Beginning of high priority nested interrupt support for the ARMv7-M family

ChangeLog

@@ -6238,7 +6238,7 @@
 	* Makefile.unix: Now has supports qconfig and gconfig targets.
 	  These tools will use the Qt and GTK versions of the kconfig-
 	  frontends configuration tools (if you built them) (2013-12-16)
-	* arch/arm/src/armv7-a/arm_head.h:  Fixe some errors in the cache
+	* arch/arm/src/armv7-a/arm_head.h:  Fix some errors in the cache
 	  invalidation logic (only seem to matter for Cortex-A8) (21-3-12-19).
 	* Kconfig and all Make.defs files:  Add CONFIG_DEBUG_NOOPT.  Now
 	  you can indepenently enable/disable debug symbols and optimization
@@ -6250,4 +6250,7 @@
 	  autogenerated Documentation/NuttXConfigVariables.html file.
 	  This old configuration variable documentation is now a liability
 	  and, hence, was removed (2013-12-20).
-
+	* nuttx/arch/Kconfig, nuttx/arch/arm/Kconfig, nuttx/arch/arm/include/x/chip.h,
+	  and nuttx/arch/arm/src/x/x_irq.c where x={kinetis, lm, lpc17xx, lpc43xx,
+	  sam34, or stm32}:  Beginning of support for nested, high priority
+	  interrupts.  Lots more still needs to be done (2013-12-21).

arch/Kconfig

@@ -208,8 +208,11 @@ config ARCH_CALIBRATION
 		watch to measure the actual delay then adjust BOARD_LOOPSPERMSEC until
 		the actual delay is 100 seconds.
 
+comment "Interrupt options"
+
 config ARCH_HAVE_INTERRUPTSTACK
 	bool
+	default n
 
 config ARCH_INTERRUPTSTACK
 	int "Interrupt Stack Size"
@@ -221,6 +224,96 @@ config ARCH_INTERRUPTSTACK
 		defined to be zero), the user task stacks will be used during interrupt
 		handling.
 
+config ARCH_HAVE_HIPRI_INTERRUPT
+	bool
+	default n
+
+config ARCH_HIPRI_INTERRUPT
+	bool "High priority interrupts"
+	default n
+	depends on ARCH_HAVE_HIPRI_INTERRUPT && ARCH_HAVE_IRQPRIO
+	select ARMV7M_USEBASEPRI
+	select ARCH_IRQPRIO
+	---help---
+		NOTE: This description is currently unique to the Cortex-M family
+		which is the only family that currently supports this feature.  The
+		general feature is not conceptually unique to the Cortex-M but it
+		is extended to any other family, then this discussion will have to
+		be generalized.
+
+		If ARMV7M_USEBASEPRI is selected, then interrupts will be disabled
+		by setting the BASEPRI register to NVIC_SYSH_DISABLE_PRIORITY so
+		that most interrupts will not have execution priority.  SVCall must
+		have execution priority in all cases.
+
+		In the normal cases, interrupts are not nest-able and all interrupts
+		run at an execution priority between NVIC_SYSH_PRIORITY_MIN and
+		NVIC_SYSH_PRIORITY_MAX (with NVIC_SYSH_PRIORITY_MAX reserved for
+		SVCall).
+
+		If, in addition, ARCH_HIPRI_INTERRUPT is defined, then special high
+		priority interrupts are supported.  These are not "nested" in the
+		normal sense of the word.  These high priority interrupts can
+		interrupt normal processing but execute outside of OS (although they
+		can "get back into the game" via a PendSV interrupt).
+
+		How do you specify a high priority interrupt?  You need to do two
+		things:
+
+			1) You need to change the address in the vector table so that
+			   the high priority interrupt vectors to your special C
+			   interrupt handler.  There are two ways to do this:
+
+			   a) If you select CONFIG_ARCH_RAMVECTORS, then vectors will
+			      be kept in RAM and the system will support the interface:
+
+			      int up_ramvec_attach(int irq, up_vector_t vector)
+
+			      that can be used to attach your C interrupt handler to the
+			      vector at run time.
+
+			   b) Alternatively, you could keep your vectors in FLASH but in
+			      order to this, you would have to develop your own custom
+			      vector table.
+
+			2) Then set the priority of your interrupt to NVIC to
+			   NVIC_SYSH_HIGH_PRIORITY using the standard interface:
+
+			   int up_prioritize_irq(int irq, int priority)
+
+config ARCH_INT_DISABLEALL
+	bool "Disable high priority interrupts"
+	default y
+	depends on ARCH_HIPRI_INTERRUPT
+	---help---
+		If ARCH_HIPRI_INTERRUPT is defined, then special high priority
+		interrupts are supported.  These are not "nested" in the normal
+		sense of the word.  These high priority interrupts can interrupt
+		normal processing but execute outside of OS (although they can "get
+		back into the game" via a PendSV interrupt).
+
+		In the normal course of things, interrupts must occasionally be
+		disabled using the irqsave() inline function to prevent contention
+		in use of resources that may be shared between interrupt level and
+		non-interrupt level logic.  Now the question arises, if
+		ARCH_HIPRI_INTERRUPT, do we disable all interrupts (except SVCall),
+		or do we only disable the "normal" interrupts.  Since the high
+		priority interrupts cannot interact with the OS, you may want to
+		permit the high priority interrupts even if interrupts are
+		disabled.  The setting ARCH_INT_DISABLEALL can be used to select
+		either behavior:
+
+		----------------------------+--------------+----------------------------
+		CONFIG_ARCH_HIPRI_INTERRUPT |      NO      |             YES
+		----------------------------+--------------+--------------+-------------
+		CONFIG_ARCH_INT_DISABLEALL  |     N/A      |     YES      |      NO
+		----------------------------+--------------+--------------+-------------
+		                            |              |              |    SVCall
+		                            |    SVCall    |    SVCall    |    HIGH
+		Disable here and below --------> MAXNORMAL ---> HIGH --------> MAXNORMAL
+		                            |              |    MAXNORMAL |
+		----------------------------+--------------+--------------+-------------
+
 comment "Boot options"
 
 choice

arch/arm/Kconfig

@@ -176,12 +176,14 @@ config ARCH_CORTEXM3
 	default n
 	select ARCH_HAVE_IRQPRIO
 	select ARCH_HAVE_RAMVECTORS
+	select ARCH_HAVE_HIPRI_INTERRUPT
 
 config ARCH_CORTEXM4
 	bool
 	default n
 	select ARCH_HAVE_IRQPRIO
 	select ARCH_HAVE_RAMVECTORS
+	select ARCH_HAVE_HIPRI_INTERRUPT
 
 config ARCH_CORTEXA5
 	bool

arch/arm/include/kinetis/chip.h

@@ -832,8 +832,54 @@
 #define NVIC_SYSH_PRIORITY_MAX     0x00 /* Zero is maximum priority */
 #define NVIC_SYSH_PRIORITY_STEP    0x10 /* Steps between supported priority values */
 
-#define NVIC_SYSH_DISABLE_PRIORITY (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+/* If CONFIG_ARMV7M_USEBASEPRI is selected, then interrupts will be disabled
-#define NVIC_SYSH_SVCALL_PRIORITY  NVIC_SYSH_PRIORITY_MAX
+ * by setting the BASEPRI register to NVIC_SYSH_DISABLE_PRIORITY so that most
+ * interrupts will not have execution priority.  SVCall must have execution
+ * priority in all cases.
+ *
+ * In the normal cases, interrupts are not nest-able and all interrupts run
+ * at an execution priority between NVIC_SYSH_PRIORITY_MIN and
+ * NVIC_SYSH_PRIORITY_MAX (with NVIC_SYSH_PRIORITY_MAX reserved for SVCall).
+ *
+ * If, in addition, CONFIG_ARCH_HIPRI_INTERRUPT is defined, then special
+ * high priority interrupts are supported.  These are not "nested" in the
+ * normal sense of the word.  These high priority interrupts can interrupt
+ * normal processing but execute outside of OS (although they can "get back
+ * into the game" via a PendSV interrupt).
+ *
+ * In the normal course of things, interrupts must occasionally be disabled
+ * using the irqsave() inline function to prevent contention in use of
+ * resources that may be shared between interrupt level and non-interrupt
+ * level logic.  Now the question arises, if CONFIG_ARCH_HIPRI_INTERRUPT,
+ * do we disable all interrupts (except SVCall), or do we only disable the
+ * "normal" interrupts.  Since the high priority interrupts cannot interact
+ * with the OS, you may want to permit the high priority interrupts even if
+ * interrupts are disabled.  The setting CONFIG_ARCH_INT_DISABLEALL can be
+ * used to select either behavior:
+ *
+ *   ----------------------------+--------------+----------------------------
+ *   CONFIG_ARCH_HIPRI_INTERRUPT |      NO      |             YES
+ *   ----------------------------+--------------+--------------+-------------
+ *   CONFIG_ARCH_INT_DISABLEALL  |     N/A      |     YES      |      NO
+ *   ----------------------------+--------------+--------------+-------------
+ *                               |              |              |    SVCall
+ *                               |    SVCall    |    SVCall    |    HIGH
+ *   Disable here and below --------> MAXNORMAL ---> HIGH --------> MAXNORMAL
+ *                               |              |    MAXNORMAL |
+ *   ----------------------------+--------------+--------------+-------------
+ */
+
+#if defined(CONFIG_ARCH_HIPRI_INTERRUPT) && defined(CONFIG_ARCH_INT_DISABLEALL)
+#  define NVIC_SYSH_MAXNORMAL_PRIORITY  (NVIC_SYSH_PRIORITY_MAX + 2*NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_HIGH_PRIORITY       (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_DISABLE_PRIORITY    NVIC_SYSH_HIGH_PRIORITY
+#  define NVIC_SYSH_SVCALL_PRIORITY     NVIC_SYSH_PRIORITY_MAX
+#else
+#  define NVIC_SYSH_MAXNORMAL_PRIORITY  (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_HIGH_PRIORITY       NVIC_SYSH_PRIORITY_MAX
+#  define NVIC_SYSH_DISABLE_PRIORITY    NVIC_SYSH_MAXNORMAL_PRIORITY
+#  define NVIC_SYSH_SVCALL_PRIORITY     NVIC_SYSH_PRIORITY_MAX
+#endif
 
 /************************************************************************************
  * Public Types

arch/arm/include/lm/chip.h

@@ -153,8 +153,54 @@
 #define NVIC_SYSH_PRIORITY_MAX     0x00 /* Zero is maximum priority */
 #define NVIC_SYSH_PRIORITY_STEP    0x20 /* Three bits of interrupt priority used */
 
-#define NVIC_SYSH_DISABLE_PRIORITY (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+/* If CONFIG_ARMV7M_USEBASEPRI is selected, then interrupts will be disabled
-#define NVIC_SYSH_SVCALL_PRIORITY  NVIC_SYSH_PRIORITY_MAX
+ * by setting the BASEPRI register to NVIC_SYSH_DISABLE_PRIORITY so that most
+ * interrupts will not have execution priority.  SVCall must have execution
+ * priority in all cases.
+ *
+ * In the normal cases, interrupts are not nest-able and all interrupts run
+ * at an execution priority between NVIC_SYSH_PRIORITY_MIN and
+ * NVIC_SYSH_PRIORITY_MAX (with NVIC_SYSH_PRIORITY_MAX reserved for SVCall).
+ *
+ * If, in addition, CONFIG_ARCH_HIPRI_INTERRUPT is defined, then special
+ * high priority interrupts are supported.  These are not "nested" in the
+ * normal sense of the word.  These high priority interrupts can interrupt
+ * normal processing but execute outside of OS (although they can "get back
+ * into the game" via a PendSV interrupt).
+ *
+ * In the normal course of things, interrupts must occasionally be disabled
+ * using the irqsave() inline function to prevent contention in use of
+ * resources that may be shared between interrupt level and non-interrupt
+ * level logic.  Now the question arises, if CONFIG_ARCH_HIPRI_INTERRUPT,
+ * do we disable all interrupts (except SVCall), or do we only disable the
+ * "normal" interrupts.  Since the high priority interrupts cannot interact
+ * with the OS, you may want to permit the high priority interrupts even if
+ * interrupts are disabled.  The setting CONFIG_ARCH_INT_DISABLEALL can be
+ * used to select either behavior:
+ *
+ *   ----------------------------+--------------+----------------------------
+ *   CONFIG_ARCH_HIPRI_INTERRUPT |      NO      |             YES
+ *   ----------------------------+--------------+--------------+-------------
+ *   CONFIG_ARCH_INT_DISABLEALL  |     N/A      |     YES      |      NO
+ *   ----------------------------+--------------+--------------+-------------
+ *                               |              |              |    SVCall
+ *                               |    SVCall    |    SVCall    |    HIGH
+ *   Disable here and below --------> MAXNORMAL ---> HIGH --------> MAXNORMAL
+ *                               |              |    MAXNORMAL |
+ *   ----------------------------+--------------+--------------+-------------
+ */
+
+#if defined(CONFIG_ARCH_HIPRI_INTERRUPT) && defined(CONFIG_ARCH_INT_DISABLEALL)
+#  define NVIC_SYSH_MAXNORMAL_PRIORITY  (NVIC_SYSH_PRIORITY_MAX + 2*NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_HIGH_PRIORITY       (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_DISABLE_PRIORITY    NVIC_SYSH_HIGH_PRIORITY
+#  define NVIC_SYSH_SVCALL_PRIORITY     NVIC_SYSH_PRIORITY_MAX
+#else
+#  define NVIC_SYSH_MAXNORMAL_PRIORITY  (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_HIGH_PRIORITY       NVIC_SYSH_PRIORITY_MAX
+#  define NVIC_SYSH_DISABLE_PRIORITY    NVIC_SYSH_MAXNORMAL_PRIORITY
+#  define NVIC_SYSH_SVCALL_PRIORITY     NVIC_SYSH_PRIORITY_MAX
+#endif
 
 /************************************************************************************
  * Public Types

arch/arm/include/lpc17xx/chip.h

@@ -1,7 +1,7 @@
 /************************************************************************************
  * arch/arm/include/lpc17xx/chip.h
  *
- *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2010-2011, 2013 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *           with LPC178x support from Rommel Marcelo
  *
@@ -373,8 +373,54 @@
 #define NVIC_SYSH_PRIORITY_MAX     0x00 /* Zero is maximum priority */
 #define NVIC_SYSH_PRIORITY_STEP    0x08 /* Five bits of interrupt priority used */
 
-#define NVIC_SYSH_DISABLE_PRIORITY (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+/* If CONFIG_ARMV7M_USEBASEPRI is selected, then interrupts will be disabled
-#define NVIC_SYSH_SVCALL_PRIORITY  NVIC_SYSH_PRIORITY_MAX
+ * by setting the BASEPRI register to NVIC_SYSH_DISABLE_PRIORITY so that most
+ * interrupts will not have execution priority.  SVCall must have execution
+ * priority in all cases.
+ *
+ * In the normal cases, interrupts are not nest-able and all interrupts run
+ * at an execution priority between NVIC_SYSH_PRIORITY_MIN and
+ * NVIC_SYSH_PRIORITY_MAX (with NVIC_SYSH_PRIORITY_MAX reserved for SVCall).
+ *
+ * If, in addition, CONFIG_ARCH_HIPRI_INTERRUPT is defined, then special
+ * high priority interrupts are supported.  These are not "nested" in the
+ * normal sense of the word.  These high priority interrupts can interrupt
+ * normal processing but execute outside of OS (although they can "get back
+ * into the game" via a PendSV interrupt).
+ *
+ * In the normal course of things, interrupts must occasionally be disabled
+ * using the irqsave() inline function to prevent contention in use of
+ * resources that may be shared between interrupt level and non-interrupt
+ * level logic.  Now the question arises, if CONFIG_ARCH_HIPRI_INTERRUPT,
+ * do we disable all interrupts (except SVCall), or do we only disable the
+ * "normal" interrupts.  Since the high priority interrupts cannot interact
+ * with the OS, you may want to permit the high priority interrupts even if
+ * interrupts are disabled.  The setting CONFIG_ARCH_INT_DISABLEALL can be
+ * used to select either behavior:
+ *
+ *   ----------------------------+--------------+----------------------------
+ *   CONFIG_ARCH_HIPRI_INTERRUPT |      NO      |             YES
+ *   ----------------------------+--------------+--------------+-------------
+ *   CONFIG_ARCH_INT_DISABLEALL  |     N/A      |     YES      |      NO
+ *   ----------------------------+--------------+--------------+-------------
+ *                               |              |              |    SVCall
+ *                               |    SVCall    |    SVCall    |    HIGH
+ *   Disable here and below --------> MAXNORMAL ---> HIGH --------> MAXNORMAL
+ *                               |              |    MAXNORMAL |
+ *   ----------------------------+--------------+--------------+-------------
+ */
+
+#if defined(CONFIG_ARCH_HIPRI_INTERRUPT) && defined(CONFIG_ARCH_INT_DISABLEALL)
+#  define NVIC_SYSH_MAXNORMAL_PRIORITY  (NVIC_SYSH_PRIORITY_MAX + 2*NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_HIGH_PRIORITY       (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_DISABLE_PRIORITY    NVIC_SYSH_HIGH_PRIORITY
+#  define NVIC_SYSH_SVCALL_PRIORITY     NVIC_SYSH_PRIORITY_MAX
+#else
+#  define NVIC_SYSH_MAXNORMAL_PRIORITY  (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_HIGH_PRIORITY       NVIC_SYSH_PRIORITY_MAX
+#  define NVIC_SYSH_DISABLE_PRIORITY    NVIC_SYSH_MAXNORMAL_PRIORITY
+#  define NVIC_SYSH_SVCALL_PRIORITY     NVIC_SYSH_PRIORITY_MAX
+#endif
 
 /************************************************************************************
  * Public Types

arch/arm/include/lpc43xx/chip.h

@@ -568,8 +568,54 @@
 #define NVIC_SYSH_PRIORITY_MAX        LPC43M4_SYSH_PRIORITY_MAX
 #define NVIC_SYSH_PRIORITY_STEP       LPC43M4_SYSH_PRIORITY_INCR
 
-#define NVIC_SYSH_DISABLE_PRIORITY    (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+/* If CONFIG_ARMV7M_USEBASEPRI is selected, then interrupts will be disabled
-#define NVIC_SYSH_SVCALL_PRIORITY     NVIC_SYSH_PRIORITY_MAX
+ * by setting the BASEPRI register to NVIC_SYSH_DISABLE_PRIORITY so that most
+ * interrupts will not have execution priority.  SVCall must have execution
+ * priority in all cases.
+ *
+ * In the normal cases, interrupts are not nest-able and all interrupts run
+ * at an execution priority between NVIC_SYSH_PRIORITY_MIN and
+ * NVIC_SYSH_PRIORITY_MAX (with NVIC_SYSH_PRIORITY_MAX reserved for SVCall).
+ *
+ * If, in addition, CONFIG_ARCH_HIPRI_INTERRUPT is defined, then special
+ * high priority interrupts are supported.  These are not "nested" in the
+ * normal sense of the word.  These high priority interrupts can interrupt
+ * normal processing but execute outside of OS (although they can "get back
+ * into the game" via a PendSV interrupt).
+ *
+ * In the normal course of things, interrupts must occasionally be disabled
+ * using the irqsave() inline function to prevent contention in use of
+ * resources that may be shared between interrupt level and non-interrupt
+ * level logic.  Now the question arises, if CONFIG_ARCH_HIPRI_INTERRUPT,
+ * do we disable all interrupts (except SVCall), or do we only disable the
+ * "normal" interrupts.  Since the high priority interrupts cannot interact
+ * with the OS, you may want to permit the high priority interrupts even if
+ * interrupts are disabled.  The setting CONFIG_ARCH_INT_DISABLEALL can be
+ * used to select either behavior:
+ *
+ *   ----------------------------+--------------+----------------------------
+ *   CONFIG_ARCH_HIPRI_INTERRUPT |      NO      |             YES
+ *   ----------------------------+--------------+--------------+-------------
+ *   CONFIG_ARCH_INT_DISABLEALL  |     N/A      |     YES      |      NO
+ *   ----------------------------+--------------+--------------+-------------
+ *                               |              |              |    SVCall
+ *                               |    SVCall    |    SVCall    |    HIGH
+ *   Disable here and below --------> MAXNORMAL ---> HIGH --------> MAXNORMAL
+ *                               |              |    MAXNORMAL |
+ *   ----------------------------+--------------+--------------+-------------
+ */
+
+#if defined(CONFIG_ARCH_HIPRI_INTERRUPT) && defined(CONFIG_ARCH_INT_DISABLEALL)
+#  define NVIC_SYSH_MAXNORMAL_PRIORITY  (NVIC_SYSH_PRIORITY_MAX + 2*NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_HIGH_PRIORITY       (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_DISABLE_PRIORITY    NVIC_SYSH_HIGH_PRIORITY
+#  define NVIC_SYSH_SVCALL_PRIORITY     NVIC_SYSH_PRIORITY_MAX
+#else
+#  define NVIC_SYSH_MAXNORMAL_PRIORITY  (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_HIGH_PRIORITY       NVIC_SYSH_PRIORITY_MAX
+#  define NVIC_SYSH_DISABLE_PRIORITY    NVIC_SYSH_MAXNORMAL_PRIORITY
+#  define NVIC_SYSH_SVCALL_PRIORITY     NVIC_SYSH_PRIORITY_MAX
+#endif
 
 /************************************************************************************
  * Public Types

arch/arm/include/sam34/chip.h

@@ -806,8 +806,54 @@
 #define NVIC_SYSH_PRIORITY_MAX       0x00 /* Zero is maximum priority */
 #define NVIC_SYSH_PRIORITY_STEP      0x10 /* Four bits of interrupt priority used */
 
-#define NVIC_SYSH_DISABLE_PRIORITY   (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+/* If CONFIG_ARMV7M_USEBASEPRI is selected, then interrupts will be disabled
-#define NVIC_SYSH_SVCALL_PRIORITY    NVIC_SYSH_PRIORITY_MAX
+ * by setting the BASEPRI register to NVIC_SYSH_DISABLE_PRIORITY so that most
+ * interrupts will not have execution priority.  SVCall must have execution
+ * priority in all cases.
+ *
+ * In the normal cases, interrupts are not nest-able and all interrupts run
+ * at an execution priority between NVIC_SYSH_PRIORITY_MIN and
+ * NVIC_SYSH_PRIORITY_MAX (with NVIC_SYSH_PRIORITY_MAX reserved for SVCall).
+ *
+ * If, in addition, CONFIG_ARCH_HIPRI_INTERRUPT is defined, then special
+ * high priority interrupts are supported.  These are not "nested" in the
+ * normal sense of the word.  These high priority interrupts can interrupt
+ * normal processing but execute outside of OS (although they can "get back
+ * into the game" via a PendSV interrupt).
+ *
+ * In the normal course of things, interrupts must occasionally be disabled
+ * using the irqsave() inline function to prevent contention in use of
+ * resources that may be shared between interrupt level and non-interrupt
+ * level logic.  Now the question arises, if CONFIG_ARCH_HIPRI_INTERRUPT,
+ * do we disable all interrupts (except SVCall), or do we only disable the
+ * "normal" interrupts.  Since the high priority interrupts cannot interact
+ * with the OS, you may want to permit the high priority interrupts even if
+ * interrupts are disabled.  The setting CONFIG_ARCH_INT_DISABLEALL can be
+ * used to select either behavior:
+ *
+ *   ----------------------------+--------------+----------------------------
+ *   CONFIG_ARCH_HIPRI_INTERRUPT |      NO      |             YES
+ *   ----------------------------+--------------+--------------+-------------
+ *   CONFIG_ARCH_INT_DISABLEALL  |     N/A      |     YES      |      NO
+ *   ----------------------------+--------------+--------------+-------------
+ *                               |              |              |    SVCall
+ *                               |    SVCall    |    SVCall    |    HIGH
+ *   Disable here and below --------> MAXNORMAL ---> HIGH --------> MAXNORMAL
+ *                               |              |    MAXNORMAL |
+ *   ----------------------------+--------------+--------------+-------------
+ */
+
+#if defined(CONFIG_ARCH_HIPRI_INTERRUPT) && defined(CONFIG_ARCH_INT_DISABLEALL)
+#  define NVIC_SYSH_MAXNORMAL_PRIORITY  (NVIC_SYSH_PRIORITY_MAX + 2*NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_HIGH_PRIORITY       (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_DISABLE_PRIORITY    NVIC_SYSH_HIGH_PRIORITY
+#  define NVIC_SYSH_SVCALL_PRIORITY     NVIC_SYSH_PRIORITY_MAX
+#else
+#  define NVIC_SYSH_MAXNORMAL_PRIORITY  (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_HIGH_PRIORITY       NVIC_SYSH_PRIORITY_MAX
+#  define NVIC_SYSH_DISABLE_PRIORITY    NVIC_SYSH_MAXNORMAL_PRIORITY
+#  define NVIC_SYSH_SVCALL_PRIORITY     NVIC_SYSH_PRIORITY_MAX
+#endif
 
 /************************************************************************************
  * Public Types

arch/arm/include/stm32/chip.h

@@ -1,7 +1,7 @@
 /************************************************************************************
  * arch/arm/include/stm32/chip.h
  *
- *   Copyright (C) 2009, 2011-2012 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2009, 2011-2013 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -1636,8 +1636,54 @@
 #define NVIC_SYSH_PRIORITY_MAX     0x00 /* Zero is maximum priority */
 #define NVIC_SYSH_PRIORITY_STEP    0x10 /* Four bits of interrupt priority used */
 
-#define NVIC_SYSH_DISABLE_PRIORITY (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+/* If CONFIG_ARMV7M_USEBASEPRI is selected, then interrupts will be disabled
-#define NVIC_SYSH_SVCALL_PRIORITY  NVIC_SYSH_PRIORITY_MAX
+ * by setting the BASEPRI register to NVIC_SYSH_DISABLE_PRIORITY so that most
+ * interrupts will not have execution priority.  SVCall must have execution
+ * priority in all cases.
+ *
+ * In the normal cases, interrupts are not nest-able and all interrupts run
+ * at an execution priority between NVIC_SYSH_PRIORITY_MIN and
+ * NVIC_SYSH_PRIORITY_MAX (with NVIC_SYSH_PRIORITY_MAX reserved for SVCall).
+ *
+ * If, in addition, CONFIG_ARCH_HIPRI_INTERRUPT is defined, then special
+ * high priority interrupts are supported.  These are not "nested" in the
+ * normal sense of the word.  These high priority interrupts can interrupt
+ * normal processing but execute outside of OS (although they can "get back
+ * into the game" via a PendSV interrupt).
+ *
+ * In the normal course of things, interrupts must occasionally be disabled
+ * using the irqsave() inline function to prevent contention in use of
+ * resources that may be shared between interrupt level and non-interrupt
+ * level logic.  Now the question arises, if CONFIG_ARCH_HIPRI_INTERRUPT,
+ * do we disable all interrupts (except SVCall), or do we only disable the
+ * "normal" interrupts.  Since the high priority interrupts cannot interact
+ * with the OS, you may want to permit the high priority interrupts even if
+ * interrupts are disabled.  The setting CONFIG_ARCH_INT_DISABLEALL can be
+ * used to select either behavior:
+ *
+ *   ----------------------------+--------------+----------------------------
+ *   CONFIG_ARCH_HIPRI_INTERRUPT |      NO      |             YES
+ *   ----------------------------+--------------+--------------+-------------
+ *   CONFIG_ARCH_INT_DISABLEALL  |     N/A      |     YES      |      NO
+ *   ----------------------------+--------------+--------------+-------------
+ *                               |              |              |    SVCall
+ *                               |    SVCall    |    SVCall    |    HIGH
+ *   Disable here and below --------> MAXNORMAL ---> HIGH --------> MAXNORMAL
+ *                               |              |    MAXNORMAL |
+ *   ----------------------------+--------------+--------------+-------------
+ */
+
+#if defined(CONFIG_ARCH_HIPRI_INTERRUPT) && defined(CONFIG_ARCH_INT_DISABLEALL)
+#  define NVIC_SYSH_MAXNORMAL_PRIORITY  (NVIC_SYSH_PRIORITY_MAX + 2*NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_HIGH_PRIORITY       (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_DISABLE_PRIORITY    NVIC_SYSH_HIGH_PRIORITY
+#  define NVIC_SYSH_SVCALL_PRIORITY     NVIC_SYSH_PRIORITY_MAX
+#else
+#  define NVIC_SYSH_MAXNORMAL_PRIORITY  (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
+#  define NVIC_SYSH_HIGH_PRIORITY       NVIC_SYSH_PRIORITY_MAX
+#  define NVIC_SYSH_DISABLE_PRIORITY    NVIC_SYSH_MAXNORMAL_PRIORITY
+#  define NVIC_SYSH_SVCALL_PRIORITY     NVIC_SYSH_PRIORITY_MAX
+#endif
 
 #endif /* __ARCH_ARM_INCLUDE_STM32_CHIP_H */
 

arch/arm/src/kinetis/kinetis_irq.c

@@ -512,14 +512,8 @@ int up_prioritize_irq(int irq, int priority)
   uint32_t regval;
   int shift;
 
-#ifdef CONFIG_ARMV7M_USEBASEPRI
-  DEBUGASSERT(irq >= KINETIS_IRQ_MEMFAULT && irq < NR_IRQS &&
-              priority >= NVIC_SYSH_DISABLE_PRIORITY &&
-              priority <= NVIC_SYSH_PRIORITY_MIN);
-#else
   DEBUGASSERT(irq >= KINETIS_IRQ_MEMFAULT && irq < NR_IRQS &&
               (unsigned)priority <= NVIC_SYSH_PRIORITY_MIN);
-#endif
 
   if (irq < KINETIS_IRQ_EXTINT)
     {

arch/arm/src/lm/lm_irq.c

@@ -461,14 +461,8 @@ int up_prioritize_irq(int irq, int priority)
   uint32_t regval;
   int shift;
 
-#ifdef CONFIG_ARMV7M_USEBASEPRI
   DEBUGASSERT(irq >= LM_IRQ_MEMFAULT && irq < NR_IRQS &&
-              priority >= NVIC_SYSH_DISABLE_PRIORITY &&
+              (unsigned)priority <= NVIC_SYSH_PRIORITY_MIN);
-              priority <= NVIC_SYSH_PRIORITY_MIN);
-#else
-  DEBUGASSERT(irq >= LM_IRQ_MEMFAULT && irq < NR_IRQS &&
-             (unsigned)priority <= NVIC_SYSH_PRIORITY_MIN);
-#endif
 
   if (irq < LM_IRQ_INTERRUPTS)
     {

arch/arm/src/lpc17xx/lpc17_irq.c

@@ -475,14 +475,8 @@ int up_prioritize_irq(int irq, int priority)
   uint32_t regval;
   int shift;
 
-#ifdef CONFIG_ARMV7M_USEBASEPRI
-  DEBUGASSERT(irq >= LPC17_IRQ_MEMFAULT && irq < LPC17_IRQ_NIRQS &&
-              priority >= NVIC_SYSH_DISABLE_PRIORITY &&
-              priority <= NVIC_SYSH_PRIORITY_MIN);
-#else
   DEBUGASSERT(irq >= LPC17_IRQ_MEMFAULT && irq < LPC17_IRQ_NIRQS &&
               (unsigned)priority <= NVIC_SYSH_PRIORITY_MIN);
-#endif
 
   if (irq < LPC17_IRQ_EXTINT)
     {

arch/arm/src/lpc43xx/lpc43_irq.c

@@ -513,14 +513,8 @@ int up_prioritize_irq(int irq, int priority)
   uint32_t regval;
   int shift;
 
-#ifdef CONFIG_ARMV7M_USEBASEPRI
   DEBUGASSERT(irq >= LPC43_IRQ_MEMFAULT && irq < NR_IRQS &&
-              priority >= NVIC_SYSH_DISABLE_PRIORITY &&
+              (unsigned)priority <= NVIC_SYSH_PRIORITY_MIN);
-              priority <= NVIC_SYSH_PRIORITY_MIN);
-#else
-  DEBUGASSERT(irq >= LPC43_IRQ_MEMFAULT && irq < NR_IRQS &&
-             (unsigned)priority <= NVIC_SYSH_PRIORITY_MIN);
-#endif
 
   if (irq < LPC43_IRQ_EXTINT)
     {

arch/arm/src/sam34/sam_irq.c

@@ -535,14 +535,8 @@ int up_prioritize_irq(int irq, int priority)
   uint32_t regval;
   int shift;
 
-#ifdef CONFIG_ARMV7M_USEBASEPRI
-  DEBUGASSERT(irq >= SAM_IRQ_MEMFAULT && irq < SAM_IRQ_NIRQS &&
-              priority >= NVIC_SYSH_DISABLE_PRIORITY &&
-              priority <= NVIC_SYSH_PRIORITY_MIN);
-#else
   DEBUGASSERT(irq >= SAM_IRQ_MEMFAULT && irq < SAM_IRQ_NIRQS &&
               (unsigned)priority <= NVIC_SYSH_PRIORITY_MIN);
-#endif
 
   if (irq < SAM_IRQ_EXTINT)
     {

arch/arm/src/stm32/stm32_irq.c

@@ -486,14 +486,8 @@ int up_prioritize_irq(int irq, int priority)
   uint32_t regval;
   int shift;
 
-#ifdef CONFIG_ARMV7M_USEBASEPRI
-  DEBUGASSERT(irq >= STM32_IRQ_MEMFAULT && irq < NR_IRQS &&
-              priority >= NVIC_SYSH_DISABLE_PRIORITY &&
-              priority <= NVIC_SYSH_PRIORITY_MIN);
-#else
   DEBUGASSERT(irq >= STM32_IRQ_MEMFAULT && irq < NR_IRQS &&
               (unsigned)priority <= NVIC_SYSH_PRIORITY_MIN);
-#endif
 
   if (irq < STM32_IRQ_INTERRUPTS)
     {