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pbio/platform/ev3/exceptionhandler.S: Remove SWI handler #370

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Merged
merged 1 commit into from
Aug 6, 2025
Merged

pbio/platform/ev3/exceptionhandler.S: Remove SWI handler #370

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29 changes: 8 additions & 21 deletions lib/pbio/platform/ev3/exceptionhandler.S
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,7 @@
.set MODE_SYS, 0x1F


.equ I_F_BIT, 0xC0
.equ MASK_SWI_NUM, 0xFF000000
.equ I_F_BIT, 0xC0
.equ MASK_SR_MODE, 0x1F

@ This will be placed at 0xffff0000 by the linker script
Expand Down Expand Up @@ -52,6 +51,12 @@ UnknownExceptionHandler:
@ Save r0-r12, lr
stmfd sp!, {r0-r12, lr}
mov r7, #EV3_PANIC_UNKNOWN
b CommonPanicHandler

SWIHandler:
@ Save r0-r12, lr
stmfd sp!, {r0-r12, lr}
mov r7, #EV3_PANIC_SWI
@ b CommonPanicHandler
@ fall through

Expand Down Expand Up @@ -87,25 +92,7 @@ FIQHandler:
MOV lr, pc
LDR pc, [r0]
LDMFD r13!, {r0-r7, lr}
SUBS pc, lr, #0x4

@******************************************************************************
@* Function Definition of SWI Handler
@******************************************************************************
@
@ The SWI Handler switches to system mode if the SWI number is 458752. If the
@ SWI number is different, no mode switching will be done. No other SWI are
@ handled here
@
SWIHandler:
STMFD r13!, {r0-r1, r14} @ Save context in SVC stack
LDR r0, [r14, #-4] @ R0 points to SWI instruction
BIC r0, r0, #MASK_SWI_NUM @ Get the SWI number
CMP r0, #458752
MRSEQ r1, spsr @ Copy SPSR
ORREQ r1, r1, #0x1F @ Change the mode to System
MSREQ spsr_cf, r1 @ Restore SPSR
LDMFD r13!, {r0-r1, pc}^ @ Restore registers from IRQ stack
SUBS pc, lr, #0x4

@******************************************************************************
@* Function Definition of IRQ Handler
Expand Down
1 change: 1 addition & 0 deletions lib/pbio/platform/ev3/exceptionhandler.h
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Expand Up @@ -5,5 +5,6 @@
#define EV3_PANIC_UNDEFINED_INSTR 1
#define EV3_PANIC_PREFETCH_ABORT 2
#define EV3_PANIC_DATA_ABORT 3
#define EV3_PANIC_SWI 4

#endif // PBIO_EV3_EXCEPTIONHANDLER_H_
1 change: 1 addition & 0 deletions lib/pbio/platform/ev3/platform.c
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Expand Up @@ -419,6 +419,7 @@ static const char *const panic_types[] = {
"Undefined Instruction",
"Prefetch Abort",
"Data Abort",
"SWI opcode"
};

typedef struct {
Expand Down