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Merge pull request #189 from bright-pan/master 

Fix hardfault bug for gcc port
This commit is contained in:
aozima 2013-11-04 04:22:51 -08:00
parent 0701b57eaa 06987e72e5
commit 56cb5752d4
1 changed files with 55 additions and 37 deletions
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92
libcpu/arm/cortex-m0/context_gcc.S
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@ -14,20 +14,20 @@
* 2012-08-17 aozima fixed bug: store r8 - r11. * 2012-08-17 aozima fixed bug: store r8 - r11.
* 2013-02-20 aozima port to gcc. * 2013-02-20 aozima port to gcc.
* 2013-06-18 aozima add restore MSP feature. * 2013-06-18 aozima add restore MSP feature.
* 2013-11-04 bright fixed hardfault bug for gcc.
*/ */
.cpu cortex-m3 .cpu cortex-m0
.fpu softvfp .fpu softvfp
.syntax unified .syntax unified
.thumb .thumb
.text .text
.equ SCB_VTOR, 0xE000ED08 /* Vector Table Offset Register */ .equ SCB_VTOR, 0xE000ED08 /* Vector Table Offset Register */
.equ ICSR, 0xE000ED04 /* interrupt control state register */ .equ NVIC_INT_CTRL, 0xE000ED04 /* interrupt control state register */
.equ PENDSVSET_BIT, 0x10000000 /* value to trigger PendSV exception */ .equ NVIC_SHPR3, 0xE000ED20 /* system priority register (3) */
.equ NVIC_PENDSV_PRI, 0x00FF0000 /* PendSV priority value (lowest) */
.equ SHPR3, 0xE000ED20 /* system priority register (3) */ .equ NVIC_PENDSVSET, 0x10000000 /* value to trigger PendSV exception */
.equ PENDSV_PRI_LOWEST, 0x00FF0000 /* PendSV priority value (lowest) */
/* /*
* rt_base_t rt_hw_interrupt_disable(); * rt_base_t rt_hw_interrupt_disable();
@ -64,7 +64,7 @@ rt_hw_context_switch:
LDR R3, [R2] LDR R3, [R2]
CMP R3, #1 CMP R3, #1
BEQ _reswitch BEQ _reswitch
MOV R3, #1 MOVS R3, #1
STR R3, [R2] STR R3, [R2]
LDR R2, =rt_interrupt_from_thread /* set rt_interrupt_from_thread */ LDR R2, =rt_interrupt_from_thread /* set rt_interrupt_from_thread */
@ -74,8 +74,8 @@ _reswitch:
LDR R2, =rt_interrupt_to_thread /* set rt_interrupt_to_thread */ LDR R2, =rt_interrupt_to_thread /* set rt_interrupt_to_thread */
STR R1, [R2] STR R1, [R2]
LDR R0, =ICSR /* trigger the PendSV exception (causes context switch) */ LDR R0, =NVIC_INT_CTRL /* trigger the PendSV exception (causes context switch) */
LDR R1, =PENDSVSET_BIT LDR R1, =NVIC_PENDSVSET
STR R1, [R0] STR R1, [R0]
BX LR BX LR
@ -93,36 +93,56 @@ PendSV_Handler:
/* get rt_thread_switch_interrupt_flag */ /* get rt_thread_switch_interrupt_flag */
LDR R0, =rt_thread_switch_interrupt_flag LDR R0, =rt_thread_switch_interrupt_flag
LDR R1, [R0] LDR R1, [R0]
CBZ R1, pendsv_exit /* pendsv aLReady handled */ CMP R1, #0x00
BEQ pendsv_exit /* pendsv aLReady handled */
/* clear rt_thread_switch_interrupt_flag to 0 */ /* clear rt_thread_switch_interrupt_flag to 0 */
MOV R1, #0 MOVS R1, #0
STR R1, [R0] STR R1, [R0]
LDR R0, =rt_interrupt_from_thread LDR R0, =rt_interrupt_from_thread
LDR R1, [R0] LDR R1, [R0]
CBZ R1, swtich_to_thread /* skip register save at the first time */ CMP R1, #0x00
BEQ swtich_to_thread /* skip register save at the first time */
MRS R1, PSP /* get from thread stack pointer */ MRS R1, PSP /* get from thread stack pointer */
STMFD R1!, {R4 - R11} /* push R4 - R11 register */
SUBS R1, R1, #0x20 /* space for {R4 - R7} and {R8 - R11} */
LDR R0, [R0] LDR R0, [R0]
STR R1, [R0] /* update from thread stack pointer */ STR R1, [R0] /* update from thread stack pointer */
STMIA R1!, {R4 - R7} /* push thread {R4 - R7} register to thread stack */
MOV R4, R8 /* mov thread {R8 - R11} to {R4 - R7} */
MOV R5, R9
MOV R6, R10
MOV R7, R11
STMIA R1!, {R4 - R7} /* push thread {R8 - R11} high register to thread stack */
swtich_to_thread: swtich_to_thread:
LDR R1, =rt_interrupt_to_thread LDR R1, =rt_interrupt_to_thread
LDR R1, [R1] LDR R1, [R1]
LDR R1, [R1] /* load thread stack pointer */ LDR R1, [R1] /* load thread stack pointer */
LDMFD R1!, {R4 - R11} /* pop R4 - R11 register */ LDMIA R1!, {R4 - R7} /* pop thread {R4 - R7} register from thread stack */
PUSH {R4 - R7} /* push {R4 - R7} to MSP for copy {R8 - R11} */
LDMIA R1!, {R4 - R7} /* pop thread {R8 - R11} high register from thread stack to {R4 - R7} */
MOV R8, R4 /* mov {R4 - R7} to {R8 - R11} */
MOV R9, R5
MOV R10, R6
MOV R11, R7
POP {R4 - R7} /* pop {R4 - R7} from MSP */
MSR PSP, R1 /* update stack pointer */ MSR PSP, R1 /* update stack pointer */
pendsv_exit: pendsv_exit:
/* restore interrupt */ /* restore interrupt */
MSR PRIMASK, R2 MSR PRIMASK, R2
ORR LR, LR, #0x04 MOVS R0, #0x04
BX LR RSBS R0, R0, #0x00
BX R0
/* /*
* void rt_hw_context_switch_to(rt_uint32 to); * void rt_hw_context_switch_to(rt_uint32 to);
* R0 --> to * R0 --> to
@ -135,31 +155,31 @@ rt_hw_context_switch_to:
/* set from thread to 0 */ /* set from thread to 0 */
LDR R1, =rt_interrupt_from_thread LDR R1, =rt_interrupt_from_thread
MOV R0, #0 MOVS R0, #0
STR R0, [R1] STR R0, [R1]
/* set interrupt flag to 1 */ /* set interrupt flag to 1 */
LDR R1, =rt_thread_switch_interrupt_flag LDR R1, =rt_thread_switch_interrupt_flag
MOV R0, #1 MOVS R0, #1
STR R0, [R1] STR R0, [R1]
/* set the PendSV exception priority */ /* set the PendSV exception priority */
LDR R0, =SHPR3 LDR R0, =NVIC_SHPR3
LDR R1, =PENDSV_PRI_LOWEST LDR R1, =NVIC_PENDSV_PRI
LDR.W R2, [R0,#0] /* read */ LDR R2, [R0,#0x00] /* read */
ORR R1, R1, R2 /* modify */ ORRS R1, R1, R2 /* modify */
STR R1, [R0] /* write-back */ STR R1, [R0] /* write-back */
LDR R0, =ICSR /* trigger the PendSV exception (causes context switch) */ LDR R0, =NVIC_INT_CTRL /* trigger the PendSV exception (causes context switch) */
LDR R1, =PENDSVSET_BIT LDR R1, =NVIC_PENDSVSET
STR R1, [R0] STR R1, [R0]
/* restore MSP */
LDR r0, =SCB_VTOR
LDR r0, [r0]
LDR r0, [r0]
NOP NOP
MSR msp, r0 /* restore MSP */
LDR R0, =SCB_VTOR
LDR R0, [R0]
LDR R0, [R0]
NOP
MSR MSP, R0
CPSIE I /* enable interrupts at processor level */ CPSIE I /* enable interrupts at processor level */
@ -179,10 +199,8 @@ HardFault_Handler:
MRS R0, PSP /* get fault thread stack pointer */ MRS R0, PSP /* get fault thread stack pointer */
PUSH {LR} PUSH {LR}
BL rt_hw_hard_fault_exception BL rt_hw_hard_fault_exception
POP {LR} POP {PC}
ORR LR, LR, #0x04
BX LR
/* /*
* rt_uint32_t rt_hw_interrupt_check(void); * rt_uint32_t rt_hw_interrupt_check(void);