qinwei2004 commented on code in PR #6478: URL: https://github.com/apache/incubator-nuttx/pull/6478#discussion_r902417367
########## arch/arm64/src/common/arm64_fatal.h: ########## @@ -0,0 +1,77 @@ +/**************************************************************************** + * arch/arm64/src/common/arm64_fatal.h + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +#ifndef __ARCH_ARM64_SRC_COMMON_ARM64_FATAL_H__ +#define __ARCH_ARM64_SRC_COMMON_ARM64_FATAL_H__ + +/** + * @defgroup fatal_apis Fatal error APIs + * @ingroup kernel_apis + * @{ + */ + +#define K_ERR_CPU_EXCEPTION (0) +#define K_ERR_CPU_MODE32 (1) +#define K_ERR_SPURIOUS_IRQ (2) + +#ifndef __ASSEMBLY__ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <stdint.h> +#include <debug.h> +#include <assert.h> + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Name: arm64_fatal_error + * + * Description: + * fatal error handle for arm64 + * Input Parameters: + * reason: error reason + * reg: exception stack reg context + * + * Returned Value: + * + ****************************************************************************/ + +void arm64_fatal_error(unsigned int reason, struct regs_context * reg); +void arm64_dump_fatal(struct regs_context * reg); + +#define __builtin_unreachable() \ + do { \ + sinfo("Unreachable code\n"); \ + PANIC(); \ + } while (true) + +#endif //__ASSEMBLY__ + +#endif /* __ARCH_ARM64_SRC_COMMON_ARM64_FATAL_H__ */ Review Comment: fix at [48faa78](https://github.com/apache/incubator-nuttx/pull/6478/commits/48faa78d9898c978116903e3d2860b1f2593196a) please check ########## arch/arm64/src/common/arm64_fpu.c: ########## @@ -0,0 +1,249 @@ +/*************************************************************************** + * arch/arm64/src/common/arm64_fpu.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ***************************************************************************/ + +/*************************************************************************** + * Included Files + ***************************************************************************/ + +#include <nuttx/config.h> + +#include <inttypes.h> +#include <stdint.h> +#include <string.h> +#include <assert.h> +#include <errno.h> +#include <debug.h> +#include <nuttx/sched.h> +#include <nuttx/arch.h> +#include <arch/irq.h> + +#include "sched/sched.h" +#include "arm64_arch.h" +#include "arm64_vfork.h" +#include "arm64_internal.h" +#include "arm64_fatal.h" +#include "arm64_fpu.h" + +static struct fpu_reg g_idle_thread_fpu[CONFIG_SMP_NCPUS]; + +struct arm64_cpu_fpu_context +{ + /* owner of current CPU's FPU */ + + struct tcb_s * fpu_owner; + + struct tcb_s * idle_thread; + + /* for statistic propose */ + + int save_count; + int restore_count; + int switch_count; + int exe_depth_count; +}; + +static struct arm64_cpu_fpu_context g_cpu_fpu_ctx[CONFIG_SMP_NCPUS]; + +/*************************************************************************** + * Private Data + ***************************************************************************/ + +/*************************************************************************** + * Public Functions + ***************************************************************************/ + +void arm64_init_fpu(struct tcb_s *tcb) +{ + if (tcb->pid < CONFIG_SMP_NCPUS) + { + memset(&g_cpu_fpu_ctx[this_cpu()], 0, + sizeof(struct arm64_cpu_fpu_context)); + g_cpu_fpu_ctx[this_cpu()].idle_thread = tcb; + + tcb->xcp.fpu_regs = &g_idle_thread_fpu[this_cpu()]; + } + + memset(tcb->xcp.fpu_regs, 0, sizeof(struct fpu_reg)); + tcb->xcp.fpu_regs->fpu_trap = 0; +} + +void arm64_destory_fpu(struct tcb_s * tcb) +{ + struct tcb_s * owner; + + /* save current fpu owner's context */ + + owner = g_cpu_fpu_ctx[this_cpu()].fpu_owner; + + if (owner == tcb) + { + g_cpu_fpu_ctx[this_cpu()].fpu_owner = NULL; + } +} + +/* enable FPU access trap */ + +static void arm64_fpu_access_trap_enable(void) +{ + uint64_t cpacr; + + cpacr = read_sysreg(cpacr_el1); + cpacr &= ~CPACR_EL1_FPEN_NOTRAP; + write_sysreg(cpacr, cpacr_el1); + + __ISB(); +} + +/* disable FPU access trap */ + +static void arm64_fpu_access_trap_disable(void) +{ + uint64_t cpacr; + + cpacr = read_sysreg(cpacr_el1); + + cpacr |= CPACR_EL1_FPEN_NOTRAP; + + write_sysreg(cpacr, cpacr_el1); + + __ISB(); +} + +/*************************************************************************** + * Name: arm64_fpu_enter_exception + * + * Description: + * called at every time get into a exception + * + ***************************************************************************/ + +void arm64_fpu_enter_exception(void) +{ +} + +void arm64_fpu_exit_exception(void) +{ +} + +void arm64_fpu_trap(struct esf_reg * regs) +{ + struct tcb_s * owner; + + /* disable fpu trap access */ + + arm64_fpu_access_trap_disable(); + + /* save current fpu owner's context */ + + owner = g_cpu_fpu_ctx[this_cpu()].fpu_owner; + + if (owner != NULL) + { + arm64_fpu_save(owner->xcp.fpu_regs); + __DSB(); + g_cpu_fpu_ctx[this_cpu()].save_count++; + g_cpu_fpu_ctx[this_cpu()].fpu_owner = NULL; + } + + if (arch_get_exception_depth() > 1) + { + /* if get_exception_depth > 1 + * it means FPU access exception occurred in exception context + * switch FPU owner to idle thread + */ + + owner = g_cpu_fpu_ctx[this_cpu()].idle_thread; + } + else + { + owner = (struct tcb_s *)arch_get_current_tcb(); + } + + /* restore our content */ + + arm64_fpu_restore(owner->xcp.fpu_regs); + g_cpu_fpu_ctx[this_cpu()].restore_count++; + + /* become new owner */ + + g_cpu_fpu_ctx[this_cpu()].fpu_owner = owner; + owner->xcp.fpu_regs->fpu_trap = 1; +} + +void arm64_fpu_context_restore(void) +{ + struct tcb_s *new_tcb = (struct tcb_s *)arch_get_current_tcb(); + + arm64_fpu_access_trap_enable(); + + if (new_tcb->xcp.fpu_regs->fpu_trap == 0) + { + /* FPU trap hasn't happened at this task */ + + arm64_fpu_access_trap_enable(); + } + else + { + /* FPU trap has happened at this task */ + + if (new_tcb == g_cpu_fpu_ctx[this_cpu()].fpu_owner) + { + arm64_fpu_access_trap_disable(); + } + else + { + arm64_fpu_access_trap_enable(); + } + } + + g_cpu_fpu_ctx[this_cpu()].switch_count++; +} + +void arm64_fpu_enable(void) +{ + irqstate_t flags = up_irq_save(); + + arm64_fpu_access_trap_enable(); + up_irq_restore(flags); +} + +void arm64_fpu_disable(void) +{ + irqstate_t flags = up_irq_save(); + + arm64_fpu_access_trap_disable(); + up_irq_restore(flags); +} + +/*************************************************************************** + * Name: up_fpucmp + * + * Description: + * compare FPU areas from thread context + * + ***************************************************************************/ + +bool up_fpucmp(const void *saveregs1, const void *saveregs2) +{ + const uint64_t *regs1 = saveregs1 + XCPTCONTEXT_GP_SIZE; + const uint64_t *regs2 = saveregs2 + XCPTCONTEXT_GP_SIZE; Review Comment: fix at [48faa78](https://github.com/apache/incubator-nuttx/pull/6478/commits/48faa78d9898c978116903e3d2860b1f2593196a) please check -- This is an automated message from the Apache Git Service. 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