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) 2008 by Embedded and Real-Time Systems Laboratory
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7 | * Graduate School of Information Science, Nagoya Univ., JAPAN
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8 | *
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9 | * ãLì ÒÍCȺÌ(1)`(4)Ìðð½·êÉÀèC{\tgEF
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10 | * Ai{\tgEFAðüϵ½àÌðÜÞDȺ¯¶jðgpE¡»Eü
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11 | * ÏEÄzziȺCpÆÄÔj·é±Æð³Åø·éD
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12 | * (1) {\tgEFAð\[XR[hÌ`Åp·éêÉÍCãLÌì
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13 | * \¦C±Ìpð¨æѺL̳ÛØKèªC»ÌÜÜÌ`Å\[
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14 | * XR[hÉÜÜêÄ¢é±ÆD
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15 | * (2) {\tgEFAðCCu`®ÈÇC¼Ì\tgEFAJÉg
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16 | * pÅ«é`ÅÄzz·éêÉÍCÄzzɺ¤hL
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17 | gip
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18 | * Ò}j
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19 | AÈÇjÉCãLÌì \¦C±Ìpð¨æѺL
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20 | * ̳ÛØKèðfÚ·é±ÆD
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21 | * (3) {\tgEFAðC@íÉgÝÞÈÇC¼Ì\tgEFAJÉg
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22 | * pÅ«È¢`ÅÄzz·éêÉÍCÌ¢¸ê©Ìðð½·±
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23 | * ÆD
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24 | * (a) Äzzɺ¤hL
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25 | gipÒ}j
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26 | AÈÇjÉCãLÌ
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27 | * ì \¦C±Ìpð¨æѺL̳ÛØKèðfÚ·é±ÆD
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28 | * (b) ÄzzÌ`ÔðCÊÉèßéû@ÉæÁÄCTOPPERSvWFNgÉ
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29 | * ñ·é±ÆD
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30 | * (4) {\tgEFAÌpÉæè¼ÚIܽÍÔÚIɶ¶é¢©Èé¹
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31 | * Q©çàCãLì Ò¨æÑTOPPERSvWFNgðÆÓ·é±ÆD
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32 | * ܽC{\tgEFAÌ[UܽÍGh[U©çÌ¢©Èé
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33 | * RÉîÿ©çàCãLì Ò¨æÑTOPPERSvWFNgð
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34 | * ÆÓ·é±ÆD
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35 | *
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36 | * {\tgEFAÍC³ÛØÅñ³êÄ¢éàÌÅ éDãLì Ò¨
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37 | * æÑTOPPERSvWFNgÍC{\tgEFAÉÖµÄCÁèÌgpÚI
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38 | * ÉηéK«àÜßÄC¢©ÈéÛØàsíÈ¢DܽC{\tgEF
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39 | * AÌpÉæè¼ÚIܽÍÔÚIɶ¶½¢©Èé¹QÉÖµÄàC»
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40 | * ÌÓCðíÈ¢D
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41 | *
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42 | */
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43 |
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44 | /*
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45 | * vZbT˶W
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46 | [iARM-Mpj
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47 | */
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48 |
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49 | #include "kernel_impl.h"
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50 | #include "check.h"
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51 | #include "task.h"
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52 |
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53 | /*
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54 | * CPUbNtOÀ»Ì½ßÌÏ
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55 | */
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56 | volatile bool_t lock_flag; /* CPUbNtOÌlðÛ·éÏ */
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57 | volatile uint32_t saved_iipm; /* ÝDæx}XNðÛ¶·éÏ */
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58 |
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59 | /*
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60 | * xN^e[u(kernel_cfg.c)
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61 | */
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62 | extern const FP vector_table[];
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63 |
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64 | /*
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65 | * VXeáOEÝÌiáOÔ 4`15j
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66 | * ÝDæxÝèWX^ÖÌANZX̽ßÌzñ
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67 | */
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68 | static const unsigned int nvic_sys_pri_reg[] = {
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69 | 0,
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70 | NVIC_SYS_PRI1,
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71 | NVIC_SYS_PRI2,
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72 | NVIC_SYS_PRI3
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73 | };
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74 |
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75 | /*
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76 | * áOÆÝÌÝDæxðZbg
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77 | *
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78 | * excnoÍARM-MÅèßçêÄ¢é Exception Number ðwèD
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79 | */
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80 | void
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81 | set_exc_int_priority(uint32_t excno, uint32_t iipm){
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82 | uint32_t tmp, reg;
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83 |
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84 | /*
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85 | * ÝDæxÝèWX^Ìè
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86 | */
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87 | if ((EXCNO_MPU <= excno) && (excno <= IRQNO_SYSTICK)) {
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88 | /*
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89 | * Exception Number 4(Memory Management)©ç
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90 | * Exception Number 15(SysTick)ÜÅÌÝDæxÍVXeDæx
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91 | * WX^ÉæèÝèD
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92 | */
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93 | reg = nvic_sys_pri_reg[excno >> 2];
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94 | }
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95 | else if ((TMIN_INTNO < excno) && (excno <= TMAX_INTNO)){
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96 | /*
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97 | * IRQÝÈç
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98 | */
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99 | reg = NVIC_PRI0 + (((excno - (TMIN_INTNO + 1)) >> 2) * 4);
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100 | }
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101 | else {
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102 | return ;
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103 | }
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104 |
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105 | tmp = sil_rew_mem((void *)reg);
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106 | tmp &= ~(0xFF << (8 * (excno & 0x03)));
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107 | tmp |= iipm << (8 * (excno & 0x03));
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108 | sil_wrw_mem((void *)reg, tmp);
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109 | }
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110 |
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111 | /*
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112 | * áOÌÂ
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113 | *
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114 | * Memory Management, Bus Fault, Usage Fault ÍÖ~Eª¨¤
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115 | */
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116 | void
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117 | enable_exc(EXCNO excno)
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118 | {
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119 | uint32_t tmp;
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120 |
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121 | switch (excno) {
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122 | case EXCNO_MPU:
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123 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
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124 | tmp |= NVIC_SYS_HND_CTRL_MEM;
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125 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
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126 | break;
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127 | case EXCNO_BUS:
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128 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
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129 | tmp |= NVIC_SYS_HND_CTRL_BUS;
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130 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
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131 | break;
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132 | case EXCNO_USAGE:
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133 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
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134 | tmp |= NVIC_SYS_HND_CTRL_USAGE;
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135 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
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136 | break;
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137 | }
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138 | }
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139 |
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140 | /*
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141 | * áOÌÖ~
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142 | */
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143 | void
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144 | disable_exc(EXCNO excno)
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145 | {
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146 | uint32_t tmp;
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147 |
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148 | switch (excno) {
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149 | case EXCNO_MPU:
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150 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
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151 | tmp &= ~NVIC_SYS_HND_CTRL_MEM;
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152 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
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153 | break;
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154 | case EXCNO_BUS:
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155 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
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156 | tmp &= ~NVIC_SYS_HND_CTRL_BUS;
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157 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
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158 | break;
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159 | case EXCNO_USAGE:
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160 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
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161 | tmp &= ~NVIC_SYS_HND_CTRL_USAGE;
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162 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
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163 | break;
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164 | }
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165 | }
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166 |
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167 |
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168 | /*
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169 | * vZbT˶Ìú»
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170 | */
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171 | void
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172 | core_initialize(void)
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173 | {
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174 | /*
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175 | * CPUbNtOÀ»Ì½ßÌÏÌú»
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176 | */
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177 | lock_flag = true;
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178 | saved_iipm = IIPM_ENAALL;
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179 |
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180 | /*
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181 | * xN^e[uðÝè
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182 | */
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183 | sil_wrw_mem((void*)NVIC_VECTTBL, (uint32_t)vector_table);
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184 |
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185 | /*
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186 | * SVCnhÌDæxðÝè
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187 | */
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188 | set_exc_int_priority(EXCNO_HARD, 0);
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189 | set_exc_int_priority(EXCNO_MPU, 0);
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190 | set_exc_int_priority(EXCNO_BUS, 0);
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191 | set_exc_int_priority(EXCNO_USAGE, 0);
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192 | set_exc_int_priority(EXCNO_SVCALL, 0);
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193 | set_exc_int_priority(EXCNO_DEBUG, 0);
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194 | set_exc_int_priority(EXCNO_PENDSV, 0);
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195 |
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196 | /*
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197 | * SVCnhðLøÉ
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198 | */
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199 | x_enable_int(EXCNO_SVCALL);
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200 | }
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201 |
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202 | /*
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203 | * vZbT˶ÌI¹
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204 | */
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205 | void
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206 | core_terminate(void)
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207 | {
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208 | extern __weak void software_term_hook(void);
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209 | void (*volatile fp)(void) = software_term_hook;
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210 |
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211 | /*
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212 | * software_term_hookÖÌ|C^ðCêUvolatilewèÌ éfpÉã
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213 | * üµÄ©çg¤ÌÍC0ÆÌärªÅK»Åí³êÈ¢æ¤É·é½
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214 | * ßÅ éD
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215 | */
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216 | if (fp != 0) {
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217 | (*fp)();
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218 | }
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219 | }
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220 |
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221 | /*
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222 | * ÝvC®«ÌÝè
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223 | */
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224 | void
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225 | x_config_int(INTNO intno, ATR intatr, PRI intpri)
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226 | {
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227 | assert(VALID_INTNO_CFGINT(intno));
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228 | assert(TMIN_INTPRI <= intpri && intpri <= TMAX_INTPRI);
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229 |
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230 | /*
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231 | * êUÝðÖ~·é
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232 | */
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233 | (void)x_disable_int(intno);
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234 |
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235 | /*
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236 | * ÝDæxðZbg
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237 | */
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238 | set_exc_int_priority(intno, INT_IPM(intpri));
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239 |
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240 | /*
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241 | * Ýv}XNð(KvÈê)
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242 | * ¯ÉÝDæxàZbg³êé
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243 | */
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244 | if ((intatr & TA_ENAINT) != 0U) {
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245 | (void) x_enable_int(intno);
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246 | }
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247 | }
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248 |
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249 |
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250 | #ifndef OMIT_DEFAULT_EXC_HANDLER
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251 | /*
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252 | * TrapaÈOÌáOÅo^³êĢȢáOª¶·éÆÄÑo³êé
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253 | */
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254 | void
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255 | default_exc_handler(void *p_excinf)
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256 | {
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257 | uint32_t basepri = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_BASEPRI);
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258 | uint32_t pc = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_PC);
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259 | uint32_t xpsr = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_XPSR);
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260 | uint32_t excno = get_ipsr() & IPSR_ISR_NUMBER;
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261 |
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262 | syslog(LOG_EMERG, "\nUnregistered Exception occurs.");
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263 | syslog(LOG_EMERG, "Excno = %08x PC = %08x XPSR = %08x basepri = %08X, p_excinf = %08X",
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264 | excno, pc, xpsr, basepri, p_excinf);
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265 |
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266 | target_exit();
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267 | }
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268 | #endif /* OMIT_DEFAULT_EXC_HANDLER */
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269 |
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270 | #ifndef OMIT_DEFAULT_INT_HANDLER
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271 | /*
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272 | * ¢o^Ìݪ¶µ½êÉÄÑo³êé
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273 | */
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274 | void
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275 | default_int_handler(void *p_excinf)
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276 | {
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277 | uint32_t basepri = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_BASEPRI);
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278 | uint32_t pc = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_PC);
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279 | uint32_t xpsr = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_XPSR);
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280 | uint32_t excno = get_ipsr() & IPSR_ISR_NUMBER;
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281 |
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282 | syslog(LOG_EMERG, "\nUnregistered Interrupt occurs.");
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283 | syslog(LOG_EMERG, "Excno = %08x PC = %08x XPSR = %08x basepri = %08X, p_excinf = %08X",
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284 | excno, pc, xpsr, basepri, p_excinf);
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285 |
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286 | target_exit();
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287 | }
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288 | #endif /* OMIT_DEFAULT_INT_HANDLER */
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