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ca13734bf0
Add kernel (Cortex-M0/M3/M4, Tricore, S32K, RISC-V ports), drivers, middleware (CAN stack, diagnostics, safety), applications, board support, build/test tooling, and documentation.
186 lines
3.1 KiB
ArmAsm
186 lines
3.1 KiB
ArmAsm
/**
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* @file port_asm.s
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* @brief NXP S32K assembly routines
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*/
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.syntax unified
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.thumb
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.arch armv7e-m
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.section .text
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/* Global symbols */
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.global current_task_sp
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.global next_task_sp
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.global port_context_switch
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.global port_start_first_task
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.global port_disable_interrupts
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.global port_enable_interrupts
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/* Variables */
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.section .bss
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.align 3
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current_task_sp: .word 0
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next_task_sp: .word 0
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.section .text
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.thumb_func
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/* Start First Task */
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port_start_first_task:
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/* Load task stack pointer */
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ldr r0, =next_task_sp
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ldr r1, [r0]
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/* Set PSP */
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msr PSP, r1
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/* Switch to PSP */
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mov r0, #2
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msr CONTROL, r0
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isb
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/* Restore context */
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ldmia r1!, {r4-r11}
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msr PSP, r1
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mov lr, #0xFFFFFFFD
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bx lr
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/* PendSV Handler */
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PendSV_Handler:
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/* Save context */
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mrs r0, PSP
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stmdb r0!, {r4-r11}
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ldr r1, =current_task_sp
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str r0, [r1]
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/* Load next context */
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ldr r0, =next_task_sp
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ldr r1, [r0]
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ldmia r1!, {r4-r11}
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msr PSP, r1
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bx lr
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/* SVC Handler */
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SVC_Handler:
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tst lr, #4
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ite eq
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mrseq r0, MSP
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mrsne r0, PSP
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ldr r0, [r0, #24]
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ldrb r0, [r0, #-2]
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push {lr}
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bl svc_handler
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pop {lr}
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bx lr
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/* Disable Interrupts */
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port_disable_interrupts:
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cpsid i
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bx lr
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/* Enable Interrupts */
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port_enable_interrupts:
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cpsie i
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bx lr
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/* LPIT Interrupt Handler */
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LPIT0_IRQHandler:
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/* Save context */
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push {r4-r11, lr}
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/* Clear interrupt flag */
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ldr r0, =0x40037008 /* LPIT0->MSR */
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movs r1, #1
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str r1, [r0]
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/* Call kernel tick handler */
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bl kernel_tick_handler
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/* Service watchdog */
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ldr r0, =0x40052000 /* WDOG->CNT */
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ldr r1, =0xB480
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str r1, [r0]
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ldr r1, =0x4B80
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str r1, [r0]
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/* Restore context */
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pop {r4-r11, lr}
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bx lr
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/* Hard Fault Handler */
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HardFault_Handler:
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/* Save context */
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mrs r0, PSP
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stmdb r0!, {r4-r11}
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/* Get fault status */
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ldr r2, =0xE000ED2C /* HFSR */
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ldr r2, [r2]
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/* Call fault handler */
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movs r0, #1
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movs r1, #0
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bl fault_handler_process
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/* Safe state */
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b .
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/* Memory Management Fault */
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MemManage_Handler:
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/* Save context */
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mrs r0, PSP
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stmdb r0!, {r4-r11}
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/* Get fault information */
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ldr r1, =0xE000ED34 /* MMFAR */
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ldr r1, [r1]
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ldr r2, =0xE000ED28 /* CFSR */
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ldr r2, [r2]
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/* Call fault handler */
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movs r0, #2
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bl fault_handler_process
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/* Safe state */
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b .
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/* Bus Fault Handler */
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BusFault_Handler:
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/* Save context */
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mrs r0, PSP
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stmdb r0!, {r4-r11}
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/* Get fault information */
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ldr r1, =0xE000ED38 /* BFAR */
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ldr r1, [r1]
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ldr r2, =0xE000ED28 /* CFSR */
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ldr r2, [r2]
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/* Call fault handler */
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movs r0, #3
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bl fault_handler_process
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/* Safe state */
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b .
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/* Usage Fault Handler */
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UsageFault_Handler:
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/* Save context */
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mrs r0, PSP
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stmdb r0!, {r4-r11}
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/* Get fault status */
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ldr r2, =0xE000ED28 /* CFSR */
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ldr r2, [r2]
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/* Call fault handler */
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movs r0, #4
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movs r1, #0
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bl fault_handler_process
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/* Safe state */
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b .
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.end
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