rework OSEK interrupt nesting handling

Code/Appli/OsGenCfg.h

@@ -64,7 +64,7 @@ OS_CONFIG_BEGIN
     OS_INTERRUPT_CAT2_DEF(Undefined, 0, NOT_NESTED)  /* Reserved                */
     OS_INTERRUPT_CAT2_DEF(Undefined, 0, NOT_NESTED)  /* Reserved                */
     OS_INTERRUPT_CAT1_DEF(OsDispatchHandler, 4, NESTED)  /* OsDispatchHandler       */
-    OS_INTERRUPT_CAT2_DEF(SysTickTimer, 4, NESTED)  /* OsCat2IsrWrapper        */
+    OS_INTERRUPT_CAT2_DEF(SysTickTimer, 4, NOT_NESTED)  /* OsCat2IsrWrapper        */
     OS_INTERRUPT_CAT2_DEF(Undefined, 0, NOT_NESTED)  /* TIMER0_IRQ_0_IRQn       */
     OS_INTERRUPT_CAT2_DEF(Undefined, 0, NOT_NESTED)  /* TIMER0_IRQ_1_IRQn       */
     OS_INTERRUPT_CAT2_DEF(Undefined, 0, NOT_NESTED)  /* TIMER0_IRQ_2_IRQn       */
@@ -139,7 +139,7 @@ OS_CONFIG_BEGIN
   //=============================================================================
   //  Interrupt Mask Configuration
   //=============================================================================
-  #define OS_INT_CAT1_LOWEST_PRIO_LEVEL       8UL
+  #define OS_INT_CAT1_LOWEST_PRIO_LEVEL       7UL
 
 
 OS_CONFIG_END

Code/OSEK/HwPlatform/ARM/OsAsm.s

@@ -68,6 +68,8 @@ OsDispatchHandler:
 .extern OsRunCat2Isr
 .extern OsGetSavedStackPointer
 .extern OsIntCallDispatch
+.extern OsIncNestingDepthLevel
+.extern OsDecNestingDepthLevel
 
 OsCat2IsrWrapper:
 
@@ -76,12 +78,14 @@ OsCat2IsrWrapper:
   tst lr, #0x10
   it eq
   vpusheq {S16-S31}
+  bl.w OsIncNestingDepthLevel
   mov r0,r13
   bl.w OsStoreStackPointer
   bl.w OsRunCat2Isr
   bl.w OsGetSavedStackPointer
   bl.w OsIntCallDispatch
   mov r13,r0
+  bl.w OsDecNestingDepthLevel
   pop {r4 - r11, lr}
   tst lr, #0x10
   it eq

Code/OSEK/HwPlatform/ARM/OsHwPltfm.c

@@ -16,6 +16,9 @@
 #include"OsInternal.h"
 #include"OsTcb.h"
 
+#define USE_OS_PRIO
+uint32 osRemapOsPriorityValue(uint32 level, uint32 IntPrioBit);
+
 //------------------------------------------------------------------------------------------------------------------
 /// \brief  OsIsInterruptContext
 ///
@@ -96,12 +99,12 @@ void osInitInterrupts(void)
       if((InterruptIndex == 4U) || (InterruptIndex == 5U)  || (InterruptIndex == 6U) || (InterruptIndex == 11U) || (InterruptIndex == 14U) || (InterruptIndex == 15U))
       {
         /* set the system handler priority level */
-        SCB_SHPRx[InterruptIndex - 4U] = ((uint8)IsrLookupTable[InterruptIndex].Prio << (8U - IntPrioBit));
+        SCB_SHPRx[InterruptIndex - 4U] = ((uint8)osRemapOsPriorityValue(IsrLookupTable[InterruptIndex].Prio, IntPrioBit) << (8U - IntPrioBit));
       }
       else if(InterruptIndex > 15U)
       {
         /* set the NVIC interrupt priority level */
-        NVIC_IPRx[InterruptIndex - 16U] = ((uint8)IsrLookupTable[InterruptIndex].Prio << (8U - IntPrioBit));
+        NVIC_IPRx[InterruptIndex - 16U] = ((uint8)osRemapOsPriorityValue(IsrLookupTable[InterruptIndex].Prio, IntPrioBit) << (8U - IntPrioBit));
 
         /* enable the NVIC interrupt */
         NVIC_ISERx[(InterruptIndex - 16U) / 32U] = (1UL << ((InterruptIndex - 16U) % 32U));
@@ -126,6 +129,9 @@ void osInitInterrupts(void)
 void osSetInterruptPriorityMask(uint32 level)
 {
   uint32 IntPrioBit = OsHwGetInterruptPrioBits();
+
+  level = osRemapOsPriorityValue(level, IntPrioBit);
+
   OsSetSysBasepriReg((level << (8U - IntPrioBit)));
 }
 
@@ -142,19 +148,46 @@ uint32 osGetInterruptPriorityMask(void)
 {
   uint32 level = 0;
   uint32 IntPrioBit = OsHwGetInterruptPrioBits();
+
   OsGetSysBasepriReg((uint32*)&level);
-  return((level >> (8U - IntPrioBit)));
-}
+  level >>= (8U - IntPrioBit);
 
-uint32 osGetHwIntNestingLevel(void)
-{
-  return 1;
+  return(osRemapOsPriorityValue(level, IntPrioBit));
 }
 
-void osDisableHwIntNesting(void)
+//------------------------------------------------------------------------------------------------------------------
+/// \brief  
+///
+/// \descr  
+///
+/// \param  void
+///
+/// \return void
+//------------------------------------------------------------------------------------------------------------------
+uint32 osRemapOsPriorityValue(uint32 level, uint32 IntPrioBit)
 {
+#ifdef USE_OS_PRIO
+  /* note: remap the level prio: ARM is using lower value for highest prio 
+     contrary to the OS which uses lower value for lower prio */
+  if(level > ((1ul << IntPrioBit) -1))
+  {
+    level = (1ul << IntPrioBit) - 1;
+  }
+
+  level = ((1ul << IntPrioBit) - 1) - level;
+#endif
+  return(level);
 }
 
+//------------------------------------------------------------------------------------------------------------------
+/// \brief  
+///
+/// \descr  
+///
+/// \param  void
+///
+/// \return void
+//------------------------------------------------------------------------------------------------------------------
 void osSaveAndDisableIntState(void)
 {
 }

Code/OSEK/HwPlatform/ARM/OsHwPltfm.h

@@ -24,18 +24,21 @@
 #define SCB_ICSR             0xE000ED04UL
 #define SET_PENDSV()         (*(volatile uint32*)(SCB_ICSR)) |= 1UL<<28
 #define CLEAR_PENDSV()       (*(volatile uint32*)(SCB_ICSR)) &= ~(1UL<<28)
-#define osDispatch()         SET_PENDSV(); __asm("DSB"); __asm("NOP")
-
-#define ENABLE_INTERRUPTS()       __asm("CPSIE I")
-#define DISABLE_INTERRUPTS()      __asm("CPSID I")
-
 #define GET_ICSR_VECTACTIVE()   ((*(volatile uint32*)(SCB_ICSR)) & (uint32)0x1FUL)
 
 #define NVIC_ISERx ((volatile uint32 *)(0xE000E100UL))
 #define NVIC_IPRx  ((volatile uint8 *) (0xE000E400UL))
 #define SCB_SHPRx  ((volatile uint8 *) (0xE000ED18UL))
 #define NVIC_ISPRx ((volatile uint8 *) (0xE000E200UL))
 
+
+#define osDispatch()         SET_PENDSV(); __asm("DSB"); __asm("NOP")
+
+#define ENABLE_INTERRUPTS()       __asm("CPSIE I")
+#define DISABLE_INTERRUPTS()      __asm("CPSID I")
+
+#define OS_INTERRUPT_NESTING_DEPTH_LEVEL  8
+
 //=========================================================================================
 // SYSTICK
 //=========================================================================================
@@ -50,8 +53,6 @@ void osRestoreSavedIntState(void);
 void osSaveAndDisableIntState(void);
 void OsCatchAllCpuExceptions(void);
 void OsIsr_SysTickTimerFunc(void);
-uint32 osGetHwIntNestingLevel(void);
-void osDisableHwIntNesting(void);
 boolean OsIsInterruptContext(void);
 void osInitInterrupts(void);
 //void osMaskNestedIntPrio(void);

Code/OSEK/HwPlatform/RISC-V/OsHwPltfm.c

@@ -52,7 +52,7 @@ boolean OsIsInterruptContext(void)
 ///
 /// \return uint32 current nesting level
 //------------------------------------------------------------------------------------------------------------------
-uint32 osGetHwIntNestingLevel(void)
+uint32 osGetIntNestingLevel(void)
 {
   return 1;
 }

Code/OSEK/HwPlatform/RISC-V/OsHwPltfm.h

@@ -35,16 +35,7 @@
 #define ENABLE_INTERRUPTS()       riscv_set_csr(RVCSR_MSTATUS_OFFSET, RVCSR_MSTATUS_MIE_BITS)
 #define DISABLE_INTERRUPTS()      riscv_clear_csr(RVCSR_MSTATUS_OFFSET, RVCSR_MSTATUS_MIE_BITS)
 
-#define osSetINTSYSCR(value)        //__asm volatile ("csrw    0x804, %0" : : "r" (value) :)
-#define osMaskClearINTSYSCR(value)  //__asm volatile ("csrrc   zero, 0x804, %0" : : "r" (value) :)
-#define osMaskSetINTSYSCR(value)    //__asm volatile ("csrrs   zero, 0x804, %0" : : "r" (value) :)
-
-#define osDisableHwIntNesting()  //osMaskSetINTSYSCR(0x20)
-
-//=========================================================================================
-// SYSTICK
-//=========================================================================================
-
+#define OS_INTERRUPT_NESTING_DEPTH_LEVEL  8
 
 //=========================================================================================
 // Externs
@@ -63,6 +54,6 @@ void osRestoreSavedIntState(void);
 void osSaveAndDisableIntState(void);
 void OsCatchAllCpuExceptions(void);
 void OsIsr_SysTickTimerFunc(void);
-uint32 osGetHwIntNestingLevel(void);
+uint32 osGetIntNestingLevel(void);
 
 #endif

Code/OSEK/OsCat2Int.c

@@ -27,7 +27,7 @@
 //------------------------------------------------------------------------------------------------------------------
 /// \brief  OsRunCat2Isr
 ///
-/// \descr  This function is the entry point of all category 2 interrupts (PLIC).
+/// \descr  This function is the entry point of all category 2 interrupts
 ///
 /// \param  void
 ///
@@ -40,13 +40,86 @@
 
   if(IsrLookupTable[IntId].type == NOT_NESTED)
   {
-    /* disable the nesting of the current interrupt priority level (Cat1 interrupts will kept unmasked) */
+    /* disable the nesting of the current interrupt priority level but keep it enabled for category 1 interrupts */
     osSetInterruptPriorityMask(OS_INT_CAT1_LOWEST_PRIO_LEVEL);
   }
 
-  /* enable global interrupt flag */
-  ENABLE_INTERRUPTS();
+  /* enable interrupt nesting before calling the ISR */
+  osEnableIntNesting();
 
-  /* call the interrupt service routine */
+  /* call the appropriate interrupt service routine */
   IsrLookupTable[IntId].IsrFunc();
 }
+
+//------------------------------------------------------------------------------------------------------------------
+/// \brief  
+///
+/// \descr  
+///
+/// \param  void
+///
+/// \return void
+//------------------------------------------------------------------------------------------------------------------
+void OsIncNestingDepthLevel(void)
+{
+  OCB_Cfg.OsInterruptNestingDepth++;
+
+  if(OCB_Cfg.OsInterruptNestingDepth >= OS_INTERRUPT_NESTING_DEPTH_LEVEL)
+    OsKernelError(E_OS_KERNEL_PANIC);
+}
+
+//------------------------------------------------------------------------------------------------------------------
+/// \brief  
+///
+/// \descr  
+///
+/// \param  void
+///
+/// \return void
+//------------------------------------------------------------------------------------------------------------------
+void OsDecNestingDepthLevel(void)
+{
+  OCB_Cfg.OsInterruptNestingDepth--;
+}
+
+//------------------------------------------------------------------------------------------------------------------
+/// \brief  
+///
+/// \descr  
+///
+/// \param  void
+///
+/// \return void
+//------------------------------------------------------------------------------------------------------------------
+ __attribute__((weak)) uint32 osGetIntNestingLevel(void)
+{
+  return OCB_Cfg.OsInterruptNestingDepth;
+}
+
+//------------------------------------------------------------------------------------------------------------------
+/// \brief  
+///
+/// \descr  
+///
+/// \param  void
+///
+/// \return void
+//------------------------------------------------------------------------------------------------------------------
+void osDisableIntNesting(void)
+{
+  DISABLE_INTERRUPTS();
+}
+
+//------------------------------------------------------------------------------------------------------------------
+/// \brief  
+///
+/// \descr  
+///
+/// \param  void
+///
+/// \return void
+//------------------------------------------------------------------------------------------------------------------
+void osEnableIntNesting(void)
+{
+  ENABLE_INTERRUPTS();
+}

Code/OSEK/OsCore.c

@@ -282,11 +282,14 @@ ISR(SysTickTimer)
 void OsStoreStackPointer(uint32 StackPtrValue)
 {
   /* get the interrupt nesting level */
-  const uint32 OsInterruptNestingDepth = osGetHwIntNestingLevel();
+  const uint32 OsInterruptNestingDepth = osGetIntNestingLevel();
 
   /* save the interrupt nesting level stack pointer */
   OCB_Cfg.OsIntNestSavedStackPointer[OsInterruptNestingDepth - 1u] = StackPtrValue;
 
+  /* save the interrupt nesting level priority */
+  OCB_Cfg.OsIntNestSavedPrioLevel[OsInterruptNestingDepth - 1u] = osGetInterruptPriorityMask();
+
   /* store the preempted task context only in nested level 1,
      the other nesting interrupts will use the current stack */
   if(OsInterruptNestingDepth == 1u)
@@ -319,7 +322,7 @@ void OsStoreStackPointer(uint32 StackPtrValue)
 uint32 OsGetSavedStackPointer(void)
 {
   /* get the interrupt nesting level */
-  const uint32 OsInterruptNestingDepth = osGetHwIntNestingLevel();
+  const uint32 OsInterruptNestingDepth = osGetIntNestingLevel();
 
   if(OsInterruptNestingDepth == 1u)
   {
@@ -350,12 +353,15 @@ uint32 OsGetSavedStackPointer(void)
 uint32 OsIntCallDispatch(uint32 StackPtr)
 {
   /* get the interrupt nesting level */
-  const uint32 OsInterruptNestingDepth = osGetHwIntNestingLevel();
+  const uint32 OsInterruptNestingDepth = osGetIntNestingLevel();
+
+  /* restore the interrupt nesting priority level */
+  osSetInterruptPriorityMask(OCB_Cfg.OsIntNestSavedPrioLevel[OsInterruptNestingDepth - 1u]);
 
   if(OsInterruptNestingDepth == 1u)
   {
     /* Disable the Hw nesting */
-    osDisableHwIntNesting();
+    osDisableIntNesting();
 
     /* Reset the flag */
     OCB_Cfg.OsCat2InterruptLevel = 0;

Code/OSEK/OsGenMac.h

@@ -325,7 +325,7 @@
 #define OS_FE_INTERRUPT_END  
 
 #define OS_MULTICORE_END
-#define OS_CONFIG_END                                                             0,0,OS_INVALID_TASK,0,0,0,0,0,0,0,0,{0}};
+#define OS_CONFIG_END                                                             0,0,OS_INVALID_TASK,0,0,0,0,0,0,0,0,{0},{0}};
 
 #elif defined(OS_GEN_LINKER_SCRIPT)
 

Code/OSEK/OsInternal.h

@@ -55,5 +55,10 @@ void OsSetIntVectTableAddress(uint32* address);
 
 OsStatusType osSchedule(void);
 uint32 osGetActiveInterruptVectorId(void);
+void OsIncNestingDepthLevel(void);
+void OsDecNestingDepthLevel(void);
+uint32 osGetIntNestingLevel(void);
+void osDisableIntNesting(void);
+void osEnableIntNesting(void);
 
 #endif

Code/OSEK/OsTypes.h

@@ -195,7 +195,8 @@ typedef struct
   uint32                  OsInterruptNestingDepth;
   uint32                  OsInterruptNestingSavedLevel;
   uint32                  OsInterruptSavedLevel;
-  uint32                  OsIntNestSavedStackPointer[8];
+  uint32                  OsIntNestSavedStackPointer[OS_INTERRUPT_NESTING_DEPTH_LEVEL];
+  uint32                  OsIntNestSavedPrioLevel[OS_INTERRUPT_NESTING_DEPTH_LEVEL];
 }Ocb_t;
 
 typedef struct