[136] | 1 | /*
|
---|
| 2 | * TOPPERS/ASP Kernel
|
---|
| 3 | * Toyohashi Open Platform for Embedded Real-Time Systems/
|
---|
| 4 | * Advanced Standard Profile Kernel
|
---|
| 5 | *
|
---|
| 6 | * Copyright (C) 2008-2011 by Embedded and Real-Time Systems Laboratory
|
---|
| 7 | * Graduate School of Information Science, Nagoya Univ., JAPAN
|
---|
| 8 | *
|
---|
| 9 | * ä¸è¨èä½æ¨©è
|
---|
| 10 | ã¯ï¼ä»¥ä¸ã®(1)ï½(4)ã®æ¡ä»¶ãæºããå ´åã«éãï¼æ¬ã½ããã¦ã§
|
---|
| 11 | * ã¢ï¼æ¬ã½ããã¦ã§ã¢ãæ¹å¤ãããã®ãå«ãï¼ä»¥ä¸åãï¼ã使ç¨ã»è¤è£½ã»æ¹
|
---|
| 12 | * å¤ã»åé
|
---|
| 13 | å¸ï¼ä»¥ä¸ï¼å©ç¨ã¨å¼ã¶ï¼ãããã¨ãç¡åã§è¨±è«¾ããï¼
|
---|
| 14 | * (1) æ¬ã½ããã¦ã§ã¢ãã½ã¼ã¹ã³ã¼ãã®å½¢ã§å©ç¨ããå ´åã«ã¯ï¼ä¸è¨ã®èä½
|
---|
| 15 | * 権表示ï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãï¼ãã®ã¾ã¾ã®å½¢ã§ã½ã¼
|
---|
| 16 | * ã¹ã³ã¼ãä¸ã«å«ã¾ãã¦ãããã¨ï¼
|
---|
| 17 | * (2) æ¬ã½ããã¦ã§ã¢ãï¼ã©ã¤ãã©ãªå½¢å¼ãªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
|
---|
| 18 | * ç¨ã§ããå½¢ã§åé
|
---|
| 19 | å¸ããå ´åã«ã¯ï¼åé
|
---|
| 20 | å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨
|
---|
| 21 | * è
|
---|
| 22 | ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®èä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨
|
---|
| 23 | * ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
|
---|
| 24 | * (3) æ¬ã½ããã¦ã§ã¢ãï¼æ©å¨ã«çµã¿è¾¼ããªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
|
---|
| 25 | * ç¨ã§ããªãå½¢ã§åé
|
---|
| 26 | å¸ããå ´åã«ã¯ï¼æ¬¡ã®ããããã®æ¡ä»¶ãæºããã
|
---|
| 27 | * ã¨ï¼
|
---|
| 28 | * (a) åé
|
---|
| 29 | å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨è
|
---|
| 30 | ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®è
|
---|
| 31 | * ä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
|
---|
| 32 | * (b) åé
|
---|
| 33 | å¸ã®å½¢æ
|
---|
| 34 | ãï¼å¥ã«å®ããæ¹æ³ã«ãã£ã¦ï¼TOPPERSããã¸ã§ã¯ãã«
|
---|
| 35 | * å ±åãããã¨ï¼
|
---|
| 36 | * (4) æ¬ã½ããã¦ã§ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ
|
---|
| 37 | * 害ãããï¼ä¸è¨èä½æ¨©è
|
---|
| 38 | ããã³TOPPERSããã¸ã§ã¯ããå
|
---|
| 39 | 責ãããã¨ï¼
|
---|
| 40 | * ã¾ãï¼æ¬ã½ããã¦ã§ã¢ã®ã¦ã¼ã¶ã¾ãã¯ã¨ã³ãã¦ã¼ã¶ããã®ãããªãç
|
---|
| 41 | * ç±ã«åºã¥ãè«æ±ãããï¼ä¸è¨èä½æ¨©è
|
---|
| 42 | ããã³TOPPERSããã¸ã§ã¯ãã
|
---|
| 43 | * å
|
---|
| 44 | 責ãããã¨ï¼
|
---|
| 45 | *
|
---|
| 46 | * æ¬ã½ããã¦ã§ã¢ã¯ï¼ç¡ä¿è¨¼ã§æä¾ããã¦ãããã®ã§ããï¼ä¸è¨èä½æ¨©è
|
---|
| 47 | ã
|
---|
| 48 | * ãã³TOPPERSããã¸ã§ã¯ãã¯ï¼æ¬ã½ããã¦ã§ã¢ã«é¢ãã¦ï¼ç¹å®ã®ä½¿ç¨ç®ç
|
---|
| 49 | * ã«å¯¾ããé©åæ§ãå«ãã¦ï¼ãããªãä¿è¨¼ãè¡ããªãï¼ã¾ãï¼æ¬ã½ããã¦ã§
|
---|
| 50 | * ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ害ã«é¢ãã¦ãï¼ã
|
---|
| 51 | * ã®è²¬ä»»ãè² ããªãï¼
|
---|
| 52 | *
|
---|
| 53 | * @(#) $Id: core_config.c 2693 2015-11-04 03:55:57Z ertl-honda $
|
---|
| 54 | */
|
---|
| 55 |
|
---|
| 56 | /*
|
---|
| 57 | * ã³ã¢ä¾åã¢ã¸ã¥ã¼ã«ï¼ARM-Mç¨ï¼
|
---|
| 58 | */
|
---|
| 59 |
|
---|
| 60 | #include "kernel_impl.h"
|
---|
| 61 | #include "check.h"
|
---|
| 62 | #include "task.h"
|
---|
| 63 |
|
---|
| 64 | /*
|
---|
| 65 | * TOPPERSæ¨æºå²è¾¼ã¿å¦çã¢ãã«å®ç¾ã®ããã®å¤æ°ã¨åæåå¦ç
|
---|
| 66 | * ARMv6-Mã¨ARMv7-Mã§ç°ãªãããifdefã«åãåãã¦ãã
|
---|
| 67 | */
|
---|
| 68 |
|
---|
| 69 | #if __TARGET_ARCH_THUMB == 4
|
---|
| 70 |
|
---|
| 71 | volatile bool_t lock_flag; /* CPUããã¯ãã©ã°ã®å¤ãä¿æããå¤æ° */
|
---|
| 72 | volatile uint32_t saved_iipm; /* å²è¾¼ã¿åªå
|
---|
| 73 | 度ãã¹ã¯ãä¿åããå¤æ° */
|
---|
| 74 |
|
---|
| 75 | static void
|
---|
| 76 | init_intmodel(void){
|
---|
| 77 | lock_flag = true;
|
---|
| 78 | saved_iipm = IIPM_ENAALL;
|
---|
| 79 | }
|
---|
| 80 |
|
---|
| 81 | #else /* __TARGET_ARCH_THUMB == 3 */
|
---|
| 82 |
|
---|
| 83 | uint32_t ief; /* IRQã®å²è¾¼ã¿è¦æ±ç¦æ¢ãã©ã°ã®ç¶æ
|
---|
| 84 | */
|
---|
| 85 | uint8_t ief_systick; /* SysTickã®å²è¾¼ã¿è¦æ±ç¦æ¢ãã©ã°ã®ç¶æ
|
---|
| 86 | */
|
---|
| 87 | uint8_t iipm; /* ç¾å¨ã®å²è¾¼ã¿åªå
|
---|
| 88 | 度ãã¹ã¯ã®å¤ */
|
---|
| 89 |
|
---|
| 90 | static void
|
---|
| 91 | init_intmodel(void){
|
---|
| 92 | ief = 0x00;
|
---|
| 93 | ief_systick = 0x00;
|
---|
| 94 | iipm = INT_IPM(0);
|
---|
| 95 | }
|
---|
| 96 |
|
---|
| 97 | #endif /* __TARGET_ARCH_THUMB == 4 */
|
---|
| 98 |
|
---|
| 99 | /*
|
---|
| 100 | * ãã¯ã¿ãã¼ãã«(kernel_cfg.c)
|
---|
| 101 | */
|
---|
| 102 | extern const FP vector_table[];
|
---|
| 103 |
|
---|
| 104 | /*
|
---|
| 105 | * ã·ã¹ãã ä¾å¤ã»å²è¾¼ã¿ã®ï¼ä¾å¤çªå· 4ï½15ï¼
|
---|
| 106 | * å²è¾¼ã¿åªå
|
---|
| 107 | 度è¨å®ã¬ã¸ã¹ã¿ã¸ã®ã¢ã¯ã»ã¹ã®ããã®é
|
---|
| 108 | å
|
---|
| 109 | */
|
---|
| 110 | static const unsigned int nvic_sys_pri_reg[] = {
|
---|
| 111 | 0,
|
---|
| 112 | NVIC_SYS_PRI1,
|
---|
| 113 | NVIC_SYS_PRI2,
|
---|
| 114 | NVIC_SYS_PRI3
|
---|
| 115 | };
|
---|
| 116 |
|
---|
| 117 | /*
|
---|
| 118 | * ä¾å¤ã¨å²è¾¼ã¿ã®å²è¾¼ã¿åªå
|
---|
| 119 | 度ãã»ãã
|
---|
| 120 | *
|
---|
| 121 | * excnoã¯ARM-Mã§å®ãããã¦ãã Exception Number ãæå®ï¼
|
---|
| 122 | */
|
---|
| 123 | void
|
---|
| 124 | set_exc_int_priority(uint32_t excno, uint32_t nvic_ipm){
|
---|
| 125 | uint32_t tmp, reg;
|
---|
| 126 |
|
---|
| 127 | /*
|
---|
| 128 | * å²è¾¼ã¿åªå
|
---|
| 129 | 度è¨å®ã¬ã¸ã¹ã¿ã®æ±ºå®
|
---|
| 130 | */
|
---|
| 131 | if ((EXCNO_MPU <= excno) && (excno <= IRQNO_SYSTICK)) {
|
---|
| 132 | /*
|
---|
| 133 | * Exception Number 4(Memory Management)ãã
|
---|
| 134 | * Exception Number 15(SysTick)ã¾ã§ã®å²è¾¼ã¿åªå
|
---|
| 135 | 度ã¯ã·ã¹ãã åªå
|
---|
| 136 | 度
|
---|
| 137 | * ã¬ã¸ã¹ã¿ã«ããè¨å®ï¼
|
---|
| 138 | */
|
---|
| 139 | reg = nvic_sys_pri_reg[excno >> 2];
|
---|
| 140 | }
|
---|
| 141 | else if ((TMIN_INTNO < excno) && (excno <= TMAX_INTNO)){
|
---|
| 142 | /*
|
---|
| 143 | * IRQå²è¾¼ã¿ãªã
|
---|
| 144 | */
|
---|
| 145 | reg = NVIC_PRI0 + (((excno - (TMIN_INTNO + 1)) >> 2) * 4);
|
---|
| 146 | }
|
---|
| 147 | else {
|
---|
| 148 | return ;
|
---|
| 149 | }
|
---|
| 150 |
|
---|
| 151 | tmp = sil_rew_mem((void *)reg);
|
---|
| 152 | tmp &= ~(0xFF << (8 * (excno & 0x03)));
|
---|
| 153 | tmp |= nvic_ipm << (8 * (excno & 0x03));
|
---|
| 154 | sil_wrw_mem((void *)reg, tmp);
|
---|
| 155 | }
|
---|
| 156 |
|
---|
| 157 | /*
|
---|
| 158 | * ä¾å¤ã®è¨±å¯
|
---|
| 159 | *
|
---|
| 160 | * Memory Management, Bus Fault, Usage Fault ã¯ç¦æ¢ã»è¨±å¯ãå¯è½
|
---|
| 161 | */
|
---|
| 162 | void
|
---|
| 163 | enable_exc(EXCNO excno)
|
---|
| 164 | {
|
---|
| 165 | uint32_t tmp;
|
---|
| 166 |
|
---|
| 167 | switch (excno) {
|
---|
| 168 | case EXCNO_MPU:
|
---|
| 169 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
|
---|
| 170 | tmp |= NVIC_SYS_HND_CTRL_MEM;
|
---|
| 171 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
|
---|
| 172 | break;
|
---|
| 173 | case EXCNO_BUS:
|
---|
| 174 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
|
---|
| 175 | tmp |= NVIC_SYS_HND_CTRL_BUS;
|
---|
| 176 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
|
---|
| 177 | break;
|
---|
| 178 | case EXCNO_USAGE:
|
---|
| 179 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
|
---|
| 180 | tmp |= NVIC_SYS_HND_CTRL_USAGE;
|
---|
| 181 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
|
---|
| 182 | break;
|
---|
| 183 | }
|
---|
| 184 | }
|
---|
| 185 |
|
---|
| 186 | /*
|
---|
| 187 | * ä¾å¤ã®ç¦æ¢
|
---|
| 188 | */
|
---|
| 189 | void
|
---|
| 190 | disable_exc(EXCNO excno)
|
---|
| 191 | {
|
---|
| 192 | uint32_t tmp;
|
---|
| 193 |
|
---|
| 194 | switch (excno) {
|
---|
| 195 | case EXCNO_MPU:
|
---|
| 196 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
|
---|
| 197 | tmp &= ~NVIC_SYS_HND_CTRL_MEM;
|
---|
| 198 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
|
---|
| 199 | break;
|
---|
| 200 | case EXCNO_BUS:
|
---|
| 201 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
|
---|
| 202 | tmp &= ~NVIC_SYS_HND_CTRL_BUS;
|
---|
| 203 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
|
---|
| 204 | break;
|
---|
| 205 | case EXCNO_USAGE:
|
---|
| 206 | tmp = sil_rew_mem((void *)NVIC_SYS_HND_CTRL);
|
---|
| 207 | tmp &= ~NVIC_SYS_HND_CTRL_USAGE;
|
---|
| 208 | sil_wrw_mem((void *)NVIC_SYS_HND_CTRL, tmp);
|
---|
| 209 | break;
|
---|
| 210 | }
|
---|
| 211 | }
|
---|
| 212 |
|
---|
| 213 |
|
---|
| 214 | /*
|
---|
| 215 | * ã³ã¢ä¾åã®åæå
|
---|
| 216 | */
|
---|
| 217 | void
|
---|
| 218 | core_initialize(void)
|
---|
| 219 | {
|
---|
| 220 | /*
|
---|
| 221 | * ãã¯ã¿ãã¼ãã«ãè¨å®
|
---|
| 222 | */
|
---|
| 223 | sil_wrw_mem((void*)NVIC_VECTTBL, (uint32_t)vector_table);
|
---|
| 224 |
|
---|
| 225 | /*
|
---|
| 226 | * åä¾å¤ã®åªå
|
---|
| 227 | 度ãè¨å®
|
---|
| 228 | * CPUããã¯ç¶æ
|
---|
| 229 | ã§ãçºçããããã«ï¼BASEPRIã¬ã¸ã¹ã¿ã§ãã¹ã¯ã§ã
|
---|
| 230 | * ãªã'0'ã¨ããï¼
|
---|
| 231 | */
|
---|
| 232 | set_exc_int_priority(EXCNO_HARD, 0);
|
---|
| 233 | set_exc_int_priority(EXCNO_MPU, 0);
|
---|
| 234 | set_exc_int_priority(EXCNO_BUS, 0);
|
---|
| 235 | set_exc_int_priority(EXCNO_USAGE, 0);
|
---|
| 236 | set_exc_int_priority(EXCNO_SVCALL, 0);
|
---|
| 237 | set_exc_int_priority(EXCNO_DEBUG, 0);
|
---|
| 238 | set_exc_int_priority(EXCNO_PENDSV, 0);
|
---|
| 239 |
|
---|
| 240 | /*
|
---|
| 241 | * å²è¾¼ã¿å¦çã¢ãã«é¢é£ã®åæå
|
---|
| 242 | */
|
---|
| 243 | init_intmodel();
|
---|
| 244 | }
|
---|
| 245 |
|
---|
| 246 | /*
|
---|
| 247 | * ã³ã¢ä¾åã®çµäºå¦ç
|
---|
| 248 | */
|
---|
| 249 | void
|
---|
| 250 | core_terminate(void)
|
---|
| 251 | {
|
---|
| 252 | extern void software_term_hook(void);
|
---|
| 253 | void (*volatile fp)(void) = software_term_hook;
|
---|
| 254 |
|
---|
| 255 | /*
|
---|
| 256 | * software_term_hookã¸ã®ãã¤ã³ã¿ãï¼ä¸æ¦volatileæå®ã®ããfpã«ä»£
|
---|
| 257 | * å
|
---|
| 258 | ¥ãã¦ãã使ãã®ã¯ï¼0ã¨ã®æ¯è¼ãæé©åã§åé¤ãããªãããã«ããã
|
---|
| 259 | * ãã§ããï¼
|
---|
| 260 | */
|
---|
| 261 | if (fp != 0) {
|
---|
| 262 | (*fp)();
|
---|
| 263 | }
|
---|
| 264 | }
|
---|
| 265 |
|
---|
| 266 | /*
|
---|
| 267 | * å²è¾¼ã¿è¦æ±ã©ã¤ã³å±æ§ã®è¨å®
|
---|
| 268 | */
|
---|
| 269 | void
|
---|
| 270 | x_config_int(INTNO intno, ATR intatr, PRI intpri)
|
---|
| 271 | {
|
---|
| 272 | assert(VALID_INTNO_CFGINT(intno));
|
---|
| 273 | assert(TMIN_INTPRI <= intpri && intpri <= TMAX_INTPRI);
|
---|
| 274 |
|
---|
| 275 | /*
|
---|
| 276 | * ä¸æ¦å²è¾¼ã¿ãç¦æ¢ãã
|
---|
| 277 | */
|
---|
| 278 | (void)x_disable_int(intno);
|
---|
| 279 |
|
---|
| 280 | /*
|
---|
| 281 | * å²è¾¼ã¿åªå
|
---|
| 282 | 度ãã»ãã
|
---|
| 283 | */
|
---|
| 284 | set_exc_int_priority(intno, INT_NVIC_PRI(intpri));
|
---|
| 285 |
|
---|
| 286 | /*
|
---|
| 287 | * å²è¾¼ã¿è¦æ±ãã¹ã¯è§£é¤(å¿
|
---|
| 288 | è¦ãªå ´å)
|
---|
| 289 | */
|
---|
| 290 | if ((intatr & TA_ENAINT) != 0U) {
|
---|
| 291 | (void) x_enable_int(intno);
|
---|
| 292 | }
|
---|
| 293 | }
|
---|
| 294 |
|
---|
| 295 |
|
---|
| 296 | #ifndef OMIT_DEFAULT_EXC_HANDLER
|
---|
| 297 | /*
|
---|
| 298 | * æªå®ç¾©ã®ä¾å¤ãçºçããã¨å¼ã³åºããã
|
---|
| 299 | */
|
---|
| 300 | void
|
---|
| 301 | default_exc_handler(void *p_excinf)
|
---|
| 302 | {
|
---|
| 303 | uint32_t basepri = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_IIPM);
|
---|
| 304 | uint32_t pc = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_PC);
|
---|
| 305 | uint32_t xpsr = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_XPSR);
|
---|
| 306 | uint32_t excno = get_ipsr() & IPSR_ISR_NUMBER;
|
---|
| 307 |
|
---|
| 308 | syslog(LOG_EMERG, "\nUnregistered Exception occurs.");
|
---|
| 309 | syslog(LOG_EMERG, "Excno = 0x%08X, PC = 0x%08X, XPSR = 0x%08X, iipm = 0x%08X, p_excinf = 0x%08X",
|
---|
| 310 | excno, pc, xpsr, basepri, p_excinf);
|
---|
| 311 |
|
---|
| 312 | target_exit();
|
---|
| 313 | }
|
---|
| 314 | #endif /* OMIT_DEFAULT_EXC_HANDLER */
|
---|
| 315 |
|
---|
| 316 | #ifndef OMIT_DEFAULT_INT_HANDLER
|
---|
| 317 | /*
|
---|
| 318 | * æªç»é²ã®å²è¾¼ã¿ãçºçããå ´åã«å¼ã³åºããã
|
---|
| 319 | */
|
---|
| 320 | void
|
---|
| 321 | default_int_handler(void *p_excinf)
|
---|
| 322 | {
|
---|
| 323 | uint32_t basepri = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_IIPM);
|
---|
| 324 | uint32_t pc = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_PC);
|
---|
| 325 | uint32_t xpsr = *(((uint32_t*)p_excinf) + P_EXCINF_OFFSET_XPSR);
|
---|
| 326 | uint32_t excno = get_ipsr() & IPSR_ISR_NUMBER;
|
---|
| 327 |
|
---|
| 328 | syslog(LOG_EMERG, "\nUnregistered Interrupt occurs.");
|
---|
| 329 | syslog(LOG_EMERG, "Excno = 0x%08X, PC = 0x%08X, XPSR = 0x%08X, iipm = 0x%08X, p_excinf = 0x%08X",
|
---|
| 330 | excno, pc, xpsr, basepri, p_excinf);
|
---|
| 331 |
|
---|
| 332 | target_exit();
|
---|
| 333 | }
|
---|
| 334 | #endif /* OMIT_DEFAULT_INT_HANDLER */
|
---|