drone-cortex-m 0.11.1

#![cfg_attr(feature = "std", allow(unreachable_code, unused_variables))]

use crate::sv::{SvCall, SvService};
use core::{intrinsics::unreachable, mem::size_of};

/// A service to switch to a process stack.
///
/// See [`Switch::switch_context`] for details.
pub struct SwitchContextService {
    stack_ptr: *mut *const u8,
    data_ptr: *mut u8,
}

/// A service to switch back from a process stack.
///
/// See [`Switch::switch_back`] for details.
pub struct SwitchBackService {
    data_ptr: *mut *mut u8,
    data_size: usize,
}

/// Extends [`Supervisor`](crate::sv::Supervisor) types with
/// [`switch_context`](Switch::switch_context) and
/// [`switch_back`](Switch::switch_back) methods.
pub trait Switch<T>
where
    Self: SvCall<SwitchContextService>,
    Self: SvCall<SwitchBackService>,
{
    /// Switches to the given process stack.
    ///
    /// # Safety
    ///
    /// * `data` must be word-aligned.
    /// * `*stack_ptr` must be word-aligned.
    unsafe fn switch_context(data: *mut T, stack_ptr: *mut *const u8);

    /// Switches to the previous stack.
    ///
    /// # Safety
    ///
    /// * Must be called only from Process Stack.
    /// * `T` must match the previous [`switch_context`](Switch::switch_context).
    /// * `*data` must be word-aligned.
    unsafe fn switch_back(data: *mut *mut T);
}

unsafe impl Send for SwitchContextService {}
unsafe impl Send for SwitchBackService {}

impl SvService for SwitchContextService {
    unsafe extern "C" fn handler(&mut self) {
        #[cfg(feature = "std")]
        return unimplemented!();
        let Self {
            stack_ptr,
            data_ptr,
        } = *self;
        #[cfg(all(
            feature = "fpu",
            any(cortex_m_core = "cortex_m4f_r0p0", cortex_m_core = "cortex_m4f_r0p1")
        ))]
        asm!("
            mrs      r3, control
            tst      lr, #0x4
            bne      3f
            tst      lr, #0x10
            it       eq
            vstmdbeq sp!, {s16-s31}
            stmdb    sp!, {r3, r4-r11}
        0:
            ldr      r2, [r0]
            ldmia    r2!, {r3}
            push     {r0, r1, r3, lr}
            cmp      r3, #0
            bne      2f
        1:
            ldmia    r2!, {r3, r4-r11, lr}
            tst      lr, #0x10
            it       eq
            vldmiaeq r2!, {s16-s31}
            msr      psp, r2
            msr      control, r3
            bx       lr
        2:
            movw     r0, #0xED9C
            movt     r0, #0xE000
            ldmia    r3!, {r4-r11}
            stmia    r0, {r4-r11}
            ldmia    r3!, {r4-r11}
            stmia    r0, {r4-r11}
            mov      r3, #5
            str      r3, [r0, #-8]
            b        1b
        3:
            mrs      r2, psp
            tst      lr, #0x10
            it       eq
            vstmdbeq r2!, {s16-s31}
            stmdb    r2!, {r3, r4-r11}
            ldr      r3, [sp]
            str      r2, [r3]
            b        0b
        "   :
            : "{r0}"(stack_ptr), "{r1}"(data_ptr)
            : "cc", "memory"
            : "volatile"
        );
        #[cfg(not(all(
            feature = "fpu",
            any(cortex_m_core = "cortex_m4f_r0p0", cortex_m_core = "cortex_m4f_r0p1")
        )))]
        asm!("
            mrs      r3, control
            tst      lr, #0x4
            bne      3f
            stmdb    sp!, {r3, r4-r11}
        0:
            ldr      r2, [r0]
            ldmia    r2!, {r3}
            push     {r0, r1, r3, lr}
            cmp      r3, #0
            bne      2f
        1:
            ldmia    r2!, {r3, r4-r11, lr}
            msr      psp, r2
            msr      control, r3
            bx       lr
        2:
            movw     r0, #0xED9C
            movt     r0, #0xE000
            ldmia    r3!, {r4-r11}
            stmia    r0, {r4-r11}
            ldmia    r3!, {r4-r11}
            stmia    r0, {r4-r11}
            mov      r3, #5
            str      r3, [r0, #-8]
            b        1b
        3:
            mrs      r2, psp
            stmdb    r2!, {r3, r4-r11}
            ldr      r3, [sp]
            str      r2, [r3]
            b        0b
        "   :
            : "{r0}"(stack_ptr), "{r1}"(data_ptr)
            : "cc", "memory"
            : "volatile"
        );
        unreachable();
    }
}

impl SvService for SwitchBackService {
    #[allow(clippy::too_many_lines)]
    unsafe extern "C" fn handler(&mut self) {
        #[cfg(feature = "std")]
        return unimplemented!();
        let Self {
            data_ptr,
            data_size,
        } = *self;
        #[cfg(all(
            feature = "fpu",
            any(cortex_m_core = "cortex_m4f_r0p0", cortex_m_core = "cortex_m4f_r0p1")
        ))]
        asm!("
            movw     r2, #0xED94
            movt     r2, #0xE000
            mov      r3, #0
            str      r3, [r2]
            mrs      r3, control
            mrs      r12, psp
            tst      lr, #0x10
            it       eq
            vstmdbeq r12!, {s16-s31}
            stmdb    r12!, {r3, r4-r11, lr}
            pop      {r2, r3, r4, lr}
            stmdb    r12!, {r4}
            str      r12, [r2]
            ldr      r2, [r0]
            cmp      r2, r3
            beq      2f
            str      r3, [r0]
            and      r12, r1, #3
            subs     r1, r1, r12
            beq      1f
        0:
            ldr      r0, [r2], #4
            str      r0, [r3], #4
            subs     r1, r1, #4
            bne      0b
        1:
            lsrs     r12, r12, #1
            itt      ne
            ldrhne   r0, [r2], #2
            strhne   r0, [r3], #2
            itt      cs
            ldrbcs   r0, [r2], #1
            strbcs   r0, [r3], #1
        2:
            tst      lr, #0x4
            bne      3f
            ldmia    sp!, {r3, r4-r11}
            tst      lr, #0x10
            it       eq
            vldmiaeq sp!, {s16-s31}
            msr      control, r3
            bx       lr
        3:
            ldr      r0, [sp]
            ldr      r0, [r0]
            ldmia    r0!, {r3, r4-r11}
            tst      lr, #0x10
            it       eq
            vldmiaeq r0!, {s16-s31}
            msr      psp, r0
            msr      control, r3
            bx       lr
        "   :
            : "{r0}"(data_ptr), "{r1}"(data_size)
            : "cc", "memory"
            : "volatile"
        );
        #[cfg(not(all(
            feature = "fpu",
            any(cortex_m_core = "cortex_m4f_r0p0", cortex_m_core = "cortex_m4f_r0p1")
        )))]
        asm!("
            movw     r2, #0xED94
            movt     r2, #0xE000
            mov      r3, #0
            str      r3, [r2]
            mrs      r3, control
            mrs      r12, psp
            stmdb    r12!, {r3, r4-r11, lr}
            pop      {r2, r3, r4, lr}
            stmdb    r12!, {r4}
            str      r12, [r2]
            ldr      r2, [r0]
            cmp      r2, r3
            beq      2f
            str      r3, [r0]
            and      r12, r1, #3
            subs     r1, r1, r12
            beq      1f
        0:
            ldr      r0, [r2], #4
            str      r0, [r3], #4
            subs     r1, r1, #4
            bne      0b
        1:
            lsrs     r12, r12, #1
            itt      ne
            ldrhne   r0, [r2], #2
            strhne   r0, [r3], #2
            itt      cs
            ldrbcs   r0, [r2], #1
            strbcs   r0, [r3], #1
        2:
            tst      lr, #0x4
            ittt     eq
            ldmiaeq  sp!, {r3, r4-r11}
            msreq    control, r3
            bxeq     lr
            ldr      r0, [sp]
            ldr      r0, [r0]
            ldmia    r0!, {r3, r4-r11}
            msr      psp, r0
            msr      control, r3
            bx       lr
        "   :
            : "{r0}"(data_ptr), "{r1}"(data_size)
            : "cc", "memory"
            : "volatile"
        );
        unreachable();
    }
}

impl<Sv, T> Switch<T> for Sv
where
    Sv: SvCall<SwitchContextService>,
    Sv: SvCall<SwitchBackService>,
{
    unsafe fn switch_context(data: *mut T, stack_ptr: *mut *const u8) {
        Self::call(&mut SwitchContextService {
            stack_ptr,
            data_ptr: data as *mut u8,
        });
    }

    unsafe fn switch_back(data: *mut *mut T) {
        Self::call(&mut SwitchBackService {
            data_ptr: data as *mut *mut u8,
            data_size: size_of::<T>(),
        });
    }
}