/*
   * Copyright (C) 2015 Freie Universität Berlin
   *
   * This file is subject to the terms and conditions of the GNU Lesser
   * General Public License v2.1. See the file LICENSE in the top level
   * directory for more details.
   */
  
  /**
   * @ingroup     cpu_cortexm_common
   * @{
   *
   * @file
   * @brief       Default implementations for Cortex-M specific interrupt and
   *              exception handlers
   *
   * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
   * @author      Daniel Krebs <github@daniel-krebs.net>
   * @author      Joakim Gebart <joakim.gebart@eistec.se>
   *
   * @}
   */
  
  #include <stdint.h>
  #include <stdio.h>
  #include <inttypes.h>
  
  #include "cpu.h"
  #include "kernel_init.h"
  #include "board.h"
  #include "mpu.h"
  #include "panic.h"
  #include "vectors_cortexm.h"
  
  #ifndef SRAM_BASE
  #define SRAM_BASE 0
  #endif
  
  /**
   * @brief   Memory markers, defined in the linker script
   * @{
   */
  extern uint32_t _sfixed;
  extern uint32_t _efixed;
  extern uint32_t _etext;
  extern uint32_t _srelocate;
  extern uint32_t _erelocate;
  extern uint32_t _szero;
  extern uint32_t _ezero;
  extern uint32_t _sstack;
  extern uint32_t _estack;
  extern uint32_t _sram;
  extern uint32_t _eram;
  /** @} */
  
  /**
   * @brief   Allocation of the interrupt stack
   */
  __attribute__((used,section(".isr_stack"))) uint8_t isr_stack[ISR_STACKSIZE];
  
  /**
   * @brief   Pre-start routine for CPU-specific settings
   */
  __attribute__((weak)) void pre_startup (void)
  {
  }
  
  /**
   * @brief   Post-start routine for CPU-specific settings
   */
  __attribute__((weak)) void post_startup (void)
  {
  }
  
  void reset_handler_default(void)
  {
      uint32_t *dst;
      uint32_t *src = &_etext;
  
      pre_startup();
  
  #ifdef DEVELHELP
      uint32_t *top;
      /* Fill stack space with canary values up until the current stack pointer */
      /* Read current stack pointer from CPU register */
      __asm__ volatile ("mov %[top], sp" : [top] "=r" (top) : : );
      dst = &_sstack;
      while (dst < top) {
          *(dst++) = STACK_CANARY_WORD;
      }
  #endif
  
      /* load data section from flash to ram */
      for (dst = &_srelocate; dst < &_erelocate; ) {
          *(dst++) = *(src++);
      }
      /* default bss section to zero */
      for (dst = &_szero; dst < &_ezero; ) {
          *(dst++) = 0;
      }
  
  #ifdef MODULE_MPU_STACK_GUARD
      if (((uintptr_t)&_sstack) != SRAM_BASE) {
          mpu_configure(
              0,                                              /* MPU region 0 */
              (uintptr_t)&_sstack + 31,                       /* Base Address (rounded up) */
              MPU_ATTR(1, AP_RO_RO, 0, 1, 0, 1, MPU_SIZE_32B) /* Attributes and Size */
          );
  
          mpu_enable();
      }
  #endif
  
      post_startup();
  
      /* initialize the board (which also initiates CPU initialization) */
      board_init();
  
  #if MODULE_NEWLIB
      /* initialize std-c library (this must be done after board_init) */
      extern void __libc_init_array(void);
      __libc_init_array();
  #endif
  
      /* startup the kernel */
      kernel_init();
  }
  
  void nmi_default(void)
  {
      core_panic(PANIC_NMI_HANDLER, "NMI HANDLER");
  }
  
  #ifdef DEVELHELP
  
  /* The hard fault handler requires some stack space as a working area for local
   * variables and printf function calls etc. If the stack pointer is located
   * closer than HARDFAULT_HANDLER_REQUIRED_STACK_SPACE from the lowest address of
   * RAM we will reset the stack pointer to the top of available RAM.
   * Measured from trampoline entry to breakpoint:
   *  - Cortex-M0+ 344 Byte
   *  - Cortex-M4  344 Byte
   */
  #define HARDFAULT_HANDLER_REQUIRED_STACK_SPACE          (344U)
  
  static inline int _stack_size_left(uint32_t required)
  {
      uint32_t* sp;
      __asm__ volatile ("mov %[sp], sp" : [sp] "=r" (sp) : : );
      return ((int)((uint32_t)sp - (uint32_t)&_sstack) - required);
  }
  
  void hard_fault_handler(uint32_t* sp, uint32_t corrupted, uint32_t exc_return, uint32_t* r4_to_r11_stack);
  
  /* Trampoline function to save stack pointer before calling hard fault handler */
  __attribute__((naked)) void hard_fault_default(void)
  {
      /* Get stack pointer where exception stack frame lies */
      __asm__ volatile
      (
          /* Check that msp is valid first because we want to stack all the
           * r4-r11 registers so that we can use r0, r1, r2, r3 for other things. */
          "mov r0, sp                         \n" /* r0 = msp                   */
          "cmp r0, %[eram]                    \n" /* if(msp > &_eram) {         */
          "bhi fix_msp                        \n" /*   goto fix_msp }           */
          "cmp r0, %[sram]                    \n" /* if(msp <= &_sram) {        */
          "bls fix_msp                        \n" /*   goto fix_msp }           */
          "movs r1, #0                        \n" /* else { corrupted = false   */
          "b   test_sp                        \n" /*   goto test_sp     }       */
          " fix_msp:                          \n" /*                            */
          "mov r1, %[estack]                  \n" /*     r1 = _estack           */
          "mov sp, r1                         \n" /*     sp = r1                */
          "movs r1, #1                        \n" /*     corrupted = true       */
          " test_sp:                          \n" /*                            */
          "movs r0, #4                        \n" /* r0 = 0x4                   */
          "mov r2, lr                         \n" /* r2 = lr                    */
          "tst r2, r0                         \n" /* if(lr & 0x4)               */
          "bne use_psp                        \n" /* {                          */
          "mrs r0, msp                        \n" /*   r0 = msp                 */
          "b out                              \n" /* }                          */
          " use_psp:                          \n" /* else {                     */
          "mrs r0, psp                        \n" /*   r0 = psp                 */
          " out:                              \n" /* }                          */
  #if (__CORTEX_M == 0)
          "push {r4-r7}                       \n" /* save r4..r7 to the stack   */
          "mov r3, r8                         \n" /*                            */
          "mov r4, r9                         \n" /*                            */
          "mov r5, r10                        \n" /*                            */
          "mov r6, r11                        \n" /*                            */
          "push {r3-r6}                       \n" /* save r8..r11 to the stack  */
  #else
          "push {r4-r11}                      \n" /* save r4..r11 to the stack  */
  #endif
          "mov r3, sp                         \n" /* r4_to_r11_stack parameter  */
          "bl hard_fault_handler              \n" /* hard_fault_handler(r0)     */
            :
            : [sram]   "r" (&_sram + HARDFAULT_HANDLER_REQUIRED_STACK_SPACE),
              [eram]   "r" (&_eram),
              [estack] "r" (&_estack)
            : "r0","r4","r5","r6","r8","r9","r10","r11","lr"
      );
  }
  
  #if (__CORTEX_M == 0)
  /* Cortex-M0 and Cortex-M0+ lack the extended fault status registers found in
   * Cortex-M3 and above. */
  #define CPU_HAS_EXTENDED_FAULT_REGISTERS 0
  #else
  #define CPU_HAS_EXTENDED_FAULT_REGISTERS 1
  #endif
  
  __attribute__((used)) void hard_fault_handler(uint32_t* sp, uint32_t corrupted, uint32_t exc_return, uint32_t* r4_to_r11_stack)
  {
  #if CPU_HAS_EXTENDED_FAULT_REGISTERS
      static const uint32_t BFARVALID_MASK = (0x80 << SCB_CFSR_BUSFAULTSR_Pos);
      static const uint32_t MMARVALID_MASK = (0x80 << SCB_CFSR_MEMFAULTSR_Pos);
  
      /* Copy status register contents to local stack storage, this must be
       * done before any calls to other functions to avoid corrupting the
       * register contents. */
      uint32_t bfar  = SCB->BFAR;
      uint32_t mmfar = SCB->MMFAR;
      uint32_t cfsr  = SCB->CFSR;
      uint32_t hfsr  = SCB->HFSR;
      uint32_t dfsr  = SCB->DFSR;
      uint32_t afsr  = SCB->AFSR;
  #endif
  
      /* Initialize these variables even if they're never used uninitialized.
       * Fixes wrong compiler warning by gcc < 6.0. */
      uint32_t pc = 0;
      /* cppcheck-suppress variableScope
       * variable used in assembly-code below */
      uint32_t* orig_sp = NULL;
  
      /* Check if the ISR stack overflowed previously. Not possible to detect
       * after output may also have overflowed it. */
      if(*(&_sstack) != STACK_CANARY_WORD) {
          puts("\nISR stack overflowed");
      }
      /* Sanity check stack pointer and give additional feedback about hard fault */
      if(corrupted) {
          puts("Stack pointer corrupted, reset to top of stack");
      }
      else {
          uint32_t  r0 = sp[0];
          uint32_t  r1 = sp[1];
          uint32_t  r2 = sp[2];
          uint32_t  r3 = sp[3];
          uint32_t r12 = sp[4];
          uint32_t  lr = sp[5];  /* Link register. */
                    pc = sp[6];  /* Program counter. */
          uint32_t psr = sp[7];  /* Program status register. */
  
          /* Reconstruct original stack pointer before fault occurred */
          orig_sp = sp + 8;
          if (psr & SCB_CCR_STKALIGN_Msk) {
              /* Stack was not 8-byte aligned */
              orig_sp += 1;
          }
  
          puts("\nContext before hardfault:");
  
          /* TODO: printf in ISR context might be a bad idea */
          printf("   r0: 0x%08" PRIx32 "\n"
                 "   r1: 0x%08" PRIx32 "\n"
                 "   r2: 0x%08" PRIx32 "\n"
                 "   r3: 0x%08" PRIx32 "\n",
                 r0, r1, r2, r3);
          printf("  r12: 0x%08" PRIx32 "\n"
                 "   lr: 0x%08" PRIx32 "\n"
                 "   pc: 0x%08" PRIx32 "\n"
                 "  psr: 0x%08" PRIx32 "\n\n",
                 r12, lr, pc, psr);
      }
  #if CPU_HAS_EXTENDED_FAULT_REGISTERS
      puts("FSR/FAR:");
      printf(" CFSR: 0x%08" PRIx32 "\n", cfsr);
      printf(" HFSR: 0x%08" PRIx32 "\n", hfsr);
      printf(" DFSR: 0x%08" PRIx32 "\n", dfsr);
      printf(" AFSR: 0x%08" PRIx32 "\n", afsr);
      if (cfsr & BFARVALID_MASK) {
          /* BFAR valid flag set */
          printf(" BFAR: 0x%08" PRIx32 "\n", bfar);
      }
      if (cfsr & MMARVALID_MASK) {
          /* MMFAR valid flag set */
          printf("MMFAR: 0x%08" PRIx32 "\n", mmfar);
      }
  #endif
      puts("Misc");
      printf("EXC_RET: 0x%08" PRIx32 "\n", exc_return);
  
      if (!corrupted) {
          puts("Attempting to reconstruct state for debugging...");
          printf("In GDB:\n  set $pc=0x%" PRIx32 "\n  frame 0\n  bt\n", pc);
          int stack_left = _stack_size_left(HARDFAULT_HANDLER_REQUIRED_STACK_SPACE);
          if(stack_left < 0) {
              printf("\nISR stack overflowed by at least %d bytes.\n", (-1 * stack_left));
          }
          __asm__ volatile (
              "mov r0, %[sp]\n"
              "ldr r2, [r0, #8]\n"
              "ldr r3, [r0, #12]\n"
              "ldr r1, [r0, #16]\n"
              "mov r12, r1\n"
              "ldr r1, [r0, #20]\n"
              "mov lr, r1\n"
              "mov sp, %[orig_sp]\n"
              "mov r1, %[extra_stack]\n"
  #if (__CORTEX_M == 0)
              "ldm r1!, {r4-r7}\n"
              "mov r8, r4\n"
              "mov r9, r5\n"
              "mov r10, r6\n"
              "mov r11, r7\n"
              "ldm r1!, {r4-r7}\n"
  #else
              "ldm r1, {r4-r11}\n"
  #endif
              "ldr r1, [r0, #4]\n"
              "ldr r0, [r0, #0]\n"
              :
              : [sp] "r" (sp),
                [orig_sp] "r" (orig_sp),
                [extra_stack] "r" (r4_to_r11_stack)
              : "r0","r1","r2","r3","r12"
              );
      }
      __BKPT(1);
  
      core_panic(PANIC_HARD_FAULT, "HARD FAULT HANDLER");
  }
  
  #else
  
  void hard_fault_default(void)
  {
      core_panic(PANIC_HARD_FAULT, "HARD FAULT HANDLER");
  }
  
  #endif /* DEVELHELP */
  
  #if defined(CPU_ARCH_CORTEX_M3) || defined(CPU_ARCH_CORTEX_M4) || \
      defined(CPU_ARCH_CORTEX_M4F) || defined(CPU_ARCH_CORTEX_M7)
  void mem_manage_default(void)
  {
      core_panic(PANIC_MEM_MANAGE, "MEM MANAGE HANDLER");
  }
  
  void bus_fault_default(void)
  {
      core_panic(PANIC_BUS_FAULT, "BUS FAULT HANDLER");
  }
  
  void usage_fault_default(void)
  {
      core_panic(PANIC_USAGE_FAULT, "USAGE FAULT HANDLER");
  }
  
  void debug_mon_default(void)
  {
      core_panic(PANIC_DEBUG_MON, "DEBUG MON HANDLER");
  }
  #endif
  
  void dummy_handler_default(void)
  {
      core_panic(PANIC_DUMMY_HANDLER, "DUMMY HANDLER");
  }
  
  /* Cortex-M common interrupt vectors */
  __attribute__((weak,alias("dummy_handler_default"))) void isr_svc(void);
  __attribute__((weak,alias("dummy_handler_default"))) void isr_pendsv(void);
  __attribute__((weak,alias("dummy_handler_default"))) void isr_systick(void);
  
  /* define Cortex-M base interrupt vectors */
  ISR_VECTOR(0) cortexm_base_t cortex_vector_base = {
      &_estack,
      {
          /* entry point of the program */
          [ 0]         = reset_handler_default,
          /* [-14] non maskable interrupt handler */
          [ 1] = nmi_default,
          /* [-13] hard fault exception */
          [ 2] = hard_fault_default,
          /* [-5] SW interrupt, in RIOT used for triggering context switches */
          [10] = isr_svc,
          /* [-2] pendSV interrupt, in RIOT use to do the actual context switch */
          [13] = isr_pendsv,
          /* [-1] SysTick interrupt, not used in RIOT */
          [14] = isr_systick,
  
          /* additional vectors used by M3, M4(F), and M7 */
  #if defined(CPU_ARCH_CORTEX_M3) || defined(CPU_ARCH_CORTEX_M4) || \
      defined(CPU_ARCH_CORTEX_M4F) || defined(CPU_ARCH_CORTEX_M7)
          /* [-12] memory manage exception */
          [ 3] = mem_manage_default,
          /* [-11] bus fault exception */
          [ 4] = bus_fault_default,
          /* [-10] usage fault exception */
          [ 5] = usage_fault_default,
          /* [-4] debug monitor exception */
          [11] = debug_mon_default,
  #endif
      }
  };