/************************************************************************************ * arch/arm/src/stm32/stm32_vectors.S * arch/arm/src/chip/stm32_vectors.S * * Copyright (C) 2009-2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name NuttX nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ************************************************************************************/ /************************************************************************************ * Included Files ************************************************************************************/ #include #include #include "chip.h" #include "exc_return.h" /************************************************************************************ * Configuration ************************************************************************************/ /************************************************************************************ * Pre-processor Definitions ************************************************************************************/ /* Configuration ********************************************************************/ #ifdef CONFIG_ARCH_HIPRI_INTERRUPT /* In kernel mode without an interrupt stack, this interrupt handler will set the * MSP to the stack pointer of the interrupted thread. If the interrupted thread * was a privileged thread, that will be the MSP otherwise it will be the PSP. If * the PSP is used, then the value of the MSP will be invalid when the interrupt * handler returns because it will be a pointer to an old position in the * unprivileged stack. Then when the high priority interrupt occurs and uses this * stale MSP, there will most likely be a system failure. * * If the interrupt stack is selected, on the other hand, then the interrupt * handler will always set the the MSP to the interrupt stack. So when the high * priority interrupt occurs, it will either use the MSP of the last privileged * thread to run or, in the case of the nested interrupt, the interrupt stack if * no privileged task has run. */ # if defined(CONFIG_BUILD_PROTECTED) && CONFIG_ARCH_INTERRUPTSTACK < 4 # error Interrupt stack must be used with high priority interrupts in kernel mode # endif /* Use the the BASEPRI to control interrupts is required if nested, high * priority interrupts are supported. */ # ifndef CONFIG_ARMV7M_USEBASEPRI # error CONFIG_ARMV7M_USEBASEPRI must be used with CONFIG_ARCH_HIPRI_INTERRUPT # endif #endif /* Memory Map ***********************************************************************/ /* * 0x0800:0000 - Beginning of FLASH. Address of vectors (if not using bootloader) * Mapped to address 0x0000:0000 at boot time. * 0x0800:3000 - Address of vectors if using bootloader * 0x0803:ffff - End of flash * 0x2000:0000 - Start of SRAM and start of .data (_sdata) * - End of .data (_edata) abd start of .bss (_sbss) * - End of .bss (_ebss) and bottom of idle stack * - _ebss + CONFIG_IDLETHREAD_STACKSIZE = end of idle stack, start of heap * 0x2000:ffff - End of SRAM and end of heap */ #define IDLE_STACK (_ebss+CONFIG_IDLETHREAD_STACKSIZE-4) #define HEAP_BASE (_ebss+CONFIG_IDLETHREAD_STACKSIZE) /************************************************************************************ * Global Symbols ************************************************************************************/ .syntax unified .thumb .file "stm32_vectors.S" /* Check if common ARMv7 interrupt vectoring is used (see arch/arm/src/armv7-m/up_vectors.S) */ #ifndef CONFIG_ARMV7M_CMNVECTOR .globl __start /************************************************************************************ * Macros ************************************************************************************/ /* On entry into an IRQ, the hardware automatically saves the xPSR, PC, LR, R12, R0-R3 * registers on the stack, then branches to an instantantiation of the following * macro. This macro simply loads the IRQ number into R0, then jumps to the common * IRQ handling logic. */ .macro HANDLER, label, irqno .thumb_func \label: mov r0, #\irqno b exception_common .endm /************************************************************************************ * Vectors ************************************************************************************/ .section .vectors, "ax" .code 16 .align 2 .globl _vectors .type _vectors, function _vectors: /* Processor Exceptions */ .word IDLE_STACK /* Vector 0: Reset stack pointer */ .word __start /* Vector 1: Reset vector */ .word stm32_nmi /* Vector 2: Non-Maskable Interrupt (NMI) */ .word stm32_hardfault /* Vector 3: Hard fault */ .word stm32_mpu /* Vector 4: Memory management (MPU) */ .word stm32_busfault /* Vector 5: Bus fault */ .word stm32_usagefault /* Vector 6: Usage fault */ .word stm32_reserved /* Vector 7: Reserved */ .word stm32_reserved /* Vector 8: Reserved */ .word stm32_reserved /* Vector 9: Reserved */ .word stm32_reserved /* Vector 10: Reserved */ .word stm32_svcall /* Vector 11: SVC call */ .word stm32_dbgmonitor /* Vector 12: Debug monitor */ .word stm32_reserved /* Vector 13: Reserved */ .word stm32_pendsv /* Vector 14: Pendable system service request */ .word stm32_systick /* Vector 15: System tick */ /* External Interrupts */ #if !defined(CONFIG_STM32_NOEXT_VECTORS) #undef VECTOR #define VECTOR(l,i) .word l #undef UNUSED #define UNUSED(i) .word stm32_reserved #if defined(CONFIG_STM32_STM32L15XX) # include "chip/stm32l15xxx_vectors.h" #elif defined(CONFIG_STM32_STM32F10XX) # include "chip/stm32f10xxx_vectors.h" #elif defined(CONFIG_STM32_STM32F20XX) # include "chip/stm32f20xxx_vectors.h" #elif defined(CONFIG_STM32_STM32F30XX) # include "chip/stm32f30xxx_vectors.h" #elif defined(CONFIG_STM32_STM32F37XX) # include "chip/stm32f37xxx_vectors.h" #elif defined(CONFIG_STM32_STM32F40XX) # include "chip/stm32f40xxx_vectors.h" #else # error "No vectors for STM32 chip" #endif #endif /* CONFIG_STM32_NOEXT_VECTORS */ .size _vectors, .-_vectors /************************************************************************************ * .text ************************************************************************************/ .text .type handlers, function .thumb_func handlers: HANDLER stm32_reserved, STM32_IRQ_RESERVED /* Unexpected/reserved vector */ HANDLER stm32_nmi, STM32_IRQ_NMI /* Vector 2: Non-Maskable Interrupt (NMI) */ HANDLER stm32_hardfault, STM32_IRQ_HARDFAULT /* Vector 3: Hard fault */ HANDLER stm32_mpu, STM32_IRQ_MEMFAULT /* Vector 4: Memory management (MPU) */ HANDLER stm32_busfault, STM32_IRQ_BUSFAULT /* Vector 5: Bus fault */ HANDLER stm32_usagefault, STM32_IRQ_USAGEFAULT /* Vector 6: Usage fault */ HANDLER stm32_svcall, STM32_IRQ_SVCALL /* Vector 11: SVC call */ HANDLER stm32_dbgmonitor, STM32_IRQ_DBGMONITOR /* Vector 12: Debug Monitor */ HANDLER stm32_pendsv, STM32_IRQ_PENDSV /* Vector 14: Penable system service request */ HANDLER stm32_systick, STM32_IRQ_SYSTICK /* Vector 15: System tick */ #if !defined(CONFIG_STM32_NOEXT_VECTORS) #undef VECTOR #define VECTOR(l,i) HANDLER l, i #undef UNUSED #define UNUSED(i) #if defined(CONFIG_STM32_STM32L15XX) # include "chip/stm32l15xxx_vectors.h" #elif defined(CONFIG_STM32_STM32F10XX) # include "chip/stm32f10xxx_vectors.h" #elif defined(CONFIG_STM32_STM32F20XX) # include "chip/stm32f20xxx_vectors.h" #elif defined(CONFIG_STM32_STM32F30XX) # include "chip/stm32f30xxx_vectors.h" #elif defined(CONFIG_STM32_STM32F37XX) # include "chip/stm32f37xxx_vectors.h" #elif defined(CONFIG_STM32_STM32F40XX) # include "chip/stm32f40xxx_vectors.h" #else # error "No handlers for STM32 chip" #endif #endif /* CONFIG_STM32_NOEXT_VECTORS */ /* Common IRQ handling logic. On entry here, the return stack is on either * the PSP or the MSP and looks like the following: * * REG_XPSR * REG_R15 * REG_R14 * REG_R12 * REG_R3 * REG_R2 * REG_R1 * MSP->REG_R0 * * And * R0 contains the IRQ number * R14 Contains the EXC_RETURN value * We are in handler mode and the current SP is the MSP */ .globl exception_common .type exception_common, function exception_common: /* Complete the context save */ #ifdef CONFIG_BUILD_PROTECTED /* The EXC_RETURN value will be 0xfffffff9 (privileged thread) or 0xfffffff1 * (handler mode) if the stack is on the MSP. It can only be on the PSP if * EXC_RETURN is 0xfffffffd (unprivileged thread) */ tst r14, #EXC_RETURN_PROCESS_STACK /* nonzero if context on process stack */ beq 1f /* Branch if context already on the MSP */ mrs r1, psp /* R1=The process stack pointer (PSP) */ mov sp, r1 /* Set the MSP to the PSP */ 1: #endif /* r1 holds the value of the stack pointer AFTER the excption handling logic * pushed the various registers onto the stack. Get r2 = the value of the * stack pointer BEFORE the interrupt modified it. */ mov r2, sp /* R2=Copy of the main/process stack pointer */ add r2, #HW_XCPT_SIZE /* R2=MSP/PSP before the interrupt was taken */ #ifdef CONFIG_ARMV7M_USEBASEPRI mrs r3, basepri /* R3=Current BASEPRI setting */ #else mrs r3, primask /* R3=Current PRIMASK setting */ #endif #ifdef CONFIG_ARCH_FPU /* Skip over the block of memory reserved for floating pointer register save. * Lazy FPU register saving is used. FPU registers will be saved in this * block only if a context switch occurs (this means, of course, that the FPU * cannot be used in interrupt processing). */ sub sp, #(4*SW_FPU_REGS) #endif /* Save the remaining registers on the stack after the registers pushed * by the exception handling logic. r2=SP and r3=primask or basepri, r4-r11, * r14=register values. */ #ifdef CONFIG_BUILD_PROTECTED stmdb sp!, {r2-r11,r14} /* Save the remaining registers plus the SP value */ #else stmdb sp!, {r2-r11} /* Save the remaining registers plus the SP value */ #endif #ifndef CONFIG_ARCH_HIPRI_INTERRUPT /* Disable interrupts, select the stack to use for interrupt handling * and call up_doirq to handle the interrupt */ cpsid i /* Disable further interrupts */ #else /* Set the BASEPRI register so that further normal interrupts will be * masked. Nested, high priority may still occur, however. */ mov r2, #NVIC_SYSH_DISABLE_PRIORITY msr basepri, r2 /* Set the BASEPRI */ #endif /* There are two arguments to up_doirq: * * R0 = The IRQ number * R1 = The top of the stack points to the saved state */ mov r1, sp #if CONFIG_ARCH_INTERRUPTSTACK > 3 /* If CONFIG_ARCH_INTERRUPTSTACK is defined, we will set the MSP to use * a special special interrupt stack pointer. The way that this is done * here prohibits nested interrupts without some additional logic! */ ldr sp, =g_intstackbase str r1, [sp, #-4]! /* Save the MSP on the interrupt stack */ bl up_doirq /* R0=IRQ, R1=register save (msp) */ ldr r1, [sp, #+4]! /* Recover R1=main stack pointer */ #else /* Otherwise, we will re-use the interrupted thread's stack. That may * mean using either MSP or PSP stack for interrupt level processing (in * kernel mode). */ bl up_doirq /* R0=IRQ, R1=register save (msp) */ mov r1, sp /* Recover R1=main stack pointer */ #endif /* On return from up_doirq, R0 will hold a pointer to register context * array to use for the interrupt return. If that return value is the same * as current stack pointer, then things are relatively easy. */ cmp r0, r1 /* Context switch? */ beq 2f /* Branch if no context switch */ /* We are returning with a pending context switch. * * If the FPU is enabled, then we will need to restore FPU registers. * This is not done in normal interrupt save/restore because the cost * is prohibitive. This is only done when switching contexts. A * consequence of this is that floating point operations may not be * performed in interrupt handling logic. * * Here: * r0 = Address of the register save area * * NOTE: It is a requirement that up_restorefpu() preserve the value of * r0! */ #ifdef CONFIG_ARCH_FPU bl up_restorefpu /* Restore the FPU registers */ #endif /* We are returning with a pending context switch. This case is different * because in this case, the register save structure does not lie in the * stack but, rather, within a TCB structure. We'll have to copy some * values to the stack. */ add r1, r0, #SW_XCPT_SIZE /* R1=Address of HW save area in reg array */ ldmia r1, {r4-r11} /* Fetch eight registers in HW save area */ ldr r1, [r0, #(4*REG_SP)] /* R1=Value of SP before interrupt */ stmdb r1!, {r4-r11} /* Store eight registers in HW save area */ #ifdef CONFIG_BUILD_PROTECTED ldmia r0, {r2-r11,r14} /* Recover R4-R11, r14 + 2 temp values */ #else ldmia r0, {r2-r11} /* Recover R4-R11 + 2 temp values */ #endif b 3f /* Re-join common logic */ /* We are returning with no context switch. We simply need to "unwind" * the same stack frame that we created * * Here: * r1 = Address of the return stack (same as r0) */ 2: #ifdef CONFIG_BUILD_PROTECTED ldmia r1!, {r2-r11,r14} /* Recover R4-R11, r14 + 2 temp values */ #else ldmia r1!, {r2-r11} /* Recover R4-R11 + 2 temp values */ #endif #ifdef CONFIG_ARCH_FPU /* Skip over the block of memory reserved for floating pointer register * save. Then R1 is the address of the HW save area */ add r1, #(4*SW_FPU_REGS) #endif /* Set up to return from the exception * * Here: * r1 = Address on the target thread's stack position at the start of * the registers saved by hardware * r3 = primask or basepri * r4-r11 = restored register values */ 3: #ifdef CONFIG_BUILD_PROTECTED /* The EXC_RETURN value will be 0xfffffff9 (privileged thread) or 0xfffffff1 * (handler mode) if the stack is on the MSP. It can only be on the PSP if * EXC_RETURN is 0xfffffffd (unprivileged thread) */ mrs r2, control /* R2=Contents of the control register */ tst r14, #EXC_RETURN_PROCESS_STACK /* nonzero if context on process stack */ beq 4f /* Branch if privileged */ orr r2, r2, #1 /* Unprivileged mode */ msr psp, r1 /* R1=The process stack pointer */ b 5f 4: bic r2, r2, #1 /* Privileged mode */ msr msp, r1 /* R1=The main stack pointer */ 5: msr control, r2 /* Save the updated control register */ #else msr msp, r1 /* Recover the return MSP value */ /* Preload r14 with the special return value first (so that the return * actually occurs with interrupts still disabled). */ ldr r14, =EXC_RETURN_PRIVTHR /* Load the special value */ #endif /* Restore the interrupt state */ #ifdef CONFIG_ARMV7M_USEBASEPRI msr basepri, r3 /* Restore interrupts priority masking */ #ifndef CONFIG_ARCH_HIPRI_INTERRUPT cpsie i /* Re-enable interrupts */ #endif #else msr primask, r3 /* Restore interrupts */ #endif /* Always return with R14 containing the special value that will: (1) * return to thread mode, and (2) continue to use the MSP */ bx r14 /* And return */ .size handlers, .-handlers /************************************************************************************ * Name: g_intstackalloc/g_intstackbase * * Description: * Shouldn't happen * ************************************************************************************/ #if CONFIG_ARCH_INTERRUPTSTACK > 3 .bss .global g_intstackalloc .global g_intstackbase .align 4 g_intstackalloc: .skip (CONFIG_ARCH_INTERRUPTSTACK & ~3) g_intstackbase: .size g_intstackalloc, .-g_intstackalloc #endif #endif /* CONFIG_ARMV7M_CMNVECTOR */ /************************************************************************************ * .rodata ************************************************************************************/ .section .rodata, "a" /* Variables: _sbss is the start of the BSS region (see ld.script) _ebss is the end * of the BSS regsion (see ld.script). The idle task stack starts at the end of BSS * and is of size CONFIG_IDLETHREAD_STACKSIZE. The IDLE thread is the thread that * the system boots on and, eventually, becomes the idle, do nothing task that runs * only when there is nothing else to run. The heap continues from there until the * end of memory. See g_idle_topstack below. */ .globl g_idle_topstack .type g_idle_topstack, object g_idle_topstack: .word HEAP_BASE .size g_idle_topstack, .-g_idle_topstack .end