arch/arm/core/aarch32/swap.c

/*
 * Copyright (c) 2018 Linaro, Limited
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include <zephyr/kernel.h>
#include <kernel_internal.h>

extern const int _k_neg_eagain;

/* The 'key' actually represents the BASEPRI register
 * prior to disabling interrupts via the BASEPRI mechanism.
 *
 * arch_swap() itself does not do much.
 *
 * It simply stores the intlock key (the BASEPRI value) parameter into
 * current->basepri, and then triggers a PendSV exception, which does
 * the heavy lifting of context switching.

 * This is the only place we have to save BASEPRI since the other paths to
 * z_arm_pendsv all come from handling an interrupt, which means we know the
 * interrupts were not locked: in that case the BASEPRI value is 0.
 *
 * Given that arch_swap() is called to effect a cooperative context switch,
 * only the caller-saved integer registers need to be saved in the thread of the
 * outgoing thread. This is all performed by the hardware, which stores it in
 * its exception stack frame, created when handling the z_arm_pendsv exception.
 *
 * On ARMv6-M, the intlock key is represented by the PRIMASK register,
 * as BASEPRI is not available.
 */
int arch_swap(unsigned int key)
{
	/* store off key and return value */
	_current->arch.basepri = key;
	_current->arch.swap_return_value = _k_neg_eagain;

#if defined(CONFIG_CPU_CORTEX_M)
	/* set pending bit to make sure we will take a PendSV exception */
	SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk;

	/* clear mask or enable all irqs to take a pendsv */
	irq_unlock(0);
#elif defined(CONFIG_CPU_AARCH32_CORTEX_R) || defined(CONFIG_CPU_AARCH32_CORTEX_A)
	z_arm_cortex_r_svc();
	irq_unlock(key);
#endif

	/* Context switch is performed here. Returning implies the
	 * thread has been context-switched-in again.
	 */
	return _current->arch.swap_return_value;
}