introduce user interrupt feature

Now we can use function user_interrupt_register() to
inject an user interrupt into a task. But it can only
be injected by other task.

Signed-off-by: lizhe <493321524@qq.com>

include/os_core/schedule/TCB.h

@@ -7,10 +7,12 @@
 #include <os_error.h>
 #include <os_cpu.h>
 
-typedef  unsigned  int         STACK_TYPE;
+typedef  unsigned  int	STACK_TYPE;
+
+typedef  unsigned  int	TASK_PRIO_TYPE;
+typedef  void			(*functionptr)(void *para);
+typedef  void			(*user_interrupt_fun)(void);
 
-typedef  unsigned  int         TASK_PRIO_TYPE;
-typedef  void                  (*functionptr)(void *para);
 
 #define SYS_ENTER_INTERRUPT()  do { CPU_IntDis();++g_interrupt_count;CPU_IntEn();} while (0)
 #define SYS_EXIT_INTERRUPT()   do { CPU_IntDis();--g_interrupt_count;CPU_IntEn();} while (0)
@@ -52,6 +54,7 @@ extern volatile int g_interrupt_count;
 struct dynamic_module;
 typedef struct task_struct {
 	STACK_TYPE *stack; 						/*the stack top of the task*/
+	user_interrupt_fun fun;
 	unsigned int stack_size;				/*bytes*/
 	STACK_TYPE *stack_end; 					/*the stack tail of the task*/
 	TASK_PRIO_TYPE reserve_prio;			/*used for Priority inversion problem*/

include/os_core/schedule/user_interrupt.h

@@ -0,0 +1,8 @@
+#ifndef _USER_INTERRUPT_H
+#define _USER_INTERRUPT_H
+
+#include <TCB.h>
+
+void user_interrupt_register(struct task_struct *task_ptr, user_interrupt_fun fun);
+
+#endif

src/kernel/OS_CORE/schedule/TCB.c

@@ -169,6 +169,7 @@ int _must_check _task_init(
 		return ret;
 	}
 	TCB_ptr->ref = 1;
+	TCB_ptr->fun = NULL;
 	++g_task_num;
 	return 0;
 }

src/kernel/OS_CORE/schedule/user_interrupt.c

@@ -0,0 +1,40 @@
+#include <user_interrupt.h>
+#include <os_cpu_stm32.h>
+#include <myassert.h>
+
+extern volatile struct task_struct *OSTCBCurPtr;
+
+#define current OSTCBCurPtr
+#define SAVED_REGISTER_NUM 15
+
+static void restore_frame(void)
+{
+	/* we put some register in stack to build a stack frame for
+		user interrupt function, so now we have to restore it*/
+	current->stack += SAVED_REGISTER_NUM; 
+	OSIntCtxSw();
+}
+
+static void default_user_interrupt_handler(void *para)
+{
+	ASSERT(NULL == para, ASSERT_PARA_AFFIRM);
+	struct task_struct *task_ptr = (struct task_struct *)current;
+	user_interrupt_fun fun = task_ptr->fun;
+	fun();
+	restore_frame();
+}
+
+static inline void user_interrupt_set_task_frame(struct task_struct *task_ptr)
+{
+	set_register((void **)&task_ptr->stack, default_user_interrupt_handler, NULL, NULL);
+}
+
+void user_interrupt_register(struct task_struct *task_ptr, user_interrupt_fun fun)
+{
+	ASSERT(task_ptr != current, ASSERT_PARA_AFFIRM);
+	ASSERT(fun != NULL, ASSERT_PARA_AFFIRM);
+	task_ptr->fun = fun;
+	user_interrupt_set_task_frame(task_ptr);
+	return;
+}
+

src/kernel/OS_CPU/stm32f103/OS_CPU_A.s

@@ -57,6 +57,8 @@ OS_CPU_PendSVHandler:
     LDR     R1, =OSTCBCurPtr  /* ; OSTCBCurPtr->OSTCBStkPtr = SP;*/
     LDR     R1, [R1]
     CBZ     R1, OS_CPU_PendSVHandler_nosave
+    LDR     R2, [R1, #4]					/* get user interrupt fun */
+    CBNZ    R2, OS_CLEAR_USER_INTERRUPT_FUN
 
     SUBS    R0, R0, #0x20                                       /*; Save remaining regs r4-11 on process stack*/
     STM     R0, {R4-R11}
@@ -74,10 +76,15 @@ OS_CPU_PendSVHandler_nosave:
     LDM     R0, {R4-R11}                                        
     ADDS    R0, R0, #0x20
 
-    MSR     PSP, R0                                           
-    ORR     LR, LR, #0x04                                      
+    MSR     PSP, R0
+    ORR     LR, LR, #0x04
     CPSIE   I
 
-    BX      LR                                                 
+    BX      LR
+
+OS_CLEAR_USER_INTERRUPT_FUN:
+    MOV     R2, #0
+    STR	    R2, [R1, #4]
+    B	    OS_CPU_PendSVHandler_nosave
 
     /*END*/

src/kernel/OS_LIB/myassert.c

@@ -1,10 +1,11 @@
 #include <myassert.h>
 #include <myMicroLIB.h>
 #include <dmesg.h>
+#include <printf_debug.h>
 
 void my_abort(void)
 {
-	pr_emerg("os stop\n");
+	panic("os stop\n");
 	while (1);
 }
 

testcase/makefile

@@ -1,4 +1,4 @@
-SRCS = testcase20.c
+SRCS = testcase21.c
 
 #ifeq ($(PROJECT),stm32f103)
 #SRCS += bsp_led.c

testcase/testcase21.c

@@ -0,0 +1,42 @@
+/* test user interupt top */
+#include <user_interrupt.h>
+#include <user.h>
+#include <osinit.h>
+#include <os_delay.h>
+#include <os_cpu.h>
+#include <myassert.h>
+
+extern volatile struct task_struct *OSTCBCurPtr;
+extern volatile struct task_struct *OSTCBHighRdyPtr;
+
+static struct task_struct *task_three = NULL;
+
+#include <printf_debug.h>
+
+void three(void *para)
+{
+	pr_shell("this is three\n");
+	task_three = (struct task_struct *)OSTCBCurPtr;
+	while (1) {
+		sleep(2 * HZ);
+		ASSERT(OSTCBCurPtr->fun == para, ASSERT_PARA_AFFIRM);
+		pr_shell("this is three next\n");
+	}
+}
+
+void my_fun(void)
+{
+	pr_shell("user interrupt from task four\n");
+	pr_shell("this is task %s\n", OSTCBCurPtr->name);
+}
+
+void four(void *para)
+{
+	pr_shell("this is four\n");
+	if (task_three == NULL) {
+		pr_shell("user interupt test fail\n");
+		return;
+	}
+	user_interrupt_register(task_three, my_fun);
+	pr_shell("register_complete\n");
+}