[302] | 1 | /*
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| 2 | * TOPPERS/ASP Kernel
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| 3 | * Toyohashi Open Platform for Embedded Real-Time Systems/
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| 4 | * Advanced Standard Profile Kernel
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| 5 | *
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| 6 | * Copyright (C) 2000-2003 by Embedded and Real-Time Systems Laboratory
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| 7 | * Toyohashi Univ. of Technology, JAPAN
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| 8 | * Copyright (C) 2005-2015 by Embedded and Real-Time Systems Laboratory
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| 9 | * Graduate School of Information Science, Nagoya Univ., JAPAN
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| 10 | *
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| 11 | * ä¸è¨èä½æ¨©è
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| 12 | ã¯ï¼ä»¥ä¸ã®(1)ã(4)ã®æ¡ä»¶ãæºããå ´åã«éãï¼æ¬ã½ããã¦ã§
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| 13 | * ã¢ï¼æ¬ã½ããã¦ã§ã¢ãæ¹å¤ãããã®ãå«ãï¼ä»¥ä¸åãï¼ã使ç¨ã»è¤è£½ã»æ¹
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| 14 | * å¤ã»åé
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| 15 | å¸ï¼ä»¥ä¸ï¼å©ç¨ã¨å¼ã¶ï¼ãããã¨ãç¡åã§è¨±è«¾ããï¼
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| 16 | * (1) æ¬ã½ããã¦ã§ã¢ãã½ã¼ã¹ã³ã¼ãã®å½¢ã§å©ç¨ããå ´åã«ã¯ï¼ä¸è¨ã®èä½
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| 17 | * 権表示ï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãï¼ãã®ã¾ã¾ã®å½¢ã§ã½ã¼
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| 18 | * ã¹ã³ã¼ãä¸ã«å«ã¾ãã¦ãããã¨ï¼
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| 19 | * (2) æ¬ã½ããã¦ã§ã¢ãï¼ã©ã¤ãã©ãªå½¢å¼ãªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
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| 20 | * ç¨ã§ããå½¢ã§åé
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| 21 | å¸ããå ´åã«ã¯ï¼åé
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| 22 | å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨
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| 23 | * è
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| 24 | ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®èä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨
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| 25 | * ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
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| 26 | * (3) æ¬ã½ããã¦ã§ã¢ãï¼æ©å¨ã«çµã¿è¾¼ããªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
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| 27 | * ç¨ã§ããªãå½¢ã§åé
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| 28 | å¸ããå ´åã«ã¯ï¼æ¬¡ã®ããããã®æ¡ä»¶ãæºããã
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| 29 | * ã¨ï¼
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| 30 | * (a) åé
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| 31 | å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨è
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| 32 | ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®è
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| 33 | * ä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
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| 34 | * (b) åé
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| 35 | å¸ã®å½¢æ
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| 36 | ãï¼å¥ã«å®ããæ¹æ³ã«ãã£ã¦ï¼TOPPERSããã¸ã§ã¯ãã«
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| 37 | * å ±åãããã¨ï¼
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| 38 | * (4) æ¬ã½ããã¦ã§ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ
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| 39 | * 害ãããï¼ä¸è¨èä½æ¨©è
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| 40 | ããã³TOPPERSããã¸ã§ã¯ããå
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| 41 | 責ãããã¨ï¼
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| 42 | * ã¾ãï¼æ¬ã½ããã¦ã§ã¢ã®ã¦ã¼ã¶ã¾ãã¯ã¨ã³ãã¦ã¼ã¶ããã®ãããªãç
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| 43 | * ç±ã«åºã¥ãè«æ±ãããï¼ä¸è¨èä½æ¨©è
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| 44 | ããã³TOPPERSããã¸ã§ã¯ãã
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| 45 | * å
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| 46 | 責ãããã¨ï¼
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| 47 | *
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| 48 | * æ¬ã½ããã¦ã§ã¢ã¯ï¼ç¡ä¿è¨¼ã§æä¾ããã¦ãããã®ã§ããï¼ä¸è¨èä½æ¨©è
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| 49 | ã
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| 50 | * ãã³TOPPERSããã¸ã§ã¯ãã¯ï¼æ¬ã½ããã¦ã§ã¢ã«é¢ãã¦ï¼ç¹å®ã®ä½¿ç¨ç®ç
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| 51 | * ã«å¯¾ããé©åæ§ãå«ãã¦ï¼ãããªãä¿è¨¼ãè¡ããªãï¼ã¾ãï¼æ¬ã½ããã¦ã§
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| 52 | * ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ害ã«é¢ãã¦ãï¼ã
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| 53 | * ã®è²¬ä»»ãè² ããªãï¼
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| 54 | *
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| 55 | * @(#) $Id: core_kernel_impl.c 301 2015-01-07 04:57:01Z ertl-ishikawa $
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| 56 | */
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| 57 |
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| 58 | /*
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| 59 | * ã³ã¢ä¾åã¢ã¸ã¥ã¼ã«ï¼ARM-Mç¨ï¼
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| 60 | */
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| 61 |
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| 62 | #include "kernel_impl.h"
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| 63 | #include "check.h"
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| 64 | #include "task.h"
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| 65 |
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| 66 | /*
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| 67 | * CPUããã¯ãã©ã°å®ç¾ã®ããã®å¤æ°
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| 68 | */
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| 69 | volatile bool_t lock_flag; /* CPUããã¯ãã©ã°ã®å¤ãä¿æããå¤æ° */
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| 70 | volatile uint32_t saved_iipm; /* å²è¾¼ã¿åªå
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| 71 | 度ãã¹ã¯ãä¿åããå¤æ° */
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| 72 |
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| 73 | /*
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| 74 | * ãã¯ã¿ãã¼ãã«(kernel_cfg.c)
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| 75 | */
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| 76 | extern const FP vector_table[];
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| 77 |
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| 78 | /*
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| 79 | * ã·ã¹ãã ä¾å¤ã»å²è¾¼ã¿ã®ï¼ä¾å¤çªå· 4ã15ï¼
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| 80 | * å²è¾¼ã¿åªå
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| 81 | 度è¨å®ã¬ã¸ã¹ã¿ã¸ã®ã¢ã¯ã»ã¹ã®ããã®é
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| 82 | å
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| 83 | */
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| 84 | static const unsigned int nvic_sys_pri_reg[] = {
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| 85 | 0,
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| 86 | NVIC_SYS_PRI1,
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| 87 | NVIC_SYS_PRI2,
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| 88 | NVIC_SYS_PRI3
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| 89 | };
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| 90 |
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| 91 | /*
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| 92 | * ä¾å¤ã¨å²è¾¼ã¿ã®å²è¾¼ã¿åªå
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| 93 | 度ãã»ãã
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| 94 | *
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| 95 | * excnoã¯ARM-Mã§å®ãããã¦ãã Exception Number ãæå®ï¼
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| 96 | */
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| 97 | void
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| 98 | set_exc_int_priority(uint32_t excno, uint32_t iipm){
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| 99 | uint32_t tmp, reg;
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| 100 |
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| 101 | /*
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| 102 | * å²è¾¼ã¿åªå
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| 103 | 度è¨å®ã¬ã¸ã¹ã¿ã®æ±ºå®
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| 104 | */
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| 105 | if ((EXCNO_MPU <= excno) && (excno <= IRQNO_SYSTICK)) {
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| 106 | /*
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| 107 | * Exception Number 4(Memory Management)ãã
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| 108 | * Exception Number 15(SysTick)ã¾ã§ã®å²è¾¼ã¿åªå
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| 109 | 度ã¯ã·ã¹ãã åªå
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| 110 | 度
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| 111 | * ã¬ã¸ã¹ã¿ã«ããè¨å®ï¼
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| 112 | */
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| 113 | reg = nvic_sys_pri_reg[excno >> 2];
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| 114 | }
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| 115 | else if ((TMIN_INTNO < excno) && (excno <= TMAX_INTNO)){
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| 116 | /*
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| 117 | * IRQå²è¾¼ã¿ãªã
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| 118 | */
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| 119 | reg = NVIC_PRI0 + (((excno - (TMIN_INTNO + 1)) >> 2) * 4);
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| 120 | }
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| 121 | else {
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| 122 | return ;
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| 123 | }
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| 124 |
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| 125 | tmp = sil_rew_mem((void *)reg);
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| 126 | tmp &= ~(0xFF << (8 * (excno & 0x03)));
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| 127 | tmp |= iipm << (8 * (excno & 0x03));
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| 128 | sil_wrw_mem((void *)reg, tmp);
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| 129 | }
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| 130 |
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| 131 | /*
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| 132 | * ä¾å¤ã®è¨±å¯
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| 133 | *
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| 134 | * Memory Management, Bus Fault, Usage Fault ã¯ç¦æ¢ã»è¨±å¯ãå¯è½
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| 135 | */
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| 136 | void
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| 137 | enable_exc(EXCNO excno)
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| 138 | {
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| 139 | uint32_t tmp;
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| 140 |
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| 141 | switch (excno) {
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| 142 | case EXCNO_MPU:
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| 143 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
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| 144 | tmp |= NVIC_SYS_HND_CTRL_MEM;
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| 145 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
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| 146 | break;
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| 147 | case EXCNO_BUS:
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| 148 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
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| 149 | tmp |= NVIC_SYS_HND_CTRL_BUS;
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| 150 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
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| 151 | break;
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| 152 | case EXCNO_USAGE:
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| 153 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
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| 154 | tmp |= NVIC_SYS_HND_CTRL_USAGE;
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| 155 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
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| 156 | break;
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| 157 | }
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| 158 | }
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| 159 |
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| 160 | /*
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| 161 | * ä¾å¤ã®ç¦æ¢
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| 162 | */
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| 163 | void
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| 164 | disable_exc(EXCNO excno)
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| 165 | {
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| 166 | uint32_t tmp;
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| 167 |
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| 168 | switch (excno) {
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| 169 | case EXCNO_MPU:
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| 170 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
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| 171 | tmp &= ~NVIC_SYS_HND_CTRL_MEM;
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| 172 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
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| 173 | break;
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| 174 | case EXCNO_BUS:
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| 175 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
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| 176 | tmp &= ~NVIC_SYS_HND_CTRL_BUS;
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| 177 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
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| 178 | break;
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| 179 | case EXCNO_USAGE:
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| 180 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
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| 181 | tmp &= ~NVIC_SYS_HND_CTRL_USAGE;
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| 182 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
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| 183 | break;
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| 184 | }
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| 185 | }
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| 186 |
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| 187 |
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| 188 | /*
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| 189 | * ã³ã¢ä¾åã®åæå
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| 190 | */
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| 191 | void
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| 192 | core_initialize(void)
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| 193 | {
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| 194 | /*
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| 195 | * CPUããã¯ãã©ã°å®ç¾ã®ããã®å¤æ°ã®åæå
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| 196 | */
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| 197 | lock_flag = true;
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| 198 | saved_iipm = IIPM_ENAALL;
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| 199 |
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| 200 | /*
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| 201 | * ãã¯ã¿ãã¼ãã«ãè¨å®
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| 202 | */
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| 203 | sil_wrw_mem((void*)NVIC_VECTTBL, (uint32_t)vector_table);
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| 204 |
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| 205 | /*
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| 206 | * åä¾å¤ã®åªå
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| 207 | 度ãè¨å®
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| 208 | * CPUããã¯ç¶æ
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| 209 | ã§ãçºçããããã«ï¼BASEPRIã¬ã¸ã¹ã¿ã§ãã¹ã¯ã§ã
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| 210 | * ãªã'0'ã¨ããï¼
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| 211 | */
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| 212 | set_exc_int_priority(EXCNO_HARD, 0);
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| 213 | set_exc_int_priority(EXCNO_MPU, 0);
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| 214 | set_exc_int_priority(EXCNO_BUS, 0);
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| 215 | set_exc_int_priority(EXCNO_USAGE, 0);
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| 216 | set_exc_int_priority(EXCNO_SVCALL, 0);
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| 217 | set_exc_int_priority(EXCNO_DEBUG, 0);
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| 218 | set_exc_int_priority(EXCNO_PENDSV, INT_IPM(-1));
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| 219 |
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| 220 | /*
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| 221 | * SVCãã³ãã©ãæå¹ã«
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| 222 | */
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| 223 | enable_int(EXCNO_SVCALL);
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| 224 |
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| 225 | /*
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| 226 | * Configuration Control Registerã®STKALIGNãããã0ã«ãã
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| 227 | * ã¹ã¿ãã¯ã¯8byteã¢ã©ã¤ã³ã§ãªãã4byteã¢ã©ã¤ã³
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| 228 | */
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| 229 | sil_andw((void *)CCR_BASE, ~CCR_STKALIGN);
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| 230 | }
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| 231 |
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| 232 | /*
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| 233 | * ã³ã¢ä¾åã®çµäºå¦ç
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| 234 | */
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| 235 | void
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| 236 | core_terminate(void)
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| 237 | {
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| 238 | extern void software_term_hook(void);
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| 239 | void (*volatile fp)(void) = software_term_hook;
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| 240 |
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| 241 | /*
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| 242 | * software_term_hookã¸ã®ãã¤ã³ã¿ãï¼ä¸æ¦volatileæå®ã®ããfpã«ä»£
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| 243 | * å
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| 244 | ¥ãã¦ãã使ãã®ã¯ï¼0ã¨ã®æ¯è¼ãæé©åã§åé¤ãããªãããã«ããã
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| 245 | * ãã§ããï¼
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| 246 | */
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| 247 | if (fp != 0) {
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| 248 | (*fp)();
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| 249 | }
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| 250 | }
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| 251 |
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| 252 | /*
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| 253 | * å²è¾¼ã¿è¦æ±ã©ã¤ã³å±æ§ã®è¨å®
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| 254 | */
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| 255 | void
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| 256 | config_int(INTNO intno, ATR intatr, PRI intpri)
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| 257 | {
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| 258 | assert(VALID_INTNO_CFGINT(intno));
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| 259 | assert(TMIN_INTPRI <= intpri && intpri <= TMAX_INTPRI);
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| 260 |
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| 261 | /*
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| 262 | * ä¸æ¦å²è¾¼ã¿ãç¦æ¢ãã
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| 263 | */
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| 264 | (void)disable_int(intno);
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| 265 |
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| 266 | /*
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| 267 | * å²è¾¼ã¿åªå
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| 268 | 度ãã»ãã
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| 269 | */
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| 270 | set_exc_int_priority(intno, INT_IPM(intpri));
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| 271 |
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| 272 | /*
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| 273 | * å²è¾¼ã¿è¦æ±ãã¹ã¯è§£é¤(å¿
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| 274 | è¦ãªå ´å)
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| 275 | */
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| 276 | if ((intatr & TA_ENAINT) != 0U) {
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| 277 | (void)enable_int(intno);
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| 278 | }
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| 279 | }
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| 280 |
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| 281 |
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| 282 | #ifndef OMIT_DEFAULT_EXC_HANDLER
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| 283 | /*
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| 284 | * Trapa以å¤ã®ä¾å¤ã§ç»é²ããã¦ããªãä¾å¤ãçºçããã¨å¼ã³åºããã
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| 285 | */
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| 286 | void
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| 287 | default_exc_handler(void *p_excinf)
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| 288 | {
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| 289 | uint32_t basepri = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_BASEPRI);
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| 290 | uint32_t pc = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_PC);
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| 291 | uint32_t xpsr = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_XPSR);
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| 292 | uint32_t excno = get_ipsr() & IPSR_ISR_NUMBER;
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| 293 |
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| 294 | syslog(LOG_EMERG, "\nUnregistered Exception occurs.");
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| 295 | syslog(LOG_EMERG, "Excno = %08x PC = %08x XPSR = %08x basepri = %08X, p_excinf = %08X",
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| 296 | excno, pc, xpsr, basepri, p_excinf);
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| 297 |
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| 298 | target_exit();
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| 299 | }
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| 300 | #endif /* OMIT_DEFAULT_EXC_HANDLER */
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| 301 |
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| 302 | #ifndef OMIT_DEFAULT_INT_HANDLER
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| 303 | /*
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| 304 | * æªç»é²ã®å²è¾¼ã¿ãçºçããå ´åã«å¼ã³åºããã
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| 305 | */
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| 306 | void
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| 307 | default_int_handler(void *p_excinf)
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| 308 | {
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| 309 | uint32_t basepri = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_BASEPRI);
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| 310 | uint32_t pc = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_PC);
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| 311 | uint32_t xpsr = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_XPSR);
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| 312 | uint32_t excno = get_ipsr() & IPSR_ISR_NUMBER;
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| 313 |
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| 314 | syslog(LOG_EMERG, "\nUnregistered Interrupt occurs.");
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| 315 | syslog(LOG_EMERG, "Excno = %08x PC = %08x XPSR = %08x basepri = %08X, p_excinf = %08X",
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| 316 | excno, pc, xpsr, basepri, p_excinf);
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| 317 |
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| 318 | target_exit();
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| 319 | }
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| 320 | #endif /* OMIT_DEFAULT_INT_HANDLER */
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| 321 |
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