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cpu_support.S@ 6

Last change on this file since 6 was 6, checked in by msugi, 14 years ago
ファイルの追加忘れ分があったため追加． intmaskの初期化がidle_loopの出口になかったため，追加．
File size: 15.1 KB

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1	/*
2	* TOPPERS/OSEK Kernel
3	* Toyohashi Open Platform for Embedded Real-Time Systems/
4	* OSEK Kernel
5	*
6	* Copyright (C) 2000-2003 by Embedded and Real-Time Systems Laboratory
7	* Toyohashi Univ. of Technology, JAPAN
8	* Copyright (C) 2004 by Embedded and Real-Time Systems Laboratory
9	* Graduate School of Information Science, Nagoya Univ., JAPAN
10	* Copyright (C) 2006 by Witz Corporation, JAPAN
11	* Copyright (C) 2010 by Meika Sugimoto
12	*
13	* ãLì ÒÍCÈºÌ (1)`(4) Ìð©CFree Software Foundation
14	* ÉæÁÄö\³êÄ¢é GNU General Public License Ì Version 2 ÉL
15	* q³êÄ¢éðð½·êÉÀèC{\tgEFAi{\tgEFA
16	* ðüÏµ½àÌðÜÞDÈº¯¶jðgpE¡»EüÏEÄzziÈºC
17	* pÆÄÔj·é±Æð³Åø·éD
18	* (1) {\tgEFAð\[XR[hÌ`Åp·éêÉÍCãLÌì
19	* \¦C±Ìpð¨æÑºLÌ³ÛØKèªC»ÌÜÜÌ`Å\[
20	* XR[hÉÜÜêÄ¢é±ÆD
21	* (2) {\tgEFAðCCu`®ÈÇC¼Ì\tgEFAJÉg
22	* pÅ«é`ÅÄzz·éêÉÍCÄzzÉº¤hL
23	gip
24	* Ò}j
25	AÈÇjÉCãLÌì \¦C±Ìpð¨æÑºL
26	* Ì³ÛØKèðfÚ·é±ÆD
27	* (3) {\tgEFAðC@íÉgÝÞÈÇC¼Ì\tgEFAJÉg
28	* pÅ«È¢`ÅÄzz·éêÉÍCÌ¢¸ê©Ìðð½·±
29	* ÆD
30	* (a) ÄzzÉº¤hL
31	gipÒ}j
32	AÈÇjÉCãLÌ
33	* ì \¦C±Ìpð¨æÑºLÌ³ÛØKèðfÚ·é±ÆD
34	* (b) ÄzzÌ`ÔðCÊÉèßéû@ÉæÁÄCTOPPERSvWFNgÉ
35	* ñ·é±ÆD
36	* (4) {\tgEFAÌpÉæè¼ÚIÜ½ÍÔÚIÉ¶¶é¢©Èé¹
37	* Q©çàCãLì Ò¨æÑTOPPERSvWFNgðÆÓ·é±ÆD
38	*
39	* {\tgEFAÍC³ÛØÅñ³êÄ¢éàÌÅ éDãLì Ò¨
40	* æÑTOPPERSvWFNgÍC{\tgEFAÉÖµÄC»ÌKpÂ\«à
41	* ÜßÄC¢©ÈéÛØàsíÈ¢DÜ½C{\tgEFAÌpÉæè¼
42	* ÚIÜ½ÍÔÚIÉ¶¶½¢©Èé¹QÉÖµÄàC»ÌÓCðíÈ¢D
43	*
44	*/
45
46	/* vZbTË¶W
47	[ AZu¾êiSH2pj*/
48
49	#define _MACRO_ONLY
50	#include "sys_defs.h"
51
52	/* OQÆé¾ */
53	.globl _runtsk
54	.globl _schedtsk
55	.globl _tcxb_pc
56	.globl _tcxb_sp
57	.globl _tinib_task
58	.globl _callevel
59	.globl _runisr
60	.globl _tinib_exepri
61	.globl _tcb_curpri
62	.globl _call_pretaskhook
63	.globl _call_posttaskhook
64	.globl _PreTaskHook
65	.globl _PostTaskHook
66	.globl _lock_flag
67	.globl _intmask
68
69	/* OöJé¾ */
70	.globl _dispatch
71	.globl _start_dispatch
72	.globl _exit_and_dispatch
73	.globl _activate_r
74	.globl _interrupt
75	.globl dispatch_r
76
77	.section ".text" , "ax"
78	.align 2
79
80	/*
81	* ^XNfBXpb`
82	*
83	* ÄÑoµð:
84	* ÝFIPL=0, FLGWX^Irbg=0 (CPUbNóÔ)
85	* ReLXgFcallevel=1(^XNReLXg)
86	* X^bNF ^XNX^bN
87	*/
88
89	_dispatch:
90	/* X^bNÖWX^Û¶ */
91	mov.l r8 , @-r15
92	mov.l r9 , @-r15
93	mov.l r10 , @-r15
94	mov.l r11 , @-r15
95	mov.l r12 , @-r15
96	mov.l r13 , @-r15
97	mov.l r14 , @-r15
98	sts.l pr , @-r15
99	mov.l runtsk_adr , r1
100	mov.b @r1 , r0
101	extu.b r0 , r0
102	shll2 r0
103	mov.l tcxb_sp_adr , r2
104	mov.l r15 , @(r0 , r2) /* X^bN\|C^ðTCBÉÛ¶ */
105	mov.l dispatch_r_adr , r3
106	mov.l tcxb_pc_adr , r2 /* ÀsÄJÔnðTCBÉÛ¶ */
107	mov.l r3 , @(r0 , r2)
108	bra dispatcher /* dispatcherÖ */
109	nop
110
111	.align 4
112	dispatch_r_adr:
113	.long dispatch_r
114
115	/*
116	* ÄÑoµð:
117	* ÝFIPL=0xf, (CPUbNóÔ)
118	* ReLXgFcallevel=1(^XNReLXg)
119	* X^bNF ^XNX^bN
120	*/
121
122	.align 2
123	dispatch_r:
124	/* ^XNX^bN©çWX^A */
125	lds.l @r15+ , pr
126	mov.l @r15+ , r14
127	mov.l @r15+ , r13
128	mov.l @r15+ , r12
129	mov.l @r15+ , r11
130	mov.l @r15+ , r10
131	mov.l @r15+ , r9
132	mov.l @r15+ , r8
133	rts /* dispatch ÄÑoµ³Ößé. */
134	nop
135
136	/*
137	* ^XNN®
138	* ±±ÅÍ, CPUbNðóÔÉµ, ^XNðN®·é.
139	*
140	* Äoð: FLGWX^Irbg=0xf (CPUbNóÔ), ^XNX^bN
141	* callevel = 1(^XNReLXg), ^XNX^bN
142	*/
143
144	.align 2
145	_activate_r:
146	mov.l runtsk_adr ,r2 /* ÀsJn^XNID */
147	mov.b @r2 , r0
148	extu.b r0 , r0
149	mov.l tinib_exepri_adr , r2 /* úDæxÌÇÝÝ */
150	mov.b @(r0 , r2) , r1
151	extu.b r1 , r1
152	mov.l tcb_curpri_adr , r3 /* »ÝDæxÉÝè */
153	mov.b r1 , @(r0 , r3)
154
155	mov #0 , r3
156	shll2 r0
157	mov.l tinib_task_adr , r1
158	mov.l @(r0 , r1) , r2
159	jmp @r2
160	ldc r3 , sr /* xXbgAèÝÂ */
161
162	.align 4
163	tinib_exepri_adr:
164	.long _tinib_exepri
165	tcb_curpri_adr:
166	.long _tcb_curpri
167	tinib_task_adr:
168	.long _tinib_task
169
170	/*
171	* dispatcherÄÑoµð:
172	* E·×ÄÌ^XNÌReLXgÍÛ¶³êÄ¢é.
173	* ESRWX^IPLrbg=0xf (CPUbNóÔ),
174	* EReLXgÍJ[lN®ð«^XNReLXg(callevel=1)
175	* callevelÌúlÍ1H
176	* N®Íñ^XNReLXg(callevel=1)Å, »ÌêÉàÎ.
177	* dispatcher ÄoÌX^bN:
178	* __kernel_dispatch ©ç«½ê: ^XNX^bN
179	* exit_and_dispatch ©ç«½ê:
180	* exit_task ©ç«½êÍ^XNX^bN
181	* J[lN®ÍÝX^bN
182	* ret_int ©ç«½ê: ^XNX^bN
183	* dispatcher_1 ÅÌÝÒ¿©ç«½ê: ÝX^bN
184	*/
185
186	.align 2
187	_exit_and_dispatch:
188	dispatcher:
189	/* \|Xg^XNtbNÌÄÑoµ */
190	mov.l PostTaskHook_adr , r0
191	tst r0 , r0
192	bt _start_dispatch
193	mov.l call_posttaskhook_adr , r0
194	jsr @r0
195	nop
196	_start_dispatch:
197	mov.l schedtsk_adr, r0 /* schedtsk ð runtsk É */
198	mov.b @r0 , r2
199	extu.b r2 , r2
200	mov.l runtsk_adr , r1
201	mov.b r2 , @r1
202
203	mov.l invalid_tsk , r0
204	cmp/eq r0 , r2 /* schedtsk ª³øÈçÎACh[vÖ */
205	bt pre_idle
206	shll2 r2
207	mov.l tcxb_sp_adr , r0
208	mov.l @(r0 , r2) , r15 /* ^XNX^bN\|C^ðA */
209	mov.l tcxb_pc_adr , r0
210	mov.l @(r0 , r2) , r3
211	mov.l PreTaskHook_adr , r1
212	tst r1 , r1
213	bt PreTaskHook_r
214	mov.l call_pretaskhook_adr , r1
215	mov.l r3 , @-r15 /* PreTaskHookpÉßèPCðX^bNÞð */
216	jsr @r1
217	nop
218	mov.l @r15+ , r3 /* ßèPCðß· */
219	PreTaskHook_r:
220	jmp @r3 /* ßèÔnÖ */
221	nop
222
223	.align 4
224	_activate_r_adr:
225	.long _activate_r
226	PreTaskHook_adr:
227	.long _PreTaskHook
228	PostTaskHook_adr:
229	.long _PostTaskHook
230	call_pretaskhook_adr:
231	.long _call_pretaskhook
232	call_posttaskhook_adr:
233	.long _call_posttaskhook
234
235	/*
236	* ±±©çÍ schedtsk ªÈ¢ê
237	*/
238	.align 2
239	pre_idle:
240	/*
241	* ±±Åñ^XNReLXg,ÝX^bNÉØè·¦½ÌÍ,
242	* ±±Å¶·éÝÉÇÌX^bNðg¤©Æ¢¤âèÌðÆ,
243	* ÝnhàÅÌfBXpb`h~Æ¢¤2ÂÌÓ¡ª éD
244	*/
245	mov.l int_stack, r15 /* ÝpÌX^bNÖØÖ¦ */
246	mov.l callevel_adr , r0
247	mov #TCL_ISR2 , r1
248	mov.b r1 , @r0 /* ñ^XNReLXg */
249	/* ACh[vÌõ */
250	mov #0 , r2
251	mov.l _lock_flag_adr , r8
252	mov.l r2 , @r8
253	mov.l mask_ipm , r3
254	mov.l schedtsk_adr , r5
255	mov.l invalid_tsk , r4
256	idle_loop:
257	ldc r2 , sr /* èÝÒ¿ */
258	nop
259	ldc r3 , sr /* èÝÂ */
260	mov.b @r5 , r1 /* schedtskðÇÝoµ */
261	extu.b r1 , r1
262	cmp/eq r4 , r1 /* XPW
263	[·×«^XNª é©H */
264	bt idle_loop /* ÄÑACh[v */
265
266	mov #TCL_TASK , r3
267	mov.b r3 , @r0 /* callevelðß· */
268	mov #1 , r2
269	mov.l r2 , @r8
270	/* CPUbNóÔÉ */
271	xor r0 , r0
272	mov.l _intmask_adr , r1
273	mov.l r0 , @r1
274	mov.l _lock_flag_adr , r1
275	mov #1 , r0
276	mov.l r0 , @r1
277	bra _start_dispatch /* fBXpb`Ö */
278	nop
279
280	/*
281	* Ýnhoû(fBXpb`v è)
282	*
283	* Äoµð:
284	* EFLGWX^ÌIPL=0xf, ^XNReLXg(callevel=1)
285	* EgpX^bNÍ^XNX^bN
286	* E^XNReLXgÍr0-r7,mach,machl,gbr,prªX^bNÉÏÜê½óÔ
287	*/
288	.align 2
289	.globl ret_int
290	ret_int:
291	/* cèÌWX^ðÛ¶ */
292	mov.l r8 , @-r15
293	mov.l r9 , @-r15
294	mov.l r10 , @-r15
295	mov.l r11 , @-r15
296	mov.l r12 , @-r15
297	mov.l r13 , @-r15
298	mov.l r14 , @-r15
299	shll2 r0 /* runtskÍr0ÉüÁÄ¢é */
300	mov.l tcxb_sp_adr , r1
301	mov.l r15 , @(r0 , r1) /* X^bN\|C^ðÛ¶ */
302	mov.l tcxb_pc_adr , r1
303	mov.l ret_int_r_adr , r2 /* ßèÔnðret_int_rÉÝè */
304	mov.l r2 , @(r0 , r1) /* X^bN\|C^ðÛ¶ */
305	/* CPUbNóÔÉ */
306	xor r0 , r0
307	mov.l _intmask_adr , r1
308	mov.l r0 , @r1
309	mov.l _lock_flag_adr , r1
310	mov #1 , r0
311	mov.l r0 , @r1
312	bra dispatcher /* fBXpb`Ö */
313	nop
314
315	.align 4
316	ret_int_r_adr:
317	.long ret_int_r
318	_intmask_adr:
319	.long _intmask
320	_lock_flag_adr:
321	.long _lock_flag
322
323
324	/*
325	* ÄÑoµð: IPL=0xf, (CPUbNóÔ),
326	* callevel=1(^XNReLXg), ^XNX^bN
327	* X^bNÉÍr14-r8,gbr,mach,machl,pr,r7-r0ÌÅÏÜêÄ¢é
328	*/
329	.align 2
330	ret_int_r:
331	mov.l @r15+ , r14 /* WX^ðA */
332	mov.l @r15+ , r13
333	mov.l @r15+ , r12
334	mov.l @r15+ , r11
335	mov.l @r15+ , r10
336	mov.l @r15+ , r9
337	mov.l @r15+ , r8
338	ldc.l @r15+ , gbr
339	lds.l @r15+ , mach
340	lds.l @r15+ , macl
341	lds.l @r15+ , pr
342	mov.l @r15+ , r7
343	mov.l @r15+ , r6
344	mov.l @r15+ , r5
345	mov.l @r15+ , r4
346	mov.l @r15+ , r3
347	mov.l @r15+ , r2
348	mov.l @r15+ , r1
349	mov.l @r15+ , r0
350	rte /* èÝ³ÖA */
351	nop
352
353	/*
354	* Ýoüû(AZu¾êLqª)
355	*
356	* Äoµð:
357	* ESRWX^ÌIPLÍ0xf
358	* EX^bNÍ½dèÝÈçÝX^bN, »¤ÅÈ¯êÎ
359	* ^XNX^bN
360	* Er0 ÉÍÝnhÌAhXªi[³êÄ¢é.
361	* Er1 ÉÍOñÌÀsÝIDªi[³êÄ¢éD
362	* Er2 ÉÍèÝótÌSRWX^Ìlªi[³êÄ¢é
363	*
364	* WX^ªX^bNãÉÇÌæ¤ÉÛ¶³êÄ¢é©ðÈºÉ¦·.
365	* ±Ì}ÅÍãªáÊ, ºªÊÌAhXÅ, X^bNÍº©ç
366	* ãûüÉü©ÁÄÏÝã°çêéàÌÆ·é.
367	*
368	* -------------------------
369	* \| R3(4byte) \|
370	* --------------------------
371	* \| R2(4byte) \|
372	* --------------------------
373	* \| R1(4byte) \|
374	* --------------------------
375	* \| R0(4byte) \|
376	* --------------------------
377	* \| SR(4byte) \| <- èÝ¶ÌSRWX^(H/WÉÄÛ¶)
378	* --------------------------
379	* \| PC(4byte) \| <- èÝ©çA·éPC(H/WÉÄÛ¶)
380	* --------------------------
381	*
382	* èÝ¤ÊÅcèÌWX^ðÞðµ½ãÌX^bNðÈºÉ¦·D
383	* -------------------------
384	* \| GBR(4byte) \|
385	* -------------------------
386	* \| MACH(4byte) \|
387	* -------------------------
388	* \| MACL(4byte) \|
389	* -------------------------
390	* \| PR(4byte) \|
391	* -------------------------
392	* \| R7(4byte) \|
393	* -------------------------
394	* \| R6(4byte) \|
395	* -------------------------
396	* \| R5(4byte) \|
397	* -------------------------
398	* \| R4(4byte) \|
399	* -------------------------
400	* \| R3(4byte) \|
401	* --------------------------
402	* \| R2(4byte) \|
403	* --------------------------
404	* \| R1(4byte) \|
405	* --------------------------
406	* \| R0(4byte) \|
407	* --------------------------
408	* \| SR(4byte) \| <- èÝ¶ÌSRWX^(H/WÉÄÛ¶)
409	* --------------------------
410	* \| PC(4byte) \| <- èÝ©çA·éPC(H/WÉÄÛ¶)
411	* --------------------------
412	*
413	* xfBXpb`vÉret_intÉÄX^bNÉÏÜêéWX^ð
414	* ÈºÉ¦·D
415	*
416	* -------------------------
417	* \| R14(4byte) \|
418	* -------------------------
419	* \| R13(4byte) \|
420	* -------------------------
421	* \| R12(4byte) \|
422	* --------------------------
423	* \| R11(4byte) \|
424	* --------------------------
425	* \| R10(4byte) \|
426	* --------------------------
427	* \| R9(4byte) \|
428	* -------------------------
429	* \| R8(4byte) \|
430	* -------------------------
431	* \| MACH(4byte) \|
432	* -------------------------
433	* \| MACL(4byte) \|
434	* -------------------------
435	* \| PR(4byte) \|
436	* -------------------------
437	* \| R7(4byte) \|
438	* -------------------------
439	* \| R6(4byte) \|
440	* -------------------------
441	* \| R5(4byte) \|
442	* -------------------------
443	* \| R4(4byte) \|
444	* -------------------------
445	* \| R3(4byte) \|
446	* --------------------------
447	* \| R2(4byte) \|
448	* --------------------------
449	* \| R1(4byte) \|
450	* --------------------------
451	* \| R0(4byte) \|
452	* --------------------------
453	* \| SR(4byte) \| <- èÝ¶ÌSRWX^(H/WÉÄÛ¶)
454	* --------------------------
455	* \| PC(4byte) \| <- èÝ©çA·éPC(H/WÉÄÛ¶)
456	* --------------------------
457	*
458	* nh©ç^[µ½ãÍ, ½dÝÅÈ,
459	* fBXpb`vª é(schedtsk != runtsk)ÉC
460	* ret_int Öªò·éD
461	*
462	* ½dÝ©Ç¤©ÍcallevelÌlÅ»è·é.
463	* callevel != 1 ÈçÎ½dÝÅ éÆ»è·é.
464	*
465	*/
466
467	.align 2
468	_interrupt:
469	/* cèÌX^bNðÞð */
470	mov.l r4 , @-r15
471	mov.l r5 , @-r15
472	mov.l r6 , @-r15
473	mov.l r7 , @-r15
474	sts.l pr , @-r15
475	sts.l macl , @-r15
476	sts.l mach , @-r15
477	stc.l gbr , @-r15
478	mov #TCL_TASK , r4 /* ½dèÝ©ð`FbN */
479	mov.l callevel_adr , r3
480	mov.b @r3 , r5
481	cmp/eq r4 , r5
482	bf int_from_int
483	int_from_task:
484	mov.l int_stack , r4 /* X^bNðØèÖ¦ */
485	mov.l r15 , @-r4
486	mov r4 , r15
487	mov #TCL_ISR2 , r6 /* ÀsxðÏX */
488	mov.b r6 , @r3
489	int_from_int:
490	mov.w r1 , @-r15 /* OÌèÝIDðX^bNÉÛ¶ */
491	mov.w r5 , @-r15 /* OÌÀsxðX^bNÉÛ¶ */
492	/* ±±Å[hÅÛ¶µÄ¢éÌÍA */
493	/* SPð4oCg«EÉÛÂ½ßÅ é */
494	ldc r2 , sr /* èÝÂ */
495	jsr @r0 /* èÝ[`ÄÑoµ */
496	nop
497	mov.l mask_ipm , r0 /* èÝÖ~ */
498	ldc r0 , sr
499	mov.w @r15+ , r0 /* OÌÀsxðA */
500	mov.l callevel_adr , r1
501	mov.b r0 , @r1
502	mov.w @r15+ , r2 /* OÌèÝIDðA */
503	mov.l runisr_adr , r1
504	mov.b r2 , @r1
505	mov #TCL_TASK , r1 /* ½dèÝ©Ç¤©H */
506	cmp/eq r0 , r1
507	bf int_return
508
509	/* iÌèÝ©çA·é */
510	mov.l @r15 , r15 /* ^XNX^bNÉß· */
511	mov.l callevel_adr , r2
512	mov.b r1 , @r2
513
514	/* èÝüèûÅèÝªüÁÄÈ¢©ðmF */
515	mov r15 , r0
516	mov.l @(52, r0) , r0 /* èÝOÌSRWX^ðæèoµ */
517	mov.l mask_ipm , r1 /* IPMðæèoµ */
518	and r1 , r0
519	tst r0 , r0 /* 0©Ç¤©`FbN */
520	bf int_return /* 0ÅÈ¢êÍ½dèÝ */
521
522	mov.l runtsk_adr , r1 /* fBXpb`vª é©H */
523	mov.b @r1 , r0
524	extu.b r0 , r0
525	mov.l schedtsk_adr , r1
526	mov.b @r1 , r2
527	extu.b r2 , r2
528	cmp/eq r0 , r2
529	bf ret_int
530	int_return:
531	ldc.l @r15+ , gbr /* WX^ðA */
532	lds.l @r15+ , mach
533	lds.l @r15+ , macl
534	lds.l @r15+ , pr
535	mov.l @r15+ , r7
536	mov.l @r15+ , r6
537	mov.l @r15+ , r5
538	mov.l @r15+ , r4
539	mov.l @r15+ , r3
540	mov.l @r15+ , r2
541	mov.l @r15+ , r1
542	mov.l @r15+ , r0
543	rte /* èÝ³ÉA */
544	nop
545
546
547	/* ¢gpÝÌ */
548	.globl _unused_interrupt
549	_unused_interrupt:
550	rte
551	nop
552
553	.align 4
554	runtsk_adr:
555	.long _runtsk
556	schedtsk_adr:
557	.long _schedtsk
558	tcxb_sp_adr:
559	.long _tcxb_sp
560	tcxb_pc_adr:
561	.long _tcxb_pc
562	int_stack:
563	.long STACK_TOP
564	callevel_adr:
565	.long _callevel
566	runisr_adr:
567	.long _runisr
568	mask_ipm:
569	.long 0x000000f0
570	invalid_tsk:
571	.long INVALID_TASK
572
573	/* èÌè` */
574	.equ TCL_TASK , 1
575	.equ TCL_ISR2 , 2
576	.equ INVALID_TASK , 0xff
577
578
579
580	.end

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