RT-Thread_v4.1.1
This commit is contained in:
299
libcpu/arm/cortex-m33/context_gcc.S
Normal file
299
libcpu/arm/cortex-m33/context_gcc.S
Normal file
@ -0,0 +1,299 @@
|
||||
/*
|
||||
* Copyright (c) 2006-2018, RT-Thread Development Team
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Change Logs:
|
||||
* Date Author Notes
|
||||
* 2009-10-11 Bernard first version
|
||||
* 2012-01-01 aozima support context switch load/store FPU register.
|
||||
* 2013-06-18 aozima add restore MSP feature.
|
||||
* 2013-06-23 aozima support lazy stack optimized.
|
||||
* 2018-07-24 aozima enhancement hard fault exception handler.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @addtogroup cortex-m4
|
||||
*/
|
||||
/*@{*/
|
||||
|
||||
.cpu cortex-m4
|
||||
.syntax unified
|
||||
.thumb
|
||||
.text
|
||||
|
||||
.equ SCB_VTOR, 0xE000ED08 /* Vector Table Offset Register */
|
||||
.equ NVIC_INT_CTRL, 0xE000ED04 /* interrupt control state register */
|
||||
.equ NVIC_SYSPRI2, 0xE000ED20 /* system priority register (2) */
|
||||
.equ NVIC_PENDSV_PRI, 0xFFFF0000 /* PendSV and SysTick priority value (lowest) */
|
||||
.equ NVIC_PENDSVSET, 0x10000000 /* value to trigger PendSV exception */
|
||||
|
||||
/*
|
||||
* rt_base_t rt_hw_interrupt_disable();
|
||||
*/
|
||||
.global rt_hw_interrupt_disable
|
||||
.type rt_hw_interrupt_disable, %function
|
||||
rt_hw_interrupt_disable:
|
||||
MRS r0, PRIMASK
|
||||
CPSID I
|
||||
BX LR
|
||||
|
||||
/*
|
||||
* void rt_hw_interrupt_enable(rt_base_t level);
|
||||
*/
|
||||
.global rt_hw_interrupt_enable
|
||||
.type rt_hw_interrupt_enable, %function
|
||||
rt_hw_interrupt_enable:
|
||||
MSR PRIMASK, r0
|
||||
BX LR
|
||||
|
||||
/*
|
||||
* void rt_hw_context_switch(rt_uint32 from, rt_uint32 to);
|
||||
* r0 --> from
|
||||
* r1 --> to
|
||||
*/
|
||||
.global rt_hw_context_switch_interrupt
|
||||
.type rt_hw_context_switch_interrupt, %function
|
||||
.global rt_hw_context_switch
|
||||
.type rt_hw_context_switch, %function
|
||||
|
||||
rt_hw_context_switch_interrupt:
|
||||
rt_hw_context_switch:
|
||||
/* set rt_thread_switch_interrupt_flag to 1 */
|
||||
LDR r2, =rt_thread_switch_interrupt_flag
|
||||
LDR r3, [r2]
|
||||
CMP r3, #1
|
||||
BEQ _reswitch
|
||||
MOV r3, #1
|
||||
STR r3, [r2]
|
||||
|
||||
LDR r2, =rt_interrupt_from_thread /* set rt_interrupt_from_thread */
|
||||
STR r0, [r2]
|
||||
|
||||
_reswitch:
|
||||
LDR r2, =rt_interrupt_to_thread /* set rt_interrupt_to_thread */
|
||||
STR r1, [r2]
|
||||
|
||||
LDR r0, =NVIC_INT_CTRL /* trigger the PendSV exception (causes context switch) */
|
||||
LDR r1, =NVIC_PENDSVSET
|
||||
STR r1, [r0]
|
||||
BX LR
|
||||
|
||||
/* r0 --> switch from thread stack
|
||||
* r1 --> switch to thread stack
|
||||
* psr, pc, lr, r12, r3, r2, r1, r0 are pushed into [from] stack
|
||||
*/
|
||||
.global PendSV_Handler
|
||||
.type PendSV_Handler, %function
|
||||
PendSV_Handler:
|
||||
/* disable interrupt to protect context switch */
|
||||
MRS r2, PRIMASK
|
||||
CPSID I
|
||||
|
||||
/* get rt_thread_switch_interrupt_flag */
|
||||
LDR r0, =rt_thread_switch_interrupt_flag /* r0 = &rt_thread_switch_interrupt_flag */
|
||||
LDR r1, [r0] /* r1 = *r1 */
|
||||
CMP r1, #0x00 /* compare r1 == 0x00 */
|
||||
BNE schedule
|
||||
MSR PRIMASK, r2 /* if r1 == 0x00, do msr PRIMASK, r2 */
|
||||
BX lr /* if r1 == 0x00, do bx lr */
|
||||
|
||||
schedule:
|
||||
PUSH {r2} /* store interrupt state */
|
||||
|
||||
/* clear rt_thread_switch_interrupt_flag to 0 */
|
||||
MOV r1, #0x00 /* r1 = 0x00 */
|
||||
STR r1, [r0] /* *r0 = r1 */
|
||||
|
||||
/* skip register save at the first time */
|
||||
LDR r0, =rt_interrupt_from_thread /* r0 = &rt_interrupt_from_thread */
|
||||
LDR r1, [r0] /* r1 = *r0 */
|
||||
CBZ r1, switch_to_thread /* if r1 == 0, goto switch_to_thread */
|
||||
|
||||
/* Whether TrustZone thread stack exists */
|
||||
LDR r1, =rt_trustzone_current_context /* r1 = &rt_secure_current_context */
|
||||
LDR r1, [r1] /* r1 = *r1 */
|
||||
CBZ r1, contex_ns_store /* if r1 == 0, goto contex_ns_store */
|
||||
|
||||
/*call TrustZone fun, Save TrustZone stack */
|
||||
STMFD sp!, {r0-r1, lr} /* push register */
|
||||
MOV r0, r1 /* r0 = rt_secure_current_context */
|
||||
BL rt_trustzone_context_store /* call TrustZone store fun */
|
||||
LDMFD sp!, {r0-r1, lr} /* pop register */
|
||||
|
||||
/* check break from TrustZone */
|
||||
MOV r2, lr /* r2 = lr */
|
||||
TST r2, #0x40 /* if EXC_RETURN[6] is 1, TrustZone stack was used */
|
||||
BEQ contex_ns_store /* if r2 & 0x40 == 0, goto contex_ns_store */
|
||||
|
||||
/* push PSPLIM CONTROL PSP LR current_context to stack */
|
||||
MRS r3, psplim /* r3 = psplim */
|
||||
MRS r4, control /* r4 = control */
|
||||
MRS r5, psp /* r5 = psp */
|
||||
STMFD r5!, {r1-r4} /* push to thread stack */
|
||||
|
||||
/* update from thread stack pointer */
|
||||
LDR r0, [r0] /* r0 = rt_thread_switch_interrupt_flag */
|
||||
STR r5, [r0] /* *r0 = r5 */
|
||||
b switch_to_thread /* goto switch_to_thread */
|
||||
|
||||
contex_ns_store:
|
||||
|
||||
MRS r1, psp /* get from thread stack pointer */
|
||||
|
||||
#if defined (__VFP_FP__) && !defined(__SOFTFP__)
|
||||
TST lr, #0x10 /* if(!EXC_RETURN[4]) */
|
||||
IT EQ
|
||||
VSTMDBEQ r1!, {d8 - d15} /* push FPU register s16~s31 */
|
||||
#endif
|
||||
|
||||
STMFD r1!, {r4 - r11} /* push r4 - r11 register */
|
||||
|
||||
LDR r2, =rt_trustzone_current_context /* r2 = &rt_secure_current_context */
|
||||
LDR r2, [r2] /* r2 = *r2 */
|
||||
MOV r3, lr /* r3 = lr */
|
||||
MRS r4, psplim /* r4 = psplim */
|
||||
MRS r5, control /* r5 = control */
|
||||
STMFD r1!, {r2-r5} /* push to thread stack */
|
||||
|
||||
LDR r0, [r0]
|
||||
STR r1, [r0] /* update from thread stack pointer */
|
||||
|
||||
switch_to_thread:
|
||||
LDR r1, =rt_interrupt_to_thread
|
||||
LDR r1, [r1]
|
||||
LDR r1, [r1] /* load thread stack pointer */
|
||||
|
||||
/* update current TrustZone context */
|
||||
LDMFD r1!, {r2-r5} /* pop thread stack */
|
||||
MSR psplim, r4 /* psplim = r4 */
|
||||
MSR control, r5 /* control = r5 */
|
||||
MOV lr, r3 /* lr = r3 */
|
||||
LDR r6, =rt_trustzone_current_context /* r6 = &rt_secure_current_context */
|
||||
STR r2, [r6] /* *r6 = r2 */
|
||||
MOV r0, r2 /* r0 = r2 */
|
||||
|
||||
/* Whether TrustZone thread stack exists */
|
||||
CBZ r0, contex_ns_load /* if r0 == 0, goto contex_ns_load */
|
||||
PUSH {r1, r3} /* push lr, thread_stack */
|
||||
BL rt_trustzone_context_load /* call TrustZone load fun */
|
||||
POP {r1, r3} /* pop lr, thread_stack */
|
||||
MOV lr, r3 /* lr = r1 */
|
||||
TST r3, #0x40 /* if EXC_RETURN[6] is 1, TrustZone stack was used */
|
||||
BEQ contex_ns_load /* if r1 & 0x40 == 0, goto contex_ns_load */
|
||||
B pendsv_exit
|
||||
|
||||
contex_ns_load:
|
||||
LDMFD r1!, {r4 - r11} /* pop r4 - r11 register */
|
||||
|
||||
#if defined (__VFP_FP__) && !defined(__SOFTFP__)
|
||||
TST lr, #0x10 /* if(!EXC_RETURN[4]) */
|
||||
IT EQ
|
||||
VLDMIAEQ r1!, {d8 - d15} /* pop FPU register s16~s31 */
|
||||
#endif
|
||||
|
||||
pendsv_exit:
|
||||
MSR psp, r1 /* update stack pointer */
|
||||
/* restore interrupt */
|
||||
POP {r2}
|
||||
MSR PRIMASK, r2
|
||||
|
||||
BX lr
|
||||
|
||||
/*
|
||||
* void rt_hw_context_switch_to(rt_uint32 to);
|
||||
* r0 --> to
|
||||
*/
|
||||
.global rt_hw_context_switch_to
|
||||
.type rt_hw_context_switch_to, %function
|
||||
rt_hw_context_switch_to:
|
||||
LDR r1, =rt_interrupt_to_thread
|
||||
STR r0, [r1]
|
||||
|
||||
#if defined (__VFP_FP__) && !defined(__SOFTFP__)
|
||||
/* CLEAR CONTROL.FPCA */
|
||||
MRS r2, CONTROL /* read */
|
||||
BIC r2, #0x04 /* modify */
|
||||
MSR CONTROL, r2 /* write-back */
|
||||
#endif
|
||||
|
||||
/* set from thread to 0 */
|
||||
LDR r1, =rt_interrupt_from_thread
|
||||
MOV r0, #0x0
|
||||
STR r0, [r1]
|
||||
|
||||
/* set interrupt flag to 1 */
|
||||
LDR r1, =rt_thread_switch_interrupt_flag
|
||||
MOV r0, #1
|
||||
STR r0, [r1]
|
||||
|
||||
/* set the PendSV and SysTick exception priority */
|
||||
LDR r0, =NVIC_SYSPRI2
|
||||
LDR r1, =NVIC_PENDSV_PRI
|
||||
LDR.W r2, [r0,#0x00] /* read */
|
||||
ORR r1,r1,r2 /* modify */
|
||||
STR r1, [r0] /* write-back */
|
||||
|
||||
LDR r0, =NVIC_INT_CTRL /* trigger the PendSV exception (causes context switch) */
|
||||
LDR r1, =NVIC_PENDSVSET
|
||||
STR r1, [r0]
|
||||
|
||||
/* restore MSP */
|
||||
LDR r0, =SCB_VTOR
|
||||
LDR r0, [r0]
|
||||
LDR r0, [r0]
|
||||
NOP
|
||||
MSR msp, r0
|
||||
|
||||
/* enable interrupts at processor level */
|
||||
CPSIE F
|
||||
CPSIE I
|
||||
|
||||
/* ensure PendSV exception taken place before subsequent operation */
|
||||
DSB
|
||||
ISB
|
||||
|
||||
/* never reach here! */
|
||||
|
||||
/* compatible with old version */
|
||||
.global rt_hw_interrupt_thread_switch
|
||||
.type rt_hw_interrupt_thread_switch, %function
|
||||
rt_hw_interrupt_thread_switch:
|
||||
BX lr
|
||||
NOP
|
||||
|
||||
.global HardFault_Handler
|
||||
.type HardFault_Handler, %function
|
||||
HardFault_Handler:
|
||||
/* get current context */
|
||||
MRS r0, msp /* get fault context from handler. */
|
||||
TST lr, #0x04 /* if(!EXC_RETURN[2]) */
|
||||
BEQ get_sp_done
|
||||
MRS r0, psp /* get fault context from thread. */
|
||||
get_sp_done:
|
||||
|
||||
STMFD r0!, {r4 - r11} /* push r4 - r11 register */
|
||||
|
||||
LDR r2, =rt_trustzone_current_context /* r2 = &rt_secure_current_context */
|
||||
LDR r2, [r2] /* r2 = *r2 */
|
||||
MOV r3, lr /* r3 = lr */
|
||||
MRS r4, psplim /* r4 = psplim */
|
||||
MRS r5, control /* r5 = control */
|
||||
STMFD r0!, {r2-r5} /* push to thread stack */
|
||||
|
||||
STMFD r0!, {lr} /* push exec_return register */
|
||||
|
||||
TST lr, #0x04 /* if(!EXC_RETURN[2]) */
|
||||
BEQ update_msp
|
||||
MSR psp, r0 /* update stack pointer to PSP. */
|
||||
B update_done
|
||||
update_msp:
|
||||
MSR msp, r0 /* update stack pointer to MSP. */
|
||||
update_done:
|
||||
|
||||
PUSH {LR}
|
||||
BL rt_hw_hard_fault_exception
|
||||
POP {LR}
|
||||
|
||||
ORR lr, lr, #0x04
|
||||
BX lr
|
||||
Reference in New Issue
Block a user