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core_support.S@ 302

Last change on this file since 302 was 302, checked in by ertl-honda, 7 years ago
TECSレスのASP3の開発のため以下のtrunkからコピー http://dev.toppers.jp/svn/asp3/branches/WO_TECS-3.C.0
File size: 25.0 KB

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1	/*
2	* TOPPERS/ASP Kernel
3	* Toyohashi Open Platform for Embedded Real-Time Systems/
4	* Advanced Standard Profile Kernel
5	*
6	* Copyright (C) 2000-2003 by Embedded and Real-Time Systems Laboratory
7	* Toyohashi Univ. of Technology, JAPAN
8	* Copyright (C) 2005-2015 by Embedded and Real-Time Systems Laboratory
9	* Graduate School of Information Science, Nagoya Univ., JAPAN
10	*
11	* ä¸è¨èä½æ¨©è
12	ã¯ï¼ä»¥ä¸ã®(1)ã(4)ã®æ¡ä»¶ãæºããå ´åã«éãï¼æ¬ã½ããã¦ã§
13	* ã¢ï¼æ¬ã½ããã¦ã§ã¢ãæ¹å¤ãããã®ãå«ãï¼ä»¥ä¸åãï¼ãä½¿ç¨ã»è¤è£½ã»æ¹
14	* å¤ã»åé
15	å¸ï¼ä»¥ä¸ï¼å©ç¨ã¨å¼ã¶ï¼ãããã¨ãç¡åã§è¨±è«¾ããï¼
16	* (1) æ¬ã½ããã¦ã§ã¢ãã½ã¼ã¹ã³ã¼ãã®å½¢ã§å©ç¨ããå ´åã«ã¯ï¼ä¸è¨ã®èä½
17	* æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãï¼ãã®ã¾ã¾ã®å½¢ã§ã½ã¼
18	* ã¹ã³ã¼ãä¸ã«å«ã¾ãã¦ãããã¨ï¼
19	* (2) æ¬ã½ããã¦ã§ã¢ãï¼ã©ã¤ãã©ãªå½¢å¼ãªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
20	* ç¨ã§ããå½¢ã§åé
21	å¸ããå ´åã«ã¯ï¼åé
22	å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨
23	* è
24	ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®èä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨
25	* ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
26	* (3) æ¬ã½ããã¦ã§ã¢ãï¼æ©å¨ã«çµã¿è¾¼ããªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
27	* ç¨ã§ããªãå½¢ã§åé
28	å¸ããå ´åã«ã¯ï¼æ¬¡ã®ããããã®æ¡ä»¶ãæºããã
29	* ã¨ï¼
30	* (a) åé
31	å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨è
32	ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®è
33	* ä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
34	* (b) åé
35	å¸ã®å½¢æ
36	ãï¼å¥ã«å®ããæ¹æ³ã«ãã£ã¦ï¼TOPPERSããã¸ã§ã¯ãã«
37	* å ±åãããã¨ï¼
38	* (4) æ¬ã½ããã¦ã§ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ
39	* å®³ãããï¼ä¸è¨èä½æ¨©è
40	ããã³TOPPERSããã¸ã§ã¯ããå
41	è²¬ãããã¨ï¼
42	* ã¾ãï¼æ¬ã½ããã¦ã§ã¢ã®ã¦ã¼ã¶ã¾ãã¯ã¨ã³ãã¦ã¼ã¶ããã®ãããªãç
43	* ç±ã«åºã¥ãè«æ±ãããï¼ä¸è¨èä½æ¨©è
44	ããã³TOPPERSããã¸ã§ã¯ãã
45	* å
46	è²¬ãããã¨ï¼
47	*
48	* æ¬ã½ããã¦ã§ã¢ã¯ï¼ç¡ä¿è¨¼ã§æä¾ããã¦ãããã®ã§ããï¼ä¸è¨èä½æ¨©è
49	ã
50	* ãã³TOPPERSããã¸ã§ã¯ãã¯ï¼æ¬ã½ããã¦ã§ã¢ã«é¢ãã¦ï¼ç¹å®ã®ä½¿ç¨ç®ç
51	* ã«å¯¾ããé©åæ§ãå«ãã¦ï¼ãããªãä¿è¨¼ãè¡ããªãï¼ã¾ãï¼æ¬ã½ããã¦ã§
52	* ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæå®³ã«é¢ãã¦ãï¼ã
53	* ã®è²¬ä»»ãè² ããªãï¼
54	*
55	* @(#) $Id: core_support.S 323 2015-05-28 08:48:22Z ertl-ishikawa $
56	*/
57
58	/*
59	* ããã»ããµä¾åã¢ã¸ã¥ã¼ã« ã¢ã»ã³ããªè¨èªé¨ï¼ARM-Mç¨ï¼
60	*/
61
62	#define TOPPERS_MACRO_ONLY
63	#define UINT_C(val) (val) /* uint_tåã®å®æ°ãä½ããã¯ã */
64	#define ULONG_C(val) (val) /* ulong_tåã®å®æ°ãä½ããã¯ã */
65	#define CAST(type, val) (val) /* åãã£ã¹ããè¡ããã¯ã */
66
67	#include "kernel_impl.h"
68	#include "arm_m.h"
69	#include "offset.h"
70	#include "target_asm.inc"
71
72	/*
73	* ã¿ã¹ã¯ãã£ã¹ãããã£
74	*/
75	ATEXT
76	AALIGN(2)
77	ATHUMB(_dispatch)
78	AGLOBAL(_dispatch)
79	ALABEL(_dispatch)
80	#ifdef TOPPERS_SUPPORT_OVRHDR
81	push {lr}
82	bl ovrtimer_stop
83	pop {lr}
84	#endif /* TOPPERS_SUPPORT_OVRHDR */
85	/*
86	*
87	* ãã®ã«ã¼ãã³ã¯ï¼PendSVã«ãã£ã¦å¼ã³åºããã
88	* * Handler mode
89	* * use msp
90	* * lr = EXC_RETURN
91	* * scratch registers -> psp
92	* * CONTROL.FPCA -> EXC_RETURN && CONTROL.FPCA == 0
93	*/
94	cpsid f /* FAULTMASK = 1 */
95	mrs r3, psp
96	stmfd r3!, {r4-r11} /* ã¬ã¸ã¹ã¿ã®ä¿å */
97	#ifdef __TARGET_FPU_VFPUV4_D16
98	/*
99	* å¼åºãå
100	ã³ã³ããã¹ãã§æµ®åå°æ°ç¹æ¼ç®ããããï¼
101	* EXC_RETURN[4]ããã§ãã¯
102	*/
103	tst lr, #0x10
104	/* EXC_RETURN[4] == 1ãªãã°ã¹ããã */
105	bne _dispatch_1
106	vstmdb r3!, {s16-s31} /* ã¬ã¸ã¹ã¿ã®ä¿å */
107	/fpscrã¯ä¾å¤ãã¬ã¼ã ã«ä¿åæ¸ã¿/
108	ALABEL(_dispatch_1)
109	#endif /* __TARGET_FPU_VFPUV4_D16 */
110	ldr r1, =p_runtsk /* p_runtskãèªã¿è¾¼ã */
111	ldr r1, [r1]
112	str r3, [r1,#TCB_sp] /* ã¿ã¹ã¯ã®ã¹ã¿ãã¯ãä¿å */
113	str lr, [r1,#TCB_pc]
114	b dispatcher
115
116	/*
117	* CPUä¾å¤ã¨ã³ããª
118	*
119	* å²è¾¼ã¿ã¨ã³ããªã¨å¦çã®å
120	å®¹ã¯åçã ãï¼ãã°ã®ç¨®é¡ãç°ãªãããï¼
121	* åãã¦ããï¼
122	*/
123	AALIGN(2)
124	ATEXT
125	ATHUMB(core_exc_entry)
126	AGLOBAL(core_exc_entry)
127	ALABEL(core_exc_entry)
128	/*
129	* ä¾å¤/å²è¾¼ã¿ãçºçããã¨ï¼çºçæã«ã¢ã¯ãã£ããªã¹ã¿ãã¯ã«ã¹ã¯ã©
130	* ããã¬ã¸ã¹ã¿çãä¿åãããï¼
131	* ãã®å
132	å®¹ã«å ãã¦ï¼CPUä¾å¤ãã³ãã©ã¸ã®æ
133	å ±ã¨ãã¦ï¼basepri ã®å¤ã¨ï¼
134	* EXC_RETURNã®æ
135	å ±ãå ãã¦ä¿åããï¼basepriã®å¤ã¯ï¼CPUä¾å¤ããã®
136	* ãªã¿ã¼ã³æã«å²è¾¼ã¿åªå
137	åº¦ãã¹ã¯ã®å¤ãå
138	ã«æ»ãããã«ãç¨ããããï¼
139	*
140	* -----------
141	* \| EXC_RETURN\|
142	* -----------
143	* \| basepri \|
144	* -----------
145	* \| R0 \|
146	* -----------
147	* \| R1 \|
148	* -----------
149	* \| R2 \|
150	* -----------
151	* \| R3 \|
152	* -----------
153	* \| R12 \|
154	* -----------
155	* \| LR \|
156	* -----------
157	* \| PC \|
158	* -----------
159	* \| xPSR \|
160	* -----------
161	*
162	*/
163
164	/*
165	* ã«ã¼ãã«ç®¡çå¤ã®ä¾å¤ããã§ãã¯
166	* ã«ã¼ãã«å
167	ã®ã¯ãªãã£ã«ã«ã»ã¯ã·ã§ã³ã®å®è¡ä¸ï¼å
168	¨å²è¾¼ã¿ããã¯ç¶æ
169	ï¼
170	* CPUããã¯ç¶æ
171	ï¼ã«ã¼ãã«ç®¡çå¤ã®å²è¾¼ã¿ãã³ãã©å®è¡ä¸ã®ããããã§
172	* çºçããCPUä¾å¤ãï¼ã«ã¼ãã«ç®¡çå¤ã®CPUä¾å¤ã¨å¼ã¶
173	* å
174	¨å²è¾¼ã¿ããã¯ç¶æ
175	ã¯FAULTMASKã'1'ã®å ´å
176	* CPUããã¯ç¶æ
177	ã¯basepriãIIPM_LOCKãã§å¤æããï¼
178	*/
179	mrs r2, FAULTMASK /* å
180	¨å²è¾¼ã¿ããã¯ç¶æ
181	ãªãã«ã¼ãã«ç®¡çå¤ä¾å¤å¦çã¸ */
182	cbnz r2, core_nonkernel_exc_entry
183
184	mrs r2, basepri /* baepriã®å¤ãåå¾ */
185	cmp r2, #IIPM_LOCK /* CPUããã¯ç¶æ
186	ãªãã«ã¼ãã«ç®¡çå¤ä¾å¤å¦çã¸ */
187	beq core_nonkernel_exc_entry
188
189
190	/*
191	* ã¹ã¿ãã¯ãå¤æ´ããå¿
192	è¦ãããããã§ãã¯
193	* EXC_RETURNï¼å²è¾¼ã¿æã«LRã«è¨å®ãããå¤ï¼ããã§ãã¯ãã¦ï¼ä¾å¤çºçæã«
194	* ã¢ã¯ãã£ããªã¹ã¿ãã¯ãç¹å®ãããã¨ã§å¤éå²è¾¼ã¿ãå¤å®ããï¼
195	*/
196	tst lr, #EXC_RETURN_PSP /* å²è¾¼ã¿å
197	ãMSPãªãå¤éå²è¾¼ã¿ */
198	beq core_exc_entry_1 /* å¤éå²è¾¼ã¿ãªãcore_exc_entry_1ã¸ */
199	mrs r0, psp /* ä¸æ®µç®ã®å²è¾¼ã¿ã®å ´åã¯PSPä¸ã« */
200	stmfd r0!,{r2} /* å²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
201	åº¦ãã¹ã¯ãç©ã */
202	stmfd r0!,{lr} /* EXC_RETURN ãç©ã */
203	msr psp, r0 /* CPUä¾å¤ãã³ãã©ã¸ã®å¼æ°ã¨ãªã */
204	push {lr} /* MSPä¸ã«ãEXC_RETURN ãç©ã */
205	#ifdef TOPPERS_SUPPORT_OVRHDR
206	push {r0}
207	bl ovrtimer_stop
208	pop {r0}
209	#endif /* TOPPERS_SUPPORT_OVRHDR */
210	b core_exc_entry_2
211	ALABEL(core_exc_entry_1) /* å¤éå²è¾¼ã¿ã®å ´å */
212	push {r2} /* å²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
213	åº¦ãã¹ã¯ãç©ã */
214	push {lr} /* EXC_RETURN ãç©ã */
215	mov r0, sp /* CPUä¾å¤ãã³ãã©ã¸ã®å¼æ°ã¨ãªã */
216
217	/*
218	* å
219	±éå¦ç
220	*/
221	ALABEL(core_exc_entry_2)
222	mrs r3, ipsr /* ãã³ãã©ã¢ãã¬ã¹ãåå¾ */
223	ALABEL(core_exc_entry_3)
224	ldr r1, =_kernel_exc_tbl
225	ldr r2, [r1, r3, lsl #2]
226
227	#ifdef LOG_EXC_ENTER
228	push {r0,r2,r3}
229	mov r0, r3 /* ä¾å¤çªå·ããã©ã¡ã¼ã¿ã« */
230	bl log_exc_enter /* log_exc_enterãå¼ã³åºã */
231	pop {r0,r2,r3}
232	push {r3} /* ä¾å¤çªå·ãã¹ã¿ãã¯ã¸ */
233	#endif /* LOG_EXC_ENTER */
234
235	/*
236	* CPUä¾å¤ãã³ãã©ã®å¼ã³åºã
237	*/
238	blx r2
239
240	#ifdef LOG_EXC_ENTER
241	pop {r0} /* ä¾å¤çªå·ãå¼æ°ã« */
242	bl log_exc_leave /* log_exc_leaveãå¼ã³åºã */
243	#endif /* LOG_EXC_ENTER */
244
245	b ret_exc
246
247	/*
248	* ã«ã¼ãã«ç®¡çå¤ã®CPUä¾å¤ã®åºå
249	¥å£å¦ç
250	*/
251	ALABEL(core_nonkernel_exc_entry)
252	tst lr, #EXC_RETURN_PSP /* å²è¾¼ã¿å
253	ãMSPãªãå¤éå²è¾¼ã¿ */
254	beq core_nonkernel_exc_entry_1 /* å¤éå²è¾¼ã¿ãªã */
255	mrs r0, psp /* ä¸æ®µç®ã®å²è¾¼ã¿ã®å ´åã¯PSPä¸ã« */
256	stmfd r0!,{r2} /* å²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
257	åº¦ãã¹ã¯ãç©ã */
258	stmfd r0!,{lr} /* EXC_RETURN ãç©ã */
259	msr psp, r0 /* CPUä¾å¤ãã³ãã©ã¸ã®å¼æ°ã¨ãªã */
260	push {lr} /* MSPä¸ã«ãEXC_RETURN ãç©ã */
261	b core_nonkernel_exc_entry_2
262	ALABEL(core_nonkernel_exc_entry_1) /* å¤éå²è¾¼ã¿ã®å ´å */
263	push {r2} /* å²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
264	åº¦ãã¹ã¯ãç©ã */
265	push {lr} /* EXC_RETURN ãç©ã */
266	mov r0, sp /* CPUä¾å¤ãã³ãã©ã¸ã®å¼æ°ã¨ãªã */
267
268	ALABEL(core_nonkernel_exc_entry_2)
269	mrs r3, ipsr /* CPUä¾å¤ãã³ãã©ã®ã¢ãã¬ã¹ãåå¾ */
270	ldr r1, =_kernel_exc_tbl
271	ldr r2, [r1, r3, lsl #2]
272
273	/*
274	* CPUä¾å¤ãã³ãã©ã®å¼ã³åºã
275	*/
276	blx r2
277
278	/*
279	* å²è¾¼ã¿ããã¯ç¶æ
280	ã¨ããï¼
281	*/
282	cpsid f
283
284	/*
285	* æ»ãå
286	ã®ã³ã³ããã¹ãã®å¤å®
287	*
288	* å²è¾¼ã¿ãã³ãã©å®è¡ã«LRã«ã»ãããããEXC_RETURNããã§ãã¯ãã¦ï¼æ»ã
289	* å
290	ã§MSPãä½¿ããã¦ããã°ï¼å²è¾¼ã¿å
291	ãéã¿ã¹ã¯ã³ã³ããã¹ãã¨å¤å®ããï¼
292	*/
293	pop {r3} /* lrãã¹ã¿ãã¯ããåå¾ */
294	tst r3, #EXC_RETURN_PSP /* æ»ãå
295	ãPSPãªã */
296	bne core_nonkernel_ret_exc_1
297	pop {r1} /* å
298	ã®å²è¾¼ã¿åªå
299	åº¦ãã¹ã¯(basepri) */
300	b core_nonkernel_ret_exc_2 /* ã®å¤ãMSPããåå¾ */
301
302	ALABEL(core_nonkernel_ret_exc_1)
303	/*
304	* PSPä¸ããEXC_RETURNãåé¤
305	*/
306	mrs r2, psp
307	add r2, r2, #4
308	/*
309	* å
310	ã®å²è¾¼ã¿åªå
311	åº¦ãã¹ã¯(basepri)ã®å¤ãPSPããåå¾
312	*/
313	ldmfd r2!, {r1}
314	msr psp, r2
315
316	ALABEL(core_nonkernel_ret_exc_2)
317	msr basepri, r1 /* å²è¾¼ã¿åªå
318	åº¦ãã¹ã¯ãå²è¾¼ã¿åã«ç¶æ
319	ã¸ */
320	bx r3 /* ãªã¿ã¼ã³ */
321
322	/*
323	* å²è¾¼ã¿ã¨ã³ããª
324	*/
325	ATHUMB(core_int_entry)
326	AGLOBAL(core_int_entry)
327	ALABEL(core_int_entry)
328	/*
329	* å²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
330	åº¦ãã¹ã¯ãã¹ã¿ãã¯ã«ä¿åããããåå¾
331	*/
332	mrs r2, basepri /* baepriã®å¤ãåå¾ */
333
334	/*
335	* å¤éå²è¾¼ã¿ããã§ãã¯
336	* EXC_RETURNï¼å²è¾¼ã¿æã«LRã«è¨å®ãããå¤ï¼ããã§ãã¯ãã¦ï¼ä¾å¤çºçæã«
337	* ã¢ã¯ãã£ããªã¹ã¿ãã¯ãç¹å®ãããã¨ã§å¤éå²è¾¼ã¿ãå¤å®ããï¼
338	*/
339	tst lr, #EXC_RETURN_PSP /* å²è¾¼ã¿å
340	ãMSPãªãå¤éå²è¾¼ã¿ */
341	beq core_int_entry_1 /* å¤éå²è¾¼ã¿ãªãcore_int_entry_1ã¸ */
342	mrs r0, psp /* ä¸æ®µç®ã®å²è¾¼ã¿ã®å ´åã¯PSPä¸ã« */
343	stmfd r0!,{r2} /* å²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
344	åº¦ãã¹ã¯ãç©ã */
345	stmfd r0!,{lr} /* EXC_RETURN ãç©ã */
346	msr psp, r0 /* CPUä¾å¤ãã³ãã©ã¸ã®å¼æ°ã¨ãªã */
347	push {lr} /* MSPä¸ã«ãEXC_RETURN ãç©ã */
348	#ifdef TOPPERS_SUPPORT_OVRHDR
349	push {r0}
350	bl ovrtimer_stop
351	pop {r0}
352	#endif /* TOPPERS_SUPPORT_OVRHDR */
353	b core_int_entry_2
354	ALABEL(core_int_entry_1) /* å¤éå²è¾¼ã¿ã®å ´å */
355	push {r2} /* å²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
356	åº¦ãã¹ã¯ãç©ã */
357	push {lr} /* EXC_RETURN ãç©ã */
358	mov r0, sp /* æªå®ç¾©ã®å²è¾¼ã¿ãçºçããå ´åã®æ
359	å ±ã¨ãã */
360
361	/*
362	* å
363	±éå¦ç
364	*/
365	ALABEL(core_int_entry_2)
366	mrs r3, ipsr /* ãã³ãã©ã¢ãã¬ã¹ãåå¾ */
367	ldr r1, =_kernel_exc_tbl
368	ldr r2, [r1, r3, lsl #2]
369
370	/*
371	* basepriã®è¨å®
372	* NVICåªå
373	åº¦ãã¹ã¯ãèªåçã«è¨å®ãããããåªå
374	åº¦ãã¹ã¯ã®ç¹ã§ã¯å¿
375	è¦ãª
376	* ããï¼x_get_ipm()ãbasepriãåç
377	§ããããï¼basepriãæ´æ°ããï¼
378	*/
379	ldr r1, =_kernel_int_iipm_tbl
380	ldr lr, [r1, r3, lsl #2]
381	msr basepri, lr
382	isb
383
384	#ifdef LOG_INH_ENTER
385	push {r0,r2,r3}
386	mov r0, r3 /* ä¾å¤çªå·ããã©ã¡ã¼ã¿ã« */
387	bl log_inh_enter /* log_exc_enterãå¼ã³åºã */
388	pop {r0,r2,r3}
389	push {r3} /* ä¾å¤çªå·ãã¹ã¿ãã¯ã¸ */
390	#endif /* LOG_EXC_ENTER */
391
392	/*
393	* å²è¾¼ã¿ãã³ãã©ã®å¼ã³åºã
394	*/
395	blx r2
396
397	#ifdef LOG_INH_LEAVE
398	pop {r0} /* ä¾å¤çªå·ãå¼æ°ã« */
399	bl log_exc_leave /* log_exc_leaveãå¼ã³åºã */
400	#endif /* LOG_INH_LEAVE */
401
402	/*
403	* å²è¾¼ã¿/ä¾å¤åºå£
404	*
405	* ret_exc/ret_intã¯ï¼CPUä¾å¤/å²è¾¼ã¿ãã³ãã©ããæ»ã£ãç´å¾ã«å®è¡ãã
406	* ã«ã¼ãã³ã§ããï¼
407	*/
408	ALABEL(ret_exc)
409	ALABEL(ret_int)
410	/*
411	* å²è¾¼ã¿ããã¯ç¶æ
412	ã¨ããï¼ãã®æç¹ã§ã¯ï¼CPUããã¯ç¶æ
413	ã«ã¯ãªããªã
414	* ï¼basepriã¨lock_flagã¨saved_iipmã¯æ´æ°ããªãï¼ï¼
415	*
416	* å²è¾¼ã¿ããã¯ç¶æ
417	ã¨ããã®ã¯ï¼æ»ãå
418	ã®ã³ã³ããã¹ãã®ãã§ãã¯ã¨ï¼
419	* æ»ãå
420	ãéã¿ã¹ã¯ã³ã³ããã¹ãã§ãã£ãå ´åã®ãªã¿ã¼ã³ãã¢ãããã¯
421	* ã«è¡ãããã§ããï¼bsepriãCPUããã¯ã®å¤ã«ãããã¨ã§ãã¢ããã
422	* ã¯ãªãã§ãã¯ã¨å¾©å¸°ã¯å¯è½ã§ãããï¼å²è¾¼ã¿ãããªã¿ã¼ã³ãã¦ãï¼
423	* basepri ã®è¨å®å
424	å®¹ã¯å
425	ã«æ»ããªãããï¼ä½¿ç¨ãããã¨ãã§ããªãï¼
426	* ä¸æ¹ï¼FAULTMASKã¯ï¼å²è¾¼ã¿ããã®ãªã¿ã¼ã³å¦çã«ãã£ã¦ï¼'0'ã«ã¯ãª
427	* ã¢ãããï¼
428	*/
429	cpsid f
430
431	/*
432	* æ»ãå
433	ã®ã³ã³ããã¹ãã®å¤å®
434	*
435	* å²è¾¼ã¿ãã³ãã©å®è¡ã«LRã«ã»ãããããEXC_RETURNããã§ãã¯ãã¦ï¼æ»ã
436	* å
437	ã§MSPãä½¿ããã¦ããã°ï¼å²è¾¼ã¿å
438	ãéã¿ã¹ã¯ã³ã³ããã¹ãã¨å¤å®ããï¼
439	*/
440	pop {r3} /* lrãã¹ã¿ãã¯ããåå¾ */
441	tst r3, #EXC_RETURN_PSP /* æ»ãå
442	ãPSPãªã ret_int_1 ã¸ */
443	bne ret_int_1
444	pop {r1} /* å
445	ã®å²è¾¼ã¿åªå
446	åº¦ãã¹ã¯(basepri)ãr1ã¸ */
447	b ret_int_2
448
449	/*
450	* ä¸æ®µç®ã®å²è¾¼ã¿ã®åºå£å¦ç
451	*/
452	ALABEL(ret_int_1)
453	/*
454	* PSPä¸ããï¼EXC_RETURN(r0)ã¨å
455	ã®å²è¾¼ã¿åªå
456	åº¦ãã¹ã¯(basepri)(r1)
457	* ãåå¾
458	*/
459	mrs r2, psp
460	ldmfd r2!, {r0,r1}
461	msr psp, r2
462
463	/*
464	* å²è¾¼ã¿ãã³ãã©ã«ãããã£ã¹ãããè¦æ±ããã£ãå ´åã«ã¯ï¼
465	* request_dispatchã«ãã£ã¦ï¼PendSVè¦æ±ãçºè¡ããã¦ããï¼
466	* ãã®å ´åï¼ãã®ã¾ã¾å²è¾¼ã¿ãã³ãã©ãããªã¿ã¼ã³ããå¾ï¼
467	* PendSVã®å²è¾¼ã¿ãå
468	¥ãï¼ããã§ãã£ã¹ãããã£ãå®è¡ããã
469	* ãã£ã¦ï¼ããã§ã¯ãã£ã¹ããããããã©ããã®ãã§ãã¯å¦çã¯
470	* ä¸è¦ã§ãã
471	*/
472
473	#ifdef TOPPERS_SUPPORT_OVRHDR
474	push {r1,r3}
475	bl ovrtimer_start
476	pop {r1,r3}
477	#endif /* TOPPERS_SUPPORT_OVRHDR */
478	ALABEL(ret_int_2)
479	/*
480	* ããã«ã¯å²è¾¼ã¿ããã¯ç¶æ
481	ï¼FAULTMASKãã»ããï¼ãããç¶æ
482	ã§æ¥ãï¼
483	* Handlerã¢ã¼ãããã®ãªã¿ã¼ã³ã«ããèªåçã«å²è¾¼ã¿ããã¯è§£é¤ç¶æ
484	ã«ãªãï¼
485	* å²è¾¼ã¿åªå
486	åº¦ãã¹ã¯ã¯å²è¾¼ã¿åã«ç¶æ
487	ã«æ»ãï¼
488	*/
489	msr basepri, r1 /* å²è¾¼ã¿åªå
490	åº¦ãã¹ã¯ãå²è¾¼ã¿åã®ç¶æ
491	ã¸ */
492	bx r3 /* ãªã¿ã¼ã³ */
493
494	/*
495	* ãã£ã¹ãããã£ã®åä½éå§
496	*/
497	ATHUMB(start_dispatch)
498	AGLOBAL(start_dispatch)
499	ALABEL(start_dispatch)
500	/*
501	* ãã®ã«ã¼ãã³ã¯ï¼ã«ã¼ãã«èµ·åæã«ï¼ãã¹ã¦ã®å²è¾¼ã¿ãç¦æ¢ããç¶æ
502
503	* ï¼å²è¾¼ã¿ããã¯ç¶æ
504	ã¨åçï¼ã§å¼ã³åºãããï¼ã¾ãï¼å²è¾¼ã¿ã¢ã¼ãï¼é
505	* ã¿ã¹ã¯ã³ã³ããã¹ãã¨åçï¼ã§å¼ã³åºããããã¨ãæ³å®ãã¦ããï¼
506	*
507	* core_initializeã§ï¼lock_flagãtrueã«ï¼saved_iipmãIIPM_ENAALLã«
508	* åæåãã¦ããããï¼ã«ã¼ãã«ç®¡çå¤ã®å²è¾¼ã¿ãè¨±å¯ãããã¨ã§ï¼
509	* CPUããã¯ç¶æ
510	ã»ï¼ã¢ãã«ä¸ã®ï¼å²è¾¼ã¿åªå
511	åº¦ãã¹ã¯å
512	¨è§£é¤ç¶æ
513	ã«ãªãï¼
514	* ã¾ãï¼task_initializeã§disdspãfalseã«åæåãã¦ããããï¼ãã£
515	* ã¹ãããè¨±å¯ç¶æ
516	ã«ãªã£ã¦ããï¼
517	*/
518	ldr r0,=istkpt /* MSPãåæå */
519	ldr r1,[r0] /* start_dispatchå¼ã³åºãæã«å¼ã³åºãç¨ã« */
520	msr msp, r1 /* ä½¿ç¨ãã¦ããããåæåãã */
521	/*
522	* ã¹ã¿ãã¯ãIDã1ã®ã¿ã¹ã¯ã®ã¹ã¿ãã¯é åã«åãæãã
523	*/
524	mov r0, #CONTROL_PSP /* PSPãæå¹ã« */
525	msr control, r0
526	isb /* control ã®æä½å¾ã«å¿
527	è¦ */
528	ldr r1, =tinib_table
529	ldr sp, [r1, #TINIB_stk_bottom]
530	/*
531	* ID1ã®ã¿ã¹ã¯ããã§ã«activate_contextããã¦ããå ´åï¼
532	* ã¹ã¿ãã¯ã®å
533	é ã«spãåæåãã¦ãã¾ãã¨ï¼svcã«ãã
534	* activate_contextã§æºåããå
535	å®¹ãæ¶ããã¦ãã¾ãããï¼
536	* ãã®åãé£ã°ããã¢ãã¬ã¹ãï¼ã«ã¼ãã«åä½éå§æã®
537	* ã¹ã¿ãã¯å
538	é ã¢ãã¬ã¹ã¨ãã
539	*/
540	add sp, sp, #(4*16)
541	ldr r1, =IIPM_LOCK /* ã«ã¼ãã«ç®¡çå
542	ã®å²è¾¼ã¿ãç¦æ¢ */
543	msr basepri, r1
544	isb
545	cpsie f /* ã«ã¼ãã«ç®¡çå¤ã®å²è¾¼ã¿ãè¨±å¯ */
546	/*
547	* _exit_and_dispatchã§CPUããã¯è§£é¤&FAULTMASK=1ããã¦ããã«ã
548	* ãããããï¼ããã§CPUããã¯&FAULTMASK=0ã¨ãã¦ããã®ã¯ï¼
549	* ãã£ã¹ãããã£ãsvcçºè¡æã®ç¶æ
550	ã§å¼ãã§ããï¼ãã¤ï¼
551	* FAULTMASKç¶æ
552	ã§svcãçºè¡ããã¨double faultã§ãªã»ãããããã
553	* ããã§ãã
554	*/
555
556	ATHUMB(exit_and_dispatch)
557	AGLOBAL(exit_and_dispatch)
558	ALABEL(exit_and_dispatch)
559	/*
560	* r3=pspã¯svcã®çºè¡å¾ã§ããããï¼ã¹ã¿ãã¯ä½¿ç¨éãå¤ããªãããï¼
561	* svcåã®pspãr3ã«ä¿åãã¦ãã
562	*/
563	svc #NO_DISPATCHER
564
565	/*
566	* ç¾å¨ã®ã³ã³ããã¹ããæ¨ã¦ã¦ãã£ã¹ããã
567	*/
568	ATHUMB(_exit_and_dispatch)
569	AGLOBAL(_exit_and_dispatch)
570	ALABEL(_exit_and_dispatch)
571	cpsid f /* FAULTMASK = 1 */
572	mov r0, #0
573	ldr r1, =lock_flag /* CPUããã¯è§£é¤ç¶æ
574	ã¸ */
575	str r0, [r1]
576	ldr r1, =IIPM_ENAALL /* å²è¾¼ã¿åªå
577	åº¦ãã¹ã¯ãå
578	¨è§£é¤ç¶æ
579	ã«è¨å® */
580	msr basepri, r1
581	mrs r3, psp
582	/* ãã£ã¹ãããã£æ¬ä½ï¼dispatcherï¼ã¸ */
583
584	/*
585	* ãã£ã¹ãããã£æ¬ä½
586	*/
587	ATHUMB(dispatcher)
588	AGLOBAL(dispatcher)
589	ALABEL(dispatcher)
590	/*
591	* ãã®ã«ã¼ãã³ã¯ï¼ã¿ã¹ã¯ã³ã³ããã¹ãã»CPUããã¯ç¶æ
592	ã»ãã£ã¹ããã
593	* è¨±å¯ç¶æ
594	ã»ï¼ã¢ãã«ä¸ã®ï¼å²è¾¼ã¿åªå
595	åº¦ãã¹ã¯å
596	¨è§£é¤ç¶æ
597	ã§å¼ã³åºã
598	* ããï¼
599	*
600	* ããªãã¡ï¼Handlerã¢ã¼ãã»lock_flagãtrueã»disdspãfalseã»dspflg
601	* ãtrueã»saved_iipmãIIPM_ENAALLã¨ãªã£ã¦ããï¼å®è¡åéçªå°ã¸ãã
602	* ã®ç¶æ
603	ã®ã¾ã¾åå²ããï¼
604	* ã¾ãï¼MSPã¯ï¼istkptï¼åæå¤ï¼ã¨ãªã£ã¦ãã
605	*
606	* from dispatch:
607	* svcå½ä»¤ã«ããHandlerã¢ã¼ãã¨ãªãï¼pspã«æ»ãå
608	çªå°dispatch_rã
609	* ç©ãã ç¶æ
610	ï¼TCB.spã«pspãï¼TCB.pcã«EXC_RETURN_PSPãä¿åæ¸ã¿ï¼
611	* from start_dispatch/exit_and_dispatch:
612	* svcå½ä»¤ã«ããHandlerã¢ã¼ãã¨ãªã£ãç¶æ
613
614	* ï¼ä»¥åã«å®è¡ç¶æ
615	ã§ãã£ãã¿ã¹ã¯orID0ã®ã¿ã¹ã¯ã®ã¹ã¿ãã¯ã«æ»ãå
616
617	* ãªã©ãç©ã¾ãããï¼æ¬¡åã«ã¿ã¹ã¯ãèµ·åããéã«ç ´æ£ãããï¼
618	* from ret_int:
619	* ãã§ã«Handlerã¢ã¼ãã§ããããï¼åãªãã¸ã£ã³ãå½ä»¤ã§ããã«ãã
620	* ï¼TCB.spã«pspãï¼TCB.pcã«ret_int_rãä¿åæ¸ã¿ï¼
621
622	* to dispatch_r:
623	* TCB.pcããEXC_RETURN_PSPããã¼ããï¼bxå½ä»¤ã«ãããªã¿ã¼ã³ãã
624	* ãã¨ã§ï¼Threadã¢ã¼ãã¨ãªãï¼TCB.spã®pspã«ç©ã¾ããdispatch_r
625	* ã«æ»ãï¼TCB.pc/spã¯dispatchã§ã»ããæ¸ã¿ï¼
626	* to start_r:
627	* TCB.pcããstart_rããã¼ããï¼bxå½ä»¤ã«ããã¸ã£ã³ããããã¨ï¼
628	* ã¿ã¹ã¯èµ·åæã®å¼æ°ã¬ã¸ã¹ã¿å¤ï¼pcãTCB.spã®pspã«ç©ã¿ï¼bx
629	* EXC_RETURN_PSP å½ä»¤ã«ãã£ã¦Threadã¢ã¼ãã¨ãªãï¼ã¿ã¹ã¯èµ·åçªå°
630	* ã¸ã¸ã£ã³ããã
631	* ï¼TCB.pc/spã¯activate_contextã§ã»ããæ¸ã¿ï¼
632	* to ret_int_r:
633	* TCB.pcããret_int_rããã¼ããï¼bxå½ä»¤ã«ããã¸ã£ã³ããããã¨ï¼
634	* å²è¾¼ã¿ãã³ãã©ã®åºå£å¦çã«ããï¼Threadã¢ã¼ãã«æ»ãï¼å²è¾¼ã¿å
635	ã«
636	* æ»ãï¼TCB.pc/spã¯ret_intã§ã»ããæ¸ã¿ï¼
637	*/
638	#ifdef TOPPERS_SUPPORT_OVRHDR
639	bl ovrtimer_stop
640	#endif /* TOPPERS_SUPPORT_OVRHDR */
641	#ifdef LOG_DSP_ENTER
642	ldr r1, =p_runtsk /* p_runtskããã©ã¡ã¼ã¿ã« */
643	ldr r0, [r1]
644	bl log_dsp_enter
645	#endif /* LOG_DSP_ENTER */
646	ALABEL(dispatcher_0)
647	ldr r0, =p_schedtsk /* p_schedtskãp_runtskã« */
648	ldr r1, [r0]
649	ldr r2, =p_runtsk
650	str r1, [r2]
651	cbz r1, idle_loop /* p_runtskãNULLãªãidle_loopã¸ */
652	ldr lr, [r1,#TCB_pc] /* å®è¡åéçªå°ãå¾©å¸° */
653	ldr r0, [r1,#TCB_sp] /* ã¿ã¹ã¯ã®ã¹ã¿ãã¯ãå¾©å¸° */
654	#ifdef __TARGET_FPU_VFPUV4_D16
655	/*
656	* æ»ãå
657	ã®ã³ã³ããã¹ãã§æµ®åå°æ°ç¹æ¼ç®ããããï¼
658	* EXC_RETURN[4]ããã§ãã¯
659	*/
660	tst lr, #0x10
661	/* EXC_RETURN[4] == 1ãªãã°ã¹ããã */
662	bne dispatcher_2
663	/fpscrã¯ä¾å¤ãã¬ã¼ã ããå¾©å¸°ãã/
664	vldmia r0!, {s16-s31} /* ã¬ã¸ã¹ã¿ã®å¾©å¸° */
665	ALABEL(dispatcher_2)
666	#endif /* __TARGET_FPU_VFPUV4_D16 */
667	ldmfd r0!, {r4-r11} /* ã¬ã¸ã¹ã¿ã®å¾©å¸° */
668	msr psp, r0 /* psp = p_runtsk->sp */
669
670	#ifdef LOG_DSP_LEAVE
671	mov r0, r1 /* p_runtskããã©ã¡ã¼ã¿ã« */
672	mov r4, r1 /* r1ã¯ã¹ã¯ã©ããã¬ã¸ã¹ã¿ãªã®ã§ä¿å */
673	bl log_dsp_leave
674	mov r1, r4
675	#endif /* LOG_DSP_LEAVE */
676	#ifdef TOPPERS_SUPPORT_OVRHDR
677	push {lr}
678	bl ovrtimer_start
679	pop {lr}
680	#endif /* TOPPERS_SUPPORT_OVRHDR */
681	/*
682	* ARM<->Thumbã¢ã¼ãå¤æãæå¶ããããã«pcã«ç´æ¥æ»ãçªå°ã
683	* å
684	¥ãã
685	* å²è¾¼ã¿å
686	ã«æ»ãå ´åã«ããã¦ãï¼EXC_RETURNãç´æ¥pcã«ä»£å
687	¥ãã¦
688	* ï¼bxå½ä»¤ãä½¿ããã«æ»ã£ã¦ãï¼åé¡ãªã
689	*/
690	bx lr /* å®è¡åéçªå°ãå¾©å¸° */
691
692	ALABEL(idle_loop)
693	/*
694	* å²è¾¼ã¿ãè¨±å¯ãããCPUããã¯è§£é¤ç¶æ
695	ã«ãªãããæºåãã
696	* CPUããã¯ç¶æ
697	ã®è§£é¤ã¨ï¼éã¿ã¹ã¯ã³ã³ããã¹ãå®è¡ç¶æ
698	ã¸ã®
699	* æºåããã
700	*/
701	/*
702	* pspã«ããã¼ãã¬ã¼ã ãç©ãã§bx lrã«ããï¼threadã¢ã¼ããã¤idleã¸
703	* ãã®æç¹ã§ã¯ï¼r3=pspã§ãã
704	* r3ã«ã¯ï¼dispatchã§callee-saved-registerãä¿åããããã¨ã®
705	* ã¹ã¿ãã¯ãã¤ã³ã¿ãå
706	¥ã£ã¦ããï¼ãã®ç¶ãããã¹ã¿ãã¯ãä½¿ç¨ãã
707	*/
708	ldr r0, =_idle_loop /* PC */
709	ldr r1, =EPSR_T /* xPSR(Tãããã'1'ã§ããå¿
710	è¦ããã) */
711	/*
712	* ã¢ã¤ãã«ã«ã¼ãä¸ã®FPã¯ä»»æãªã®ã§è¨å®ããªã
713	*/
714	ldr lr, =0xfffffffd
715	stmfd r3!, {r0-r1} /* ããã¼ãã¬ã¼ã ãã¹ã¿ãã¯ä¸ã«ç©ã */
716	sub r3, #(64) / r0-r3,r12,lrã®å
717	å®¹ã¯è¨å®ããå¿
718	è¦ããªã */
719	msr psp, r3
720	bx lr
721
722	ALABEL(_idle_loop)
723	/* ããã§ã¯ãã§ã«å²è¾¼ã¿è¨±å¯ç¶æ
724	*/
725	#ifdef TOPPERS_CUSTOM_IDLE
726	toppers_asm_custom_idle
727	#else
728	ALABEL(_idle_loop_1)
729	/*
730	* basepriãå
731	¨å²è¾¼ã¿è¨±å¯ã«è¨å®ãã¦ããwfiãçºè¡ãããã¾ã§ã«
732	* å²è¾¼ã¿ãå
733	¥ã£ãå ´åï¼ããã§ãã£ã¹ããããå¿
734	è¦ãªç¶æ
735	ã«ãªãã°
736	* å²è¾¼ã¿ã®åºå£å¦çã§é
737	å»¶ãã£ã¹ããããï¼ããã«ã¯æ»ã£ã¦ããªãï¼
738	* é
739	å»¶ãã£ã¹ãããããªãã£ãå ´åã¯ããã«æ»ã£ã¦ãã¦æ¬¡ã®å²è¾¼ã¿ã
740	* wfiã§å¾
741	ã¤ããï¼æ³å®ã©ããã®åä½ã¨ãªã
742	*/
743	wfi
744	b _idle_loop_1
745	nop
746	#endif /* TOPPERS_CUSTOM_IDLE */
747
748	/*
749	* ã«ã¼ãã«ã®çµäºå¦çã®å¼åºã
750	*
751	* ã¹ã¿ãã¯ãéã¿ã¹ã¯ã³ã³ããã¹ãç¨ã«åãæ¿ãï¼
752	*
753	*/
754	ATHUMB(call_exit_kernel)
755	AGLOBAL(call_exit_kernel)
756	ALABEL(call_exit_kernel)
757	mov r0, #CONTROL_MSP
758	msr control, r0 /* MSPãæå¹ã« */
759	isb /* control ã®æä½å¾ã«å¿
760	è¦ */
761	ldr r0, =exit_kernel /* ã«ã¼ãã«ã®çµäºå¦çãå¼ã¶ */
762	bx r0
763
764	/*
765	* å¾®å°æéå¾
766	ã¡
767	*/
768	AALIGN(2)
769	ATEXT
770	ATHUMB(sil_dly_nse)
771	AGLOBAL(sil_dly_nse)
772	ALABEL(sil_dly_nse)
773	sub r0, r0, #SIL_DLY_TIM1
774	cmp r0, #0
775	bgt sil_dly_nse1
776	bx lr
777	ALABEL(sil_dly_nse1)
778	sub r0, r0, #SIL_DLY_TIM2
779	cmp r0, #0
780	bgt sil_dly_nse1
781	bx lr
782

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