119 lines
2.4 KiB
ArmAsm
119 lines
2.4 KiB
ArmAsm
/*
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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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* 2009-10-11 Bernard first version
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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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File name: pendsv.S
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Description: PendSV interrupt handler
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Others: take RT-Thread v4.0.2/libcpu/arm/cortex-m4/context_gcc.S for references
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https://github.com/RT-Thread/rt-thread/tree/v4.0.2
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History:
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1. Date: 2021-04-25
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Author: AIIT XUOS Lab
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*************************************************/
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#include <xsconfig.h>
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.cpu cortex-m4
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.syntax unified
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.thumb
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.text
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.equ SCB_VTOR, 0xE000ED08
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.equ NVIC_INT_CTRL, 0xE000ED04
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.equ NVIC_SYSPRI2, 0xE000ED20
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.equ NVIC_PENDSV_PRI, 0x00FF0000
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.equ NVIC_PENDSVSET, 0x10000000
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.globl PendSV_Handler
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.type PendSV_Handler, %function
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PendSV_Handler:
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MRS r3, PRIMASK
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CPSID I
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LDR r0, =KtaskSwitchInterruptFlag
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LDR r1, [r0]
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CBZ r1, pendsv_exit
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MOV r1, #0x00
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STR r1, [r0]
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LDR r0, =InterruptFromKtask
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LDR r1, [r0]
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CBZ r1, switch_to_task
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MRS r1, psp
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STMFD r1!, {r3 - r11}
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#if defined (__VFP_FP__) && !defined(__SOFTFP__)
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MOV r4, #0x00
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TST lr, #0x10
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MOVEQ r4, #0x01
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STMFD r1!, {r4}
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#endif
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LDR r0, [r0]
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STR r1, [r0]
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switch_to_task:
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PUSH {lr}
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BL UpdateRunningTask
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POP {lr}
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#ifdef TASK_ISOLATION
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PUSH {lr}
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BL GetTaskPrivilege
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POP {lr}
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#endif
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LDR r1, =InterruptToKtask
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LDR r1, [r1]
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LDR r1, [r1]
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#if defined (__VFP_FP__) && !defined(__SOFTFP__)
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LDMFD r1!, {r2}
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#endif
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LDMFD r1!, {r3 - r11}
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MSR psp, r1
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#if defined (__VFP_FP__) && !defined(__SOFTFP__)
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ORR lr, lr, #0x10
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CMP r2, #0
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BICNE lr, lr, #0x10
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#endif
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MRS r2, control
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#ifdef TASK_ISOLATION
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CMP r0, #1
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BEQ unprivilege
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privilege:
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BIC r2, r2, #0x01
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B exit
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unprivilege:
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ORR r2, r2, #0x01
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#else
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BIC r2, r2, #0x01
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#endif
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exit:
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MSR control, r2
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pendsv_exit:
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ORR lr, lr, #0x04
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MSR PRIMASK, r3
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BX lr
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