+    (CSL_TmrPlusRegs *)CSL_TIMER_6_REGS,
+    (CSL_TmrPlusRegs *)CSL_TIMER_7_REGS,
+    (CSL_TmrPlusRegs *)(CSL_TIMER_7_REGS+(CSL_TIMER_7_REGS-CSL_TIMER_6_REGS))
+};
+
+void cpu_interrupt_init(void)
+{
+    //clear interrupt and excpetion events
+    ICR = IFR;
+    ECR = EFR;
+    IER = 3;     //disable all interrupts
+
+    /* disable event combine */
+    gp_cgem_regs->EVTMASK[0] = 0xffffffff;
+    gp_cgem_regs->EVTMASK[1] = 0xffffffff;
+    gp_cgem_regs->EVTMASK[2] = 0xffffffff;
+    gp_cgem_regs->EVTMASK[3] = 0xffffffff;
+
+     /*Clear all CPU events*/
+    gp_cgem_regs->EVTCLR[0] = 0xFFFFFFFF;
+    gp_cgem_regs->EVTCLR[1] = 0xFFFFFFFF;
+    gp_cgem_regs->EVTCLR[2] = 0xFFFFFFFF;
+    gp_cgem_regs->EVTCLR[3] = 0xFFFFFFFF;
+
+    /*Interrupt Service Table Pointer to begining of LL2 memory*/
+    ISTP = 0x800000;
+}
+
+void keystone_cpu_init(void)
+{
+    /* clear all interrupt flag/status, setup ISTP to begining of LL2 */
+    cpu_interrupt_init();
+}
+
+/*===============================Timer=================================*/
+void reset_timer(int timer_num)
+{
+    if(gp_timer_regs[timer_num]->TGCR)
+    {
+        gp_timer_regs[timer_num]->TGCR = 0;
+        gp_timer_regs[timer_num]->TCR= 0;
+    }
+}
+
+void timer64_init(Timer64_Config * tmrCfg)
+{
+    reset_timer(tmrCfg->timer_num);
+
+    gp_timer_regs[tmrCfg->timer_num]->CNTLO = 0;
+    gp_timer_regs[tmrCfg->timer_num]->CNTHI = 0;
+
+    /*please note, in clock mode, two timer periods generate a clock,
+    one timer period output high voltage level, the other timer period
+    output low voltage level, so, the timer period should be half to the
+    desired output clock period*/
+    if(TIMER_PERIODIC_CLOCK == tmrCfg->timerMode)
+    {
+        tmrCfg->period = tmrCfg->period/2;
+    }
+
+    /*the value written into period register is the expected value minus one*/
+    gp_timer_regs[tmrCfg->timer_num]->PRDLO = _loll(tmrCfg->period-1);
+    gp_timer_regs[tmrCfg->timer_num]->PRDHI = _hill(tmrCfg->period-1);
+    if(tmrCfg->reload_period>1)
+    {
+        gp_timer_regs[tmrCfg->timer_num]->RELLO = _loll(tmrCfg->reload_period-1);
+        gp_timer_regs[tmrCfg->timer_num]->RELHI = _hill(tmrCfg->reload_period-1);
+    }
+
+    if(TIMER_WATCH_DOG == tmrCfg->timerMode)
+    {
+        gp_timer_regs[tmrCfg->timer_num]->TGCR =
+            /*Select watch-dog mode*/
+            (CSL_TMR_TIMMODE_WDT << CSL_TMR_TGCR_TIMMODE_SHIFT)
+            /*Remove the timer from reset*/
+            | (CSL_TMR_TGCR_TIMLORS_MASK)
+            | (CSL_TMR_TGCR_TIMHIRS_MASK);
+    }
+    else if(TIMER_PERIODIC_WAVE == tmrCfg->timerMode)
+    {
+        gp_timer_regs[tmrCfg->timer_num]->TGCR = TMR_TGCR_PLUSEN_MASK
+            /*for plus featuers, dual 32-bit unchained timer mode should be used*/
+            | (CSL_TMR_TIMMODE_DUAL_UNCHAINED << CSL_TMR_TGCR_TIMMODE_SHIFT)
+            /*Remove the timer from reset*/
+            | (CSL_TMR_TGCR_TIMLORS_MASK);
+
+        //in plus mode, interrupt/event must be enabled manually
+        gp_timer_regs[tmrCfg->timer_num]->INTCTL_STAT= TMR_INTCTLSTAT_EN_ALL_CLR_ALL;
+    }
+    else
+    {
+        gp_timer_regs[tmrCfg->timer_num]->TGCR =
+            /*Select 64-bit general timer mode*/
+            (CSL_TMR_TIMMODE_GPT << CSL_TMR_TGCR_TIMMODE_SHIFT)
+            /*Remove the timer from reset*/
+            | (CSL_TMR_TGCR_TIMLORS_MASK)
+            | (CSL_TMR_TGCR_TIMHIRS_MASK);
+    }
+
+    /*make timer stop with emulation*/
+    gp_timer_regs[tmrCfg->timer_num]->EMUMGT_CLKSPD = (gp_timer_regs[tmrCfg->timer_num]->EMUMGT_CLKSPD&
+        ~(CSL_TMR_EMUMGT_CLKSPD_FREE_MASK|CSL_TMR_EMUMGT_CLKSPD_SOFT_MASK));
+
+    if(TIMER_WATCH_DOG == tmrCfg->timerMode)
+    {
+        /*enable watchdog timer*/
+        gp_timer_regs[tmrCfg->timer_num]->WDTCR = CSL_TMR_WDTCR_WDEN_MASK
+            | (CSL_TMR_WDTCR_WDKEY_CMD1 << CSL_TMR_WDTCR_WDKEY_SHIFT);
+
+        gp_timer_regs[tmrCfg->timer_num]->TCR =
+            (CSL_TMR_CLOCK_INP_NOGATE << CSL_TMR_TCR_TIEN_LO_SHIFT)
+            | (CSL_TMR_CLKSRC_INTERNAL << CSL_TMR_TCR_CLKSRC_LO_SHIFT)
+            /*The timer is enabled continuously*/
+            | (CSL_TMR_ENAMODE_CONT << CSL_TMR_TCR_ENAMODE_LO_SHIFT)
+            | ((tmrCfg->pulseWidth << CSL_TMR_TCR_PWID_LO_SHIFT)&CSL_TMR_TCR_PWID_LO_MASK)
+            /*select pulse mode*/
+            | (CSL_TMR_CP_PULSE << CSL_TMR_TCR_CP_LO_SHIFT)
+            | (CSL_TMR_INVINP_UNINVERTED << CSL_TMR_TCR_INVINP_LO_SHIFT)
+            | (CSL_TMR_INVOUTP_UNINVERTED << CSL_TMR_TCR_INVOUTP_LO_SHIFT)
+            | (0 << CSL_TMR_TCR_TSTAT_LO_SHIFT);
+
+        /*active watchdog timer*/
+        gp_timer_regs[tmrCfg->timer_num]->WDTCR = CSL_TMR_WDTCR_WDEN_MASK
+            | (CSL_TMR_WDTCR_WDKEY_CMD2 << CSL_TMR_WDTCR_WDKEY_SHIFT);
+    }
+    else if(TIMER_ONE_SHOT_PULSE == tmrCfg->timerMode)
+    {
+        gp_timer_regs[tmrCfg->timer_num]->TCR =
+            (CSL_TMR_CLOCK_INP_NOGATE << CSL_TMR_TCR_TIEN_LO_SHIFT)
+            | (CSL_TMR_CLKSRC_INTERNAL << CSL_TMR_TCR_CLKSRC_LO_SHIFT)
+            /*The timer is enabled one-shot*/
+            | (CSL_TMR_ENAMODE_ENABLE << CSL_TMR_TCR_ENAMODE_LO_SHIFT)
+            | ((tmrCfg->pulseWidth << CSL_TMR_TCR_PWID_LO_SHIFT)&CSL_TMR_TCR_PWID_LO_MASK)
+            /*select pulse mode*/
+            | (CSL_TMR_CP_PULSE << CSL_TMR_TCR_CP_LO_SHIFT)
+            | (CSL_TMR_INVINP_UNINVERTED << CSL_TMR_TCR_INVINP_LO_SHIFT)
+            | (CSL_TMR_INVOUTP_UNINVERTED << CSL_TMR_TCR_INVOUTP_LO_SHIFT)
+            | (0 << CSL_TMR_TCR_TSTAT_LO_SHIFT);
+    }
+    else if(TIMER_PERIODIC_CLOCK == tmrCfg->timerMode)
+    {
+        gp_timer_regs[tmrCfg->timer_num]->TCR =
+            (CSL_TMR_CLOCK_INP_NOGATE << CSL_TMR_TCR_TIEN_LO_SHIFT)
+            | (CSL_TMR_CLKSRC_INTERNAL << CSL_TMR_TCR_CLKSRC_LO_SHIFT)
+            /*The timer is enabled continuously*/
+            | (CSL_TMR_ENAMODE_CONT << CSL_TMR_TCR_ENAMODE_LO_SHIFT)
+            | ((tmrCfg->pulseWidth << CSL_TMR_TCR_PWID_LO_SHIFT)&CSL_TMR_TCR_PWID_LO_MASK)
+            /*select clock mode*/
+            | (CSL_TMR_CP_CLOCK << CSL_TMR_TCR_CP_LO_SHIFT)
+            | (CSL_TMR_INVINP_UNINVERTED << CSL_TMR_TCR_INVINP_LO_SHIFT)
+            | (CSL_TMR_INVOUTP_UNINVERTED << CSL_TMR_TCR_INVOUTP_LO_SHIFT)
+            | (0 << CSL_TMR_TCR_TSTAT_LO_SHIFT);
+    }
+    else if(TIMER_PERIODIC_WAVE == tmrCfg->timerMode)
+    {
+        gp_timer_regs[tmrCfg->timer_num]->TCR =
+            (CSL_TMR_CLOCK_INP_NOGATE << CSL_TMR_TCR_TIEN_LO_SHIFT)
+            | (CSL_TMR_CLKSRC_INTERNAL << CSL_TMR_TCR_CLKSRC_LO_SHIFT)
+            /*The timer is enabled continuously with period reload*/
+            | (CSL_TMR_ENAMODE_CONT_RELOAD << CSL_TMR_TCR_ENAMODE_LO_SHIFT)
+            | ((tmrCfg->pulseWidth << CSL_TMR_TCR_PWID_LO_SHIFT)&CSL_TMR_TCR_PWID_LO_MASK)
+            /*select clock mode*/
+            | (CSL_TMR_CP_CLOCK << CSL_TMR_TCR_CP_LO_SHIFT)
+            | (CSL_TMR_INVINP_UNINVERTED << CSL_TMR_TCR_INVINP_LO_SHIFT)
+            | (CSL_TMR_INVOUTP_UNINVERTED << CSL_TMR_TCR_INVOUTP_LO_SHIFT)
+            | (0 << CSL_TMR_TCR_TSTAT_LO_SHIFT);
+    }
+    else     /*TIMER_PERIODIC_PULSE*/
+    {
+        gp_timer_regs[tmrCfg->timer_num]->TCR =
+            (CSL_TMR_CLOCK_INP_NOGATE << CSL_TMR_TCR_TIEN_LO_SHIFT)
+            | (CSL_TMR_CLKSRC_INTERNAL << CSL_TMR_TCR_CLKSRC_LO_SHIFT)
+            /*The timer is enabled continuously*/
+            | (CSL_TMR_ENAMODE_CONT << CSL_TMR_TCR_ENAMODE_LO_SHIFT)
+            | ((tmrCfg->pulseWidth << CSL_TMR_TCR_PWID_LO_SHIFT)&CSL_TMR_TCR_PWID_LO_MASK)
+            /*select clock mode*/
+            | (CSL_TMR_CP_PULSE << CSL_TMR_TCR_CP_LO_SHIFT)
+            | (CSL_TMR_INVINP_UNINVERTED << CSL_TMR_TCR_INVINP_LO_SHIFT)
+            | (CSL_TMR_INVOUTP_UNINVERTED << CSL_TMR_TCR_INVOUTP_LO_SHIFT)
+            | (0 << CSL_TMR_TCR_TSTAT_LO_SHIFT);
+    }
+}

bsp/ti-tms320c6678/common/common.h

@@ -0,0 +1,110 @@
+/*
+ * Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-11-16     Dystopia     the first version
+ */
+
+#ifndef __COMMON_H__
+#define __COMMON_H__
+
+#include <c6x.h>
+#include <cslr_cgem.h>
+#include <cslr_device.h>
+#include <cslr_bootcfg.h>
+#include <cslr_tmr.h>
+#include <csl_tmr.h>
+
+/* DSP core clock speed in Hz */
+#define DSP_CORE_SPEED_HZ 	1000000000
+
+extern CSL_CgemRegs * gp_cgem_regs;
+extern CSL_BootcfgRegs * gp_bootcfg_regs;
+
+/*----------------------Timer plus registers definition----------------*/
+typedef struct {
+    volatile unsigned int PID12;
+    volatile unsigned int EMUMGT_CLKSPD;
+    volatile unsigned int GPINT_EN;
+    volatile unsigned int GPDIR_DAT;
+    volatile unsigned int CNTLO;
+    volatile unsigned int CNTHI;
+    volatile unsigned int PRDLO;
+    volatile unsigned int PRDHI;
+    volatile unsigned int TCR;
+    volatile unsigned int TGCR;
+    volatile unsigned int WDTCR;
+    volatile unsigned int TLGC;
+    volatile unsigned int TLMR;
+    volatile unsigned int RELLO;
+    volatile unsigned int RELHI;
+    volatile unsigned int CAPLO;
+    volatile unsigned int CAPHI;
+    volatile unsigned int INTCTL_STAT;
+    volatile unsigned char  RSVD0[24];
+    volatile unsigned int TIMERLO_COMPARE_REG[8];
+    volatile unsigned char  RSVD1[32];
+} CSL_TmrPlusRegs;
+
+#define TMR_TCR_READRSTMODE_HI_SHIFT   (26)
+#define TMR_TCR_CAPEVTMODE_LO_SHIFT    (12)
+#define TMR_TCR_CAPMODE_LO_SHIFT       (11)
+#define TMR_TCR_READRSTMODE_LO_SHIFT   (10)
+
+#define TMR_TCR_READRSTMODE_HI_MASK    (1<<26)
+#define TMR_TCR_CAPEVTMODE_LO_MASK     (3<<12)
+#define TMR_TCR_CAPMODE_LO_MASK        (1<<11)
+#define TMR_TCR_READRSTMODE_LO_MASK    (1<<10)
+
+#define TMR_TGCR_PLUSEN_SHIFT          4
+#define TMR_TGCR_PLUSEN_MASK           (1<<4)
+
+#define TMR_INTCTLSTAT_EN_ALL_CLR_ALL  0x000F000F
+
+#define CSL_TMR_WDTCR_WDKEY_CMD1       (0x0000A5C6u)
+#define CSL_TMR_WDTCR_WDKEY_CMD2       (0x0000DA7Eu)
+
+#define CSL_TMR_ENAMODE_CONT_RELOAD    3
+
+extern CSL_TmrPlusRegs * gp_timer0_regs;
+extern CSL_TmrPlusRegs * gp_timer1_regs;
+extern CSL_TmrPlusRegs * gp_timer2_regs;
+extern CSL_TmrPlusRegs * gp_timer3_regs;
+extern CSL_TmrPlusRegs * gp_timer4_regs;
+extern CSL_TmrPlusRegs * gp_timer5_regs;
+extern CSL_TmrPlusRegs * gp_timer6_regs;
+extern CSL_TmrPlusRegs * gp_timer7_regs;
+extern CSL_TmrPlusRegs * gp_timer8_regs;
+extern CSL_TmrPlusRegs * gp_timer_regs[];
+
+typedef enum
+{
+    TIMER_ONE_SHOT_PULSE = 0,     /*generate one shot pulse with timer*/
+    TIMER_PERIODIC_PULSE,         /*generate periodic pulse with timer*/
+    TIMER_PERIODIC_CLOCK,         /*generate periodic clock with timer*/
+    /*generate periodic square wave with period reload feature, the difference
+    between wave and clock is the duty cycle of clock is always 50%*/
+    TIMER_PERIODIC_WAVE,
+    TIMER_WATCH_DOG               /*configure timer as watch dog*/
+}TTimerMode;
+
+typedef struct  {
+    int timer_num;                /*select one timer*/
+    TTimerMode timerMode;         /*select function of the timer*/
+    unsigned long long period;    /*in the unit of DSP core clock/6*/
+    unsigned long long reload_period;     /*the reload value of period*/
+    int pulseWidth;               /*pulse width between 0~3*/
+}Timer64_Config;
+
+/* Reset a 64-bit timer */
+extern void reset_timer(int timer_num);
+
+/* Initailize a 64-bit timer */
+extern void timer64_init(Timer64_Config * tmrCfg);
+
+extern void keystone_cpu_init(void);
+
+#endif /* __COMMON_H__ */

bsp/ti-tms320c6678/driver/drv_timer.c

@@ -0,0 +1,66 @@
+/*
+ * Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-11-16     Dystopia     the first version
+ */
+
+#include "drv_timer.h"
+#include "interrupt.h"
+#include "common.h"
+
+#include <rthw.h>
+#include <rtthread.h>
+
+/**
+ * This is the timer interrupt service routine.
+ *
+ */
+void rt_hw_systick_isr(void)
+{
+    /* enter interrupt */
+    rt_interrupt_enter();
+
+    rt_tick_increase();
+
+    /* leave interrupt */
+    rt_interrupt_leave();
+}
+
+/**
+ * The function initial system timer interrupt.
+ */
+void rt_hw_system_timer_init(void)
+{
+    // initial system timer interrupt, map local timer interrupt to INT14
+	gp_cgem_regs->INTMUX3 = (CSL_GEM_TINTLN << CSL_CGEM_INTMUX3_INTSEL14_SHIFT);
+    // enable CPU INT14
+    rt_hw_interrupt_umask(1 << 14);
+
+    return ;
+}
+
+/**
+ * The function initial system timer.
+ * Use local timer (== DNUM of a core) to generate a clock on TIMO0,interrupts are generated as well
+ *
+ */
+void rt_hw_system_timer_start(void)
+{
+    Timer64_Config tmrCfg;
+
+    // select output on TIMO0 from local timer.
+    gp_bootcfg_regs->TOUTSEL = (DNUM*2) << CSL_BOOTCFG_TOUTSEL_TOUTSEL0_SHIFT;
+
+    // configure the timer to generate clocks and interrupts
+    tmrCfg.timer_num = DNUM;
+    tmrCfg.timerMode = TIMER_PERIODIC_CLOCK;
+    tmrCfg.period = (unsigned long long) RT_TICK_PER_SECOND * DSP_CORE_SPEED_HZ / 6000;
+    tmrCfg.reload_period = 0;
+
+    // initial timer
+    timer64_init(&tmrCfg);
+}

bsp/ti-tms320c6678/driver/drv_timer.h

@@ -0,0 +1,22 @@
+/*
+ * Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-11-16     Dystopia     the first version
+ */
+
+#ifndef __SYS_TIMER_H__
+#define __SYS_TIMER_H__
+
+#include <c6x.h>
+#include <tistdtypes.h>
+
+void rt_hw_system_timer_init(void);
+
+void rt_hw_system_timer_start(void);
+
+#endif	/* __SYS_TIMER_H__ */
+

bsp/ti-tms320c6678/rtconfig.h

@@ -0,0 +1,122 @@
+#ifndef RT_CONFIG_H__
+#define RT_CONFIG_H__
+
+/* Automatically generated file; DO NOT EDIT. */
+/* RT-Thread Configuration */
+
+#define SOC_C6678
+
+/* RT-Thread Kernel */
+
+#define RT_NAME_MAX 8
+#define RT_USING_ARCH_DATA_TYPE
+#define RT_ALIGN_SIZE 4
+#define RT_THREAD_PRIORITY_8
+#define RT_THREAD_PRIORITY_MAX 8
+#define RT_TICK_PER_SECOND 100
+//#define RT_USING_HOOK
+//#define RT_USING_IDLE_HOOK
+//#define RT_IDLE_HOOK_LIST_SIZE 4
+#define IDLE_THREAD_STACK_SIZE 4096
+//#define RT_DEBUG
+//#define RT_DEBUG_COLOR
+
+/* Inter-Thread communication */
+
+#define RT_USING_SEMAPHORE
+#define RT_USING_MUTEX
+#define RT_USING_EVENT
+#define RT_USING_MAILBOX
+#define RT_USING_MESSAGEQUEUE
+
+/* Memory Management */
+
+#define RT_USING_MEMPOOL
+#define RT_USING_SMALL_MEM
+#define RT_USING_HEAP
+
+/* Kernel Device Object */
+
+/* RT-Thread Components */
+
+/* C++ features */
+
+
+/* Command shell */
+
+/* Device virtual file system */
+
+
+/* Device Drivers */
+
+/* Using WiFi */
+
+
+/* Using USB */
+
+
+/* POSIX layer and C standard library */
+
+
+/* Network */
+
+/* Socket abstraction layer */
+
+
+/* light weight TCP/IP stack */
+
+
+/* Modbus master and slave stack */
+
+
+/* AT commands */
+
+
+/* VBUS(Virtual Software BUS) */
+
+
+/* Utilities */
+
+
+/* RT-Thread online packages */
+
+/* IoT - internet of things */
+
+
+/* Wi-Fi */
+
+/* Marvell WiFi */
+
+
+/* Wiced WiFi */
+
+
+/* IoT Cloud */
+
+
+/* security packages */
+
+
+/* language packages */
+
+
+/* multimedia packages */
+
+
+/* tools packages */
+
+
+/* system packages */
+
+
+/* peripheral libraries and drivers */
+
+
+/* miscellaneous packages */
+
+
+/* samples: kernel and components samples */
+
+#include "rtconfig_project.h"
+
+#endif

bsp/ti-tms320c6678/rtconfig_project.h

@@ -0,0 +1,23 @@
+/*
+ * Copyright (c) 2006-2019, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2019-03-27     xuzhuoyi     the first version
+ */
+
+#ifndef __RTCONFIG_PROJECT_H__
+#define __RTCONFIG_PROJECT_H__
+
+typedef signed   char                   rt_int8_t;      /**<  8bit integer type */
+typedef signed   short                  rt_int16_t;     /**< 16bit integer type */
+typedef signed   long                   rt_int32_t;     /**< 32bit integer type */
+typedef signed   long long              rt_int64_t;     /**< 64bit integer type */
+typedef unsigned char                   rt_uint8_t;     /**<  8bit unsigned integer type */
+typedef unsigned short                  rt_uint16_t;    /**< 16bit unsigned integer type */
+typedef unsigned long                   rt_uint32_t;    /**< 32bit unsigned integer type */
+typedef unsigned long long              rt_uint64_t;    /**< 64bit unsigned integer type */
+
+#endif

libcpu/ti-dsp/c6x/SConscript

@@ -0,0 +1,14 @@
+# RT-Thread building script for component
+
+from building import *
+
+Import('rtconfig')
+
+cwd     = GetCurrentDir()
+src     = Glob('*.c') + Glob('*.cpp') + Glob('*.asm')
+CPPPATH = [cwd]
+ASFLAGS = ''
+
+group = DefineGroup('CPU', src, depend = [''], CPPPATH = CPPPATH, ASFLAGS = ASFLAGS)
+
+Return('group')

libcpu/ti-dsp/c6x/c66xx.h

@@ -0,0 +1,98 @@
+/*
+ * Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-11-16     Dystopia     the first version
+ */
+
+#ifndef __C66XX_H__
+#define __C66XX_H__
+
+extern __cregister volatile unsigned int IERR;    /* Internal Exception Report Register */
+extern __cregister volatile unsigned int ECR;     /* Exception Clear Register */
+extern __cregister volatile unsigned int EFR;     /* Exception Flag Register */
+extern __cregister volatile unsigned int TSR;     /* Task State Register */
+extern __cregister volatile unsigned int ITSR;    /* Interrupt Task State Register */
+extern __cregister volatile unsigned int NTSR;    /* NMI/exception Task State Register */
+extern __cregister volatile unsigned int TSCL;    /* Time Stamp Counter Register - Low Half  */
+extern __cregister volatile unsigned int TSCH;    /* Time Stamp Counter Register - High Half */
+extern __cregister volatile unsigned int DNUM;    /* Core number */
+
+extern __cregister volatile unsigned int AMR;
+extern __cregister volatile unsigned int CSR;
+extern __cregister volatile unsigned int IFR;
+extern __cregister volatile unsigned int ISR;
+extern __cregister volatile unsigned int ICR;
+extern __cregister volatile unsigned int IER;
+extern __cregister volatile unsigned int ISTP;
+extern __cregister volatile unsigned int IRP;
+extern __cregister volatile unsigned int NRP;
+
+#ifdef _BIG_ENDIAN
+#define RT_REG_PAIR(odd, even) unsigned long odd; unsigned long even
+#else
+#define RT_REG_PAIR(odd, even) unsigned long even; unsigned long odd
+#endif
+
+struct rt_hw_register
+{
+    RT_REG_PAIR(b17, b16);
+    RT_REG_PAIR(b19, b18);
+    RT_REG_PAIR(b21, b20);
+    RT_REG_PAIR(b23, b22);
+    RT_REG_PAIR(b25, b24);
+    RT_REG_PAIR(b27, b26);
+    RT_REG_PAIR(b29, b28);
+    RT_REG_PAIR(b31, b30);
+
+    RT_REG_PAIR(b1, b0);
+    RT_REG_PAIR(b3, b2);
+    RT_REG_PAIR(b5, b4);
+    RT_REG_PAIR(b7, b6);
+    RT_REG_PAIR(b9, b8);
+    RT_REG_PAIR(b11, b10);
+    RT_REG_PAIR(b13, b12);
+    
+    RT_REG_PAIR(a17, a16);
+    RT_REG_PAIR(a19, a18);
+    RT_REG_PAIR(a21, a20);
+    RT_REG_PAIR(a23, a22);
+    RT_REG_PAIR(a25, a24);
+    RT_REG_PAIR(a27, a26);
+    RT_REG_PAIR(a29, a28);
+    RT_REG_PAIR(a31, a30);
+
+    RT_REG_PAIR(a1, a0);
+    RT_REG_PAIR(a3, a2);
+    RT_REG_PAIR(a5, a4);
+    RT_REG_PAIR(a7, a6);
+    RT_REG_PAIR(a9, a8);
+    RT_REG_PAIR(a11, a10);
+    RT_REG_PAIR(a13, a12);
+
+    RT_REG_PAIR(a15, a14);
+    RT_REG_PAIR(sp, dp);
+};
+    
+typedef struct rt_hw_exp_stack_register
+{
+    RT_REG_PAIR(tsr, orig_a4);
+    RT_REG_PAIR(rilc, ilc);
+    RT_REG_PAIR(pc, csr);
+    struct rt_hw_register hw_register;
+} rt_hw_thread_stack_register;
+
+#define __dint()                asm(" DINT")
+#define __rint()                asm(" RINT")
+#define __system_call()         asm(" SWE")
+#define __enter_idle()          asm(" IDLE")
+#define __nop()                 asm(" NOP")
+#define __mfence()              asm(" MFENCE")
+
+#define __SYSREG(ADDR, TYPE)    (*(volatile TYPE*)(ADDR))
+#define __SYSREGA(ADDR, TYPE)   ((volatile TYPE*)(ADDR))
+
+#endif /* __C66XX_H__ */

libcpu/ti-dsp/c6x/context.asm

@@ -0,0 +1,351 @@
+;
+; Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+;
+; SPDX-License-Identifier: Apache-2.0
+;
+; Change Logs:
+; Date           Author       Notes
+; 2021-11-16     Dystopia     the first version
+;
+
+;-----------------------------------------------------------
+;               context switch for C6000 DSP
+;-----------------------------------------------------------
+
+	.include "contextinc.asm"
+;-----------------------------------------------------------
+;                      macro definition
+;-----------------------------------------------------------
+DP	.set	B14
+SP	.set	B15
+;
+;-----------------------------------------------------------
+;
+
+;-----------------------------------------------------------
+;                      global variable
+;-----------------------------------------------------------
+	.global	rt_interrupt_from_thread
+	.global	rt_interrupt_to_thread
+	.global	rt_thread_switch_interrupt_flag
+;
+;-----------------------------------------------------------
+;
+    .sect   ".text"
+;-----------------------------------------------------------
+; void rt_hw_enable_exception(void)
+;-----------------------------------------------------------
+	.global	rt_hw_enable_exception
+rt_hw_enable_exception:
+	DINT
+	MVC	.S2	TSR,B0
+	MVC	.S2	B3,NRP
+	MVK	.L2	0xC,B1
+	OR	.D2	B0,B1,B0
+	MVC	.S2	B0,TSR    ; Set GEE and XEN in TSR
+	B	.S2	NRP
+	NOP	5
+
+;-----------------------------------------------------------
+; rt_base_t rt_hw_interrupt_enable(void)
+;-----------------------------------------------------------
+	.global	rt_hw_interrupt_disable
+rt_hw_interrupt_disable:
+;{
+	MVC	CSR,B4
+	MV	B4,A4
+	AND	1,B4,B0
+ [!B0]	CLR B4,1,1,B4
+ [B0]	SET B4,1,1,B4
+	CLR B4,0,0,B4
+	MVC B4,CSR
+	B 	B3
+	NOP	5
+;}
+
+;-----------------------------------------------------------
+; void rt_hw_interrupt_enable(rt_base_t scr)
+;-----------------------------------------------------------
+	.global	rt_hw_interrupt_enable
+rt_hw_interrupt_enable:
+;{
+	MVC	A4,CSR
+	B	B3
+	NOP 5
+;}
+
+;-----------------------------------------------------------
+; rt_uint32_t rt_hw_get_current_dp(void)
+;-----------------------------------------------------------
+	.global	rt_hw_get_current_dp
+rt_hw_get_current_dp:
+;{
+	B	B3
+	MV	B14,	A4
+	NOP	4
+;}
+
+;-----------------------------------------------------------
+; rt_int32_t __fls(rt_int32_t val)
+;-----------------------------------------------------------
+	.global __fls
+__fls:
+;{
+    B	B3
+	LMBD  .L1  1,A4,A4
+	NOP	4
+;}
+
+;-----------------------------------------------------------
+; rt_int32_t __ffs(rt_int32_t val)
+;-----------------------------------------------------------
+	.global __ffs
+__ffs:
+;{
+	BITR  .M1  A4,A4
+	B	B3
+	LMBD  .L1  1,A4,A4
+	NOP	4
+;}
+
+;
+;-----------------------------------------------------------
+;
+
+;
+; void rt_hw_context_switch(rt_uint32 from, rt_uint32 to);
+; A4 --> from
+; B4 --> to
+;
+	.global	rt_hw_context_switch
+rt_hw_context_switch:
+; {
+	SUBAW	.D2	SP,2,SP
+	ADD	.D1X	SP,-8,A15
+ ||	STDW	.D2T1	A15:A14,*SP--[3]    ; Store A15:A14
+
+	STDW	.D2T2	B13:B12,*SP--[1]    ; Store B13:B12
+ ||	STDW	.D1T1	A13:A12,*A15--[1]   ; Store A13:A12
+ ||	MV		B3,B13
+	STDW	.D2T2	B11:B10,*SP--[1]    ; Store B11:B10
+ ||	STDW	.D1T1	A11:A10,*A15--[1]   ; Store A11:A10
+ ||	MVC	.S2	CSR,B12
+	STDW	.D2T2	B13:B12,*SP--[1]    ; Store PC:CSR
+ ||	MVC	.S2	TSR,B5
+
+	MVC	.S2	ILC,B11
+	MVC	.S2	RILC,B10
+	STDW	.D2T2	B11:B10,*SP--[1]    ; Store RILC:ILC
+ ||	MV	.S1X	B5,A3
+
+	ZERO	A2                          ;
+	STDW	.D2T1	A3:A2,*SP--[1]      ; Store TSR:stack type
+	STW	SP,*A4                          ; Save thread's stack pointer
+	B	rt_hw_context_switch_to
+	MV	B4,A4
+	NOP	4
+;}
+
+;
+; void rt_hw_context_switch_to(rt_uint32 to);
+; A4 --> to
+;
+	.global	rt_hw_context_switch_to
+rt_hw_context_switch_to:
+;{
+	LDW	*A4,SP
+	NOP	4
+	LDDW	.D2T2	*++SP[1],B9:B8      ; get TSR (B9) and stack frame type (B8)
+	LDDW	.D2T2	*++SP[1],B11:B10    ; get RILC (B11) and ILC (B10)
+	LDDW	.D2T2	*++SP[1],B13:B12    ; get PC (B13) and CSR (B12)
+	NOP	2
+	MV	B8,B0
+ [B0]  BNOP	_rt_thread_interrupt_stack, 5
+;
+; this maybe do better
+;
+	LDDW	.D2T2	*++SP[1],B11:B10
+ || MVC	.S2	B11,RILC                    ; Restore RILC
+  	LDDW	.D2T2	*++SP[1],B13:B12
+ ||	MVC	.S2	B10,ILC                     ; Restore ILC
+	LDDW	.D2T1	*++SP[1],A11:A10
+ ||	MV	B13,B3                          ; Restore PC
+	LDDW	.D2T1	*++SP[1],A13:A12
+ ||	MVC	.S2	B12,CSR                     ; Restore CSR
+	LDDW	.D2T1	*++SP[1],A15:A14
+	B	B3                              ; Return to caller
+	ADDAW	.D2	SP,2,SP
+	NOP	4                               ; Delay slots
+_rt_thread_interrupt_stack:
+	ADDAW	.D1X	SP,30,A15
+	LDDW	.D1T1	*++A15[1],A17:A16
+ ||	LDDW	.D2T2	*++SP[1],B17:B16
+	LDDW	.D1T1	*++A15[1],A19:A18
+ ||	LDDW	.D2T2	*++SP[1],B19:B18
+	LDDW	.D1T1	*++A15[1],A21:A20
+ ||	LDDW	.D2T2	*++SP[1],B21:B20
+	LDDW	.D1T1	*++A15[1],A23:A22
+ ||	LDDW	.D2T2	*++SP[1],B23:B22
+	LDDW	.D1T1	*++A15[1],A25:A24
+ ||	LDDW	.D2T2	*++SP[1],B25:B24
+	LDDW	.D1T1	*++A15[1],A27:A26
+ ||	LDDW	.D2T2	*++SP[1],B27:B26
+	LDDW	.D1T1	*++A15[1],A29:A28
+ ||	LDDW	.D2T2	*++SP[1],B29:B28
+	LDDW	.D1T1	*++A15[1],A31:A30
+ ||	LDDW	.D2T2	*++SP[1],B31:B30
+
+	LDDW	.D1T1	*++A15[1],A1:A0
+ ||	LDDW	.D2T2	*++SP[1],B1:B0
+
+	LDDW	.D1T1	*++A15[1],A3:A2
+ ||	LDDW	.D2T2	*++SP[1],B3:B2
+ ||	MVC	.S2	B9,ITSR	                    ; Restore ITSR
+	LDDW	.D1T1	*++A15[1],A5:A4
+ ||	LDDW	.D2T2	*++SP[1],B5:B4
+ ||	MVC	.S2	B11,RILC                    ; Restore RILC
+	LDDW	.D1T1	*++A15[1],A7:A6
+ ||	LDDW	.D2T2	*++SP[1],B7:B6
+ ||	MVC	.S2	B10,ILC                     ; Restore ILC
+
+	LDDW	.D1T1	*++A15[1],A9:A8
+ ||	LDDW	.D2T2	*++SP[1],B9:B8
+ ||	MVC	.S2	B13,IRP                     ; Restore IPR
+
+	LDDW	.D1T1	*++A15[1],A11:A10
+ ||	LDDW	.D2T2	*++SP[1],B11:B10
+ ||	MVC	.S2	B12,CSR                     ; Restore CSR
+
+	LDDW	.D1T1	*++A15[1],A13:A12
+ ||	LDDW	.D2T2	*++SP[1],B13:B12
+
+	MV	.D2X	A15,SP
+	LDDW	.D2T1	*++SP[1],A15:A14
+	B	IRP                             ; Return to point of interrupt
+	LDDW	.D2T2	*+SP[1],SP:DP
+	NOP	4                               ; Delay slots
+;}
+
+;
+;-----------------------------------------------------------
+;
+
+;
+; void rt_hw_context_switch_interrupt(rt_uint32_t from, rt_uint32_t to)
+; A4 --> from
+; B4 --> to
+;{
+	.global	rt_hw_context_switch_interrupt
+rt_hw_context_switch_interrupt:
+	SUB		B15,0x8,B15
+	STW		B4,*B15[2]
+	STW		A4,*B15[1]
+	LDW		*+B14(rt_thread_switch_interrupt_flag),B4
+	NOP		4
+	CMPEQ	1,B4,B0
+	[ B0]  BNOP	_reswitch,5
+	MVK		1,B4
+	STW		B4,*+B14(rt_thread_switch_interrupt_flag)
+	MV			A4,B4
+	STW		B4,*+B14(rt_interrupt_from_thread)
+_reswitch:
+	LDW		*B15[2],B4
+	NOP		4
+	STW		B4,*+B14(rt_interrupt_to_thread)
+	ADD		8,B15,B15
+	BNOP	B3,5
+;}
+
+;-----------------------------------------------------------
+;
+;void rt_interrupt_context_restore(void)
+;
+	.global	rt_interrupt_context_restore
+rt_interrupt_context_restore:
+;{
+	MVKL	rt_thread_switch_interrupt_flag,A3
+	MVKH	rt_thread_switch_interrupt_flag,A3
+	LDW		*A3,A1
+	NOP		4
+	CMPEQ	1,A1,A2
+ [A2]  BNOP	 rt_preempt_context_restore,5
+	LDDW	.D2T2	*++SP[1],B9:B8      ; get TSR (B9)
+	LDDW	.D2T2	*++SP[1],B11:B10    ; get RILC (B11) and ILC (B10)
+	LDDW	.D2T2	*++SP[1],B13:B12    ; get PC (B13) and CSR (B12)
+
+	ADDAW	.D1X	SP,30,A15
+
+	LDDW	.D1T1	*++A15[1],A17:A16
+ ||	LDDW	.D2T2	*++SP[1],B17:B16
+	LDDW	.D1T1	*++A15[1],A19:A18
+ ||	LDDW	.D2T2	*++SP[1],B19:B18
+	LDDW	.D1T1	*++A15[1],A21:A20
+ ||	LDDW	.D2T2	*++SP[1],B21:B20
+	LDDW	.D1T1	*++A15[1],A23:A22
+ ||	LDDW	.D2T2	*++SP[1],B23:B22
+	LDDW	.D1T1	*++A15[1],A25:A24
+ ||	LDDW	.D2T2	*++SP[1],B25:B24
+	LDDW	.D1T1	*++A15[1],A27:A26
+ ||	LDDW	.D2T2	*++SP[1],B27:B26
+	LDDW	.D1T1	*++A15[1],A29:A28
+ ||	LDDW	.D2T2	*++SP[1],B29:B28
+	LDDW	.D1T1	*++A15[1],A31:A30
+ ||	LDDW	.D2T2	*++SP[1],B31:B30
+
+	LDDW	.D1T1	*++A15[1],A1:A0
+ ||	LDDW	.D2T2	*++SP[1],B1:B0
+	LDDW	.D1T1	*++A15[1],A3:A2
+ ||	LDDW	.D2T2	*++SP[1],B3:B2
+ ||	MVC	.S2	B9,ITSR
+	LDDW	.D1T1	*++A15[1],A5:A4
+ ||	LDDW	.D2T2	*++SP[1],B5:B4
+ ||	MVC	.S2	B11,RILC
+	LDDW	.D1T1	*++A15[1],A7:A6
+ ||	LDDW	.D2T2	*++SP[1],B7:B6
+ ||	MVC	.S2	B10,ILC
+	LDDW	.D1T1	*++A15[1],A9:A8
+ ||	LDDW	.D2T2	*++SP[1],B9:B8
+ ||	MVC	.S2	B13,IRP
+
+	LDDW	.D1T1	*++A15[1],A11:A10
+ ||	LDDW	.D2T2	*++SP[1],B11:B10
+ ||	MVC	.S2	B12,CSR
+	LDDW	.D1T1	*++A15[1],A13:A12
+ ||	LDDW	.D2T2	*++SP[1],B13:B12
+
+	MV	.D2X	A15,SP
+ ||	MVKL	.S1	rt_system_stack_top,A15
+	MVKH	.S1	rt_system_stack_top,A15
+ ||	ADDAW	.D1X	SP,6,A14
+	STW	.D1T1	A14,*A15                ; save system stack pointer
+
+ 	LDDW	.D2T1	*++SP[1],A15:A14
+	B	.S2	IRP                         ; return from interruption
+	LDDW	.D2T2	*+SP[1],SP:DP
+	NOP		4
+rt_preempt_context_restore:
+	ZERO	A12
+	STW	A12,*A3                         ; clear rt_thread_switch_interrupt_flag
+;
+; restore saved registers by system stack
+;
+	RESTORE_ALL	IRP,ITSR
+;
+; store registers to thread stack
+;
+	THREAD_SAVE_ALL	IRP,ITSR
+
+    MVKL	rt_interrupt_from_thread,A11
+    MVKH	rt_interrupt_from_thread,A11
+    LDW		*A11,A10
+    NOP
+    MVKL	rt_interrupt_to_thread,B10
+    MVKH	rt_interrupt_to_thread,B10
+    LDW		*B10,B11
+    NOP		3
+    STW		SP,*A10                     ; store sp in preempted tasks's TCB
+    B		rt_hw_context_switch_to
+	MV		B11,A4
+	NOP		4
+;}
+	.end

libcpu/ti-dsp/c6x/contextinc.asm

@@ -0,0 +1,192 @@
+;
+; Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+;
+; SPDX-License-Identifier: Apache-2.0
+;
+; Change Logs:
+; Date           Author       Notes
+; 2021-11-16     Dystopia     the first version
+;
+
+;-----------------------------------------------------------
+; 						extern variable
+;-----------------------------------------------------------
+	.ref rt_system_stack_top
+
+;-----------------------------------------------------------
+;                     macro definition
+;-----------------------------------------------------------
+SAVE_ALL	.macro  __rp, __tsr
+	STW	.D2T2	B0,*SP--[2]             ; save original B0
+	MVKL	.S2	rt_system_stack_top,B0
+	MVKH	.S2	rt_system_stack_top,B0
+	LDW	.D2T2	*B0,B1                  ; system stack
+
+	NOP	3
+	STW	.D2T2	B1,*+SP[1]              ; save original B1
+	XOR	.D2	SP,B1,B0                    ; check current stack types
+	LDW	.D2T2	*+SP[1],B1              ; restore B0/B1
+	LDW	.D2T2	*++SP[2],B0
+	SHR	.S2	B0,12,B0                    ; 0 if already using system stack
+ [B0]	STDW	.D2T2	SP:DP,*--B1[1]  ; thread: save thread sp/dp system stack
+ [B0]	MV	.S2	B1,SP                   ; and switch to system stack
+||[!B0] STDW	.D2T2	SP:DP,*--SP[1]  ; kernel: nest interrupt save(not support)
+
+	SUBAW	.D2	SP,2,SP
+
+	ADD	.D1X	SP,-8,A15
+ ||	STDW	.D2T1	A15:A14,*SP--[16]   ; save A15:A14
+
+	STDW	.D2T2	B13:B12,*SP--[1]
+ ||	STDW	.D1T1	A13:A12,*A15--[1]
+ ||	MVC	.S2	__rp,B13
+	STDW	.D2T2	B11:B10,*SP--[1]
+ ||	STDW	.D1T1	A11:A10,*A15--[1]
+ ||	MVC	.S2	CSR,B12
+
+	STDW	.D2T2	B9:B8,*SP--[1]
+ ||	STDW	.D1T1	A9:A8,*A15--[1]
+ ||	MVC	.S2	RILC,B11
+	STDW	.D2T2	B7:B6,*SP--[1]
+ ||	STDW	.D1T1	A7:A6,*A15--[1]
+ ||	MVC	.S2	ILC,B10
+	STDW	.D2T2	B5:B4,*SP--[1]
+ ||	STDW	.D1T1	A5:A4,*A15--[1]
+	STDW	.D2T2	B3:B2,*SP--[1]
+ ||	STDW	.D1T1	A3:A2,*A15--[1]
+ ||	MVC	.S2	__tsr,B5
+	STDW	.D2T2	B1:B0,*SP--[1]
+ ||	STDW	.D1T1	A1:A0,*A15--[1]
+ ||	MV	.S1X	B5,A5
+
+	STDW	.D2T2	B31:B30,*SP--[1]
+ ||	STDW	.D1T1	A31:A30,*A15--[1]
+ || MVKL	1,A4
+
+	STDW	.D2T2	B29:B28,*SP--[1]
+ ||	STDW	.D1T1	A29:A28,*A15--[1]
+	STDW	.D2T2	B27:B26,*SP--[1]
+ ||	STDW	.D1T1	A27:A26,*A15--[1]
+	STDW	.D2T2	B25:B24,*SP--[1]
+ ||	STDW	.D1T1	A25:A24,*A15--[1]
+	STDW	.D2T2	B23:B22,*SP--[1]
+ ||	STDW	.D1T1	A23:A22,*A15--[1]
+	STDW	.D2T2	B21:B20,*SP--[1]
+ ||	STDW	.D1T1	A21:A20,*A15--[1]
+	STDW	.D2T2	B19:B18,*SP--[1]
+ ||	STDW	.D1T1	A19:A18,*A15--[1]
+	STDW	.D2T2	B17:B16,*SP--[1]
+ ||	STDW	.D1T1	A17:A16,*A15--[1]
+
+	STDW	.D2T2	B13:B12,*SP--[1]    ; save PC and CSR
+	STDW	.D2T2	B11:B10,*SP--[1]    ; save RILC and ILC
+	STDW	.D2T1	A5:A4,*SP--[1]      ; save TSR and  orig A4(stack type)
+			.endm
+
+RESTORE_ALL	.macro  __rp, __tsr
+	LDDW	.D2T2	*++SP[1],B9:B8      ; get TSR (B9)
+	LDDW	.D2T2	*++SP[1],B11:B10    ; get RILC (B11) and ILC (B10)
+	LDDW	.D2T2	*++SP[1],B13:B12    ; get PC (B13) and CSR (B12)
+
+	ADDAW	.D1X	SP,30,A15
+
+	LDDW	.D1T1	*++A15[1],A17:A16
+ ||	LDDW	.D2T2	*++SP[1],B17:B16
+	LDDW	.D1T1	*++A15[1],A19:A18
+ ||	LDDW	.D2T2	*++SP[1],B19:B18
+	LDDW	.D1T1	*++A15[1],A21:A20
+ ||	LDDW	.D2T2	*++SP[1],B21:B20
+	LDDW	.D1T1	*++A15[1],A23:A22
+ ||	LDDW	.D2T2	*++SP[1],B23:B22
+	LDDW	.D1T1	*++A15[1],A25:A24
+ ||	LDDW	.D2T2	*++SP[1],B25:B24
+	LDDW	.D1T1	*++A15[1],A27:A26
+ ||	LDDW	.D2T2	*++SP[1],B27:B26
+	LDDW	.D1T1	*++A15[1],A29:A28
+ ||	LDDW	.D2T2	*++SP[1],B29:B28
+	LDDW	.D1T1	*++A15[1],A31:A30
+ ||	LDDW	.D2T2	*++SP[1],B31:B30
+
+	LDDW	.D1T1	*++A15[1],A1:A0
+ ||	LDDW	.D2T2	*++SP[1],B1:B0
+	LDDW	.D1T1	*++A15[1],A3:A2
+ ||	LDDW	.D2T2	*++SP[1],B3:B2
+ ||	MVC	.S2	B9,__tsr
+	LDDW	.D1T1	*++A15[1],A5:A4
+ ||	LDDW	.D2T2	*++SP[1],B5:B4
+ ||	MVC	.S2	B11,RILC
+	LDDW	.D1T1	*++A15[1],A7:A6
+ ||	LDDW	.D2T2	*++SP[1],B7:B6
+ ||	MVC	.S2	B10,ILC
+	LDDW	.D1T1	*++A15[1],A9:A8
+ ||	LDDW	.D2T2	*++SP[1],B9:B8
+ ||	MVC	.S2	B13,__rp
+
+	LDDW	.D1T1	*++A15[1],A11:A10
+ ||	LDDW	.D2T2	*++SP[1],B11:B10
+ ||	MVC	.S2	B12,CSR
+	LDDW	.D1T1	*++A15[1],A13:A12
+ ||	LDDW	.D2T2	*++SP[1],B13:B12
+
+	MV	.D2X	A15,SP
+ ||	MVKL	.S1	rt_system_stack_top,A15
+	MVKH	.S1	rt_system_stack_top,A15
+ ||	ADDAW	.D1X	SP,6,A14
+	STW	.D1T1	A14,*A15                ; save system stack pointer
+
+ 	LDDW	.D2T1	*++SP[1],A15:A14
+	LDDW	.D2T2	*+SP[1],SP:DP
+	NOP		4
+			.endm
+
+THREAD_SAVE_ALL	.macro  __rp, __tsr
+	STDW	.D2T2	SP:DP,*--SP[1]
+	SUBAW	.D2	SP,2,SP
+
+	ADD	.D1X	SP,-8,A15
+ ||	STDW	.D2T1	A15:A14,*SP--[16]   ; save A15:A14
+
+	STDW	.D2T2	B13:B12,*SP--[1]
+ ||	STDW	.D1T1	A13:A12,*A15--[1]
+ ||	MVC	.S2	__rp,B13
+	STDW	.D2T2	B11:B10,*SP--[1]
+ ||	STDW	.D1T1	A11:A10,*A15--[1]
+ ||	MVC	.S2	CSR,B12
+
+	STDW	.D2T2	B9:B8,*SP--[1]
+ ||	STDW	.D1T1	A9:A8,*A15--[1]
+ ||	MVC	.S2	RILC,B11
+	STDW	.D2T2	B7:B6,*SP--[1]
+ ||	STDW	.D1T1	A7:A6,*A15--[1]
+ ||	MVC	.S2	ILC,B10
+	STDW	.D2T2	B5:B4,*SP--[1]
+ ||	STDW	.D1T1	A5:A4,*A15--[1]
+	STDW	.D2T2	B3:B2,*SP--[1]
+ ||	STDW	.D1T1	A3:A2,*A15--[1]
+ ||	MVC	.S2	__tsr,B5
+	STDW	.D2T2	B1:B0,*SP--[1]
+ ||	STDW	.D1T1	A1:A0,*A15--[1]
+ ||	MV	.S1X	B5,A5
+
+	STDW	.D2T2	B31:B30,*SP--[1]
+ ||	STDW	.D1T1	A31:A30,*A15--[1]
+ || MVKL	1,A4
+	STDW	.D2T2	B29:B28,*SP--[1]
+ ||	STDW	.D1T1	A29:A28,*A15--[1]
+	STDW	.D2T2	B27:B26,*SP--[1]
+ ||	STDW	.D1T1	A27:A26,*A15--[1]
+	STDW	.D2T2	B25:B24,*SP--[1]
+ ||	STDW	.D1T1	A25:A24,*A15--[1]
+	STDW	.D2T2	B23:B22,*SP--[1]
+ ||	STDW	.D1T1	A23:A22,*A15--[1]
+	STDW	.D2T2	B21:B20,*SP--[1]
+ ||	STDW	.D1T1	A21:A20,*A15--[1]
+	STDW	.D2T2	B19:B18,*SP--[1]
+ ||	STDW	.D1T1	A19:A18,*A15--[1]
+	STDW	.D2T2	B17:B16,*SP--[1]
+ ||	STDW	.D1T1	A17:A16,*A15--[1]
+
+	STDW	.D2T2	B13:B12,*SP--[1]    ; save PC and CSR
+	STDW	.D2T2	B11:B10,*SP--[1]    ; save RILC and ILC
+	STDW	.D2T1	A5:A4,*SP--[1]      ; save TSR and orig A4(stack type)
+				.endm

libcpu/ti-dsp/c6x/cpuport.c

@@ -0,0 +1,196 @@
+/*
+ * Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-11-16     Dystopia     the first version
+ */
+
+#include <rthw.h>
+#include <rtthread.h>
+
+#include "trap.h"
+
+/*------------ rt_hw_cpu_shutdown() function ----------------------------------
+ * DESCRIPTION: Shutdown CPU
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+RT_WEAK void rt_hw_cpu_shutdown(void)
+{
+    rt_kprintf("shutdown...\n");
+
+    rt_hw_interrupt_disable();
+
+    RT_ASSERT(0);
+}
+
+/*------------ nested_exception_handler() function ---------------------------
+ * DESCRIPTION: Function handles Nested Exception
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+
+void nested_exception_handler(void)
+{
+    for(;;){}
+}
+
+/*------------ hw_nmi_handler() function --------------------------------------
+ * DESCRIPTION: Function handles NMI interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_nmi_handler(struct rt_hw_exp_stack_register *regs)
+{
+    for(;;){}
+}
+
+/*------------ hw_bad_handler() function --------------------------------------
+ * DESCRIPTION: Function handles Bad interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_bad_handler(void)
+{
+    for(;;){}
+}
+
+/*------------ hw_int4_handler() function -------------------------------------
+ * DESCRIPTION: Function handles INT4 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int4_handler(void)
+{
+
+}
+
+/*------------ hw_int5_handler() function -------------------------------------
+ * DESCRIPTION: Function handles INT5 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int5_handler(void)
+{
+
+}
+
+/*------------ hw_int6_handler() function -------------------------------------
+ * DESCRIPTION: Function handles INT6 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int6_handler(void)
+{
+
+}
+
+/*------------ hw_int7_handler() function -------------------------------------
+ * DESCRIPTION: Function handles INT7 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int7_handler(void)
+{
+
+}
+
+/*------------ hw_int8_handler() function -------------------------------------
+ * DESCRIPTION: Function handles INT8 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int8_handler(void)
+{
+
+}
+
+/*------------ hw_int9_handler() function -------------------------------------
+ * DESCRIPTION: Function handles INT9 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int9_handler(void)
+{
+
+}
+
+/*------------ hw_int10_handler() function ------------------------------------
+ * DESCRIPTION: Function handles INT10 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int10_handler(void)
+{
+
+}
+
+/*------------ hw_int11_handler() function ------------------------------------
+ * DESCRIPTION: Function handles INT11 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int11_handler(void)
+{
+
+}
+
+/*------------ hw_int12_handler() function ------------------------------------
+ * DESCRIPTION: Function handles INT12 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int12_handler(void)
+{
+    
+}
+
+/*------------ hw_int13_handler() function ------------------------------------
+ * DESCRIPTION: Function handles INT13 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int13_handler(void)
+{
+
+}
+
+/*------------------ hw_int14_handler() function ------------------------------
+ * DESCRIPTION: Function handles INT14 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE:
+-----------------------------------------------------------------------------*/
+void hw_int14_handler(void)
+{
+extern void rt_hw_systick_isr();
+    rt_hw_systick_isr();
+}
+
+/*------------ hw_int15_handler() function ------------------------------------
+ * DESCRIPTION: Function handles INT15 interrupt
+ * ARGUMENTS:
+ * None
+ * RETURNED VALUE: None
+-----------------------------------------------------------------------------*/
+void hw_int15_handler(void)
+{
+
+}

libcpu/ti-dsp/c6x/interrupt.c

@@ -0,0 +1,104 @@
+/*
+ * Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-11-16     Dystopia     the first version
+ */
+
+#include "interrupt.h"
+#include "c66xx.h"
+#include "trap.h"
+
+#define MAX_HANDLERS 128
+
+extern volatile rt_uint8_t rt_interrupt_nest;
+struct rt_irq_desc isr_table[MAX_HANDLERS];
+rt_uint32_t rt_interrupt_from_thread;
+rt_uint32_t rt_interrupt_to_thread;
+rt_uint32_t rt_thread_switch_interrupt_flag;
+
+/**
+ * This function will initialize hardware interrupt
+ */
+void rt_hw_interrupt_init(void)
+{
+    // initial system trap
+    //rt_trap_init();
+
+    /* init exceptions table */
+    rt_memset(isr_table, 0x00, sizeof(isr_table));
+
+    /* 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;
+}
+
+/**
+ * This function will mask a interrupt.
+ * @param vector the interrupt number
+ */
+void rt_hw_interrupt_mask(int vector)
+{
+    if (vector < 0 || vector >= MAX_HANDLERS)
+    {
+        return;
+    }
+}
+
+/**
+ * This function will un-mask a interrupt.
+ * @param vector the interrupt number
+ */
+void rt_hw_interrupt_umask(int vector)
+{
+    if (vector < 0 || vector >= MAX_HANDLERS)
+    {
+        return;
+    }
+    ICR = vector;
+    IER |= vector;
+
+    //enable GIE
+    TSR = TSR | 1;
+}
+
+/**
+ * This function will install a interrupt service routine to a interrupt.
+ * @param vector the interrupt number
+ * @param new_handler the interrupt service routine to be installed
+ * @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)
+{
+    rt_isr_handler_t old_handler = RT_NULL;
+
+    if (vector < MAX_HANDLERS || vector >= 0)
+    {
+        old_handler = isr_table[vector].handler;
+
+        if (handler != RT_NULL)
+        {
+#ifdef RT_USING_INTERRUPT_INFO
+            rt_strncpy(isr_table[vector].name, name, RT_NAME_MAX);
+#endif /* RT_USING_INTERRUPT_INFO */
+            isr_table[vector].handler = handler;
+            isr_table[vector].param = param;
+        }
+    }
+
+    return old_handler;
+}
+
+void rt_hw_interrupt_clear(int vector)
+{
+    if (vector < 0 || vector >= MAX_HANDLERS)
+    {
+        return;
+    }
+}

libcpu/ti-dsp/c6x/interrupt.h

@@ -0,0 +1,24 @@
+/*
+ * Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-11-16     Dystopia     the first version
+ */
+
+#ifndef __INTERRUPT_H__
+#define __INTERRUPT_H__
+
+#include <rthw.h>
+#include <rtthread.h>
+
+void rt_hw_interrupt_init(void);
+void rt_hw_interrupt_mask(int vector);
+void rt_hw_interrupt_umask(int vector);
+void rt_hw_interrupt_clear(int vector);
+rt_isr_handler_t rt_hw_interrupt_install(int vector, rt_isr_handler_t handler,
+        void *param, const char *name);
+
+#endif /* __INTERRUPT_H__ */

libcpu/ti-dsp/c6x/intexc.asm

@@ -0,0 +1,263 @@
+;
+; Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+;
+; SPDX-License-Identifier: Apache-2.0
+;
+; Change Logs:
+; Date           Author       Notes
+; 2021-11-16     Dystopia     the first version
+;
+
+;-----------------------------------------------------------
+;      interrupt and execption handler for C6000 DSP
+;-----------------------------------------------------------
+
+;-----------------------------------------------------------
+;                    macro definition
+;-----------------------------------------------------------
+DP	.set	B14
+SP	.set	B15
+;
+;-----------------------------------------------------------
+;
+	.include "contextinc.asm"
+;-----------------------------------------------------------
+;                     global function
+;-----------------------------------------------------------
+    .global _nmi_handler
+    .global _bad_handler
+    .global _int4_handler
+    .global _int5_handler
+    .global _int6_handler
+    .global _int7_handler
+    .global _int8_handler
+    .global _int9_handler
+    .global _int10_handler
+    .global _int11_handler
+    .global _int12_handler
+    .global _int13_handler
+    .global _int14_handler
+    .global _int15_handler
+;
+;-----------------------------------------------------------
+;
+
+;-----------------------------------------------------------
+;                     extern function
+;-----------------------------------------------------------
+	.ref hw_nmi_handler
+	.ref hw_bad_handler
+	.ref hw_int4_handler
+	.ref hw_int5_handler
+	.ref hw_int6_handler
+	.ref hw_int7_handler
+	.ref hw_int8_handler
+	.ref hw_int9_handler
+	.ref hw_int10_handler
+	.ref hw_int11_handler
+	.ref hw_int12_handler
+	.ref hw_int13_handler
+	.ref hw_int14_handler
+	.ref hw_int15_handler
+	.ref rt_hw_process_exception
+	.ref rt_interrupt_context_restore
+;
+;-----------------------------------------------------------
+;
+
+;-----------------------------------------------------------
+;               interrupt macro definition
+;-----------------------------------------------------------
+RT_INTERRUPT_ENTRY	.macro
+	SAVE_ALL	IRP,ITSR
+					.endm
+
+RT_CALL_INT .macro __isr
+    B	__isr
+    ADDKPC	$1	,B3,4
+$1:
+	B	.S1	rt_interrupt_context_restore
+	NOP	5
+			.endm
+;-----------------------------------------------------------
+;               execption macro definition
+;-----------------------------------------------------------
+RT_EXECPTION_ENTRY	.macro
+	SAVE_ALL NRP,NTSR
+					.endm
+
+RT_EXECPTION_EXIT	.macro
+	RESTORE_ALL NRP,NTSR
+	B	.S2	NRP   ; return from execption
+	NOP	5
+					.endm
+
+;
+;-----------------------------------------------------------
+;
+
+    .sect   ".text"
+;
+;-----------------------------------------------------------
+;
+
+;-----------------------------------------------------------
+; handler NMI interrupt
+;-----------------------------------------------------------
+_nmi_handler:
+;{
+	RT_EXECPTION_ENTRY
+	MVC	.S2	EFR,B2
+	CMPEQ	.L2	1,B2,B2
+ ||	MVC	.S2	TSR,B1
+	MV	.D1X	B2,A2
+ ||	CLR	.S2	B1,10,10,B1
+	MVC	.S2	B1,TSR
+ [!A2]	MVKL	.S1	rt_hw_process_exception,A0
+ ||[B2]	MVKL	.S2	rt_hw_software_exception,B1
+ [!A2]	MVKH	.S1	rt_hw_process_exception,A0
+ ||[B2]	MVKH	.S2	rt_hw_software_exception,B1
+ [!B2]	B	.S2X	A0
+ [B2]	B	.S2	B1
+ [!B2]	ADDAW	.D2	SP,2,B1
+ [!B2]	MV	.D1X	B1,A4
+	ADDKPC	.S2	ret_from_trap,B3,2
+;
+; return from trap
+;
+ret_from_trap:
+	MV	.D2X	A4,B0
+ [!B0]	MVKL	.S2	ret_from_exception,B3
+ [!B0]	MVKH	.S2	ret_from_exception,B3
+ [!B0]	BNOP	.S2	B3,5
+;
+; return from trap restore exception context
+;
+ret_from_exception:
+	RT_EXECPTION_EXIT
+;
+rt_hw_software_exception:
+	MVKL	.S1	rt_hw_process_exception,A0
+	MVKH	.S1	rt_hw_process_exception,A0
+	B	.S2X	A0
+	ADDAW	.D2	SP,2,B1
+	MV	.D1X	B1,A4
+	ADDKPC	.S2	ret_from_trap,B3,2
+	NOP	2
+;}
+
+;-----------------------------------------------------------
+; handler bad interrupt
+;-----------------------------------------------------------
+_bad_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_bad_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT4 interrupt
+;-----------------------------------------------------------
+_int4_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int4_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT5 interrupt
+;-----------------------------------------------------------
+_int5_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int5_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT6 interrupt
+;-----------------------------------------------------------
+_int6_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int6_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT7 interrupt
+;-----------------------------------------------------------
+_int7_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int7_handler
+;}
+;-----------------------------------------------------------
+; handler INT8 interrupt
+;-----------------------------------------------------------
+_int8_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int8_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT9 interrupt
+;-----------------------------------------------------------
+_int9_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int9_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT10 interrupt
+;-----------------------------------------------------------
+_int10_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int10_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT11 interrupt
+;-----------------------------------------------------------
+_int11_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int11_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT12 interrupt
+;-----------------------------------------------------------
+_int12_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int12_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT13 interrupt
+;-----------------------------------------------------------
+_int13_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int13_handler
+;}
+
+;-----------------------------------------------------------
+; handler INT14 interrupt
+;-----------------------------------------------------------
+_int14_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int14_handler
+;}
+;-----------------------------------------------------------
+; handler INT15 interrupt
+;-----------------------------------------------------------
+_int15_handler:
+;{
+	RT_INTERRUPT_ENTRY
+	RT_CALL_INT	hw_int15_handler
+;}
+	.end

libcpu/ti-dsp/c6x/stack.c

@@ -0,0 +1,120 @@
+/*
+ * Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-11-16     Dystopia     the first version
+ */
+
+#include <rtthread.h>
+#include <c66xx.h>
+
+extern rt_uint32_t rt_hw_get_current_dp(void);
+
+/**
+ * @addtogroup C66xx
+ */
+/*@{*/
+
+/**
+ * This function will initialize thread stack
+ *
+ * @param tentry the entry of thread
+ * @param parameter the parameter of entry
+ * @param stack_addr the beginning stack address
+ * @param texit the function will be called when thread exit
+ *
+ * @return stack address
+ */
+rt_uint8_t *rt_hw_stack_init(void *tentry, void *parameter,
+                             rt_uint8_t *stack_addr, void *texit)
+{
+    rt_hw_thread_stack_register *thread_context = RT_NULL;
+    rt_uint32_t stk = 0;
+
+    stack_addr += sizeof(rt_uint32_t);
+    stack_addr  = (rt_uint8_t *)RT_ALIGN_DOWN((rt_uint32_t)stack_addr, 8);
+    stk         = (rt_uint32_t)stack_addr;
+    thread_context = (rt_hw_thread_stack_register *)(stk - sizeof(rt_hw_thread_stack_register));
+
+    thread_context->pc = (rt_uint32_t)tentry;
+    thread_context->csr = 0x0103;
+    thread_context->tsr = 0x3;
+    thread_context->orig_a4 = 1;
+    thread_context->ilc = 0;
+    thread_context->rilc = 0;
+
+    thread_context->hw_register.b17 = 0xB17;
+    thread_context->hw_register.b16  = 0xB16;
+    thread_context->hw_register.b19  = 0xB19;
+    thread_context->hw_register.b18  = 0xB18;
+    thread_context->hw_register.b21  = 0xB21;
+    thread_context->hw_register.b20  = 0xB20;
+    thread_context->hw_register.b23  = 0xB23;
+    thread_context->hw_register.b22  = 0xB22;
+    thread_context->hw_register.b25  = 0xB25;
+    thread_context->hw_register.b24  = 0xB24;
+    thread_context->hw_register.b27  = 0xB27;
+    thread_context->hw_register.b26  = 0xB26;
+    thread_context->hw_register.b29  = 0xB29;
+    thread_context->hw_register.b28  = 0xB28;
+    thread_context->hw_register.b31  = 0xB31;
+    thread_context->hw_register.b30  = 0xB30;
+
+    thread_context->hw_register.b1  = 0xB01;
+    thread_context->hw_register.b0  = 0xB00;
+    thread_context->hw_register.b3  = (rt_uint32_t)texit;
+    thread_context->hw_register.b2  = 0xB02;
+    thread_context->hw_register.b5  = 0xB05;
+    thread_context->hw_register.b4  = 0xB04;
+    thread_context->hw_register.b7  = 0xB07;
+    thread_context->hw_register.b6  = 0xB06;
+    thread_context->hw_register.b9  = 0xB09;
+    thread_context->hw_register.b8  = 0xB08;
+    thread_context->hw_register.b11  = 0xB11;
+    thread_context->hw_register.b10  = 0xB10;
+    thread_context->hw_register.b13  = 0xB13;
+    thread_context->hw_register.b12  = 0xB12;
+
+    thread_context->hw_register.a17  = 0xA17;
+    thread_context->hw_register.a16  = 0xA16;
+    thread_context->hw_register.a19  = 0xA19;
+    thread_context->hw_register.a18  = 0xA18;
+    thread_context->hw_register.a21  = 0xA21;
+    thread_context->hw_register.a20  = 0xA20;
+    thread_context->hw_register.a23  = 0xA23;
+    thread_context->hw_register.a22  = 0xA22;
+    thread_context->hw_register.a25  = 0xA25;
+    thread_context->hw_register.a24  = 0xA24;
+    thread_context->hw_register.a27  = 0xA27;
+    thread_context->hw_register.a26  = 0xA26;
+    thread_context->hw_register.a29  = 0xA29;
+    thread_context->hw_register.a28  = 0xA28;
+    thread_context->hw_register.a31  = 0xA31;
+    thread_context->hw_register.a30  = 0xA30;
+
+    thread_context->hw_register.a1  = 0xA01;
+    thread_context->hw_register.a0  = 0xA00;
+    thread_context->hw_register.a3  = 0xA03;
+    thread_context->hw_register.a2  = 0xA02;
+    thread_context->hw_register.a5  = 0xA05;
+    thread_context->hw_register.a4  = (rt_uint32_t)parameter;
+    thread_context->hw_register.a7  = 0xA07;
+    thread_context->hw_register.a6  = 0xA06;
+    thread_context->hw_register.a9  = 0xA09;
+    thread_context->hw_register.a8  = 0xA08;
+    thread_context->hw_register.a11  = 0xA11;
+    thread_context->hw_register.a10  = 0xA10;
+    thread_context->hw_register.a13  = 0xA13;
+    thread_context->hw_register.a12  = 0xA12;
+
+    thread_context->hw_register.a15  = 0xA15;
+    thread_context->hw_register.a14  = 0xA14;
+    thread_context->hw_register.dp  = rt_hw_get_current_dp();
+    thread_context->hw_register.sp  = (rt_uint32_t)stk;
+
+    /* return task's current stack address */
+    return (rt_uint8_t *)thread_context - 8;
+}

libcpu/ti-dsp/c6x/trap.c

@@ -0,0 +1,367 @@
+/*
+ * Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-11-16     Dystopia     the first version
+ */
+
+#include "trap.h"
+#include "c66xx.h"
+
+#include <rthw.h>
+#include <rtdef.h>
+#include <rtthread.h>
+
+#define RT_SYS_STACK_SIZE    4096
+
+rt_uint8_t rt_system_stack[RT_SYS_STACK_SIZE];
+rt_uint8_t *rt_system_stack_top;
+
+void rt_trap_init(void)
+{
+    rt_system_stack_top = &rt_system_stack[RT_SYS_STACK_SIZE-1];
+    rt_system_stack_top  = (rt_uint8_t *)RT_ALIGN_DOWN((rt_uint32_t)rt_system_stack_top, 8);
+
+    ack_exception(EXCEPT_TYPE_NXF);
+    ack_exception(EXCEPT_TYPE_EXC);
+    ack_exception(EXCEPT_TYPE_IXF);
+    ack_exception(EXCEPT_TYPE_SXF);
+    rt_hw_enable_exception();
+}
+
+void show_regs(struct rt_hw_exp_stack_register *regs)
+{
+    rt_kprintf("\n");
+    rt_kprintf("PC: %08lx SP: %08lx\n",
+           regs->pc, regs->hw_register.sp);
+    rt_kprintf("Status: %08lx ORIG_A4: %08lx\n",
+           regs->csr, regs->orig_a4);
+    rt_kprintf("A0: %08lx  B0: %08lx\n",
+           regs->hw_register.a0, regs->hw_register.b0);
+    rt_kprintf("A1: %08lx  B1: %08lx\n",
+           regs->hw_register.a1, regs->hw_register.b1);
+    rt_kprintf("A2: %08lx  B2: %08lx\n",
+           regs->hw_register.a2, regs->hw_register.b2);
+    rt_kprintf("A3: %08lx  B3: %08lx\n",
+           regs->hw_register.a3, regs->hw_register.b3);
+    rt_kprintf("A4: %08lx  B4: %08lx\n",
+           regs->hw_register.a4, regs->hw_register.b4);
+    rt_kprintf("A5: %08lx  B5: %08lx\n",
+           regs->hw_register.a5, regs->hw_register.b5);
+    rt_kprintf("A6: %08lx  B6: %08lx\n",
+           regs->hw_register.a6, regs->hw_register.b6);
+    rt_kprintf("A7: %08lx  B7: %08lx\n",
+           regs->hw_register.a7, regs->hw_register.b7);
+    rt_kprintf("A8: %08lx  B8: %08lx\n",
+           regs->hw_register.a8, regs->hw_register.b8);
+    rt_kprintf("A9: %08lx  B9: %08lx\n",
+           regs->hw_register.a9, regs->hw_register.b9);
+    rt_kprintf("A10: %08lx  B10: %08lx\n",
+           regs->hw_register.a10, regs->hw_register.b10);
+    rt_kprintf("A11: %08lx  B11: %08lx\n",
+           regs->hw_register.a11, regs->hw_register.b11);
+    rt_kprintf("A12: %08lx  B12: %08lx\n",
+           regs->hw_register.a12, regs->hw_register.b12);
+    rt_kprintf("A13: %08lx  B13: %08lx\n",
+           regs->hw_register.a13, regs->hw_register.b13);
+    rt_kprintf("A14: %08lx  B14: %08lx\n",
+           regs->hw_register.a14, regs->hw_register.dp);
+    rt_kprintf("A15: %08lx  B15: %08lx\n",
+           regs->hw_register.a15, regs->hw_register.sp);
+    rt_kprintf("A16: %08lx  B16: %08lx\n",
+           regs->hw_register.a16, regs->hw_register.b16);
+    rt_kprintf("A17: %08lx  B17: %08lx\n",
+           regs->hw_register.a17, regs->hw_register.b17);
+    rt_kprintf("A18: %08lx  B18: %08lx\n",
+           regs->hw_register.a18, regs->hw_register.b18);
+    rt_kprintf("A19: %08lx  B19: %08lx\n",
+           regs->hw_register.a19, regs->hw_register.b19);
+    rt_kprintf("A20: %08lx  B20: %08lx\n",
+           regs->hw_register.a20, regs->hw_register.b20);
+    rt_kprintf("A21: %08lx  B21: %08lx\n",
+           regs->hw_register.a21, regs->hw_register.b21);
+    rt_kprintf("A22: %08lx  B22: %08lx\n",
+           regs->hw_register.a22, regs->hw_register.b22);
+    rt_kprintf("A23: %08lx  B23: %08lx\n",
+           regs->hw_register.a23, regs->hw_register.b23);
+    rt_kprintf("A24: %08lx  B24: %08lx\n",
+           regs->hw_register.a24, regs->hw_register.b24);
+    rt_kprintf("A25: %08lx  B25: %08lx\n",
+           regs->hw_register.a25, regs->hw_register.b25);
+    rt_kprintf("A26: %08lx  B26: %08lx\n",
+           regs->hw_register.a26, regs->hw_register.b26);
+    rt_kprintf("A27: %08lx  B27: %08lx\n",
+           regs->hw_register.a27, regs->hw_register.b27);
+    rt_kprintf("A28: %08lx  B28: %08lx\n",
+           regs->hw_register.a28, regs->hw_register.b28);
+    rt_kprintf("A29: %08lx  B29: %08lx\n",
+           regs->hw_register.a29, regs->hw_register.b29);
+    rt_kprintf("A30: %08lx  B30: %08lx\n",
+           regs->hw_register.a30, regs->hw_register.b30);
+    rt_kprintf("A31: %08lx  B31: %08lx\n",
+           regs->hw_register.a31, regs->hw_register.b31);
+}
+
+void do_trap(struct rt_exception_info *except_info, struct rt_hw_exp_stack_register *regs)
+{
+    rt_kprintf("Enter exception: %s\n", except_info->kernel_str);
+
+    show_regs(regs);
+
+    for(;;){}
+}
+
+static struct rt_exception_info iexcept_table[10] = {
+    { " - instruction fetch",         ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - fetch packet",              ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - execute packet",            ABORT_TYPE_UNDDEF, ABORT_OPCODE_ILL },
+    { " - undefined instruction",     ABORT_TYPE_UNDDEF, ABORT_OPCODE_ILL },
+    { " - resource conflict",         ABORT_TYPE_UNDDEF, ABORT_OPCODE_ILL },
+    { " - resource access",           ABORT_TYPE_UNDDEF, ABORT_PRVREG_ILL },
+    { " - privilege",                 ABORT_TYPE_UNDDEF, ABORT_PRVOPC_ILL },
+    { " - loops buffer",              ABORT_TYPE_UNDDEF, ABORT_PRVOPC_ILL },
+    { " - software exception",        ABORT_TYPE_UNDDEF, ABORT_ILLTRP_ILL },
+    { " - unknown exception",         ABORT_TYPE_UNDDEF, ABORT_PRVOPC_ILL }
+};
+
+/*
+ * Process an internal exception (non maskable)
+ */
+static int process_iexcept(struct rt_hw_exp_stack_register *regs)
+{
+    unsigned int iexcept_report = get_iexcept();
+    unsigned int iexcept_num = 0;
+
+    ack_exception(EXCEPT_TYPE_IXF);
+
+    while(iexcept_report)
+    {
+        iexcept_num = ffs(iexcept_report);
+        iexcept_report &= ~(1 << iexcept_num);
+        set_iexcept(iexcept_report);
+
+        if (*(unsigned int *)regs->pc == BKPT_OPCODE)
+        {
+            /* This is a breakpoint */
+            struct rt_exception_info bkpt_exception = \
+                                     { " - undefined instruction",\
+                                     ABORT_TYPE_UNDDEF, ABORT_BRKPT_ILL };
+            do_trap(&bkpt_exception, regs);
+            iexcept_report &= ~(0xFF);
+            set_iexcept(iexcept_report);
+            continue;
+        }
+        do_trap(&iexcept_table[iexcept_num], regs);
+    }
+    return 0;
+}
+
+static struct rt_exception_info eexcept_table[128] = {
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+    { " - external exception", ABORT_TYPE_BUS, ABORT_BUS_ADDRERR },
+
+    { " - CPU memory protection fault",        ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
+    { " - CPU memory protection fault in L1P", ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
+    { " - DMA memory protection fault in L1P", ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
+    { " - CPU memory protection fault in L1D", ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
+    { " - DMA memory protection fault in L1D", ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
+    { " - CPU memory protection fault in L2",  ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
+    { " - DMA memory protection fault in L2",  ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
+    { " - EMC CPU memory protection fault",    ABORT_TYPE_MAP, ABORT_BUS_ACCERR },
+    { " - EMC bus error",                      ABORT_TYPE_MAP, ABORT_BUS_ADDRERR }
+};
+
+/*
+ * Process an external exception (maskable)
+ */
+static void process_eexcept(struct rt_hw_exp_stack_register *regs)
+{
+    int except_num = 0;
+    int bank = 0;
+    int i = 0;
+
+    for (i = 0; i <= 3; i++)
+    {
+        while (INTC_MEXPMASK[i]) 
+       {
+            __dint();
+            except_num = ffs(INTC_MEXPMASK[i]);
+            INTC_MEXPMASK[i] &= ~(1 << except_num); /* ack the external exception */
+            __rint();
+            do_trap(&eexcept_table[except_num + (bank << 5)], regs);
+        }
+        bank++;
+    }
+
+    ack_exception(EXCEPT_TYPE_EXC);
+}
+
+extern void hw_nmi_handler(struct rt_hw_exp_stack_register *regs);
+/*
+ * Main exception processing
+ */
+int rt_hw_process_exception(struct rt_hw_exp_stack_register *regs)
+{
+    int type = 0;
+    int type_num = 0;
+    int ie_num = 9; /* default is unknown exception */
+
+    while ((type = get_except_type()) != 0) {
+        type_num = fls(type) - 1;
+
+        switch(type_num) {
+        case EXCEPT_TYPE_NXF:                   /* NMI exception   */
+            ack_exception(EXCEPT_TYPE_NXF);     /* clear exception */
+            if (hw_nmi_handler != RT_NULL)
+            {
+                hw_nmi_handler(regs);
+            }
+            break;
+
+        case EXCEPT_TYPE_IXF:                   /* internal exception */
+            if (process_iexcept(regs))
+            {
+                return 1;
+            }
+            break;
+
+        case EXCEPT_TYPE_EXC:                   /* external exception  */
+            process_eexcept(regs);
+            break;
+
+        case EXCEPT_TYPE_SXF:                   /* software exception */
+            ie_num = 8;
+            ack_exception(type_num);
+            break;
+        default:                                /* clear exception */
+            ack_exception(type_num);
+            do_trap(&iexcept_table[ie_num], regs);
+            break;
+        }
+    }
+    return 0;
+}
+

libcpu/ti-dsp/c6x/trap.h

@@ -0,0 +1,117 @@
+/*
+ * Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-11-16     Dystopia     the first version
+ */
+
+#ifndef __TRAP_H__
+#define __TRAP_H__
+
+#include "c66xx.h"
+
+/*
+ * exception operation macro
+ */
+#define disable_exception()
+#define get_except_type()       EFR
+#define ack_exception(type)     ECR = 1ul << (type)
+#define get_iexcept()           IERR
+#define set_iexcept(mask)       IERR = (mask)
+
+/*
+ * exception types
+ */
+#define EXCEPT_TYPE_NXF   31       /* NMI */
+#define EXCEPT_TYPE_EXC   30       /* external exception */
+#define EXCEPT_TYPE_IXF   1        /* internal exception */
+#define EXCEPT_TYPE_SXF   0        /* software exception */
+
+#define EXCEPT_CAUSE_LBX  (1 << 7) /* loop buffer exception */
+#define EXCEPT_CAUSE_PRX  (1 << 6) /* privilege exception */
+#define EXCEPT_CAUSE_RAX  (1 << 5) /* resource access exception */
+#define EXCEPT_CAUSE_RCX  (1 << 4) /* resource conflict exception */
+#define EXCEPT_CAUSE_OPX  (1 << 3) /* opcode exception */
+#define EXCEPT_CAUSE_EPX  (1 << 2) /* execute packet exception */
+#define EXCEPT_CAUSE_FPX  (1 << 1) /* fetch packet exception */
+#define EXCEPT_CAUSE_IFX  (1 << 0) /* instruction fetch exception */
+
+enum SYSTEM_TRAP_CODE
+{
+    ABORT_BUS_ADDRERR = 0,  // bus address error
+    ABORT_BUS_ACCERR,       // bus access permission error
+    ABORT_OPCODE_ILL,       // illegal opcode
+    ABORT_PRVREG_ILL,       // privilege register
+    ABORT_PRVOPC_ILL,       // privileged opcode
+    ABORT_ILLTRP_ILL,       // illegal trap
+    ABORT_BRKPT_ILL,        // handling breakpoints
+};
+
+/*
+ * abort types
+ */
+#define ABORT_TYPE_BUS        0           // bus access abnormal
+#define ABORT_TYPE_MAP        1           // page table mapping error
+#define ABORT_TYPE_UNDDEF     0xff        // undefined exception
+#define ABORT_TYPE_FATAL      0xffffffff  // fatal error
+
+struct rt_exception_info {
+    char *kernel_str;
+    int type;
+    int code;
+};
+
+#define BKPT_OPCODE        0x56454314    /* illegal opcode */
+#define INTC_MEXPMASK    __SYSREGA(0x018000e0, unsigned int)
+
+extern void rt_trap_init(void);
+extern void rt_hw_enable_exception(void);
+extern int __fls(int val);
+extern int __ffs(int val);
+
+/*
+ * ffz - find first zero in word.
+ * @word: The word to search
+ *
+ * Undefined if no zero exists, so code should check against ~0UL first.
+ */
+#define ffz(x) __ffs(~(x))
+
+/**
+ * fls - find last (most-significant) bit set
+ * @x: the word to search
+ *
+ * This is defined the same way as ffs.
+ * Note fls(0) = 0, fls(1) = 1, fls(0x80000000) = 32.
+ */
+static inline int fls(int x)
+{
+    if (!x)
+    {
+        return 0;
+    }
+    return 32 - __fls(x);
+}
+
+/**
+ * ffs - find first bit set
+ * @x: the word to search
+ *
+ * This is defined the same way as
+ * the libc and compiler builtin ffs routines, therefore
+ * differs in spirit from the above ffz (man ffs).
+ * Note ffs(0) = 0, ffs(1) = 1, ffs(0x80000000) = 32.
+ */
+static inline int ffs(int x)
+{
+    if (!x)
+    {
+        return 0;
+    }
+    return __ffs(x) + 1;
+}
+
+#endif /* __TRAP_H__ */

libcpu/ti-dsp/c6x/vector.asm

@@ -0,0 +1,95 @@
+;
+; Copyright (c) 2021, Shenzhen Academy of Aerospace Technology
+;
+; SPDX-License-Identifier: Apache-2.0
+;
+; Change Logs:
+; Date           Author       Notes
+; 2021-11-16     Dystopia     the first version
+;
+
+;-----------------------------------------------------------
+; 			interrupt vector table for C6000 DSP
+;-----------------------------------------------------------
+
+;-----------------------------------------------------------
+; 						extern function
+;-----------------------------------------------------------
+	.ref _c_int00		; entry point
+    .ref _nmi_handler
+    .ref _bad_handler
+    .ref _int4_handler
+    .ref _int5_handler
+    .ref _int6_handler
+    .ref _int7_handler
+    .ref _int8_handler
+    .ref _int9_handler
+    .ref _int10_handler
+    .ref _int11_handler
+    .ref _int12_handler
+    .ref _int13_handler
+    .ref _int14_handler
+    .ref _int15_handler
+
+;-----------------------------------------------------------
+; 						macro definition
+;-----------------------------------------------------------
+
+;
+; create interrupt vector for reset (interrupt 0)
+;
+VEC_RESET .macro addr
+	MVKL  addr,B0
+	MVKH  addr,B0
+	B     B0
+	MVC   PCE1,B0
+	NOP   4
+	.align 32
+	.endm
+
+;
+; create interrupt vector for other used interrupts
+;
+IRQVEC	.macro  __name, __isr
+	.align 32
+	.hidden __name
+	.global __name
+__name:
+	B	.S2	__isr
+	NOP
+	NOP
+	NOP
+	NOP
+	NOP
+	NOP
+	NOP
+		.endm
+;
+;-----------------------------------------------------------
+;
+
+;
+; vector table
+;
+	.sect ".vecs"
+	.align 32
+	.global vector
+vector:
+	VEC_RESET		_c_int00
+	IRQVEC NMI,		_nmi_handler
+	IRQVEC AINT,	_bad_handler
+	IRQVEC MSGINT,	_bad_handler
+	IRQVEC INT4,	_int4_handler
+	IRQVEC INT5,	_int5_handler
+	IRQVEC INT6,	_int6_handler
+	IRQVEC INT7,	_int7_handler
+	IRQVEC INT8,	_int8_handler
+	IRQVEC INT9,	_int9_handler
+	IRQVEC INT10,	_int10_handler
+	IRQVEC INT11,	_int11_handler
+	IRQVEC INT12,	_int12_handler
+	IRQVEC INT13,	_int13_handler
+	IRQVEC INT14,	_int14_handler
+	IRQVEC INT15,	_int15_handler
+
+	.end