/* ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, 2011,2012 Giovanni Di Sirio. This file is part of ChibiOS/RT. ChibiOS/RT is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version. ChibiOS/RT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /** * @file ARM/chcoreasm.s * @brief ARM7/9 architecture port low level code. * * @addtogroup ARM_CORE * @{ */ #include "chconf.h" #define FALSE 0 #define TRUE 1 #if !defined(__DOXYGEN__) .set MODE_USR, 0x10 .set MODE_FIQ, 0x11 .set MODE_IRQ, 0x12 .set MODE_SVC, 0x13 .set MODE_ABT, 0x17 .set MODE_UND, 0x1B .set MODE_SYS, 0x1F .equ I_BIT, 0x80 .equ F_BIT, 0x40 .text /* * Interrupt enable/disable functions, only present if there is THUMB code in * the system because those are inlined in ARM code. */ #ifdef THUMB_PRESENT .balign 16 .code 16 .thumb_func .global _port_disable_thumb _port_disable_thumb: mov r3, pc bx r3 .code 32 mrs r3, CPSR orr r3, #I_BIT msr CPSR_c, r3 orr r3, #F_BIT msr CPSR_c, r3 bx lr .balign 16 .code 16 .thumb_func .global _port_suspend_thumb _port_suspend_thumb: .thumb_func .global _port_lock_thumb _port_lock_thumb: mov r3, pc bx r3 .code 32 msr CPSR_c, #MODE_SYS | I_BIT bx lr .balign 16 .code 16 .thumb_func .global _port_enable_thumb _port_enable_thumb: .thumb_func .global _port_unlock_thumb _port_unlock_thumb: mov r3, pc bx r3 .code 32 msr CPSR_c, #MODE_SYS bx lr #endif .balign 16 #ifdef THUMB_PRESENT .code 16 .thumb_func .global _port_switch_thumb _port_switch_thumb: mov r2, pc bx r2 // Jumps into _port_switch_arm in ARM mode #endif .code 32 .global _port_switch_arm _port_switch_arm: #ifdef CH_CURRP_REGISTER_CACHE stmfd sp!, {r4, r5, r6, r8, r9, r10, r11, lr} str sp, [r1, #12] ldr sp, [r0, #12] #ifdef THUMB_PRESENT ldmfd sp!, {r4, r5, r6, r8, r9, r10, r11, lr} bx lr #else /* !THUMB_PRESENT */ ldmfd sp!, {r4, r5, r6, r8, r9, r10, r11, pc} #endif /* !THUMB_PRESENT */ #else /* !CH_CURRP_REGISTER_CACHE */ stmfd sp!, {r4, r5, r6, r7, r8, r9, r10, r11, lr} str sp, [r1, #12] ldr sp, [r0, #12] #ifdef THUMB_PRESENT ldmfd sp!, {r4, r5, r6, r7, r8, r9, r10, r11, lr} bx lr #else /* !THUMB_PRESENT */ ldmfd sp!, {r4, r5, r6, r7, r8, r9, r10, r11, pc} #endif /* !THUMB_PRESENT */ #endif /* !CH_CURRP_REGISTER_CACHE */ /* * Common exit point for all IRQ routines, it performs the rescheduling if * required. * System stack frame structure after a context switch in the * interrupt handler: * * High +------------+ * | LR_USR | -+ * | R12 | | * | R3 | | * | R2 | | External context: IRQ handler frame * | R1 | | * | R0 | | * | PC | | (user code return address) * | PSR_USR | -+ (user code status) * | .... | <- chSchDoReschedule() stack frame, optimize it for space * | LR | -+ (system code return address) * | R11 | | * | R10 | | * | R9 | | * | R8 | | Internal context: chSysSwitch() frame * | (R7) | | (optional, see CH_CURRP_REGISTER_CACHE) * | R6 | | * | R5 | | * SP-> | R4 | -+ * Low +------------+ */ .balign 16 #ifdef THUMB_NO_INTERWORKING .code 16 .thumb_func .globl _port_irq_common _port_irq_common: bl chSchIsPreemptionRequired mov lr, pc bx lr .code 32 #else /* !THUMB_NO_INTERWORKING */ .code 32 .globl _port_irq_common _port_irq_common: bl chSchIsPreemptionRequired #endif /* !THUMB_NO_INTERWORKING */ cmp r0, #0 // Simply returns if a ldmeqfd sp!, {r0-r3, r12, lr} // reschedule is not subeqs pc, lr, #4 // required. // Saves the IRQ mode registers in the system stack. ldmfd sp!, {r0-r3, r12, lr} // IRQ stack now empty. msr CPSR_c, #MODE_SYS | I_BIT stmfd sp!, {r0-r3, r12, lr} // Registers on System Stack. msr CPSR_c, #MODE_IRQ | I_BIT mrs r0, SPSR mov r1, lr msr CPSR_c, #MODE_SYS | I_BIT stmfd sp!, {r0, r1} // Push R0=SPSR, R1=LR_IRQ. // Context switch. #ifdef THUMB_NO_INTERWORKING add r0, pc, #1 bx r0 .code 16 #if CH_DBG_SYSTEM_STATE_CHECK bl dbg_check_lock #endif bl chSchDoReschedule #if CH_DBG_SYSTEM_STATE_CHECK bl dbg_check_unlock #endif mov lr, pc bx lr .code 32 #else /* !THUMB_NO_INTERWORKING */ #if CH_DBG_SYSTEM_STATE_CHECK bl dbg_check_lock #endif bl chSchDoReschedule #if CH_DBG_SYSTEM_STATE_CHECK bl dbg_check_unlock #endif #endif /* !THUMB_NO_INTERWORKING */ // Re-establish the IRQ conditions again. ldmfd sp!, {r0, r1} // Pop R0=SPSR, R1=LR_IRQ. msr CPSR_c, #MODE_IRQ | I_BIT msr SPSR_fsxc, r0 mov lr, r1 msr CPSR_c, #MODE_SYS | I_BIT ldmfd sp!, {r0-r3, r12, lr} msr CPSR_c, #MODE_IRQ | I_BIT subs pc, lr, #4 /* * Threads trampoline code. * NOTE: The threads always start in ARM mode and then switches to the * thread-function mode. */ .balign 16 .code 32 .globl _port_thread_start _port_thread_start: #if CH_DBG_SYSTEM_STATE_CHECK mov r0, #0 ldr r1, =dbg_lock_cnt str r0, [r1] #endif msr CPSR_c, #MODE_SYS #ifndef THUMB_NO_INTERWORKING mov r0, r5 mov lr, pc bx r4 bl chThdExit #else /* !THUMB_NO_INTERWORKING */ add r0, pc, #1 bx r0 .code 16 mov r0, r5 bl jmpr4 bl chThdExit jmpr4: bx r4 #endif /* !THUMB_NO_INTERWORKING */ #endif /* !defined(__DOXYGEN__) */ /** @} */