FreeRTOS/Demo/ColdFire_MCF51CN128_CodeWarrior/Sources/exceptions.c

/*
 * File:    exceptions.c
 * Purpose: Generic exception handling for ColdFire processors
 *
 */

#include "derivative.h"
#include "exceptions.h"
#include "startcf.h"

#define REGISTER_ABI __REGABI__

extern asm void interrupt 109 vPortYieldISR( void );
extern void interrupt 86 vFECISRHandler( void );

/***********************************************************************/
/*
 *  Set NO_PRINTF to 0 in order the exceptions.c interrupt handler
 *  to output messages to the standard io. 
 * 
 */
#define NO_PRINTF    1

#if NO_PRINTF
#define VECTORDISPLAY(MESSAGE)                    asm { nop; };
#define VECTORDISPLAY2(MESSAGE,MESSAGE2)          asm { nop; };
#define VECTORDISPLAY3(MESSAGE,MESSAGE2,MESSAGE3) asm { nop; };
#else
#include <stdio.h>
#define VECTORDISPLAY(MESSAGE1)                    printf(MESSAGE1);
#define VECTORDISPLAY2(MESSAGE1,MESSAGE2)          printf(MESSAGE1,MESSAGE2);
#define VECTORDISPLAY3(MESSAGE1,MESSAGE2,MESSAGE3) printf(MESSAGE1,MESSAGE2,MESSAGE3);
#endif

#ifdef __cplusplus
extern "C" {
#endif

extern unsigned long far _SP_INIT[];

/***********************************************************************/
/*
 * Handling of the TRK ColdFire libs (printf support in Debugger Terminal) 
 * 
 * To enable this support:  
 * - Set CONSOLE_IO_SUPPORT  1 in this file; this will enable 
 *   TrapHandler_printf for the trap #14 exception.
 *
 * - Make sure the file console_io_cf.c is in your project. 
 *
 * - In the debugger make sure that in the Connection "Setup" dialog, 
 *   "Debug Options" property page, the check box 
 *   "Enable Terminal printf support" is set.
 *   
 *
 * 
 */
#define CONSOLE_IO_SUPPORT  0 

#if CONSOLE_IO_SUPPORT
asm void TrapHandler_printf(void) {
   HALT
   RTE
}
#endif                                                   

/***********************************************************************/
/*
 * This is the handler for all exceptions which are not common to all 
 * ColdFire Chips.  
 *
 * Called by mcf_exception_handler
 * 
 */
void derivative_interrupt(unsigned long vector)
{
   if (vector < 64 || vector > 192) {
      VECTORDISPLAY2("User Defined Vector #%d\n",vector);
   }
}

/***********************************************************************
 *
 * This is the exception handler for all  exceptions common to all 
 * chips ColdFire.  Most exceptions do nothing, but some of the more 
 * important ones are handled to some extent.
 *
 * Called by asm_exception_handler 
 *
 * The ColdFire family of processors has a simplified exception stack
 * frame that looks like the following:
 *
 *              3322222222221111 111111
 *              1098765432109876 5432109876543210
 *           8 +----------------+----------------+
 *             |         Program Counter         |
 *           4 +----------------+----------------+
 *             |FS/Fmt/Vector/FS|      SR        |
 *   SP -->  0 +----------------+----------------+
 *
 * The stack self-aligns to a 4-byte boundary at an exception, with
 * the FS/Fmt/Vector/FS field indicating the size of the adjustment
 * (SP += 0,1,2,3 bytes).
 *             31     28 27      26 25    18 17      16 15                                  0
 *           4 +---------------------------------------+------------------------------------+
 *             | Format | FS[3..2] | Vector | FS[1..0] |                 SR                 |
 *   SP -->  0 +---------------------------------------+------------------------------------+
 */ 
#define MCF5XXX_RD_SF_FORMAT(PTR)   \
   ((*((unsigned short *)(PTR)) >> 12) & 0x00FF)

#define MCF5XXX_RD_SF_VECTOR(PTR)   \
   ((*((unsigned short *)(PTR)) >>  2) & 0x00FF)

#define MCF5XXX_RD_SF_FS(PTR)    \
   ( ((*((unsigned short *)(PTR)) & 0x0C00) >> 8) | (*((unsigned short *)(PTR)) & 0x0003) )

#define MCF5XXX_SF_SR(PTR)    *(((unsigned short *)(PTR))+1)

#define MCF5XXX_SF_PC(PTR)    *((unsigned long *)(PTR)+1)

#define MCF5XXX_EXCEPTFMT     "%s -- PC = %#08X\n"


void mcf_exception_handler(void *framepointer) 
{
   volatile unsigned long exceptionStackFrame = (*(unsigned long *)(framepointer)); 
   volatile unsigned short stackFrameSR       = MCF5XXX_SF_SR(framepointer);  
   volatile unsigned short stackFrameWord     = (*(unsigned short *)(framepointer));  
   volatile unsigned long  stackFrameFormat   = (unsigned long)MCF5XXX_RD_SF_FORMAT(&stackFrameWord);
   volatile unsigned long  stackFrameFS       = (unsigned long)MCF5XXX_RD_SF_FS(&stackFrameWord);
   volatile unsigned long  stackFrameVector   = (unsigned long)MCF5XXX_RD_SF_VECTOR(&stackFrameWord);
   volatile unsigned long  stackFramePC       = MCF5XXX_SF_PC(framepointer);

   switch (stackFrameFormat)
   {
      case 4:
      case 5:
      case 6:
      case 7:
         break;
      default:
         VECTORDISPLAY3(MCF5XXX_EXCEPTFMT,"Illegal stack type", stackFramePC);
         break;
   }

   switch (stackFrameVector)
   {
   case 2:
      VECTORDISPLAY3(MCF5XXX_EXCEPTFMT, "Access Error", stackFramePC);
      switch (stackFrameFS)
      {
         case 4:
            VECTORDISPLAY("Error on instruction fetch\n");
            break;
         case 8:
            VECTORDISPLAY("Error on operand write\n");
            break;
         case 9:
            VECTORDISPLAY("Attempted write to write-protected space\n");
            break;
         case 12:
            VECTORDISPLAY("Error on operand read\n");
            break;
         default:
            VECTORDISPLAY("Reserved Fault Status Encoding\n");
            break;
      }
      break;
   case 3:
      VECTORDISPLAY3(MCF5XXX_EXCEPTFMT, "Address Error", stackFramePC);
      switch (stackFrameFS)
      {
         case 4:
            VECTORDISPLAY("Error on instruction fetch\n");
            break;
         case 8:
            VECTORDISPLAY("Error on operand write\n");
            break;
         case 9:
            VECTORDISPLAY("Attempted write to write-protected space\n");
            break;
         case 12:
            VECTORDISPLAY("Error on operand read\n");
            break;
         default:
            VECTORDISPLAY("Reserved Fault Status Encoding\n");
            break;
      }
      break;
   case 4:
      VECTORDISPLAY3(MCF5XXX_EXCEPTFMT, "Illegal instruction", stackFramePC);
      break;
   case 8:
      VECTORDISPLAY3(MCF5XXX_EXCEPTFMT, "Privilege violation", stackFramePC);
      break;
   case 9:
      VECTORDISPLAY3(MCF5XXX_EXCEPTFMT, "Trace Exception", stackFramePC);
      break;
   case 10:
      VECTORDISPLAY3(MCF5XXX_EXCEPTFMT, "Unimplemented A-Line Instruction", 	stackFramePC);
      break;
   case 11:
      VECTORDISPLAY3(MCF5XXX_EXCEPTFMT, "Unimplemented F-Line Instruction", 	stackFramePC);
      break;
   case 12:
      VECTORDISPLAY3(MCF5XXX_EXCEPTFMT, "Debug Interrupt", stackFramePC);
      break;
   case 14:
      VECTORDISPLAY3(MCF5XXX_EXCEPTFMT, "Format Error", stackFramePC);
      break;
   case 15:
      VECTORDISPLAY3(MCF5XXX_EXCEPTFMT, "Unitialized Interrupt", stackFramePC);
      break;
   case 24:
      VECTORDISPLAY3(MCF5XXX_EXCEPTFMT, "Spurious Interrupt", stackFramePC);
      break;
   case 25:
   case 26:
   case 27:
   case 28:
   case 29:
   case 30:
   case 31:
      VECTORDISPLAY2("Autovector interrupt level %d\n", stackFrameVector - 24);
      break;
   case 32:
   case 33:
   case 34:
   case 35:
   case 36:
   case 37:
   case 38:
   case 39:
   case 40:
   case 41:
   case 42:
   case 43:
   case 44:
   case 45:
   case 46:
   case 47:
      VECTORDISPLAY2("TRAP #%d\n", stackFrameVector - 32);
      break;
   case 5:
   case 6:
   case 7:
   case 13:
   case 16:
   case 17:
   case 18:
   case 19:
   case 20:
   case 21:
   case 22:
   case 23:
   case 48:
   case 49:
   case 50:
   case 51:
   case 52:
   case 53:
   case 54:
   case 55:
   case 56:
   case 57:
   case 58:
   case 59:
   case 60:
   case 61:
   case 62:
   case 63:
      VECTORDISPLAY2("Reserved: #%d\n", stackFrameVector);
      break;
   default:
      derivative_interrupt(stackFrameVector);
   break;
   }
}

#if REGISTER_ABI
asm void asm_exception_handler(void)
{
   link     a6,#0 
   lea     -20(sp), sp
   movem.l d0-d2/a0-a1, (sp)
   lea     24(sp),a0   /* A0 point to exception stack frame on the stack */
   jsr     mcf_exception_handler
   movem.l (sp), d0-d2/a0-a1
   lea     20(sp), sp
   unlk a6
   rte
}
#else
asm void asm_exception_handler(void)
{
   link     a6,#0 
   lea     -20(sp), sp
   movem.l d0-d2/a0-a1, (sp)
   pea     24(sp)   /* push exception frame address */
   jsr     mcf_exception_handler
   movem.l 4(sp), d0-d2/a0-a1
   lea     24(sp), sp
   unlk a6
   rte
}
#endif

typedef void (* vectorTableEntryType)(void);

#if CONSOLE_IO_SUPPORT
vectorTableEntryType vector_printf @Vtrap14     = TrapHandler_printf;
#endif

/*
 *  MCF51CN128 vector table
 *  CF V1 has 114 vector + SP_INIT in the vector table (115 entries)
 */

__declspec(weak) vectorTableEntryType vector_0   @INITSP = (vectorTableEntryType)&_SP_INIT;
__declspec(weak) vectorTableEntryType vector_1   @INITPC = (vectorTableEntryType)&_startup;
__declspec(weak) vectorTableEntryType vector_2   @Vaccerr = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_3   @Vadderr = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_4   @Viinstr = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_5   @VReserved5 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_6   @VReserved6 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_7   @VReserved7 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_8   @Vprviol = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_9   @Vtrace = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_10  @Vunilaop = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_11  @Vunilfop = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_12  @Vdbgi = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_13  @VReserved13 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_14  @Vferror = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_15  @VReserved15 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_16  @VReserved16 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_17  @VReserved17 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_18  @VReserved18 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_19  @VReserved19 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_20  @VReserved20 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_21  @VReserved21 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_22  @VReserved22 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_23  @VReserved23 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_24  @Vspuri = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_25  @VReserved25 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_26  @VReserved26 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_27  @VReserved27 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_28  @VReserved28 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_29  @VReserved29 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_30  @VReserved30 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_31  @VReserved31 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_32  @Vtrap0 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_33  @Vtrap1 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_34  @Vtrap2 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_35  @Vtrap3 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_36  @Vtrap4 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_37  @Vtrap5 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_38  @Vtrap6 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_39  @Vtrap7 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_40  @Vtrap8 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_41  @Vtrap9 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_42  @Vtrap10 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_43  @Vtrap11 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_44  @Vtrap12 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_45  @Vtrap13 = asm_exception_handler;
#if CONSOLE_IO_SUPPORT == 0
__declspec(weak) vectorTableEntryType vector_46  @Vtrap14 = asm_exception_handler;
#endif
__declspec(weak) vectorTableEntryType vector_47  @Vtrap15 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_48  @VReserved48 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_49  @VReserved49 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_50  @VReserved50 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_51  @VReserved51 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_52  @VReserved52 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_53  @VReserved53 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_54  @VReserved54 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_55  @VReserved55 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_56  @VReserved56 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_57  @VReserved57 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_58  @VReserved58 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_59  @VReserved59 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_60  @VReserved60 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_61  @Vunsinstr = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_62  @VReserved62 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_63  @VReserved63 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_64  @Virq = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_65  @Vlvd = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_66  @Vlol = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_67  @Vtpm1ch0 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_68  @Vtpm1ch1 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_69  @Vtpm1ch2 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_70  @Vtpm1ovf = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_71  @Vmtim1 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_72  @Vtpm2ch0 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_73  @Vtpm2ch1 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_74  @Vtpm2ch2 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_75  @Vtpm2ovf = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_76  @Vspi1 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_77  @Vspi2 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_78  @Vmtim2 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_79  @Vsci1err = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_80  @Vsci1rx = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_81  @Vsci1tx = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_82  @Vsci2err = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_83  @Vsci2rx = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_84  @Vsci2tx = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_85  @Vsci3or = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_86  @Vfectxf = vFECISRHandler;
__declspec(weak) vectorTableEntryType vector_87  @Vfecrxf = vFECISRHandler;
__declspec(weak) vectorTableEntryType vector_88  @Vfecother = vFECISRHandler;
__declspec(weak) vectorTableEntryType vector_89  @Vfechberr = vFECISRHandler;
__declspec(weak) vectorTableEntryType vector_90  @Vfecbabr = vFECISRHandler;
__declspec(weak) vectorTableEntryType vector_91  @Vfecbabt = vFECISRHandler;
__declspec(weak) vectorTableEntryType vector_92  @Vfecgra = vFECISRHandler;
__declspec(weak) vectorTableEntryType vector_93  @Vfectxb = vFECISRHandler;
__declspec(weak) vectorTableEntryType vector_94  @Vfecrxb = vFECISRHandler;
__declspec(weak) vectorTableEntryType vector_95  @Vfecmii = vFECISRHandler;
__declspec(weak) vectorTableEntryType vector_96  @Vfeceberr = vFECISRHandler;
__declspec(weak) vectorTableEntryType vector_97  @Vfeclc = vFECISRHandler;
__declspec(weak) vectorTableEntryType vector_98  @Vfecrl = vFECISRHandler;
__declspec(weak) vectorTableEntryType vector_99  @Vfecun = vFECISRHandler;
__declspec(weak) vectorTableEntryType vector_100 @Vsci3err = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_101 @Vsci3rx = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_102 @Vsci3tx = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_103 @VL7swi = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_104 @VL6swi = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_105 @VL5swi = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_106 @VL4swi = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_107 @VL3swi = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_108 @VL2swi = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_109 @VL1swi = vPortYieldISR;
__declspec(weak) vectorTableEntryType vector_110 @Viic1 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_111 @Viic2 = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_112 @Vadc = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_113 @Vkeyboard = asm_exception_handler;
__declspec(weak) vectorTableEntryType vector_114 @Vrtc = asm_exception_handler;



#ifdef __cplusplus
}
#endif