peripheral: add SCB NSACR and NVIC ITNS support for ARMv8-M TrustZone

cortex-m-rt/tests/compile-fail/interrupt-not-reexported.rs

@@ -11,5 +11,5 @@ fn foo() -> ! {
     loop {}
 }
 
-#[interrupt] //~ ERROR failed to resolve: use of unresolved module or unlinked crate `interrupt`
+#[interrupt] //~ ERROR cannot find module or crate `interrupt`
 fn USART1() {}

cortex-m/src/peripheral/nvic.rs

@@ -257,6 +257,55 @@ impl NVIC {
         unsafe { (*Self::PTR).icpr[usize::from(nr / 32)].write(1 << (nr % 32)) }
     }
 
+    /// Route `interrupt` to the Non-Secure world (ARMv8-M only).
+    ///
+    /// Sets the corresponding ITNS bit so the interrupt is taken as Non-Secure
+    /// and will not preempt Secure execution. Call this for every peripheral
+    /// interrupt handled by the Non-Secure application before jumping to it.
+    ///
+    /// # Safety
+    /// Must be called from the Secure world. Routing an interrupt to Non-Secure
+    /// while Secure handlers depend on it can violate security invariants.
+    #[cfg(armv8m)]
+    #[inline]
+    pub unsafe fn route_to_nonsecure<I>(interrupt: I)
+    where
+        I: InterruptNumber,
+    {
+        let nr = interrupt.number();
+        unsafe { (*Self::PTR).itns[usize::from(nr / 32)].modify(|v| v | (1 << (nr % 32))) }
+    }
+
+    /// Route `interrupt` back to the Secure world (ARMv8-M only).
+    ///
+    /// Clears the corresponding ITNS bit. After this call the interrupt
+    /// targets Secure state (the default after reset).
+    ///
+    /// # Safety
+    /// Must be called from the Secure world.
+    #[cfg(armv8m)]
+    #[inline]
+    pub unsafe fn route_to_secure<I>(interrupt: I)
+    where
+        I: InterruptNumber,
+    {
+        let nr = interrupt.number();
+        unsafe { (*Self::PTR).itns[usize::from(nr / 32)].modify(|v| v & !(1 << (nr % 32))) }
+    }
+
+    /// Returns `true` if `interrupt` is routed to the Non-Secure world (ARMv8-M only).
+    #[cfg(armv8m)]
+    #[inline]
+    pub fn is_routed_to_nonsecure<I>(interrupt: I) -> bool
+    where
+        I: InterruptNumber,
+    {
+        let nr = interrupt.number();
+        let mask = 1 << (nr % 32);
+        // NOTE(unsafe) atomic read with no side effects
+        unsafe { ((*Self::PTR).itns[usize::from(nr / 32)].read() & mask) == mask }
+    }
+
     #[cfg(armv6m)]
     #[inline]
     fn ipr_index<I>(interrupt: I) -> usize

cortex-m/src/peripheral/scb.rs

@@ -100,6 +100,14 @@ pub struct RegisterBlock {
     pub cpacr: RW<u32>,
     #[cfg(armv6m)]
     _reserved9: u32,
+
+    /// Non-Secure Access Control (only present on ARMv8-M)
+    ///
+    /// Controls whether Non-Secure code can access coprocessors. Bits 10–11
+    /// correspond to CP10 and CP11 (the FPU): setting them allows Non-Secure
+    /// code to use floating-point instructions.
+    #[cfg(armv8m)]
+    pub nsacr: RW<u32>,
 }
 
 /// FPU access mode
@@ -171,6 +179,40 @@ impl SCB {
     }
 }
 
+/// ARMv8-M TrustZone coprocessor access control.
+#[cfg(armv8m)]
+impl SCB {
+    const SCB_NSACR_CP10_CP11: u32 = 0b11 << 10;
+
+    /// Allow Non-Secure code to use the FPU (CP10 and CP11).
+    ///
+    /// Sets NSACR bits 10–11 so that Non-Secure threads can execute
+    /// floating-point instructions. Without this, any NS FPU instruction
+    /// raises a UsageFault.
+    ///
+    /// Call this before jumping to Non-Secure code if the NS application
+    /// uses floating-point.
+    #[inline]
+    pub fn enable_nonsecure_fpu(&mut self) {
+        unsafe { self.nsacr.modify(|v| v | Self::SCB_NSACR_CP10_CP11) }
+    }
+
+    /// Deny Non-Secure code from using the FPU.
+    ///
+    /// Clears NSACR bits 10–11.
+    #[inline]
+    pub fn disable_nonsecure_fpu(&mut self) {
+        unsafe { self.nsacr.modify(|v| v & !Self::SCB_NSACR_CP10_CP11) }
+    }
+
+    /// Returns `true` if Non-Secure code is allowed to use the FPU.
+    #[inline]
+    pub fn is_nonsecure_fpu_enabled() -> bool {
+        // NOTE(unsafe) atomic read with no side effects
+        unsafe { ((*Self::PTR).nsacr.read() & Self::SCB_NSACR_CP10_CP11) != 0 }
+    }
+}
+
 impl SCB {
     /// Returns the active exception number
     #[inline]

cortex-m/src/peripheral/test.rs

@@ -116,6 +116,10 @@ fn nvic() {
     assert_eq!(address(&nvic.ispr), 0xE000E200);
     assert_eq!(address(&nvic.icpr), 0xE000E280);
     assert_eq!(address(&nvic.iabr), 0xE000E300);
+    #[cfg(armv8m)]
+    assert_eq!(address(&nvic.itns), 0xE000_E380);
+    #[cfg(armv8m)]
+    assert_eq!(address(&nvic.itns[1]), 0xE000_E384);
     assert_eq!(address(&nvic.ipr), 0xE000E400);
     #[cfg(not(armv6m))]
     assert_eq!(address(&nvic.stir), 0xE000EF00);
@@ -139,6 +143,8 @@ fn scb() {
     assert_eq!(address(&scb.bfar), 0xE000_ED38);
     assert_eq!(address(&scb.afsr), 0xE000_ED3C);
     assert_eq!(address(&scb.cpacr), 0xE000_ED88);
+    #[cfg(armv8m)]
+    assert_eq!(address(&scb.nsacr), 0xE000_ED8C);
 }
 
 #[test]