feat: arm64: update thread self on sp-switch

This patch improves the atomicity of context switching by ensuring that
the stack pointer (sp) and thread self updates occur simultaneously.
This enhancement is crucial for maintaining thread safety and
preventing potential inconsistencies during context switches.

Changes:
- Modified `cpuport.h` to use `ARM64_THREAD_REG` for thread self access.
- Added an `update_tidr` macro in `context_gcc.S` to streamline thread ID
  updates.
- Adjusted `rt_hw_context_switch_to` and `rt_hw_context_switch` to call
  `update_tidr`, ensuring atomic updates during context switches.
- Cleaned up `scheduler_mp.c` by removing redundant thread self
  assignments.

Signed-off-by: Shell <[email protected]>

2 files changed, 8 insertions, 2 deletions

diff --git a/libcpu/aarch64/common/include/armv8.h b/libcpu/aarch64/common/include/armv8.h
index 9063a8337d..7388b078a2 100644
--- a/libcpu/aarch64/common/include/armv8.h
+++ b/libcpu/aarch64/common/include/armv8.h
@@ -11,6 +11,12 @@
 #ifndef __ARMV8_H__
 #define __ARMV8_H__
 
+#include <rtconfig.h>
+
+#ifdef ARCH_USING_HW_THREAD_SELF
+#define ARM64_THREAD_REG tpidr_el1
+#endif /* ARCH_USING_HW_THREAD_SELF */
+
 #ifdef __ASSEMBLY__
 
 /*********************
diff --git a/libcpu/aarch64/common/include/cpuport.h b/libcpu/aarch64/common/include/cpuport.h
index e5e256b57b..e5216f3b89 100644
--- a/libcpu/aarch64/common/include/cpuport.h
+++ b/libcpu/aarch64/common/include/cpuport.h
@@ -57,14 +57,14 @@ void _thread_start(void);
 rt_inline struct rt_thread *rt_hw_thread_self(void)
 {
     struct rt_thread *thread;
-    __asm__ volatile ("mrs %0, tpidr_el1":"=r"(thread));
+    __asm__ volatile ("mrs %0, " RT_STRINGIFY(ARM64_THREAD_REG) :"=r"(thread));
 
     return thread;
 }
 
 rt_inline void rt_hw_thread_set_self(struct rt_thread *thread)
 {
-    __asm__ volatile ("msr tpidr_el1, %0"::"r"(thread));
+    __asm__ volatile ("msr " RT_STRINGIFY(ARM64_THREAD_REG) ", %0"::"r"(thread));
 }
 
 #endif /* ARCH_USING_HW_THREAD_SELF */