feat: arm64: update thread self on sp-switch

This patch improves the atomicity of context switching by ensuring that
the stack pointer (sp) and thread self updates occur simultaneously.
This enhancement is crucial for maintaining thread safety and
preventing potential inconsistencies during context switches.

Changes:
- Modified `cpuport.h` to use `ARM64_THREAD_REG` for thread self access.
- Added an `update_tidr` macro in `context_gcc.S` to streamline thread ID
  updates.
- Adjusted `rt_hw_context_switch_to` and `rt_hw_context_switch` to call
  `update_tidr`, ensuring atomic updates during context switches.
- Cleaned up `scheduler_mp.c` by removing redundant thread self
  assignments.

Signed-off-by: Shell <smokewood@qq.com>

libcpu/aarch64/common/include/armv8.h

@@ -11,6 +11,12 @@
 #ifndef __ARMV8_H__
 #define __ARMV8_H__
 
+#include <rtconfig.h>
+
+#ifdef ARCH_USING_HW_THREAD_SELF
+#define ARM64_THREAD_REG tpidr_el1
+#endif /* ARCH_USING_HW_THREAD_SELF */
+
 #ifdef __ASSEMBLY__
 
 /*********************

libcpu/aarch64/common/include/cpuport.h

@@ -57,14 +57,14 @@ void _thread_start(void);
 rt_inline struct rt_thread *rt_hw_thread_self(void)
 {
     struct rt_thread *thread;
-    __asm__ volatile ("mrs %0, tpidr_el1":"=r"(thread));
+    __asm__ volatile ("mrs %0, " RT_STRINGIFY(ARM64_THREAD_REG) :"=r"(thread));
 
     return thread;
 }
 
 rt_inline void rt_hw_thread_set_self(struct rt_thread *thread)
 {
-    __asm__ volatile ("msr tpidr_el1, %0"::"r"(thread));
+    __asm__ volatile ("msr " RT_STRINGIFY(ARM64_THREAD_REG) ", %0"::"r"(thread));
 }
 
 #endif /* ARCH_USING_HW_THREAD_SELF */

libcpu/aarch64/common/mp/context_gcc.S

@@ -27,6 +27,12 @@
 
 .globl rt_hw_context_switch_to
 
+.macro update_tidr, srcx
+#ifdef ARCH_USING_HW_THREAD_SELF
+    msr     ARM64_THREAD_REG, \srcx
+#endif /* ARCH_USING_HW_THREAD_SELF */
+.endm
+
 /*
  * void rt_hw_context_switch_to(rt_uint3 to, struct rt_thread *to_thread);
  * X0 --> to (thread stack)
@@ -35,6 +41,7 @@
 rt_hw_context_switch_to:
     ldr     x0, [x0]
     mov     sp, x0
+    update_tidr x1
 
     /* reserved to_thread */
     mov     x19, x1
@@ -62,6 +69,7 @@ rt_hw_context_switch:
     str     x3, [x0]            // store sp in preempted tasks TCB
     ldr     x0, [x1]            // get new task stack pointer
     mov     sp, x0
+    update_tidr x2
 
     /* backup thread self */
     mov     x19, x2
@@ -119,6 +127,7 @@ rt_hw_context_switch_interrupt:
     /* setup SP to to-thread's */
     ldr     x0, [TO_SPP]
     mov     sp, x0
+    update_tidr TO_TCB
 
     mov     x0, TO_TCB
     bl      rt_cpus_lock_status_restore

src/scheduler_mp.c

@@ -1069,9 +1069,6 @@ void rt_sched_post_ctx_switch(struct rt_thread *thread)
     }
     /* safe to access since irq is masked out */
     pcpu->current_thread = thread;
-#ifdef ARCH_USING_HW_THREAD_SELF
-    rt_hw_thread_set_self(thread);
-#endif /* ARCH_USING_HW_THREAD_SELF */
 }
 
 #ifdef RT_DEBUGING_CRITICAL