[PATCH v4 3/3] Cortex-M3: Add support for exception handling

[u.kleine-koenig@pengutronix.de (Uwe Kleine-König)]

This patch implements the exception handling for the ARMv7-M
architecture (pretty different from the A or R profiles).

It bases on work done earlier by Catalin for 2.6.33 but was nearly
completely rewritten to use a pt_regs layout compatible to the A
profile.

Signed-off-by: Catalin Marinas <catalin.marinas@arm.com>
Signed-off-by: Uwe Kleine-K?nig <u.kleine-koenig@pengutronix.de>
---
Hello,

apart from rebasing on top of 3.4-rc1 this patch is unchanged compared
to v3.

Best regards
Uwe

 arch/arm/kernel/entry-common.S |    4 ++
 arch/arm/kernel/entry-header.S |  148 ++++++++++++++++++++++++++++++++++++++++
 arch/arm/kernel/entry-v7m.S    |  134 ++++++++++++++++++++++++++++++++++++
 arch/arm/kernel/process.c      |    8 +++
 arch/arm/kernel/ptrace.c       |    3 +
 arch/arm/kernel/signal.c       |   13 ++++
 arch/arm/kernel/sys_arm.c      |    1 +
 7 files changed, 311 insertions(+)
 create mode 100644 arch/arm/kernel/entry-v7m.S

diff --git a/arch/arm/kernel/entry-common.S b/arch/arm/kernel/entry-common.S
index 54ee265..3e7c216 100644
--- a/arch/arm/kernel/entry-common.S
+++ b/arch/arm/kernel/entry-common.S
@@ -351,6 +351,9 @@ ENDPROC(ftrace_stub)
 
 	.align	5
 ENTRY(vector_swi)
+#ifdef CONFIG_CPU_V7M
+	v7m_exception_entry
+#else
 	sub	sp, sp, #S_FRAME_SIZE
 	stmia	sp, {r0 - r12}			@ Calling r0 - r12
  ARM(	add	r8, sp, #S_PC		)
@@ -361,6 +364,7 @@ ENTRY(vector_swi)
 	str	lr, [sp, #S_PC]			@ Save calling PC
 	str	r8, [sp, #S_PSR]		@ Save CPSR
 	str	r0, [sp, #S_OLD_R0]		@ Save OLD_R0
+#endif
 	zero_fp
 
 	/*
diff --git a/arch/arm/kernel/entry-header.S b/arch/arm/kernel/entry-header.S
index 9a8531e..33d9900 100644
--- a/arch/arm/kernel/entry-header.S
+++ b/arch/arm/kernel/entry-header.S
@@ -44,6 +44,145 @@
 #endif
 	.endm
 
+#ifdef CONFIG_CPU_V7M
+/*
+ * ARMv7-M exception entry/exit macros.
+ *
+ * xPSR, ReturnAddress(), LR (R14), R12, R3, R2, R1, and R0 are
+ * automatically saved on the current stack (32 words) before
+ * switching to the exception stack (SP_main).
+ *
+ * If exception is taken while in user mode, SP_main is
+ * empty. Otherwise, SP_main is aligned to 64 bit automatically
+ * (CCR.STKALIGN set).
+ *
+ * Linux assumes that the interrupts are disabled when entering an
+ * exception handler and it may BUG if this is not the case. Interrupts
+ * are disabled during entry and reenabled in the exit macro.
+ *
+ * v7m_exception_fast_exit is used when returning from interrupts.
+ *
+ * v7m_exception_slow_exit is used when returning from SVC or PendSV.
+ * When returning to kernel mode, we don't return from exception.
+ */
+	.macro	v7m_exception_entry
+	@ determine the location of the registers saved by the core during
+	@ exception entry. Depending on the mode the cpu was in when the
+	@ exception happend that is either on the main or the process stack.
+	@ Bit 2 of EXC_RETURN stored in the lr register specifies which stack
+	@ was used.
+	tst	lr, #0x4
+	mrsne	r12, psp
+	moveq	r12, sp
+
+	@ we cannot rely on r0-r3 and r12 matching the value saved in the
+	@ exception frame because of tail-chaining. So these have to be
+	@ reloaded.
+	ldmia	r12!, {r0-r3}
+
+	@ Linux expects to have irqs off. Do it here before taking stack space
+	cpsid	i
+
+	sub	sp, #S_FRAME_SIZE-S_IP
+	stmdb	sp!, {r0-r11}
+
+	@ load saved r12, lr, return address and xPSR.
+	@ r0-r7 are used for signals and never touched from now on. Clobbering
+	@ r8-r12 is OK.
+	mov	r9, r12
+	ldmia	r9!, {r8, r10-r12}
+
+	@ calculate the original stack pointer value.
+	@ r9 currently points to the memory location just above the auto saved
+	@ xPSR. If the FP extension is implemented and bit 4 of EXC_RETURN is 0
+	@ then space was allocated for FP state. That is space for 18 32-bit
+	@ values. (If FP extension is unimplemented, bit 4 is 1.)
+	@ Additionally the cpu might automatically 8-byte align the stack. Bit 9
+	@ of the saved xPSR specifies if stack aligning took place. In this case
+	@ another 32-bit value is included in the stack.
+
+	tst	lr, #0x10
+	addeq	r9, r9, #576
+
+	tst	r12, 0x100
+	addne	r9, r9, #4
+
+	@ store saved r12 using str to have a register to hold the base for stm
+	str	r8, [sp, #S_IP]
+	add	r8, sp, #S_SP
+	@ store r13-r15, xPSR
+	stmia	r8!, {r9-r12}
+	@ store r0 once more and EXC_RETURN
+	stmia	r8, {r0, lr}
+	.endm
+
+	.macro	v7m_exception_fast_exit
+	@ registers r0-r3 and r12 are automatically restored on exception
+	@ return. r4-r7 were not clobbered in v7m_exception_entry so for
+	@ correctness they don't need to be restored. So only r8-r11 must be
+	@ restored here. The easiest way to do so is to restore r0-r7, too.
+	ldmia	sp!, {r0-r11}
+	add	sp, #S_FRAME_SIZE-S_IP
+	cpsie	i
+	bx	lr
+	.endm
+
+	.macro	v7m_exception_slow_exit ret_r0
+	cpsid	i
+	ldr	lr, [sp, #S_EXC_RET]	@ read exception LR
+	tst     lr, #0x8
+	bne	1f			@ go to thread mode using exception return
+
+	/*
+	 * return to kernel thread
+	 * sp is already set up (and might be unset in pt_regs), so only
+	 * restore r0-r12 and pc
+	 */
+	ldmia	sp, {r0-r12}
+	ldr	lr, [sp, #S_PC]
+	add	sp, sp, #S_FRAME_SIZE
+	cpsie	i
+	bx	lr
+
+1:	/*
+	 * return to userspace
+	 */
+
+	@ read original r12, sp, lr, pc and xPSR
+	add	r12, sp, #S_IP
+	ldmia	r12, {r1-r5}
+
+	@ handle stack aligning
+	tst	r5, #0x100
+	subne	r2, r2, #4
+
+	@ skip over stack space for fp saving
+	tst	lr, #0x10
+	subeq	r2, r2, #576
+
+	@ write basic exception frame
+	stmdb	r2!, {r1, r3-r5}
+	ldmia	sp, {r1, r3-r5}
+	.if	\ret_r0
+	stmdb	r2!, {r0, r3-r5}
+	.else
+	stmdb	r2!, {r1, r3-r5}
+	.endif
+
+	@ restore process sp
+	msr	psp, r2
+
+	@ restore original r4-r11
+	ldmia	sp!, {r0-r11}
+
+	@ restore main sp
+	add	sp, sp, #S_FRAME_SIZE-S_IP
+
+	cpsie	i
+	bx	lr
+	.endm
+#endif	/* CONFIG_CPU_V7M */
+
 	@
 	@ Store/load the USER SP and LR registers by switching to the SYS
 	@ mode. Useful in Thumb-2 mode where "stm/ldm rd, {sp, lr}^" is not
@@ -131,6 +270,14 @@
 	rfeia	sp!
 	.endm
 
+#ifdef CONFIG_CPU_V7M
+	.macro	restore_user_regs, fast = 0, offset = 0
+	.if	\offset
+	add	sp, #\offset
+	.endif
+	v7m_exception_slow_exit ret_r0 = \fast
+	.endm
+#else	/* !CONFIG_CPU_V7M */
 	.macro	restore_user_regs, fast = 0, offset = 0
 	clrex					@ clear the exclusive monitor
 	mov	r2, sp
@@ -147,6 +294,7 @@
 	add	sp, sp, #S_FRAME_SIZE - S_SP
 	movs	pc, lr				@ return & move spsr_svc into cpsr
 	.endm
+#endif	/* CONFIG_CPU_V7M */
 
 	.macro	get_thread_info, rd
 	mov	\rd, sp
diff --git a/arch/arm/kernel/entry-v7m.S b/arch/arm/kernel/entry-v7m.S
new file mode 100644
index 0000000..a0991dc
--- /dev/null
+++ b/arch/arm/kernel/entry-v7m.S
@@ -0,0 +1,134 @@
+/*
+ * linux/arch/arm/kernel/entry-v7m.S
+ *
+ * Copyright (C) 2008 ARM Ltd.
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * Low-level vector interface routines for the ARMv7-M architecture
+ */
+#include <asm/memory.h>
+#include <asm/glue.h>
+#include <asm/thread_notify.h>
+
+#include <mach/entry-macro.S>
+
+#include "entry-header.S"
+
+#ifdef CONFIG_PREEMPT
+#error "CONFIG_PREEMPT not supported on the current ARMv7M implementation"
+#endif
+#ifdef CONFIG_TRACE_IRQFLAGS
+#error "CONFIG_TRACE_IRQFLAGS not supported on the current ARMv7M implementation"
+#endif
+
+__invalid_entry:
+	v7m_exception_entry
+	adr	r0, strerr
+	mrs	r1, ipsr
+	mov	r2, lr
+	bl	printk
+	mov	r0, sp
+	bl	show_regs
+1:	b	1b
+ENDPROC(__invalid_entry)
+
+strerr:	.asciz	"\nUnhandled exception: IPSR = %08lx LR = %08lx\n"
+
+	.align	2
+__irq_entry:
+	v7m_exception_entry
+
+	@
+	@ Invoke the IRQ handler
+	@
+	mrs	r0, ipsr
+	and	r0, #0xff
+	sub	r0, #16			@ IRQ number
+	mov	r1, sp
+	@ routine called with r0 = irq number, r1 = struct pt_regs *
+	bl	asm_do_IRQ
+
+	@
+	@ Check for any pending work if returning to user
+	@
+	ldr	lr, [sp, #S_EXC_RET]
+	tst	lr, #0x8		@ check the return stack
+	beq	2f			@ returning to handler mode
+	get_thread_info tsk
+	ldr	r1, [tsk, #TI_FLAGS]
+	tst	r1, #_TIF_WORK_MASK
+	beq	2f			@ no work pending
+	ldr	r1, =0xe000ed04		@ ICSR
+	mov	r0, #1 << 28		@ ICSR.PENDSVSET
+	str	r0, [r1]		@ raise PendSV
+
+2:
+	v7m_exception_fast_exit
+ENDPROC(__irq_entry)
+
+__pendsv_entry:
+	v7m_exception_entry
+
+	ldr	r1, =0xe000ed04		@ ICSR
+	mov	r0, #1 << 27		@ ICSR.PENDSVCLR
+	str	r0, [r1]		@ clear PendSV
+
+	@ execute the pending work, including reschedule
+	get_thread_info tsk
+	mov	why, #0
+	b	ret_to_user
+ENDPROC(__pendsv_entry)
+
+/*
+ * Register switch for ARMv7-M processors.
+ * r0 = previous task_struct, r1 = previous thread_info, r2 = next thread_info
+ * previous and next are guaranteed not to be the same.
+ */
+ENTRY(__switch_to)
+	.fnstart
+	.cantunwind
+	add	ip, r1, #TI_CPU_SAVE
+	stmia	ip!, {r4 - r11}		@ Store most regs on stack
+	str	sp, [ip], #4
+	str	lr, [ip], #4
+	mov	r5, r0
+	add	r4, r2, #TI_CPU_SAVE
+	ldr	r0, =thread_notify_head
+	mov	r1, #THREAD_NOTIFY_SWITCH
+	bl	atomic_notifier_call_chain
+	mov	ip, r4
+	mov	r0, r5
+	ldmia	ip!, {r4 - r11}		@ Load all regs saved previously
+	ldr	sp, [ip], #4
+	ldr	pc, [ip]
+	.fnend
+ENDPROC(__switch_to)
+
+	.data
+	.align	8
+/*
+ * Vector table (64 words => 256 bytes natural alignment)
+ */
+ENTRY(vector_table)
+	.long	0			@ 0 - Reset stack pointer
+	.long	__invalid_entry		@ 1 - Reset
+	.long	__invalid_entry		@ 2 - NMI
+	.long	__invalid_entry		@ 3 - HardFault
+	.long	__invalid_entry		@ 4 - MemManage
+	.long	__invalid_entry		@ 5 - BusFault
+	.long	__invalid_entry		@ 6 - UsageFault
+	.long	__invalid_entry		@ 7 - Reserved
+	.long	__invalid_entry		@ 8 - Reserved
+	.long	__invalid_entry		@ 9 - Reserved
+	.long	__invalid_entry		@ 10 - Reserved
+	.long	vector_swi		@ 11 - SVCall
+	.long	__invalid_entry		@ 12 - Debug Monitor
+	.long	__invalid_entry		@ 13 - Reserved
+	.long	__pendsv_entry		@ 14 - PendSV
+	.long	__invalid_entry		@ 15 - SysTick
+	.rept	64 - 16
+	.long	__irq_entry		@ 16..64 - External Interrupts
+	.endr
diff --git a/arch/arm/kernel/process.c b/arch/arm/kernel/process.c
index 2b7b017..9f301dc 100644
--- a/arch/arm/kernel/process.c
+++ b/arch/arm/kernel/process.c
@@ -454,7 +454,11 @@ asm(	".pushsection .text\n"
 #ifdef CONFIG_TRACE_IRQFLAGS
 "	bl	trace_hardirqs_on\n"
 #endif
+#ifdef CONFIG_CPU_V7M
+"	msr	primask, r7\n"
+#else
 "	msr	cpsr_c, r7\n"
+#endif
 "	mov	r0, r4\n"
 "	mov	lr, r6\n"
 "	mov	pc, r5\n"
@@ -493,6 +497,10 @@ pid_t kernel_thread(int (*fn)(void *), void *arg, unsigned long flags)
 	regs.ARM_r7 = SVC_MODE | PSR_ENDSTATE | PSR_ISETSTATE;
 	regs.ARM_pc = (unsigned long)kernel_thread_helper;
 	regs.ARM_cpsr = regs.ARM_r7 | PSR_I_BIT;
+#if defined CONFIG_CPU_V7M
+	/* Return to Handler mode */
+	regs.ARM_EXC_RET = 0xfffffff1L;
+#endif
 
 	return do_fork(flags|CLONE_VM|CLONE_UNTRACED, 0, &regs, 0, NULL, NULL);
 }
diff --git a/arch/arm/kernel/ptrace.c b/arch/arm/kernel/ptrace.c
index 45956c9..49383a4 100644
--- a/arch/arm/kernel/ptrace.c
+++ b/arch/arm/kernel/ptrace.c
@@ -82,6 +82,9 @@ static const struct pt_regs_offset regoffset_table[] = {
 	REG_OFFSET_NAME(pc),
 	REG_OFFSET_NAME(cpsr),
 	REG_OFFSET_NAME(ORIG_r0),
+#ifdef CONFIG_CPU_V7M
+	REG_OFFSET_NAME(EXC_RET),
+#endif
 	REG_OFFSET_END,
 };
 
diff --git a/arch/arm/kernel/signal.c b/arch/arm/kernel/signal.c
index 7cb532f..be61a41 100644
--- a/arch/arm/kernel/signal.c
+++ b/arch/arm/kernel/signal.c
@@ -278,6 +278,8 @@ static int restore_sigframe(struct pt_regs *regs, struct sigframe __user *sf)
 	sigset_t set;
 	int err;
 
+	pr_info("%s(regs=%p)\n", __func__, regs);
+
 	err = __copy_from_user(&set, &sf->uc.uc_sigmask, sizeof(set));
 	if (err == 0) {
 		sigdelsetmask(&set, ~_BLOCKABLE);
@@ -325,6 +327,7 @@ asmlinkage int sys_sigreturn(struct pt_regs *regs)
 {
 	struct sigframe __user *frame;
 
+	pr_info("%s(regs=%p)\n", __func__, regs);
 	/* Always make any pending restarted system calls return -EINTR */
 	current_thread_info()->restart_block.fn = do_no_restart_syscall;
 
@@ -355,6 +358,7 @@ asmlinkage int sys_rt_sigreturn(struct pt_regs *regs)
 {
 	struct rt_sigframe __user *frame;
 
+	pr_info("%s(regs=%p)\n", __func__, regs);
 	/* Always make any pending restarted system calls return -EINTR */
 	current_thread_info()->restart_block.fn = do_no_restart_syscall;
 
@@ -439,6 +443,7 @@ get_sigframe(struct k_sigaction *ka, struct pt_regs *regs, int framesize)
 	unsigned long sp = regs->ARM_sp;
 	void __user *frame;
 
+	pr_info("%s(regs=%p)\n", __func__, regs);
 	/*
 	 * This is the X/Open sanctioned signal stack switching.
 	 */
@@ -468,6 +473,8 @@ setup_return(struct pt_regs *regs, struct k_sigaction *ka,
 	int thumb = 0;
 	unsigned long cpsr = regs->ARM_cpsr & ~(PSR_f | PSR_E_BIT);
 
+	pr_info("%s(regs=%p)\n", __func__, regs);
+
 	cpsr |= PSR_ENDSTATE;
 
 	/*
@@ -540,6 +547,8 @@ setup_frame(int usig, struct k_sigaction *ka, sigset_t *set, struct pt_regs *reg
 	struct sigframe __user *frame = get_sigframe(ka, regs, sizeof(*frame));
 	int err = 0;
 
+	pr_info("%s(regs=%p)\n", __func__, regs);
+
 	if (!frame)
 		return 1;
 
@@ -563,6 +572,8 @@ setup_rt_frame(int usig, struct k_sigaction *ka, siginfo_t *info,
 	stack_t stack;
 	int err = 0;
 
+	pr_info("%s(regs=%p)\n", __func__, regs);
+
 	if (!frame)
 		return 1;
 
@@ -607,6 +618,7 @@ handle_signal(unsigned long sig, struct k_sigaction *ka,
 	int usig = sig;
 	int ret;
 
+	pr_info("%s(regs=%p)\n", __func__, regs);
 	/*
 	 * translate the signal
 	 */
@@ -776,6 +788,7 @@ static void do_signal(struct pt_regs *regs, int syscall)
 asmlinkage void
 do_notify_resume(struct pt_regs *regs, unsigned int thread_flags, int syscall)
 {
+	pr_info("%s(regs=%p)\n", __func__, regs);
 	if (thread_flags & _TIF_SIGPENDING)
 		do_signal(regs, syscall);
 
diff --git a/arch/arm/kernel/sys_arm.c b/arch/arm/kernel/sys_arm.c
index d2b1779..4d3caca4d 100644
--- a/arch/arm/kernel/sys_arm.c
+++ b/arch/arm/kernel/sys_arm.c
@@ -102,6 +102,7 @@ int kernel_execve(const char *filename,
 	 * We were successful.  We won't be returning to our caller, but
 	 * instead to user space by manipulating the kernel stack.
 	 */
+	pr_info("we were successful\n");
 	asm(	"add	r0, %0, %1\n\t"
 		"mov	r1, %2\n\t"
 		"mov	r2, %3\n\t"
-- 
1.7.9.5