305 lines
10 KiB
ArmAsm
305 lines
10 KiB
ArmAsm
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;/*
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; * Copyright (c) 2006-2018, RT-Thread Development Team
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; *
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; * SPDX-License-Identifier: Apache-2.0
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; *
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; * Change Logs:
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; * Date Author Notes
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; * 2009-01-17 Bernard first version
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; * 2009-09-27 Bernard add protect when contex switch occurs
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; * 2012-01-01 aozima support context switch load/store FPU register.
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; * 2013-06-18 aozima add restore MSP feature.
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; * 2013-06-23 aozima support lazy stack optimized.
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; * 2018-07-24 aozima enhancement hard fault exception handler.
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; */
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;/**
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; * @addtogroup cortex-m33
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; */
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;/*@{*/
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SCB_VTOR EQU 0xE000ED08 ; Vector Table Offset Register
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NVIC_INT_CTRL EQU 0xE000ED04 ; interrupt control state register
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NVIC_SYSPRI2 EQU 0xE000ED20 ; system priority register (2)
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NVIC_PENDSV_PRI EQU 0xFFFF0000 ; PendSV and SysTick priority value (lowest)
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NVIC_PENDSVSET EQU 0x10000000 ; value to trigger PendSV exception
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SECTION .text:CODE(2)
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THUMB
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REQUIRE8
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PRESERVE8
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IMPORT rt_thread_switch_interrupt_flag
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IMPORT rt_interrupt_from_thread
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IMPORT rt_interrupt_to_thread
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IMPORT rt_trustzone_current_context
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IMPORT rt_trustzone_context_load
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IMPORT rt_trustzone_context_store
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;/*
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; * rt_base_t rt_hw_interrupt_disable();
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; */
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EXPORT rt_hw_interrupt_disable
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rt_hw_interrupt_disable:
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MRS r0, PRIMASK
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CPSID I
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BX LR
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;/*
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; * void rt_hw_interrupt_enable(rt_base_t level);
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; */
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EXPORT rt_hw_interrupt_enable
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rt_hw_interrupt_enable:
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MSR PRIMASK, r0
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BX LR
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;/*
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; * void rt_hw_context_switch(rt_uint32 from, rt_uint32 to);
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; * r0 --> from
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; * r1 --> to
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; */
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EXPORT rt_hw_context_switch_interrupt
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EXPORT rt_hw_context_switch
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rt_hw_context_switch_interrupt:
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rt_hw_context_switch:
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; set rt_thread_switch_interrupt_flag to 1
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LDR r2, =rt_thread_switch_interrupt_flag
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LDR r3, [r2]
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CMP r3, #1
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BEQ _reswitch
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MOV r3, #1
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STR r3, [r2]
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LDR r2, =rt_interrupt_from_thread ; set rt_interrupt_from_thread
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STR r0, [r2]
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_reswitch
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LDR r2, =rt_interrupt_to_thread ; set rt_interrupt_to_thread
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STR r1, [r2]
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LDR r0, =NVIC_INT_CTRL ; trigger the PendSV exception (causes context switch)
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LDR r1, =NVIC_PENDSVSET
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STR r1, [r0]
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BX LR
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; r0 --> switch from thread stack
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; r1 --> switch to thread stack
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; psr, pc, lr, r12, r3, r2, r1, r0 are pushed into [from] stack
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EXPORT PendSV_Handler
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PendSV_Handler:
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; disable interrupt to protect context switch
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MRS r2, PRIMASK
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CPSID I
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; get rt_thread_switch_interrupt_flag
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LDR r0, =rt_thread_switch_interrupt_flag ; r0 = &rt_thread_switch_interrupt_flag
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LDR r1, [r0] ; r1 = *r1
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CMP r1, #0x00 ; compare r1 == 0x00
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BNE schedule
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MSR PRIMASK, r2 ; if r1 == 0x00, do msr PRIMASK, r2
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BX lr ; if r1 == 0x00, do bx lr
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schedule
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PUSH {r2} ; store interrupt state
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; clear rt_thread_switch_interrupt_flag to 0
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MOV r1, #0x00 ; r1 = 0x00
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STR r1, [r0] ; *r0 = r1
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; skip register save at the first time
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LDR r0, =rt_interrupt_from_thread ; r0 = &rt_interrupt_from_thread
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LDR r1, [r0] ; r1 = *r0
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CBZ r1, switch_to_thread ; if r1 == 0, goto switch_to_thread
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; Whether TrustZone thread stack exists
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LDR r1, =rt_trustzone_current_context ; r1 = &rt_secure_current_context
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LDR r1, [r1] ; r1 = *r1
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CBZ r1, contex_ns_store ; if r1 == 0, goto contex_ns_store
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;call TrustZone fun, Save TrustZone stack
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STMFD sp!, {r0-r1, lr} ; push register
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MOV r0, r1 ; r0 = rt_secure_current_context
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BL rt_trustzone_context_store ; call TrustZone store fun
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LDMFD sp!, {r0-r1, lr} ; pop register
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; check break from TrustZone
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MOV r2, lr ; r2 = lr
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TST r2, #0x40 ; if EXC_RETURN[6] is 1, TrustZone stack was used
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BEQ contex_ns_store ; if r2 & 0x40 == 0, goto contex_ns_store
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; push PSPLIM CONTROL PSP LR current_context to stack
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MRS r3, psplim ; r3 = psplim
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MRS r4, control ; r4 = control
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MRS r5, psp ; r5 = psp
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STMFD r5!, {r1-r4} ; push to thread stack
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; update from thread stack pointer
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LDR r0, [r0] ; r0 = rt_thread_switch_interrupt_flag
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STR r5, [r0] ; *r0 = r5
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b switch_to_thread ; goto switch_to_thread
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contex_ns_store
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MRS r1, psp ; get from thread stack pointer
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#if defined ( __ARMVFP__ )
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TST lr, #0x10 ; if(!EXC_RETURN[4])
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BNE skip_push_fpu
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VSTMDB r1!, {d8 - d15} ; push FPU register s16~s31
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skip_push_fpu
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#endif
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STMFD r1!, {r4 - r11} ; push r4 - r11 register
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LDR r2, =rt_trustzone_current_context ; r2 = &rt_secure_current_context
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LDR r2, [r2] ; r2 = *r2
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MOV r3, lr ; r3 = lr
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MRS r4, psplim ; r4 = psplim
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MRS r5, control ; r5 = control
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STMFD r1!, {r2-r5} ; push to thread stack
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LDR r0, [r0]
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STR r1, [r0] ; update from thread stack pointer
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switch_to_thread
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LDR r1, =rt_interrupt_to_thread
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LDR r1, [r1]
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LDR r1, [r1] ; load thread stack pointer
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; update current TrustZone context
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LDMFD r1!, {r2-r5} ; pop thread stack
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MSR psplim, r4 ; psplim = r4
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MSR control, r5 ; control = r5
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MOV lr, r3 ; lr = r3
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LDR r6, =rt_trustzone_current_context ; r6 = &rt_secure_current_context
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STR r2, [r6] ; *r6 = r2
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MOV r0, r2 ; r0 = r2
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; Whether TrustZone thread stack exists
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CBZ r0, contex_ns_load ; if r0 == 0, goto contex_ns_load
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PUSH {r1, r3} ; push lr, thread_stack
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BL rt_trustzone_context_load ; call TrustZone load fun
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POP {r1, r3} ; pop lr, thread_stack
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MOV lr, r3 ; lr = r1
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TST r3, #0x40 ; if EXC_RETURN[6] is 1, TrustZone stack was used
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BEQ contex_ns_load ; if r1 & 0x40 == 0, goto contex_ns_load
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B pendsv_exit
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contex_ns_load
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LDMFD r1!, {r4 - r11} ; pop r4 - r11 register
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#if defined ( __ARMVFP__ )
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TST lr, #0x10 ; if(!EXC_RETURN[4])
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BNE skip_pop_fpu
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VLDMIA r1!, {d8 - d15} ; pop FPU register s16~s31
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skip_pop_fpu
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#endif
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pendsv_exit
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MSR psp, r1 ; update stack pointer
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; restore interrupt
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POP {r2}
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MSR PRIMASK, r2
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BX lr
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;/*
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; * void rt_hw_context_switch_to(rt_uint32 to);
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; * r0 --> to
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; */
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EXPORT rt_hw_context_switch_to
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rt_hw_context_switch_to:
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LDR r1, =rt_interrupt_to_thread
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STR r0, [r1]
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#if defined ( __ARMVFP__ )
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; CLEAR CONTROL.FPCA
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MRS r2, CONTROL ; read
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BIC r2, r2, #0x04 ; modify
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MSR CONTROL, r2 ; write-back
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#endif
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; set from thread to 0
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LDR r1, =rt_interrupt_from_thread
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MOV r0, #0x0
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STR r0, [r1]
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; set interrupt flag to 1
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LDR r1, =rt_thread_switch_interrupt_flag
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MOV r0, #1
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STR r0, [r1]
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; set the PendSV and SysTick exception priority
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LDR r0, =NVIC_SYSPRI2
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LDR r1, =NVIC_PENDSV_PRI
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LDR.W r2, [r0,#0x00] ; read
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ORR r1,r1,r2 ; modify
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STR r1, [r0] ; write-back
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LDR r0, =NVIC_INT_CTRL ; trigger the PendSV exception (causes context switch)
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LDR r1, =NVIC_PENDSVSET
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STR r1, [r0]
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; restore MSP
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LDR r0, =SCB_VTOR
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LDR r0, [r0]
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LDR r0, [r0]
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NOP
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MSR msp, r0
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; enable interrupts at processor level
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CPSIE F
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CPSIE I
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; ensure PendSV exception taken place before subsequent operation
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DSB
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ISB
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; never reach here!
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; compatible with old version
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EXPORT rt_hw_interrupt_thread_switch
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rt_hw_interrupt_thread_switch:
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BX lr
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IMPORT rt_hw_hard_fault_exception
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EXPORT HardFault_Handler
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HardFault_Handler:
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; get current context
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MRS r0, msp ; get fault context from handler.
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TST lr, #0x04 ; if(!EXC_RETURN[2])
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BEQ get_sp_done
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MRS r0, psp ; get fault context from thread.
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get_sp_done
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STMFD r0!, {r4 - r11} ; push r4 - r11 register
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LDR r2, =rt_trustzone_current_context ; r2 = &rt_secure_current_context
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LDR r2, [r2] ; r2 = *r2
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MOV r3, lr ; r3 = lr
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MRS r4, psplim ; r4 = psplim
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MRS r5, control ; r5 = control
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STMFD r0!, {r2-r5} ; push to thread stack
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STMFD r0!, {lr} ; push exec_return register
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TST lr, #0x04 ; if(!EXC_RETURN[2])
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BEQ update_msp
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MSR psp, r0 ; update stack pointer to PSP.
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B update_done
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update_msp
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MSR msp, r0 ; update stack pointer to MSP.
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update_done
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PUSH {lr}
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BL rt_hw_hard_fault_exception
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POP {lr}
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ORR lr, lr, #0x04
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BX lr
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END
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