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Merge pull request #108 from aozima/pulls 

回收main函数所用的栈空间
This commit is contained in:
Bernard Xiong 2013-06-22 08:00:15 -07:00
parent bee9103eaf a2ff85c03f
commit bde2e918da
9 changed files with 191 additions and 110 deletions
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9
libcpu/arm/cortex-m0/context_gcc.S
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@ -13,6 +13,7 @@
* 2012-06-01 aozima set pendsv priority to 0xFF. * 2012-06-01 aozima set pendsv priority to 0xFF.
* 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.
*/ */
.cpu cortex-m3 .cpu cortex-m3
@ -21,6 +22,7 @@
.thumb .thumb
.text .text
.equ SCB_VTOR, 0xE000ED04 /* Vector Table Offset Register */
.equ ICSR, 0xE000ED04 /* interrupt control state register */ .equ ICSR, 0xE000ED04 /* interrupt control state register */
.equ PENDSVSET_BIT, 0x10000000 /* value to trigger PendSV exception */ .equ PENDSVSET_BIT, 0x10000000 /* value to trigger PendSV exception */
@ -152,6 +154,13 @@ rt_hw_context_switch_to:
LDR R1, =PENDSVSET_BIT LDR R1, =PENDSVSET_BIT
STR R1, [R0] STR R1, [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 */
/* never reach here! */ /* never reach here! */

9
libcpu/arm/cortex-m0/context_iar.S
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@ -12,6 +12,7 @@
; * 2010-01-25 Bernard first version ; * 2010-01-25 Bernard first version
; * 2012-06-01 aozima set pendsv priority to 0xFF. ; * 2012-06-01 aozima set pendsv priority to 0xFF.
; * 2012-08-17 aozima fixed bug: store r8 - r11. ; * 2012-08-17 aozima fixed bug: store r8 - r11.
; * 2013-06-18 aozima add restore MSP feature.
; */ ; */
;/** ;/**
@ -19,6 +20,7 @@
; */ ; */
;/*@{*/ ;/*@{*/
SCB_VTOR EQU 0xE000ED08 ; Vector Table Offset Register
NVIC_INT_CTRL EQU 0xE000ED04 ; interrupt control state register NVIC_INT_CTRL EQU 0xE000ED04 ; interrupt control state register
NVIC_SHPR3 EQU 0xE000ED20 ; system priority register (2) NVIC_SHPR3 EQU 0xE000ED20 ; system priority register (2)
NVIC_PENDSV_PRI EQU 0x00FF0000 ; PendSV priority value (lowest) NVIC_PENDSV_PRI EQU 0x00FF0000 ; PendSV priority value (lowest)
@ -178,6 +180,13 @@ rt_hw_context_switch_to:
STR r1, [r0] STR r1, [r0]
NOP NOP
; restore MSP
LDR r0, =SCB_VTOR
LDR r0, [r0]
LDR r0, [r0]
NOP
MSR msp, r0
; enable interrupts at processor level ; enable interrupts at processor level
CPSIE I CPSIE I

9
libcpu/arm/cortex-m0/context_rvds.S
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@ -12,6 +12,7 @@
; * 2010-01-25 Bernard first version ; * 2010-01-25 Bernard first version
; * 2012-06-01 aozima set pendsv priority to 0xFF. ; * 2012-06-01 aozima set pendsv priority to 0xFF.
; * 2012-08-17 aozima fixed bug: store r8 - r11. ; * 2012-08-17 aozima fixed bug: store r8 - r11.
; * 2013-06-18 aozima add restore MSP feature.
; */ ; */
;/** ;/**
@ -19,6 +20,7 @@
; */ ; */
;/*@{*/ ;/*@{*/
SCB_VTOR EQU 0xE000ED08 ; Vector Table Offset Register
NVIC_INT_CTRL EQU 0xE000ED04 ; interrupt control state register NVIC_INT_CTRL EQU 0xE000ED04 ; interrupt control state register
NVIC_SHPR3 EQU 0xE000ED20 ; system priority register (2) NVIC_SHPR3 EQU 0xE000ED20 ; system priority register (2)
NVIC_PENDSV_PRI EQU 0x00FF0000 ; PendSV priority value (lowest) NVIC_PENDSV_PRI EQU 0x00FF0000 ; PendSV priority value (lowest)
@ -183,6 +185,13 @@ rt_hw_context_switch_to PROC
STR r1, [r0] STR r1, [r0]
NOP NOP
; restore MSP
LDR r0, =SCB_VTOR
LDR r0, [r0]
LDR r0, [r0]
NOP
MSR msp, r0
; enable interrupts at processor level ; enable interrupts at processor level
CPSIE I CPSIE I

211
libcpu/arm/cortex-m3/context_gcc.S
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@ -10,161 +10,170 @@
* Change Logs: * Change Logs:
* Date Author Notes * Date Author Notes
* 2009-10-11 Bernard First version * 2009-10-11 Bernard First version
* 2010-12-29 onelife Modify for EFM32 * 2010-12-29 onelife Modify for EFM32
* 2011-06-17 onelife Merge all of the assembly source code into context_gcc.S * 2011-06-17 onelife Merge all of the assembly source code into context_gcc.S
* 2011-07-12 onelife Add interrupt context check function * 2011-07-12 onelife Add interrupt context check function
* 2013-06-18 aozima add restore MSP feature.
*/ */
.cpu cortex-m3 .cpu cortex-m3
.fpu softvfp .fpu softvfp
.syntax unified .syntax unified
.thumb .thumb
.text .text
.equ ICSR, 0xE000ED04 /* interrupt control state register */ .equ SCB_VTOR, 0xE000ED04 /* Vector Table Offset Register */
.equ PENDSVSET_BIT, 0x10000000 /* value to trigger PendSV exception */ .equ ICSR, 0xE000ED04 /* interrupt control state register */
.equ PENDSVSET_BIT, 0x10000000 /* value to trigger PendSV exception */
.equ SHPR3, 0xE000ED20 /* system priority register (3) */ .equ SHPR3, 0xE000ED20 /* system priority register (3) */
.equ PENDSV_PRI_LOWEST, 0x00FF0000 /* PendSV priority value (lowest) */ .equ PENDSV_PRI_LOWEST, 0x00FF0000 /* PendSV priority value (lowest) */
/* /*
* rt_base_t rt_hw_interrupt_disable(); * rt_base_t rt_hw_interrupt_disable();
*/ */
.global rt_hw_interrupt_disable .global rt_hw_interrupt_disable
.type rt_hw_interrupt_disable, %function .type rt_hw_interrupt_disable, %function
rt_hw_interrupt_disable: rt_hw_interrupt_disable:
MRS R0, PRIMASK MRS R0, PRIMASK
CPSID I CPSID I
BX LR BX LR
/* /*
* void rt_hw_interrupt_enable(rt_base_t level); * void rt_hw_interrupt_enable(rt_base_t level);
*/ */
.global rt_hw_interrupt_enable .global rt_hw_interrupt_enable
.type rt_hw_interrupt_enable, %function .type rt_hw_interrupt_enable, %function
rt_hw_interrupt_enable: rt_hw_interrupt_enable:
MSR PRIMASK, R0 MSR PRIMASK, R0
BX LR BX LR
/* /*
* void rt_hw_context_switch(rt_uint32 from, rt_uint32 to); * void rt_hw_context_switch(rt_uint32 from, rt_uint32 to);
* R0 --> from * R0 --> from
* R1 --> to * R1 --> to
*/ */
.global rt_hw_context_switch_interrupt .global rt_hw_context_switch_interrupt
.type rt_hw_context_switch_interrupt, %function .type rt_hw_context_switch_interrupt, %function
.global rt_hw_context_switch .global rt_hw_context_switch
.type rt_hw_context_switch, %function .type rt_hw_context_switch, %function
rt_hw_context_switch_interrupt: rt_hw_context_switch_interrupt:
rt_hw_context_switch: rt_hw_context_switch:
/* set rt_thread_switch_interrupt_flag to 1 */ /* set rt_thread_switch_interrupt_flag to 1 */
LDR R2, =rt_thread_switch_interrupt_flag LDR R2, =rt_thread_switch_interrupt_flag
LDR R3, [R2] LDR R3, [R2]
CMP R3, #1 CMP R3, #1
BEQ _reswitch BEQ _reswitch
MOV R3, #1 MOV 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 */
STR R0, [R2] STR R0, [R2]
_reswitch: _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, =ICSR /* trigger the PendSV exception (causes context switch) */
LDR R1, =PENDSVSET_BIT LDR R1, =PENDSVSET_BIT
STR R1, [R0] STR R1, [R0]
BX LR BX LR
/* R0 --> swith from thread stack /* R0 --> swith from thread stack
* R1 --> swith to thread stack * R1 --> swith to thread stack
* psr, pc, LR, R12, R3, R2, R1, R0 are pushed into [from] stack * psr, pc, LR, R12, R3, R2, R1, R0 are pushed into [from] stack
*/ */
.global PendSV_Handler .global PendSV_Handler
.type PendSV_Handler, %function .type PendSV_Handler, %function
PendSV_Handler: PendSV_Handler:
/* disable interrupt to protect context switch */ /* disable interrupt to protect context switch */
MRS R2, PRIMASK MRS R2, PRIMASK
CPSID I CPSID I
/* 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 */ CBZ R1, pendsv_exit /* pendsv aLReady handled */
/* clear rt_thread_switch_interrupt_flag to 0 */ /* clear rt_thread_switch_interrupt_flag to 0 */
MOV R1, #0 MOV 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 */ CBZ R1, 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 */ STMFD R1!, {R4 - R11} /* push R4 - R11 register */
LDR R0, [R0] LDR R0, [R0]
STR R1, [R0] /* update from thread stack pointer */ STR R1, [R0] /* update from thread stack pointer */
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 */ LDMFD R1!, {R4 - R11} /* pop R4 - R11 register */
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 ORR LR, LR, #0x04
BX LR BX LR
/* /*
* void rt_hw_context_switch_to(rt_uint32 to); * void rt_hw_context_switch_to(rt_uint32 to);
* R0 --> to * R0 --> to
*/ */
.global rt_hw_context_switch_to .global rt_hw_context_switch_to
.type rt_hw_context_switch_to, %function .type rt_hw_context_switch_to, %function
rt_hw_context_switch_to: rt_hw_context_switch_to:
LDR R1, =rt_interrupt_to_thread LDR R1, =rt_interrupt_to_thread
STR R0, [R1] STR R0, [R1]
/* 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 MOV 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 MOV R0, #1
STR R0, [R1] STR R0, [R1]
/* set the PendSV exception priority */ /* set the PendSV exception priority */
LDR R0, =SHPR3 LDR R0, =SHPR3
LDR R1, =PENDSV_PRI_LOWEST LDR R1, =PENDSV_PRI_LOWEST
LDR.W R2, [R0,#0] /* read */ LDR.W R2, [R0,#0] /* read */
ORR R1, R1, R2 /* modify */ ORR 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, =ICSR /* trigger the PendSV exception (causes context switch) */
LDR R1, =PENDSVSET_BIT LDR R1, =PENDSVSET_BIT
STR R1, [R0] STR R1, [R0]
CPSIE I /* enable interrupts at processor level */ /* restore MSP */
LDR r0, =SCB_VTOR
LDR r0, [r0]
LDR r0, [r0]
NOP
MSR msp, r0
/* never reach here! */ CPSIE I /* enable interrupts at processor level */
/* never reach here! */
/* compatible with old version */ /* compatible with old version */
.global rt_hw_interrupt_thread_switch .global rt_hw_interrupt_thread_switch
.type rt_hw_interrupt_thread_switch, %function .type rt_hw_interrupt_thread_switch, %function
rt_hw_interrupt_thread_switch: rt_hw_interrupt_thread_switch:
BX LR BX LR
NOP NOP
.global HardFault_Handler .global HardFault_Handler
.type HardFault_Handler, %function .type HardFault_Handler, %function
HardFault_Handler: HardFault_Handler:
/* get current context */ /* get current context */
MRS R0, PSP /* get fault thread stack pointer */ MRS R0, PSP /* get fault thread stack pointer */
@ -179,8 +188,8 @@ HardFault_Handler:
* rt_uint32_t rt_hw_interrupt_check(void); * rt_uint32_t rt_hw_interrupt_check(void);
* R0 --> state * R0 --> state
*/ */
.global rt_hw_interrupt_check .global rt_hw_interrupt_check
.type rt_hw_interrupt_check, %function .type rt_hw_interrupt_check, %function
rt_hw_interrupt_check: rt_hw_interrupt_check:
MRS R0, IPSR MRS R0, IPSR
BX LR BX LR

9
libcpu/arm/cortex-m3/context_iar.S
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@ -11,6 +11,7 @@
; * Date Author Notes ; * Date Author Notes
; * 2009-01-17 Bernard first version ; * 2009-01-17 Bernard first version
; * 2009-09-27 Bernard add protect when contex switch occurs ; * 2009-09-27 Bernard add protect when contex switch occurs
; * 2013-06-18 aozima add restore MSP feature.
; */ ; */
;/** ;/**
@ -18,6 +19,7 @@
; */ ; */
;/*@{*/ ;/*@{*/
SCB_VTOR EQU 0xE000ED08 ; Vector Table Offset Register
NVIC_INT_CTRL EQU 0xE000ED04 ; interrupt control state register NVIC_INT_CTRL EQU 0xE000ED04 ; interrupt control state register
NVIC_SYSPRI2 EQU 0xE000ED20 ; system priority register (2) NVIC_SYSPRI2 EQU 0xE000ED20 ; system priority register (2)
NVIC_PENDSV_PRI EQU 0x00FF0000 ; PendSV priority value (lowest) NVIC_PENDSV_PRI EQU 0x00FF0000 ; PendSV priority value (lowest)
@ -151,6 +153,13 @@ rt_hw_context_switch_to:
LDR r1, =NVIC_PENDSVSET LDR r1, =NVIC_PENDSVSET
STR r1, [r0] STR r1, [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
; never reach here! ; never reach here!

9
libcpu/arm/cortex-m3/context_rvds.S
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@ -10,6 +10,7 @@
; * Change Logs: ; * Change Logs:
; * Date Author Notes ; * Date Author Notes
; * 2009-01-17 Bernard first version ; * 2009-01-17 Bernard first version
; * 2013-06-18 aozima add restore MSP feature.
; */ ; */
;/** ;/**
@ -17,6 +18,7 @@
; */ ; */
;/*@{*/ ;/*@{*/
SCB_VTOR EQU 0xE000ED08 ; Vector Table Offset Register
NVIC_INT_CTRL EQU 0xE000ED04 ; interrupt control state register NVIC_INT_CTRL EQU 0xE000ED04 ; interrupt control state register
NVIC_SYSPRI2 EQU 0xE000ED20 ; system priority register (2) NVIC_SYSPRI2 EQU 0xE000ED20 ; system priority register (2)
NVIC_PENDSV_PRI EQU 0x00FF0000 ; PendSV priority value (lowest) NVIC_PENDSV_PRI EQU 0x00FF0000 ; PendSV priority value (lowest)
@ -158,6 +160,13 @@ rt_hw_context_switch_to PROC
LDR r1, =NVIC_PENDSVSET LDR r1, =NVIC_PENDSVSET
STR r1, [r0] STR r1, [r0]
; restore MSP
LDR r0, =SCB_VTOR
LDR r0, [r0]
LDR r0, [r0]
NOP
MSR msp, r0
; enable interrupts at processor level ; enable interrupts at processor level
CPSIE I CPSIE I

19
libcpu/arm/cortex-m4/context_gcc.S
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@ -11,6 +11,7 @@
* Date Author Notes * Date Author Notes
* 2009-10-11 Bernard first version * 2009-10-11 Bernard first version
* 2012-01-01 aozima support context switch load/store FPU register. * 2012-01-01 aozima support context switch load/store FPU register.
* 2013-06-18 aozima add restore MSP feature.
*/ */
/** /**
@ -23,10 +24,11 @@
.thumb .thumb
.text .text
.equ NVIC_INT_CTRL, 0xE000ED04 /* interrupt control state register */ .equ SCB_VTOR, 0xE000ED04 /* Vector Table Offset Register */
.equ NVIC_SYSPRI2, 0xE000ED20 /* system priority register (2) */ .equ NVIC_INT_CTRL, 0xE000ED04 /* interrupt control state register */
.equ NVIC_PENDSV_PRI, 0x00FF0000 /* PendSV priority value (lowest) */ .equ NVIC_SYSPRI2, 0xE000ED20 /* system priority register (2) */
.equ NVIC_PENDSVSET, 0x10000000 /* value to trigger PendSV exception */ .equ NVIC_PENDSV_PRI, 0x00FF0000 /* PendSV priority value (lowest) */
.equ NVIC_PENDSVSET, 0x10000000 /* value to trigger PendSV exception */
/* /*
* rt_base_t rt_hw_interrupt_disable(); * rt_base_t rt_hw_interrupt_disable();
@ -106,7 +108,7 @@ PendSV_Handler:
MRS r1, psp /* get from thread stack pointer */ MRS r1, psp /* get from thread stack pointer */
#if defined (__VFP_FP__) && !defined(__SOFTFP__) #if defined (__VFP_FP__) && !defined(__SOFTFP__)
VSTMDB r1!, {d8 - d15} /* push FPU register s16~s31 */ VSTMDB r1!, {d8 - d15} /* push FPU register s16~s31 */
#endif #endif
STMFD r1!, {r4 - r11} /* push r4 - r11 register */ STMFD r1!, {r4 - r11} /* push r4 - r11 register */
@ -164,6 +166,13 @@ rt_hw_context_switch_to:
LDR r1, =NVIC_PENDSVSET LDR r1, =NVIC_PENDSVSET
STR r1, [r0] STR r1, [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 */
/* never reach here! */ /* never reach here! */

9
libcpu/arm/cortex-m4/context_iar.S
View File

@ -12,6 +12,7 @@
; * 2009-01-17 Bernard first version ; * 2009-01-17 Bernard first version
; * 2009-09-27 Bernard add protect when contex switch occurs ; * 2009-09-27 Bernard add protect when contex switch occurs
; * 2012-01-01 aozima support context switch load/store FPU register. ; * 2012-01-01 aozima support context switch load/store FPU register.
; * 2013-06-18 aozima add restore MSP feature.
; */ ; */
;/** ;/**
@ -19,6 +20,7 @@
; */ ; */
;/*@{*/ ;/*@{*/
SCB_VTOR EQU 0xE000ED08 ; Vector Table Offset Register
NVIC_INT_CTRL EQU 0xE000ED04 ; interrupt control state register NVIC_INT_CTRL EQU 0xE000ED04 ; interrupt control state register
NVIC_SYSPRI2 EQU 0xE000ED20 ; system priority register (2) NVIC_SYSPRI2 EQU 0xE000ED20 ; system priority register (2)
NVIC_PENDSV_PRI EQU 0x00FF0000 ; PendSV priority value (lowest) NVIC_PENDSV_PRI EQU 0x00FF0000 ; PendSV priority value (lowest)
@ -162,6 +164,13 @@ rt_hw_context_switch_to:
LDR r1, =NVIC_PENDSVSET LDR r1, =NVIC_PENDSVSET
STR r1, [r0] STR r1, [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
; never reach here! ; never reach here!

13
libcpu/arm/cortex-m4/context_rvds.S
View File

@ -11,6 +11,7 @@
; * Date Author Notes ; * Date Author Notes
; * 2009-01-17 Bernard first version. ; * 2009-01-17 Bernard first version.
; * 2012-01-01 aozima support context switch load/store FPU register. ; * 2012-01-01 aozima support context switch load/store FPU register.
; * 2013-06-18 aozima add restore MSP feature.
; */ ; */
;/** ;/**
@ -18,6 +19,7 @@
; */ ; */
;/*@{*/ ;/*@{*/
SCB_VTOR EQU 0xE000ED08 ; Vector Table Offset Register
NVIC_INT_CTRL EQU 0xE000ED04 ; interrupt control state register NVIC_INT_CTRL EQU 0xE000ED04 ; interrupt control state register
NVIC_SYSPRI2 EQU 0xE000ED20 ; system priority register (2) NVIC_SYSPRI2 EQU 0xE000ED20 ; system priority register (2)
NVIC_PENDSV_PRI EQU 0x00FF0000 ; PendSV priority value (lowest) NVIC_PENDSV_PRI EQU 0x00FF0000 ; PendSV priority value (lowest)
@ -108,10 +110,10 @@ PendSV_Handler PROC
MRS r1, psp ; get from thread stack pointer MRS r1, psp ; get from thread stack pointer
IF {FPU} != "SoftVFP" IF {FPU} != "SoftVFP"
VSTMFD r1!, {d8 - d15} ; push FPU register s16~s31 VSTMFD r1!, {d8 - d15} ; push FPU register s16~s31
ENDIF ENDIF
STMFD r1!, {r4 - r11} ; push r4 - r11 register STMFD r1!, {r4 - r11} ; push r4 - r11 register
LDR r0, [r0] LDR r0, [r0]
STR r1, [r0] ; update from thread stack pointer STR r1, [r0] ; update from thread stack pointer
@ -169,6 +171,13 @@ rt_hw_context_switch_to PROC
LDR r1, =NVIC_PENDSVSET LDR r1, =NVIC_PENDSVSET
STR r1, [r0] STR r1, [r0]
; restore MSP
LDR r0, =SCB_VTOR
LDR r0, [r0]
LDR r0, [r0]
NOP
MSR msp, r0
; enable interrupts at processor level ; enable interrupts at processor level
CPSIE I CPSIE I