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prc_support.S@ 61

Last change on this file since 61 was 61, checked in by ertl-honda, 11 years ago
ASP for EWARM のコミット．
File size: 27.7 KB

Line
1	/*
2	* TOPPERS/ASP Kernel
3	* Toyohashi Open Platform for Embedded Real-Time Systems/
4	* Advanced Standard Profile Kernel
5	*
6	* Copyright (C) 2008 by Embedded and Real-Time Systems Laboratory
7	* Graduate School of Information Science, Nagoya Univ., JAPAN
8	*
9	* ãLì ÒÍCÈºÌ(1)`(4)Ìðð½·êÉÀèC{\tgEF
10	* Ai{\tgEFAðüÏµ½àÌðÜÞDÈº¯¶jðgpE¡»Eü
11	* ÏEÄzziÈºCpÆÄÔj·é±Æð³Åø·éD
12	* (1) {\tgEFAð\[XR[hÌ`Åp·éêÉÍCãLÌì
13	* \¦C±Ìpð¨æÑºLÌ³ÛØKèªC»ÌÜÜÌ`Å\[
14	* XR[hÉÜÜêÄ¢é±ÆD
15	* (2) {\tgEFAðCCu`®ÈÇC¼Ì\tgEFAJÉg
16	* pÅ«é`ÅÄzz·éêÉÍCÄzzÉº¤hL
17	gip
18	* Ò}j
19	AÈÇjÉCãLÌì \¦C±Ìpð¨æÑºL
20	* Ì³ÛØKèðfÚ·é±ÆD
21	* (3) {\tgEFAðC@íÉgÝÞÈÇC¼Ì\tgEFAJÉg
22	* pÅ«È¢`ÅÄzz·éêÉÍCÌ¢¸ê©Ìðð½·±
23	* ÆD
24	* (a) ÄzzÉº¤hL
25	gipÒ}j
26	AÈÇjÉCãLÌ
27	* ì \¦C±Ìpð¨æÑºLÌ³ÛØKèðfÚ·é±ÆD
28	* (b) ÄzzÌ`ÔðCÊÉèßéû@ÉæÁÄCTOPPERSvWFNgÉ
29	* ñ·é±ÆD
30	* (4) {\tgEFAÌpÉæè¼ÚIÜ½ÍÔÚIÉ¶¶é¢©Èé¹
31	* Q©çàCãLì Ò¨æÑTOPPERSvWFNgðÆÓ·é±ÆD
32	* Ü½C{\tgEFAÌ[UÜ½ÍGh[U©çÌ¢©Èé
33	* RÉîÃ¿©çàCãLì Ò¨æÑTOPPERSvWFNgð
34	* ÆÓ·é±ÆD
35	*
36	* {\tgEFAÍC³ÛØÅñ³êÄ¢éàÌÅ éDãLì Ò¨
37	* æÑTOPPERSvWFNgÍC{\tgEFAÉÖµÄCÁèÌgpÚI
38	* ÉÎ·éK«àÜßÄC¢©ÈéÛØàsíÈ¢DÜ½C{\tgEF
39	* AÌpÉæè¼ÚIÜ½ÍÔÚIÉ¶¶½¢©Èé¹QÉÖµÄàC»
40	* ÌÓCðíÈ¢D
41	*
42	*/
43
44	NAME core_support
45	/*
46	* vZbTË¶W
47	[ AZu¾êiARM-Mpj
48	*/
49
50	#define TOPPERS_MACRO_ONLY
51	#define UINT_C(val) (val) /* uint_t^Ìèðìé}N */
52	#define ULONG_C(val) (val) /* ulong_t^Ìèðìé}N */
53	#define CAST(type, val) (val) /* ^LXgðs¤}N */
54
55	#include "kernel_impl.h"
56	#include "arm_m.h"
57	#include "offset.h"
58
59
60	/*
61	* ^XNfBXpb`
62	*/
63	PUBLIC dispatch
64	IMPORT p_runtsk
65
66	SECTION .text : CODE (2)
67	THUMB
68	dispatch:
69	/*
70	*
71	* ±Ì[`ÍC^XNReLXgECPUbNóÔEfBpb`ÂóÔ
72	* EifãÌjÝDæx}XNSJóÔÅÄÑo³êéD
73	*/
74	stmfd sp!,{r4-r11,lr} /* WX^ÌÛ¶ */
75	ldr r0, =p_runtsk /* p_runtskðÇÝÞ */
76	ldr r1, [r0]
77	str sp, [r1,#TCB_sp] /* ^XNX^bNðÛ¶ */
78	ldr lr, =dispatch_r /* ÀsÄJÔnðÛ¶ */
79	str lr, [r1,#TCB_pc]
80	b dispatcher
81
82	IMPORT call_texrtn
83	IMPORT ipmflg
84
85	SECTION .text : CODE (2)
86	THUMB
87	dispatch_r:
88	ldmfd sp!,{r4 - r11,lr} /* WX^ÌA */
89	/*
90	* ^XNáO[`ÌN®
91	* dispatcher©çÄÑo³êé½ßCTCBÌAhXÍr1ÉüÁÄ¢é
92	*/
93	ldrb r0,[r1,#TCB_enatex]
94	tst r0,#TCB_enatex_mask
95	beq dispatch_r_1 /* enatex ª false Èç^[ */
96	ldr r0,[r1,#TCB_texptn] /* texptn ª0ÅÈ¯êÎ */
97	tst r0,r0
98	beq dispatch_r_1 /* ^XNáO[`ÌÄÑoµ */
99	ldr r1, =ipmflg /* ipmflgª false Èç^[ */
100	ldr r0, [r1]
101	tst r0,r0
102	/bne call_texrtn / ^XNáO[`ÌÄÑoµ */
103	beq dispatch_r_1
104	ldr r0, =call_texrtn /* ^XNáO[`ÌÄÑoµ */
105	bx r0
106	dispatch_r_1: /* ^XNÖÌcall_textn©çßé */
107	/mov pc,lr/
108	bx lr
109
110
111	/*
112	* CPUáOGg
113	*
114	* ÝGgÆÌàeÍ¯¾ªCOÌíÞªÙÈé½ßC
115	* ª¯Ä¢éD
116	*/
117	PUBLIC core_exc_entry
118
119	SECTION .text : CODE (2)
120	THUMB
121	core_exc_entry:
122	/*
123	* áO/Ýª¶·éÆC¶ÉANeBuÈX^bNÉXN
124	* b`WX^ªÛ¶³êéD
125	* ±ÌàeÉÁ¦ÄCCPUáOnhÖÌîñÆµÄCbasepri ÌlÆC
126	* EXC_RETURNÌîñðÁ¦ÄÛ¶·éDbasepriÌlÍCCPUáO©çÌ
127	* ^[ÉÝDæx}XNÌlð³Éß·½ßÉàp¢çêéD
128	*
129	* -----------
130	* \| EXC_RETURN\|
131	* -----------
132	* \| basepri \|
133	* -----------
134	* \| R0 \|
135	* -----------
136	* \| R1 \|
137	* -----------
138	* \| R2 \|
139	* -----------
140	* \| R3 \|
141	* -----------
142	* \| R12 \|
143	* -----------
144	* \| LR \|
145	* -----------
146	* \| PC \|
147	* -----------
148	* \| xPSR \|
149	* -----------
150	*
151	*/
152	/¤¤¤¤¤¤¤¤¤¤¤¤¤¤¤¤¤¤¤¤¤¤¤/
153	/*
154	* Ý¶ÌÝDæx}XNðX^bNÉÛ¶·é½ßæ¾
155	*/
156	/mrs r2, basepri / baepriÌlðæ¾ */
157
158	/*
159	* J[lÇOÌáO©`FbN
160	* J[làÌNeBJZNVÌÀsCSÝbNóÔC
161	* CPUbNóÔCJ[lÇOÌÝnhÀsÌ¢¸ê©Å
162	* ¶µ½CPUáOðCJ[lÇOÌCPUáOÆÄÔ
163	* CPUbNóÔÍbasepriªIIPM_LOCKÅ»f·éD
164	* SÝbNóÔÍFAULTMASKª'1'Ìê
165	*/
166	/cmp r2, #IIPM_LOCK / CPUbNóÔÈçJ[lÇOáOÖ */
167	/beq prc_nonkernel_exc_entry/
168	/mrs r2, FAULTMASK / SÝbNóÔÈçJ[lÇOáOÖ */
169	/cbnz r2, prc_nonkernel_exc_entry/
170	/¢¢¢¢¢¢¢¢¢¢¢¢¢¢¢¢¢¢¢¢¢¢/
171	/*
172	* J[lÇOÌáO©`FbN
173	* J[làÌNeBJZNVÌÀsCSÝbNóÔC
174	* CPUbNóÔCJ[lÇOÌÝnhÀsÌ¢¸ê©Å
175	* ¶µ½CPUáOðCJ[lÇOÌCPUáOÆÄÔ
176	* SÝbNóÔÍFAULTMASKª'1'Ìê
177	* CPUbNóÔÍbasepriªIIPM_LOCK©Å»f·éD
178	*/
179	mrs r2, FAULTMASK /* SÝbNóÔÈçJ[lÇOáOÖ */
180	cbnz r2, core_nonkernel_exc_entry
181
182	mrs r2, basepri /* baepriÌlðæ¾ */
183	cmp r2, #IIPM_LOCK /* CPUbNóÔÈçJ[lÇOáOÖ */
184	beq core_nonkernel_exc_entry
185
186
187
188	/*
189	* X^bNðÏX·éKvª é©`FbN
190	* EXC_RETURNiÝÉLRÉÝè³êéljð`FbNµÄCáO¶É
191	* ANeBuÈX^bNðÁè·é±ÆÅ½dÝ©»è·éD
192	*/
193	tst lr, #EXC_RETURN_PSP /* Ý³ªMSPÈç½dÝ */
194	beq core_exc_entry_1 /* ½dÝÈçcore_exc_entry_1Ö */
195	mrs r0, psp /* êiÚÌÝÌêÍPSPãÉ */
196	#ifdef OLD_STMFD_INST
197	stmfd r0!,{r2} /* Ý¶ÌÝDæx}XNðÏÞ */
198	stmfd r0!,{lr} /* EXC_RETURN ðÏÞ */
199	#else
200	str r2, [r0, #-0x04]!
201	str lr, [r0, #-0x04]!
202	endif
203	msr psp, r0 /* CPUáOnhÖÌøÆÈé */
204	push {lr} /* MSPãÉàEXC_RETURN ðÏÞ */
205	b core_exc_entry_2
206	core_exc_entry_1: /* ½dÝÌê */
207	push {r2} /* Ý¶ÌÝDæx}XNðÏÞ */
208	push {lr} /* EXC_RETURN ðÏÞ */
209	mov r0, sp /* CPUáOnhÖÌøÆÈé */
210
211	/*
212	* ¤Ê
213	*/
214	core_exc_entry_2:
215	mrs r3, ipsr /* nhAhXðæ¾ */
216	ldr r1, =_kernel_exc_tbl
217	ldr r2, [r1, r3, lsl #2]
218
219	#ifdef LOG_EXC_ENTER
220	push {r0,r2,r3}
221	mov r0, r3 /* áOÔðp[^É */
222	bl log_exc_enter /* log_exc_enterðÄÑo· */
223	pop {r0,r2,r3}
224	push {r3} /* áOÔðX^bNÖ */
225	#endif /* LOG_EXC_ENTER */
226
227	/*
228	* CPUáOnhÌÄÑoµ
229	*/
230	blx r2
231
232	#ifdef LOG_EXC_ENTER
233	pop {r0} /* áOÔðøÉ */
234	bl log_exc_leave /* log_exc_leaveðÄÑo· */
235	#endif /* LOG_EXC_ENTER */
236
237	b ret_exc
238
239	/*
240	* J[lÇOÌCPUáOÌoüû
241	*/
242	core_nonkernel_exc_entry:
243	tst lr, #EXC_RETURN_PSP /* Ý³ªMSPÈç½dÝ */
244	beq core_nonkernel_exc_entry_1 /* ½dÝÈç */
245	mrs r0, psp /* êiÚÌÝÌêÍPSPãÉ */
246	#ifdef OLD_STMFD_INST
247	stmfd r0!,{r2} /* Ý¶ÌÝDæx}XNðÏÞ */
248	stmfd r0!,{lr} /* EXC_RETURN ðÏÞ */
249	#else
250	str r2, [r0, #-0x04]!
251	str lr, [r0, #-0x04]!
252	#endif
253	msr psp, r0 /* CPUáOnhÖÌøÆÈé */
254	push {lr} /* MSPãÉàEXC_RETURN ðÏÞ */
255	b core_nonkernel_exc_entry_2
256	core_nonkernel_exc_entry_1: /* ½dÝÌê */
257	push {r2} /* Ý¶ÌÝDæx}XNðÏÞ */
258	push {lr} /* EXC_RETURN ðÏÞ */
259	mov r0, sp /* CPUáOnhÖÌøÆÈé */
260
261	core_nonkernel_exc_entry_2:
262	mrs r3, ipsr /* CPUáOnhÌAhXðæ¾ */
263	ldr r1, =_kernel_exc_tbl
264	ldr r2, [r1, r3, lsl #2]
265
266	/*
267	* CPUáOnhÌÄÑoµ
268	*/
269	blx r2
270
271	/*
272	* ÝbNóÔÆ·éD
273	*/
274	cpsid f
275
276	/*
277	* ßèæÌReLXgÌ»è
278	*
279	* ÝnhÀsÉLRÉZbg³êéEXC_RETURNð`FbNµÄCßè
280	* æÅMSPªgíêÄ¢êÎCÝæªñ^XNReLXgÆ»è·éD
281	*/
282	pop {r3} /* lrðX^bN©çæ¾ */
283	tst r3, #EXC_RETURN_PSP /* ßèæªPSPÈç */
284	bne nonkernel_ret_exc_1
285	pop {r1} /* ³ÌÝDæx}XN(basepri) */
286	b nonkernel_ret_exc_2 /* ÌlðMSP©çæ¾ */
287
288	nonkernel_ret_exc_1:
289	/*
290	* PSPã©çEXC_RETURNðí
291	*/
292	mrs r2, psp
293	add r2, r2, #4
294	/*
295	* ³ÌÝDæx}XN(basepri)ÌlðPSP©çæ¾
296	*/
297	ldmfd r2!, {r1}
298	msr psp, r2
299
300	nonkernel_ret_exc_2:
301	msr basepri, r1 /* ÝDæx}XNðÝOÉóÔÖ */
302	bx r3 /* ^[ */
303
304	/*
305	* ÝGg
306	*/
307	PUBLIC core_int_entry
308	IMPORT _kernel_exc_tbl
309	IMPORT log_inh_enter
310	IMPORT log_exc_leave
311	IMPORT reqflg
312	IMPORT lock_flag
313	IMPORT saved_iipm
314	IMPORT p_runtsk
315	IMPORT dspflg
316	IMPORT p_schedtsk
317	IMPORT _kernel_int_iipm_tbl
318	SECTION .text : CODE (2)
319	THUMB
320	core_int_entry:
321	/*
322	* Ý¶ÌÝDæx}XNðX^bNÉÛ¶·é½ßæ¾
323	*/
324	mrs r2, basepri /* baepriÌlðæ¾ */
325
326	/*
327	* ½dÝ©`FbN
328	* EXC_RETURNiÝÉLRÉÝè³êéljð`FbNµÄCáO¶É
329	* ANeBuÈX^bNðÁè·é±ÆÅ½dÝ©»è·éD
330	*/
331	tst lr, #EXC_RETURN_PSP /* Ý³ªMSPÈç½dÝ */
332	beq core_int_entry_1 /* ½dÝÈçcore_int_entry_1Ö */
333	mrs r0, psp /* êiÚÌÝÌêÍPSPãÉ */
334	#ifdef OLD_STMFD_INST
335	stmfd r0!,{r2} /* Ý¶ÌÝDæx}XNðÏÞ */
336	stmfd r0!,{lr} /* EXC_RETURN ðÏÞ */
337	#else
338	str r2, [r0, #-0x04]!
339	str lr, [r0, #-0x04]!
340	#endif
341	msr psp, r0 /* CPUáOnhÖÌøÆÈé */
342	push {lr} /* MSPãÉàEXC_RETURN ðÏÞ */
343	b core_int_entry_2
344	core_int_entry_1: /* ½dÝÌê */
345	push {r2} /* Ý¶ÌÝDæx}XNðÏÞ */
346	push {lr} /* EXC_RETURN ðÏÞ */
347	mov r0, sp /* ¢è`ÌÝª¶µ½êÌîñÆ·é */
348
349	/*
350	* ¤Ê
351	*/
352	core_int_entry_2:
353	mrs r3, ipsr /* nhAhXðæ¾ */
354	ldr r1, =_kernel_exc_tbl
355	ldr r2, [r1, r3, lsl #2]
356
357	/*
358	* basepriÌÝè
359	* NVICDæx}XNª©®IÉÝè³êé½ßDæx}XNÌ_ÅÍKvÈ
360	* ¢ªCx_get_ipm()ªbasepriðQÆ·é½ßCbasepriàXV·éD
361	*/
362	ldr r1, =_kernel_int_iipm_tbl
363	ldr lr, [r1, r3, lsl #2]
364	msr basepri, lr
365
366	#ifdef LOG_INH_ENTER
367	push {r0,r2,r3}
368	mov r0, r3 /* áOÔðp[^É */
369	bl log_inh_enter /* log_exc_enterðÄÑo· */
370	pop {r0,r2,r3}
371	push {r3} /* áOÔðX^bNÖ */
372	#endif /* LOG_INH_ENTER */
373
374	/*
375	* ÝnhÌÄÑoµ
376	*/
377	blx r2
378
379	#ifdef LOG_INH_LEAVE
380	pop {r0} /* áOÔðøÉ */
381	bl log_exc_leave /* log_exc_leaveðÄÑo· */
382	#endif /* LOG_INH_LEAVE */
383
384
385
386	/*
387	* Ý/áOoû
388	*
389	* ret_exc/ret_intÍCCPUáO/Ýnh©çßÁ½¼ãÉÀs·é
390	* [`Å éD
391	*/
392	ret_exc:
393	ret_int:
394	/*
395	* ÝbNóÔÆ·éD±Ì_ÅÍCCPUbNóÔÉÍÈçÈ¢
396	* ibasepriÆlock_flagÆsaved_iipmÍXVµÈ¢jD
397	*
398	* ÝbNóÔÆ·éÌÍCßèæÌReLXgÌ`FbNÆC
399	* ßèæªñ^XNReLXgÅ Á½êÌ^[ðAg~bN
400	* És¤½ßÅ éDbsepriðCPUbNÌlÉ·é±ÆÅàAg~b
401	* NÈ`FbNÆAÍÂ\Å éªCÝ©ç^[µÄàC
402	* basepri ÌÝèàeÍ³ÉßçÈ¢½ßCgp·é±ÆªÅ«È¢D
403	* êûCFAULTMASKÍCÝ©çÌ^[ÉæÁÄC'0'ÉN
404	* A³êéD
405	*/
406	cpsid f
407
408	/*
409	* ßèæÌReLXgÌ»è
410	*
411	* ÝnhÀsÉLRÉZbg³êéEXC_RETURNð`FbNµÄCßè
412	* æÅMSPªgíêÄ¢êÎCÝæªñ^XNReLXgÆ»è·éD
413	*/
414	pop {r3} /* lrðX^bN©çæ¾ */
415	tst r3, #EXC_RETURN_PSP /* ßèæªPSPÈç ret_int_1 Ö */
416	bne ret_int_1
417	pop {r1} /* ³ÌÝDæx}XN(basepri)ðr1Ö */
418	b ret_int_2 /* ÌlðMSP©çæ¾ */
419
420	/*
421	* êiÚÌÝÌoû
422	*/
423	ret_int_1:
424	/*
425	* PSPã©çCEXC_RETURN(r0)Æ³ÌÝDæx}XN(basepri)(r1)
426	* ðæ¾
427	*/
428	mrs r2, psp
429	ldmfd r2!, {r0,r1}
430	msr psp, r2
431
432	/*
433	* reqflgð`FbN·é
434	*
435	* J[lÇàÌÝÍÖ~µ½óÔÅÀs·éKvª é½ßC
436	* FAULTMASKð'1'Éµ½óÔÅÀs·éD
437	* reqflgð`FbN·éOÉÝðÖ~·éÌÍCreqflgð`FbN
438	* µ½¼ãÉÝnhªN®³êC»ÌÅfBXpb`ªv
439	* ³ê½êÉC·®ÉfBXpb`³êÈ¢Æ¢¤âèª¶¶é½ß
440	* Å éD
441	*/
442	ldr r0, =reqflg /* reqflgªfalseÈç»ÌÜÜßé */
443	ldr r2, [r0]
444	cbnz r2, ret_int_3 /* trueÈçret_int_3Ö */
445
446	ret_int_2:
447	/*
448	* ±±ÉÍÝbNóÔiFAULTMASKªZbgj³ê½óÔÅéD
449	* Thread[h©çÌ^[Éæè©®IÉÝbNðóÔÉÈéD
450	* ÝDæx}XNÍÝOÉóÔÉß·D
451	*/
452	msr basepri, r1 /* ÝDæx}XNðÝOÉóÔÖ */
453	bx r3 /* ^[ */
454
455
456	ret_int_3:
457	/*
458	* ±±ÅÍCßèæª^XNÅ èCPSPãÉXNb`WX^Æ
459	* ÝDæx}XN(basepri)ªÛ¶³ê½óÔÉÈÁÄ¢éDÜ½C
460	* vZbTÍCHandler[hEÝbNóÔÆÈÁÄ¢éD
461	* Ü½Cr0ÉÍCreqflgÌAhXCr3ÉÍÝótÌlrÌlªÛ
462	* ³êÄ¢éD
463	*/
464	/*
465	* ^XNáOnhâfBXpb`ð·éÛÉThread[hÖJÚ·é
466	* _~[ÌX^bNt[ðì¬µÄCbx½ßÅHandler[h©ç
467	* ^[·éDÜ½CxfBXpb`·éêàCÄÑèñ¾^X
468	* NÉßéÛÉÍCsvc½ßÅCsvc_handlerðÄÑo·D
469	* X^bNt[ÍCConfigureation and Control Register(CCR)Ì
470	* STKALIGNª'1'ÌêÍC8byte«EÉAC³êéD
471	* Ql : DDI0403B_arm_architecture_v7m_reference_manual(P.220)
472	* »Ì½ßC±Ì_ÌX^bNÍÝâáO¶Éì¬³ê½
473	* X^bNt[©çC8byte«EÌTCYÉµÄ¨ÆCsvc_handler
474	* ÅX^bNt[ÌACgÌL³ÌmFðÈªÅ«éD
475	* ½¾µCVXeN®ãÍC®IÉCCRÌSTKALIGNÌÝèðÏX·éÌÍ
476	* Ö~Æ·éD
477	* ±Ì_ÍWÌX^bNt[ÍCÝEáO¶Æ¯Å
478	* é½ßC^XNX^bN(PSP)Í8byte«EÉÈÁÄ¢éD
479	*/
480	mov r1, #0 /* reqflgðfalseÉ */
481	str r1, [r0]
482
483	/*
484	* CPUbNóÔÉÚs·éD
485	*
486	* J[lÌÇàÌÝðÖ~·éæ¤ÉbasepriðÝèµC
487	* lock_flag Æ saved_iipm ðXV·éDsaved_iipmÍCßèæÌÝ
488	* Dæx}XNiÌà\»jÉÝè·éD
489	* ±Ì_ÅCPUbNóÔÆ·éÌÍCdispatcherÖªò·éÆC
490	* call_texrtnðÄÑo·ÉCCPUbNóÔÉÈÁÄ¢éKvª é
491	* ½ßÅ éD
492	* È¨C±ÌÌãCThread[hÖÌÚsðsÈ¤½ßCÝ
493	* bNóÔ(FAULTMASKð"1")ÍÛ·éD
494	*/
495	ldr r1, =IIPM_LOCK /* CPUbNóÔ */
496	msr basepri, r1
497	mov r1, #0x01 /* lock_flag ð trueÉ */
498	ldr r0, =lock_flag
499	str r1, [r0]
500
501	/*
502	* ÝDæx}XNðCSðóÔiTIPM_ENAALLjÉÝè·é
503	* ·ÅÉCPUbNóÔÈÌÅCsaved_iipmðIIPM_ENAALLÆ·éD
504	*/
505	ldr r1, =IIPM_ENAALL
506	ldr r0, =saved_iipm /* saved_iipmÉÛ¶ */
507	str r1, [r0]
508
509	/*
510	* Thread[hÖÚs·éD
511	*
512	* dispatcherâcall_texrnðÄÑo·êÍCThread[hÅ éK
513	* vª é½ßCPSPX^bNãÉ_~[ÌáOt[ðu¢ÄC
514	* [IÉÝnh©ç^[·éD
515	* ^[Æ¯ÉFAULTMASKª©®IÉNA³êCJ[lÇOÌ
516	* ÝªÂ³êéD
517	*/
518	ldr r0, =ret_int_4 /* PC */
519	ldr r1, =EPSR_T /* xPSR(Trbgª'1'Å éKvª é) */
520	mrs r2, psp
521	stmfd r2!, {r0-r1} /* _~[t[ðX^bNãÉÏÞ */
522	/sub r2, r2, #(EXC_FRAME_SIZE - (42)) /* r0-r3,r12,lrÌàeÍÝè·éKvªÈ¢ */
523	subs r2, #(EXC_FRAME_SIZE - (42)) / r0-r3,r12,lrÌàeÍÝè·éKvªÈ¢ */
524	msr psp,r2
525	bx r3 /* Thread[hÖÚs */
526
527	ret_int_4:
528	/*
529	* ãLÌÉæèCThread[hÅÀs³êéD
530	* dspflgªfalseÅ éêÆCp_runtskÆp_schedtskª¯¶êÉÍC
531	* fBXpb`ðsíÈ¢D±Ì`FbNªKvÈÌÍC^XNáO
532	* [`ÌÄoµªKvÈêÉCfBXpb`ªKvÈÄàC
533	* reqflgðtrueÉ·é½ßÅ éD
534	*/
535	ldr r0, =p_runtsk /* fBXpb`ðsíÈ¢êÅàCr1Ép_runtsk Ìl(TCB) */
536	ldr r1, [r0] /* ªüÁÄ¢éKvª éÌÅCæÉÇÝÞ */
537	ldr r0, =dspflg
538	ldr r2, [r0]
539	cbz r2, ret_int_r_1 /* dspflgªfalseÈçret_int_r_1Ö */
540	ldr r0, =p_schedtsk
541	ldr r2, [r0]
542	cmp r1, r2 /* p_runtskÆp_schedtskª¯¶Èç */
543	beq ret_int_r_1 /* ret_int_r_1Ö */
544	stmfd sp!, {r4-r11} /* cèÌWX^ðÛ¶ */
545	str sp, [r1,#TCB_sp] /* ^XNX^bNðÛ¶ */
546	ldr lr, =ret_int_r /* ÀsÄJÔnðÛ¶ */
547	str lr, [r1,#TCB_pc]
548	b dispatcher /* fBXpb`Ö */
549
550	/*
551	* ÝÉæèvGvg³ê½^XNÖÌ^[
552	*
553	* Thread[hÅCfBXpb`âÝÌoû©çÄÑo³êéD
554	* ÝÉæèvGvg³ê½^XNÖ^[·éÉÍC¢Á½ñ
555	* Handler[hÉÚsµCPCÉ0xfffffffdðãüµÄ^[·éKv
556	* ª éD»Ì½ßCSVCÉæèCSVCnhðÄÑoµCHandler[
557	* hÖÚs·éD
558	*/
559	SECTION .text : CODE (2)
560	THUMB
561	ret_int_r:
562	pop {r4-r11} /* WX^ÌA */
563	ret_int_r_1:
564	/*
565	* enatexªtrueÅCtexptnª0ÅÈ¯êÎC^XNáO[`ð
566	* ÄÑo·D
567	* dispatcher©çÄÑo³êé½ßCTCBÌAhXÍr1ÉüÁÄ¢é
568	*/
569	ldrb r0, [r1,#TCB_enatex]
570	tst r0, #TCB_enatex_mask
571	beq ret_int_r_2 /* enatex ª false Èç ret_int_r_2Ö */
572	ldr r0, [r1,#TCB_texptn] /* texptnð[h */
573	cbz r0, ret_int_r_2 /* '0'Èç^[ */
574	ldr r1, =ipmflg /* ipmflgª false Èç^[ */
575	ldr r0, [r1]
576	cbz r0, ret_int_r_2
577	bl call_texrtn /* ^XNáO[`ÌÄÑoµ */
578	ret_int_r_2:
579	svc 0 /* SVCÌÄÑoµ */
580
581	/*
582	* SVCnh
583	*/
584	PUBLIC svc_handler
585	IMPORT lock_flag
586
587	SECTION .text : CODE (2)
588	THUMB
589	svc_handler:
590	/*
591	* Ý©çÌ^[ÉæèCCPUbNðóÔÉÚs·éæ
592	* ¤õ·éD
593	*/
594	cpsid f /* ÝbNóÔÖ */
595	mrs r0, psp
596	/add r0, r0, #EXC_FRAME_SIZE / X^bNðÌÄé */
597	adds r0, #EXC_FRAME_SIZE /* X^bNðÌÄé */
598	msr psp, r0
599	mov r0, #0
600	ldr r1, =lock_flag /* CPUbNðóÔÖ */
601	str r0, [r1]
602	ldr r1, =IIPM_ENAALL /* ÝDæx}XNðSðóÔÉÝè */
603	msr basepri, r1 /* ÝDæx}XNðÝè */
604	bx lr /* ^[ */
605
606	/*
607	* fBXpb`Ì®ìJn
608	*/
609	PUBLIC start_dispatch
610	IMPORT istkpt
611
612	PUBLIC exit_and_dispatch
613	IMPORT p_runtsk
614	IMPORT log_dsp_enter
615	IMPORT p_schedtsk
616	IMPORT log_dsp_leave
617	IMPORT reqflg
618	IMPORT lock_flag
619	IMPORT saved_iipm
620
621	SECTION .text : CODE (2)
622	THUMB
623	start_dispatch:
624	/*
625	* ±Ì[`ÍCJ[lN®ÉC·×ÄÌÝðÖ~µ½óÔ
626	* iÝbNóÔÆ¯jÅÄÑo³êéDÜ½CÝ[hiñ
627	* ^XNReLXgÆ¯jÅÄÑo³êé±ÆðzèµÄ¢éD
628	*
629	* prc_initializeÅClock_flagðtrueÉCsaved_iipmðIIPM_ENAALLÉ
630	* ú»µÄ¢é½ßCJ[lÇOÌÝðÂ·é±ÆÅC
631	* CPUbNóÔEifãÌjÝDæx}XNSðóÔÉÈéD
632	* Ü½Ctask_initializeÅdisdspðfalseÉú»µÄ¢é½ßCfB
633	* Xpb`ÂóÔÉÈÁÄ¢éD
634	*/
635	ldr r0,=istkpt /* MSPðú» */
636	ldr r1,[r0] /* start_dispatchÄÑoµÉÄÑoµpÉ */
637	msr msp, r1 /* gpµÄ¢é½ßú»·é */
638	ldr r1, =IIPM_LOCK /* J[lÇàÌÝðÖ~ */
639	msr basepri, r1
640	cpsie f /* J[lÇOÌÝðÂ */
641	mov r0, #CONTROL_PSP /* PSPðLøÉ */
642	msr control, r0
643	isb /* control ÌìãÉKv */
644
645	/*
646	* »ÝÌReLXgðÌÄÄfBXpb`
647	*/
648	exit_and_dispatch:
649	/* fBXpb`{ÌidispatcherjÖ */
650
651
652	/*
653	* fBXpb`{Ì
654	*/
655	dispatcher:
656	/*
657	* ±Ì[`ÍC^XNReLXgECPUbNóÔEfBXpb`
658	* ÂóÔEifãÌjÝDæx}XNSðóÔÅÄÑo³
659	* êéD
660	*
661	* ·Èí¿CThread[hElock_flagªtrueEdisdspªfalseEdspflg
662	* ªtrueEsaved_iipmªIIPM_ENAALLÆÈÁÄ¢éDÀsÄJÔnÖà±
663	* ÌóÔÌÜÜªò·éD
664	*/
665	#ifdef LOG_DSP_ENTER
666	ldr r1, =p_runtsk /* p_runtskðp[^É */
667	ldr r0, [r1]
668	bl log_dsp_enter
669	#endif /* LOG_DSP_ENTER */
670	dispatcher_0:
671	ldr r0, =p_schedtsk /* p_schedtskðp_runtskÉ */
672	ldr r1, [r0]
673	ldr r2, =p_runtsk
674	str r1, [r2]
675	cbz r1, dispatcher_1 /* p_runtsk¤¬NULL¤Ê¤édispatcher_1¤Ø */
676	ldr sp, [r1,#TCB_sp] /* ^XNX^bNðA */
677	#ifdef LOG_DSP_LEAVE
678	mov r0, r1 /* p_runtskðp[^É */
679	mov r4, r1 /* r1ÍXNb`WX^ÈÌÅÛ¶ */
680	bl log_dsp_leave
681	mov r1, r4
682	#endif /* LOG_DSP_LEAVE */
683	ldr pc, [r1,#TCB_pc] /* ÀsÄJÔnðA */
684	dispatcher_1:
685	/*
686	* CPUbNóÔÌðÆCñ^XNReLXgÀsóÔÖÌ
687	* õð·é
688	*/
689	mov r0, #CONTROL_MSP /* MSPðLøÉ */
690	msr control, r0
691	isb /* control ÌìãÉKv */
692	/--> ldr r2, =reqflg / r2 <- reqflg */
693	/--> ldr r1, =IIPM_LOCK / ÝbNóÔÌÝDæx}XNÌl */
694	/--> mov r0, #0 /
695	/--> ldr r4, =lock_flag / CPUbNðóÔÖ */
696	/--> str r0, [r4] /
697	mov r4, #0 /* r4 <- '0' */
698	ldr r5, =IIPM_LOCK /* r5 <- ÝbNóÔÌÝDæx}XNÌl */
699	ldr r6, =reqflg /* r6 <- reqflg */
700	ldr r7, =lock_flag /* r7 <- lock_flg */
701	str r4, [r7] /* CPUbNðóÔÖ */
702	dispatcher_2:
703	/*
704	* ÝðÂµCñ^XNReLXgÀsóÔÆµÝðÒÂD
705	*
706	* ±±Åñ^XNReLXgÀsóÔÉØè·¦éÌÍC±±Å¶
707	* ·éÝÉÇÌX^bNðg¤©Æ¢¤âèÌðÆCÝ
708	* nhàÅÌ^XNfBXpb`Ìh~Æ¢¤2ÂÌÓ¡ª éD
709	*
710	* vZbTðÝÒ¿ÉÚs³¹éÆCÝÂÆÍCsÂ
711	* ªÉsÈ¤Kvª éD
712	* ±êðsÂªÉsÈíÈ¢êCÝðÂµ½¼ãÉ
713	* ÝªüèC»ÌÅ^XNªÀsÂ\óÔÉÈéÆCÀs·×«^X
714	* Nª éÉà©©íç¸vZbTªÝÒ¿ÉÈÁÄµÜ¤D
715	* ARM-MÅÍCPRIMASKðZbgµ½óÔÅWFIðÄÑo·±ÆÅÀ»Å«éD
716	* ±ÌóÔÅÝªüéÆCÝÍÀs³ê¸CWFI©ç^[·
717	* é±ÆÉÈéÌÅCêUÝðÂµÄÝnhðÀs·éD
718	*
719	* ÝÒ¿ÌÔÍCp_runtskðNULLi0jÉÝèµÈ¯êÎÈçÈ
720	* ¢D±Ìæ¤ÉÝèµÈ¢ÆCÝnh©çiget_tidðÄÑo
721	* µ½ÛÌ®ìªdlÉvµÈÈéD
722	*
723	*/
724	#ifdef TOPPERS_CUSTOM_IDLE
725	toppers_asm_custom_idle
726	#else
727	cpsid i /* PRIMASK ðZbg */
728	/--> msr basepri, r0 / SÝÂ */
729	/--> wfi /
730	/--> cpsie i / PRIMASK ðNAiÝðó¯t¯éj */
731	/--> msr basepri, r1 / CPUbNóÔÖ */
732	msr basepri, r4 /* SÝÂ */
733	wfi
734	cpsie i /* PRIMASK ðNAiÝðó¯t¯éj */
735	msr basepri, r5 /* CPUbNóÔÖ */
736
737	#endif /* TOPPERS_CUSTOM_IDLE */
738
739	/--> ldr r6, [r2] / reqflgªfalseÈçdispatcher_2Ö */
740	/--> cmp r6, #0 /
741	/--> beq dispatcher_2 /
742	/--> str r0, [r2] / reqflgðfalseÉ */
743	ldr r0, [r6] /* reqflgªfalseÈçdispatcher_2Ö */
744	cmp r0, #0
745	beq dispatcher_2
746	str r4, [r6] /* reqflgðfalseÉ */
747
748	/*
749	* CPUbNóÔÉß·DÝÒ¿ÌÔÉÀsµ½ÝnhÉæ
750	* èCsaved_iipmª«·¦çêéÂ\«ª é½ßC³ÌlÉß·K
751	* vª éDdispatcherªÀs³êéÍCsaved_iipmªIIPM_ENAALL
752	* ÆÈÁÄ¢é½ßC±±ÅÍsaved_iipmðIIPM_ENAALLi0jÉß¹
753	* Îæ¢D
754	*/
755	mov r0, #CONTROL_PSP /* PSPðLøÉ */
756	msr control, r0
757	isb /* control ÌìãÉKv */
758	/--> mov r2, #1 / lock_flagðtrueÖ */
759	/*--> ldr r4, =lock_flag
760	/*--> str r2, [r4]
761	/--> ldr r4, =saved_iipm / saved_iipm ð0É */
762	/*--> mov r0, #0
763	/*--> str r0, [r4]
764	/--> b dispatcher_0 /
765	mov r2, #1 /* lock_flagðtrueÖ */
766	str r2, [r7]
767	ldr r0, =saved_iipm /* saved_iipm ð0É */
768	str r4, [r0]
769	b dispatcher_0
770
771
772	/*
773	* J[lÌI¹ÌÄoµ
774	*
775	* X^bNðñ^XNReLXgpÉØèÖ¦D
776	*
777	*/
778	PUBLIC call_exit_kernel
779	IMPORT exit_kernel
780
781	SECTION .text : CODE (2)
782	THUMB
783	call_exit_kernel:
784	mov r0, #CONTROL_MSP
785	msr control, r0 /* MSPðLøÉ */
786	isb /* control ÌìãÉKv */
787	/--> b exit_kernel / J[lÌI¹ðÄÔ */
788	ldr r0, =exit_kernel /* J[lÌI¹ðÄÔ */
789	bx r0
790
791	/*
792	* ^XNN®
793	*
794	* dispatcher©çÄÑo³êé½ßCTCBÌAhXÍr1ÉüÁÄ¢é
795	*
796	*/
797	PUBLIC start_r
798	IMPORT lock_flag
799	IMPORT ext_tsk
800
801	SECTION .text : CODE (2)
802	THUMB
803	start_r:
804	mov r0, #0
805	ldr r4, =lock_flag /* CPUbNðóÔÖ */
806	str r0, [r4]
807	msr basepri, r0 /* ÝÂ */
808	ldr lr, =ext_tsk /* ßèÔnÝè */
809	ldr r2, [r1, #TCB_p_tinib] /* p_runtsk->p_tinibðr2É */
810	ldr r0, [r2, #TINIB_exinf] /* exinfðøWX^r0É */
811	ldr r1, [r2, #TINIB_task] /* ^XNN®ÔnÉWv */
812	/mov pc, r1 /
813	bx r1
814
815	/*
816	* ÷ÔÒ¿
817	*/
818	PUBLIC sil_dly_nse
819
820	SECTION .text : CODE (2)
821	THUMB
822	sil_dly_nse:
823	sub r0, r0, #SIL_DLY_TIM1
824	cmp r0, #0
825	bgt sil_dly_nse1
826	/mov pc, lr/
827	bx lr
828	sil_dly_nse1:
829	sub r0, r0, #SIL_DLY_TIM2
830	cmp r0, #0
831	bgt sil_dly_nse1
832	/mov pc, lr/
833	bx lr
834
835	END
836

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