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core_support_v6m.S@ 136

Last change on this file since 136 was 136, checked in by ertl-honda, 8 years ago
ライブラリとOS及びベーシックなサンプルの追加．
File size: 31.8 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) 2008-2015 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¸åãï¼ãä½¿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	* æ¨©è¡¨ç¤ºï¼ãã®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	* å®³ãããï¼ä¸è¨èä½æ¨©è
38	ããã³TOPPERSããã¸ã§ã¯ããå
39	è²¬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	è²¬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«çãããããªãæå®³ã«é¢ãã¦ãï¼ã
51	* ã®è²¬ä»»ãè² ããªãï¼
52	*
53	* @(#) $Id: core_support_v6m.S 2693 2015-11-04 03:55:57Z ertl-honda $
54	*/
55
56	/*
57	* ããã»ããµä¾åã¢ã¸ã¥ã¼ã« ã¢ã»ã³ããªè¨èªé¨ï¼ARMv6-Mç¨ï¼
58	*/
59
60	#define TOPPERS_MACRO_ONLY
61	#define UINT_C(val) (val) /* uint_tåã®å®æ°ãä½ããã¯ã */
62	#define ULONG_C(val) (val) /* ulong_tåã®å®æ°ãä½ããã¯ã */
63	#define CAST(type, val) (val) /* åãã£ã¹ããè¡ããã¯ã */
64
65	#include "kernel_impl.h"
66	#include "arm_m.h"
67	#include "offset.h"
68	#include "target_asm.inc"
69
70	#if __TARGET_ARCH_THUMB != 3
71	#error The core_support.S support ARMv6-M only.
72	#endif /* __TARGET_ARCH_THUMB != 3 */
73
74	/*
75	* ã¿ã¹ã¯ãã£ã¹ãããã£
76	*/
77	ATEXT
78	ABALIGN(4)
79	ATHUMB(dispatch)
80	AGLOBAL(dispatch)
81	ALABEL(dispatch)
82	/*
83	*
84	* ãã®ã«ã¼ãã³ã¯ï¼ã¿ã¹ã¯ã³ã³ããã¹ãã»CPUããã¯ç¶æ
85	ã»ãã£ãããè¨±å¯ç¶æ
86
87	* ã»ï¼ã¢ãã«ä¸ã®ï¼å²è¾¼ã¿åªå
88	åº¦ãã¹ã¯å
89	¨éç¶æ
90	ã§å¼ã³åºãããï¼
91	*/
92	mov r0, r8 /* ã¬ã¸ã¹ã¿ã®ä¿å */
93	mov r1, r9
94	mov r2, r10
95	mov r3, r11
96	push {r0-r7,lr}
97	ldr r0, =p_runtsk /* p_runtskãèªã¿è¾¼ã */
98	ldr r1, [r0]
99	mov r2, sp
100	str r2, [r1,#TCB_sp] /* ã¿ã¹ã¯ã¹ã¿ãã¯ãä¿å */
101	ldr r3, =dispatch_r /* å®è¡åéçªå°ãä¿å */
102	str r3, [r1,#TCB_pc]
103	b dispatcher
104
105	ATHUMB(dispatch_r)
106	AGLOBAL(dispatch_r)
107	ALABEL(dispatch_r)
108	pop {r0-r7} /* ã¬ã¸ã¹ã¿ã®å¾©å¸° */
109	mov r8, r0
110	mov r9, r1
111	mov r10, r2
112	mov r11, r3
113	/*
114	* ã¿ã¹ã¯ä¾å¤å¦çã«ã¼ãã³ã®èµ·å
115	*/
116	ldr r0, =p_runtsk /* p_runtskãèªã¿è¾¼ã */
117	ldr r1, [r0]
118	ldrb r0, [r1,#TCB_enatex]
119	movs r2, #TCB_enatex_mask
120	tst r0, r2
121	beq dispatch_r_1 /* enatex ã false ãªããªã¿ã¼ã³ */
122	ldr r0, [r1,#TCB_texptn] /* texptn ã 0 ãªããªã¿ã¼ã³ */
123	tst r0, r0
124	beq dispatch_r_1
125	ldr r1, =ipmflg /* ipmflgã false ãªããªã¿ã¼ã³ */
126	ldr r0, [r1]
127	tst r0, r0
128	beq dispatch_r_1
129	ldr r0, =call_texrtn /* ã¿ã¹ã¯ä¾å¤ã«ã¼ãã³ã®å¼ã³åºã */
130	bx r0
131	ALABEL(dispatch_r_1) /* ã¿ã¹ã¯ã¸ã®call_textnããæ»ã */
132	pop {pc}
133
134	/*
135	* CPUä¾å¤ã¨ã³ããª
136	*
137	* å²è¾¼ã¿ã¨ã³ããªã¨å¦çã®å
138	å®¹ã¯åçã ãï¼ãã°ã®ç¨®é¡ãç°ãªãããï¼
139	* åãã¦ããï¼
140	*/
141	ABALIGN(4)
142	ATEXT
143	ATHUMB(core_exc_entry)
144	AGLOBAL(core_exc_entry)
145	ALABEL(core_exc_entry)
146	/*
147	* ä¾å¤/å²è¾¼ã¿ãçºçããã¨ï¼çºçæã«ã¢ã¯ãã£ããªã¹ã¿ãã¯ã«ã¹ã¯ã©
148	* ããã¬ã¸ã¹ã¿çãä¿åãããï¼
149	* ãã®å
150	å®¹ã«å ãã¦ï¼CPUä¾å¤ãã³ãã©ã¸ã®æ
151	å ±ã¨ãã¦ï¼basepri ã®å¤ã¨ï¼
152	* EXC_RETURNã®æ
153	å ±ãå ãã¦ä¿åããï¼basepriã®å¤ã¯ï¼CPUä¾å¤ããã®
154	* ãªã¿ã¼ã³æã«å²è¾¼ã¿åªå
155	åº¦ãã¹ã¯ã®å¤ãå
156	ã«æ»ãããã«ãç¨ããããï¼
157	*
158	* -----------
159	* \| iipm \|
160	* -----------
161	* \| EXC_RETURN\|
162	* -----------
163	* \| R0 \|
164	* -----------
165	* \| R1 \|
166	* -----------
167	* \| R2 \|
168	* -----------
169	* \| R3 \|
170	* -----------
171	* \| R12 \|
172	* -----------
173	* \| LR \|
174	* -----------
175	* \| PC \|
176	* -----------
177	* \| xPSR \|
178	* -----------
179	*
180	*/
181
182	/*
183	* ã«ã¼ãã«ç®¡çå¤ã®ä¾å¤ããã§ãã¯
184	* ã«ã¼ãã«å
185	ã®ã¯ãªãã£ã«ã«ã»ã¯ã·ã§ã³ã®å®è¡ä¸ï¼å
186	¨å²è¾¼ã¿ããã¯ç¶æ
187	ï¼
188	* CPUããã¯ç¶æ
189	ï¼ã«ã¼ãã«ç®¡çå¤ã®å²è¾¼ã¿ãã³ãã©å®è¡ä¸ã®ããããã§
190	* çºçããCPUä¾å¤ãï¼ã«ã¼ãã«ç®¡çå¤ã®CPUä¾å¤ã¨å¼ã¶
191	* å
192	¨å²è¾¼ã¿ããã¯ç¶æ
193	ã¯FAULTMASKã'1'ã®å ´å
194	* CPUããã¯ç¶æ
195	ã¯basepriãIIPM_LOCKãã§å¤æããï¼
196	*/
197	ldr r3, =iipm /* å¾ã§ä½¿ç¨ããããèªã¿è¾¼ã */
198	ldrb r0, [r3]
199	mrs r2, primask /* CPUããã¯ç¶æ
200	ãªãã«ã¼ãã«ç®¡çå¤ä¾å¤å¦çã¸ */
201	cmp r1, #1
202	beq core_nonkernel_exc_entry
203
204	/*
205	* ã¹ã¿ãã¯ãå¤æ´ããå¿
206	è¦ãããããã§ãã¯
207	* EXC_RETURNï¼å²è¾¼ã¿æã«LRã«è¨å®ãããå¤ï¼ããã§ãã¯ãã¦ï¼ä¾å¤çºçæã«
208	* ã¢ã¯ãã£ããªã¹ã¿ãã¯ãç¹å®ãããã¨ã§å¤éå²è¾¼ã¿ãå¤å®ããï¼
209	*/
210	movs r1, #EXC_RETURN_PSP /* å²è¾¼ã¿å
211	ãMSPãªãå¤éå²è¾¼ã¿ */
212	mov r2, lr
213	tst r2, r1
214	beq core_exc_entry_1 /* å¤éå²è¾¼ã¿ãªãcore_exc_entry_1ã¸ */
215	mrs r3, psp /* ä¸æ®µç®ã®å²è¾¼ã¿ã®å ´åã¯PSPä¸ã« */
216	subs r3, #(0x042) / å²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
217	åº¦ãã¹ã¯(r2)ï¼EXC_RETURN(r0)ã®é ã«PSPä¸ã«ç©ã */
218	str r2, [r3, 0x04]
219	str r0, [r3, 0x00]
220	msr psp, r3
221	push {r0, r2} /* MSPã«ãå²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
222	åº¦ãã¹ã¯(r0)ã¨EXC_RETURN(r2)ãç©ã */
223	mov lr, r3 /* æªå®ç¾©ã®å²è¾¼ã¿ãçºçããå ´åã®æ
224	å ±ã¨ãã */
225	b core_exc_entry_2
226	ALABEL(core_exc_entry_1) /* å¤éå²è¾¼ã¿ã®å ´å */
227	push {r0,r2} /* å²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
228	åº¦ãã¹ã¯(r0)ï¼EXC_RETURN(r2)ã®é ã«PSPä¸ã«ç©ã */
229	mov lr, sp /* CPUä¾å¤ãã³ãã©ã¸ã®å¼æ°ã¨ãªã */
230
231	/*
232	* å
233	±éå¦ç
234	*/
235	ALABEL(core_exc_entry_2)
236	/*
237	* CPUä¾å¤ãããªã¿ã¼ã³ããéã«å²è¾¼ã¿åªå
238	åº¦ãã¹ã¯ãæ»ãããã®ãã¼ã¿ãä¿å
239	*/
240	ldr r3, =SYSTIC_CONTROL_STATUS
241	ldr r2,[r3]
242	ldr r3, =NVIC_SETENA0
243	ldr r1,[r3]
244	push {r1,r2}
245
246	mrs r3, ipsr /* ãã³ãã©ã¢ãã¬ã¹ãåå¾ */
247	ldr r1, =_kernel_exc_tbl
248	lsls r0, r3, #2
249	ldr r2, [r1, r0]
250
251	#ifdef LOG_EXC_ENTER
252	push {r0,r2,r3}
253	mov r0, r3 /* ä¾å¤çªå·ããã©ã¡ã¼ã¿ã« */
254	bl log_exc_enter /* log_exc_enterãå¼ã³åºã */
255	pop {r0,r2,r3}
256	push {r3} /* ä¾å¤çªå·ãã¹ã¿ãã¯ã¸ */
257	#endif /* LOG_EXC_ENTER */
258
259	/*
260	* CPUä¾å¤ãã³ãã©ã®å¼ã³åºã
261	*/
262	mov r0, lr
263	blx r2
264
265	#ifdef LOG_EXC_ENTER
266	pop {r0} /* ä¾å¤çªå·ãå¼æ°ã« */
267	bl log_exc_leave /* log_exc_leaveãå¼ã³åºã */
268	#endif /* LOG_EXC_ENTER */
269
270	b ret_exc
271
272	/*
273	* ã«ã¼ãã«ç®¡çå¤ã®CPUä¾å¤ã®åºå
274	¥å£å¦ç
275	*/
276	ALABEL(core_nonkernel_exc_entry)
277	movs r1, #EXC_RETURN_PSP /* å²è¾¼ã¿å
278	ãMSPãªãå¤éå²è¾¼ã¿ */
279	mov r2, lr
280	tst r2, r1
281	beq core_nonkernel_exc_entry_1 /* å¤éå²è¾¼ã¿ãªã */
282	mrs r3, psp /* ä¸æ®µç®ã®å²è¾¼ã¿ã®å ´åã¯PSPä¸ã« */
283	subs r3, #(0x04*2)
284	str r2, [r3, 0x04]
285	str r0, [r3, 0x00]
286	msr psp, r3
287	push {r0, r2} /* MSPã«ãå²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
288	åº¦ãã¹ã¯(r0)ã¨EXC_RETURN(r2)ãç©ã */
289	mov r0, r3 /* CPUä¾å¤ãã³ãã©ã¸ã®å¼æ°ã¨ãªã */
290	b core_nonkernel_exc_entry_2
291	ALABEL(core_nonkernel_exc_entry_1) /* å¤éå²è¾¼ã¿ã®å ´å */
292	push {r0, r2} /* å²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
293	åº¦ãã¹ã¯(r0)ã¨EXC_RETURN(r2)ãç©ã */
294	mov r0, sp /* CPUä¾å¤ãã³ãã©ã¸ã®å¼æ°ã¨ãªã */
295
296	/*
297	* å
298	±éå¦ç
299	*/
300	ALABEL(core_nonkernel_exc_entry_2)
301	/*
302	* å²è¾¼ã¿ãããªã¿ã¼ã³ããéã«å²è¾¼ã¿åªå
303	åº¦ãã¹ã¯ãæ»ãããã®ãã¼ã¿ãä¿å
304	*/
305	ldr r3, =SYSTIC_CONTROL_STATUS
306	ldr r2,[r3]
307	ldr r3, =NVIC_SETENA0
308	ldr r1,[r3]
309	push {r1,r2}
310
311	mrs r3, ipsr /* CPUä¾å¤ãã³ãã©ã®ã¢ãã¬ã¹ãåå¾ */
312	ldr r1, =_kernel_exc_tbl
313	lsls r4, r3, #2
314	ldr r2, [r1, r4]
315
316	/*
317	* CPUä¾å¤ãã³ãã©ã®å¼ã³åºã
318	*/
319	blx r2
320
321	/*
322	* CPUããã¯ç¶æ
323	ã®å ´åã«å¼ã³åºããã¦ããããï¼CPUä¾å¤ãã³ãã©ããã®ãªã¿ã¼ã³
324	* ã®ããã«å
325	ã«æ»ã
326	*/
327	cpsid i
328
329	/*
330	* å²è¾¼ã¿åªå
331	åº¦ãã¹ã¯ãå
332	ã«æ»ã
333	*/
334	ldr r1, =0xffffffff
335	ldr r2, =NVIC_CLRENA0 /* ä¸æ¦IRQå²ãè¾¼ã¿ãå
336	¨ã¦ç¦æ¢ */
337	str r1, [r2]
338	pop {r0,r1} /* ã¹ã¿ãã¯ããä¾å¤çºçæã®NVIC_SETENA0(r0),SYSTIC_CONTROL_STATUS(r1)ã®å¤ãåå¾ */
339	ldr r2, =NVIC_SETENA0 /* NVIC_SETENA0ãå
340	ã«æ»ã */
341	str r0, [r2]
342	ldr r3, =SYSTIC_CONTROL_STATUS /* SYSTIC_CONTROL_STATUSãå
343	ã«æ»ã */
344	ldr r0,[r3]
345	movs r2, #SYSTIC_TICINT
346	orrs r1, r1, r2
347	bics r0, r2
348	orrs r0, r1
349	str r0, [r3]
350	pop {r0} /* iipmãæ»ã */
351	ldr r1, =iipm
352	strb r0, [r1]
353
354	/*
355	* æ»ãå
356	ã®ã³ã³ããã¹ãã®å¤å®
357	*
358	* å²è¾¼ã¿ãã³ãã©å®è¡ã«LRã«ã»ãããããEXC_RETURNããã§ãã¯ãã¦ï¼æ»ã
359	* å
360	ã§MSPãä½¿ããã¦ããã°ï¼å²è¾¼ã¿å
361	ãéã¿ã¹ã¯ã³ã³ããã¹ãã¨å¤å®ããï¼
362	*/
363	pop {r3} /* lrãã¹ã¿ãã¯ããåå¾ */
364	movs r1, #EXC_RETURN_PSP /* å²è¾¼ã¿å
365	ãMSPãªãå¤éå²è¾¼ã¿ */
366	tst r3, r1
367	bne core_nonkernel_ret_exc_1
368	b core_nonkernel_ret_exc_2 /* ã®å¤ãMSPããåå¾ */
369	ALABEL(core_nonkernel_ret_exc_1)
370	/*
371	* PSPä¸ããEXC_RETURN/å
372	ã®å²è¾¼ã¿åªå
373	åº¦ãã¹ã¯(iipm)ãåé¤
374	*/
375	mrs r2, psp
376	adds r2, r2, #8
377	msr psp, r2
378
379	ALABEL(core_nonkernel_ret_exc_2)
380	bx r3 /* ãªã¿ã¼ã³ */
381
382	/*
383	* å²è¾¼ã¿ã¨ã³ããª
384	*/
385	ATHUMB(core_int_entry)
386	AGLOBAL(core_int_entry)
387	ALABEL(core_int_entry)
388	/*
389	* å²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
390	åº¦ãã¹ã¯ãã¹ã¿ãã¯ã«ä¿åããããåå¾
391	*/
392	ldr r3, =iipm /* å¾ã§ä½¿ç¨ããããèªã¿è¾¼ã */
393	ldrb r0, [r3]
394
395	/*
396	* å¤éå²è¾¼ã¿ããã§ãã¯
397	* EXC_RETURNï¼å²è¾¼ã¿æã«LRã«è¨å®ãããå¤ï¼ããã§ãã¯ãã¦ï¼ä¾å¤çºçæã«
398	* ã¢ã¯ãã£ããªã¹ã¿ãã¯ãç¹å®ãããã¨ã§å¤éå²è¾¼ã¿ãå¤å®ããï¼
399	*/
400	movs r1, #EXC_RETURN_PSP /* å²è¾¼ã¿å
401	ãMSPãªãå¤éå²è¾¼ã¿ */
402	mov r2, lr
403	tst r2, r1
404	beq core_int_entry_1 /* å¤éå²è¾¼ã¿ãªãcore_int_entry_1ã¸ */
405	mrs r3, psp /* ä¸æ®µç®ã®å²è¾¼ã¿ã®å ´åã¯PSPä¸ã« */
406	subs r3, #(0x04*2)
407	str r2, [r3, 0x04]
408	str r0, [r3, 0x00]
409	msr psp, r3
410	push {r0, r2} /* MSPã«ãå²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
411	åº¦ãã¹ã¯(r0)ã¨EXC_RETURN(r2)ãç©ã */
412	mov lr, r3 /* æªå®ç¾©ã®å²è¾¼ã¿ãçºçããå ´åã®æ
413	å ±ã¨ãã */
414	b core_int_entry_2
415	ALABEL(core_int_entry_1) /* å¤éå²è¾¼ã¿ã®å ´å */
416	push {r0, r2} /* å²è¾¼ã¿çºçæã®å²è¾¼ã¿åªå
417	åº¦ãã¹ã¯(r0)ã¨EXC_RETURN(r2)ãç©ã */
418	mov lr, sp /* æªå®ç¾©ã®å²è¾¼ã¿ãçºçããå ´åã®æ
419	å ±ã¨ãã */
420
421	/*
422	* å
423	±éå¦ç
424	*/
425	ALABEL(core_int_entry_2)
426	/*
427	* å²è¾¼ã¿ãããªã¿ã¼ã³ããéã«å²è¾¼ã¿åªå
428	åº¦ãã¹ã¯ãæ»ãããã®ãã¼ã¿ãä¿å
429	*/
430	ldr r3, =SYSTIC_CONTROL_STATUS
431	ldr r2,[r3]
432	ldr r3, =NVIC_SETENA0
433	ldr r1,[r3]
434	push {r1,r2}
435
436	mrs r3, ipsr /* å²è¾¼ã¿è¦å çªå·ã®åå¾ */
437
438	/*
439	* basepriã®è¨å®
440	* NVICåªå
441	åº¦ãã¹ã¯ãèªåçã«è¨å®ãããããåªå
442	åº¦ãã¹ã¯ã®ç¹ã§ã¯å¿
443	è¦ãª
444	* ããï¼x_get_ipm()ãbasepriãåç
445	§ããããï¼basepriãæ´æ°ããï¼
446	*/
447	ldr r1, =_kernel_int_iipm_tbl
448	ldrb r2, [r1, r3]
449	ldr r0, =iipm
450	strb r2, [r0]
451
452	ldr r1, =_kernel_exc_tbl /* ãã³ãã©ã¢ãã¬ã¹ãåå¾ */
453	lsls r0, r3, #2
454	ldr r2, [r1, r0]
455
456	#ifdef LOG_INH_ENTER
457	push {r0,r2,r3}
458	mov r0, r3 /* ä¾å¤çªå·ããã©ã¡ã¼ã¿ã« */
459	bl log_inh_enter /* log_exc_enterãå¼ã³åºã */
460	pop {r0,r2,r3}
461	#endif /* LOG_EXC_ENTER */
462
463	#ifdef LOG_INH_LEAVE
464	mrs r3, ipsr /* å²è¾¼ã¿è¦å çªå·ã®åå¾ */
465	push { r3 } /* å²è¾¼ã¿çªå·ãã¹ã¿ãã¯ã¸ */
466	#endif /* LOG_INT_LEAVE */
467
468	/*
469	* å²è¾¼ã¿ãã³ãã©ã®å¼ã³åºã
470	*/
471	mov r0, lr
472	blx r2
473
474	#ifdef LOG_INH_LEAVE
475	pop {r0} /* ä¾å¤çªå·ãå¼æ°ã« */
476	bl log_exc_leave /* log_exc_leaveãå¼ã³åºã */
477	#endif /* LOG_INH_LEAVE */
478
479
480	/*
481	* å²è¾¼ã¿/ä¾å¤åºå£
482	*
483	* ret_exc/ret_intã¯ï¼CPUä¾å¤/å²è¾¼ã¿ãã³ãã©ããæ»ã£ãç´å¾ã«å®è¡ãã
484	* ã«ã¼ãã³ã§ããï¼
485	*/
486	ALABEL(ret_exc)
487	ALABEL(ret_int)
488	/*
489	* å²è¾¼ã¿ããã¯ç¶æ
490	ã¨ããï¼ãã®æç¹ã§ã¯ï¼CPUããã¯ç¶æ
491	ã«ã¯ãªããªã
492	* ï¼basepriã¨lock_flagã¨saved_iipmã¯æ´æ°ããªãï¼ï¼
493	*
494	* å²è¾¼ã¿ããã¯ç¶æ
495	ã¨ããã®ã¯ï¼æ»ãå
496	ã®ã³ã³ããã¹ãã®ãã§ãã¯ã¨ï¼
497	* æ»ãå
498	ãéã¿ã¹ã¯ã³ã³ããã¹ãã§ãã£ãå ´åã®ãªã¿ã¼ã³ãã¢ãããã¯
499	* ã«è¡ãããã§ããï¼bsepriãCPUããã¯ã®å¤ã«ãããã¨ã§ãã¢ããã
500	* ã¯ãªãã§ãã¯ã¨å¾©å¸°ã¯å¯è½ã§ãããï¼å²è¾¼ã¿ãããªã¿ã¼ã³ãã¦ãï¼
501	* basepri ã®è¨å®å
502	å®¹ã¯å
503	ã«æ»ããªãããï¼ä½¿ç¨ãããã¨ãã§ããªãï¼
504	* ä¸æ¹ï¼FAULTMASKã¯ï¼å²è¾¼ã¿ããã®ãªã¿ã¼ã³å¦çã«ãã£ã¦ï¼'0'ã«ã¯ãª
505	* ã¢ãããï¼
506	*/
507	cpsid i
508
509	/*
510	* å²è¾¼ã¿åªå
511	åº¦ãã¹ã¯ãå
512	ã«æ»ã
513	*/
514	ldr r1, =0xffffffff
515	ldr r2, =NVIC_CLRENA0 /* ä¸æ¦IRQå²ãè¾¼ã¿ãå
516	¨ã¦ç¦æ¢ */
517	str r1, [r2]
518	pop {r0,r1} /* ã¹ã¿ãã¯ããä¾å¤/å²è¾¼ã¿çºçæã®NVIC_SETENA0(r0),SYSTIC_CONTROL_STATUS(r1)ã®å¤ãåå¾ */
519	ldr r2, =NVIC_SETENA0 /* NVIC_SETENA0ãå
520	ã«æ»ã */
521	str r0, [r2]
522	ldr r3, =SYSTIC_CONTROL_STATUS /* SYSTIC_CONTROL_STATUSãå
523	ã«æ»ã */
524	ldr r0,[r3]
525	movs r2, #SYSTIC_TICINT
526	orrs r1, r1, r2
527	bics r0, r2
528	orrs r0, r1
529	str r0, [r3]
530	pop {r0} /* iipmãæ»ã */
531	ldr r1, =iipm
532	strb r0, [r1]
533
534	/*
535	* æ»ãå
536	ã®ã³ã³ããã¹ãã®å¤å®
537	*
538	* å²è¾¼ã¿ãã³ãã©å®è¡ã«LRã«ã»ãããããEXC_RETURNããã§ãã¯ãã¦ï¼æ»ã
539	* å
540	ã§MSPãä½¿ããã¦ããã°ï¼å²è¾¼ã¿å
541	ãéã¿ã¹ã¯ã³ã³ããã¹ãã¨å¤å®ããï¼
542	*/
543	pop {r3} /* lrãã¹ã¿ãã¯ããåå¾ */
544	movs r1, #EXC_RETURN_PSP /* æ»ãå
545	ãPSPãªã ret_int_1 ã¸ */
546	tst r3, r1
547	bne ret_int_1
548	b ret_int_2
549
550	/*
551	* ä¸æ®µç®ã®å²è¾¼ã¿ã®åºå£å¦ç
552	*/
553	ALABEL(ret_int_1)
554	/*
555	* PSPä¸ããï¼EXC_RETURN(r0)ã¨å
556	ã®å²è¾¼ã¿åªå
557	åº¦ãã¹ã¯(basepri)(r1)
558	* ãåå¾
559	*/
560	mrs r2, psp
561	adds r2, r2, #(0x04*2)
562	msr psp, r2
563
564	/*
565	* reqflgããã§ãã¯ãã
566	*
567	* ã«ã¼ãã«ç®¡çå
568	ã®å²è¾¼ã¿ã¯ç¦æ¢ããç¶æ
569	ã§å®è¡ããå¿
570	è¦ãããããï¼
571	* FAULTMASKã'1'ã«ããç¶æ
572	ã§å®è¡ããï¼
573	* reqflgããã§ãã¯ããåã«å²è¾¼ã¿ãç¦æ¢ããã®ã¯ï¼reqflgããã§ãã¯
574	* ããç´å¾ã«å²è¾¼ã¿ãã³ãã©ãèµ·åããï¼ãã®ä¸ã§ãã£ã¹ããããè¦æ±
575	* ãããå ´åã«ï¼ããã«ãã£ã¹ããããããªãã¨ããåé¡ãçãããã
576	* ã§ããï¼
577	*/
578	ldr r0, =reqflg /* reqflgãfalseãªããã®ã¾ã¾æ»ã */
579	ldr r2, [r0]
580	cmp r2, #1 /* trueãªãret_int_3ã¸ */
581	beq ret_int_3
582
583	ALABEL(ret_int_2)
584	/*
585	* ããã«ã¯å²è¾¼ã¿ããã¯ç¶æ
586	ï¼FAULTMASKãã»ããï¼ãããç¶æ
587	ã§æ¥ãï¼
588	* Threadã¢ã¼ãããã®ãªã¿ã¼ã³ã«ããèªåçã«å²è¾¼ã¿ããã¯è§£é¤ç¶æ
589	ã«ãªãï¼
590	* å²è¾¼ã¿åªå
591	åº¦ãã¹ã¯ã¯å²è¾¼ã¿åã«ç¶æ
592	ã«æ»ãï¼
593	*/
594	cpsie i /* å²è¾¼ã¿ã®ãªã¿ã¼ã³ã§ã¯ãªã¢ãããªãããã¯ãªã¢ */
595	bx r3 /* ãªã¿ã¼ã³ */
596
597	ALABEL(ret_int_3)
598	/*
599	* ããã§ã¯ï¼æ»ãå
600	ãã¿ã¹ã¯ã§ããï¼PSPä¸ã«ã¹ã¯ã©ããã¬ã¸ã¹ã¿ã¨å²
601	* è¾¼ã¿åªå
602	åº¦ãã¹ã¯(basepri)ãä¿åãããç¶æ
603	ã«ãªã£ã¦ããï¼ã¾ãï¼
604	* ããã»ããµã¯ï¼Handlerã¢ã¼ãã»å²è¾¼ã¿ããã¯ç¶æ
605	ã¨ãªã£ã¦ããï¼
606	* ã¾ãï¼r0ã«ã¯ï¼reqflgã®ã¢ãã¬ã¹ï¼r3ã«ã¯å²è¾¼ã¿åä»æã®lrã®å¤ãä¿
607	* æããã¦ããï¼
608	*/
609	/*
610	* ã¿ã¹ã¯ä¾å¤ãã³ãã©ããã£ã¹ããããããéã«Threadã¢ã¼ãã¸é·ç§»ãã
611	* ããã¼ã®ã¹ã¿ãã¯ãã¬ã¼ã ãä½æãã¦ï¼bxå½ä»¤ã§Handlerã¢ã¼ããããª
612	* ã¿ã¼ã³ããï¼ã¾ãï¼é
613	å»¶ãã£ã¹ãããããå ´åãï¼åã³å²ãè¾¼ãã ã¿ã¹
614	* ã¯ã«æ»ãéã«ã¯ï¼svcå½ä»¤ã§ï¼svc_handlerãå¼ã³åºãï¼
615	* ã¹ã¿ãã¯ãã¬ã¼ã ã¯ï¼Configureation and Control Register(CCR)ã®
616	* STKALIGNã'1'ã®å ´åã¯ï¼8byteå¢çã«ã¢ã©ã¤ã³ãããï¼
617	* åè : DDI0403B_arm_architecture_v7m_reference_manual(P.220)
618	* ãã®ããï¼ãã®æç¹ã®ã¹ã¿ãã¯ã¯å²è¾¼ã¿ãä¾å¤çºçæã«ä½æããã
619	* ã¹ã¿ãã¯ãã¬ã¼ã ããï¼8byteå¢çã®ãµã¤ãºã«ãã¦ããã¨ï¼svc_handler
620	* çã§ã¹ã¿ãã¯ãã¬ã¼ã ã®ã¢ã©ã¤ã¡ã³ãã®æç¡ã®ç¢ºèªãçç¥ã§ããï¼
621	* ãã ãï¼ã·ã¹ãã èµ·åå¾ã¯ï¼åçã«CCRã®STKALIGNã®è¨å®ãå¤æ´ããã®ã¯
622	* ç¦æ¢ã¨ããï¼
623	* ãã®æç¹ã¯æ¨æºã®ã¹ã¿ãã¯ãã¬ã¼ã ã¯ï¼å²è¾¼ã¿ã»ä¾å¤çºçæã¨åçã§ã
624	* ãããï¼ã¿ã¹ã¯ã¹ã¿ãã¯(PSP)ã¯8byteå¢çã«ãªã£ã¦ããï¼
625	*/
626	movs r1, #0 /* reqflgãfalseã« */
627	str r1, [r0]
628
629	/*
630	* CPUããã¯ç¶æ
631	ã«ç§»è¡ããï¼
632	*
633	* ã«ã¼ãã«ã®ç®¡çå
634	ã®å²è¾¼ã¿ãç¦æ¢ããããã«basepriãè¨å®ãï¼
635	* lock_flag ã¨ saved_iipm ãæ´æ°ããï¼saved_iipmã¯ï¼æ»ãå
636	ã®å²è¾¼ã¿
637	* åªå
638	åº¦ãã¹ã¯ï¼ã®å
639	é¨è¡¨ç¾ï¼ã«è¨å®ããï¼
640	* ãã®æç¹ã§CPUããã¯ç¶æ
641	ã¨ããã®ã¯ï¼dispatcherã¸åå²ããæã¨ï¼
642	* call_texrtnãå¼ã³åºãæã«ï¼CPUããã¯ç¶æ
643	ã«ãªã£ã¦ããå¿
644	è¦ããã
645	* ããã§ããï¼
646	* ãªãï¼ãã®å¦çã®å¾ï¼Threadã¢ã¼ãã¸ã®ç§»è¡å¦çãè¡ãªãããï¼å²è¾¼ã¿
647	* ããã¯ç¶æ
648	(FAULTMASKã"1")ã¯ä¿æããï¼
649	*/
650
651	/*
652	* å²è¾¼ã¿åªå
653	åº¦ãã¹ã¯ãï¼å
654	¨è§£é¤ç¶æ
655	ï¼TIPM_ENAALLï¼ã«è¨å®ãã
656	* ãã§ã«CPUããã¯ç¶æ
657	ãªã®ã§ï¼saved_iipmãIIPM_ENAALLã¨ããï¼
658	*/
659
660	/*
661	* Threadã¢ã¼ãã¸ç§»è¡ããï¼
662	*
663	* dispatcherãcall_texrnãå¼ã³åºãå ´åã¯ï¼Threadã¢ã¼ãã§ããå¿
664
665	* è¦ãããããï¼PSPã¹ã¿ãã¯ä¸ã«ããã¼ã®ä¾å¤ãã¬ã¼ã ãç½®ãã¦ï¼
666	* æ¬ä¼¼çã«å²è¾¼ã¿ãã³ãã©ãããªã¿ã¼ã³ããï¼
667	* ãªã¿ã¼ã³ã¨åæã«FAULTMASKãèªåçã«ã¯ãªã¢ããï¼ã«ã¼ãã«ç®¡çå¤ã®
668	* å²è¾¼ã¿ãè¨±å¯ãããï¼
669	*/
670	ldr r0, =ret_int_4 /* PC */
671	ldr r1, =EPSR_T /* xPSR(Tãããã'1'ã§ããå¿
672	è¦ããã) */
673	mrs r2, psp
674	subs r2, #(0x04*2)
675	str r1, [r2, 0x04]
676	str r0, [r2, 0x00]
677	subs r2, #(EXC_FRAME_SIZE - (42)) / r0-r3,r12,lrã®å
678	å®¹ã¯è¨å®ããå¿
679	è¦ããªã */
680	msr psp,r2
681	bx r3 /* Threadã¢ã¼ãã¸ç§»è¡ */
682
683	ALABEL(ret_int_4)
684	/*
685	* ä¸è¨ã®å¦çã«ããï¼Threadã¢ã¼ãã§å®è¡ãããï¼
686	* dspflgãfalseã§ããå ´åã¨ï¼p_runtskã¨p_schedtskãåãå ´åã«ã¯ï¼
687	* ãã£ã¹ããããè¡ããªãï¼ãã®ãã§ãã¯ãå¿
688	è¦ãªã®ã¯ï¼ã¿ã¹ã¯ä¾å¤å¦
689	* çã«ã¼ãã³ã®å¼åºããå¿
690	è¦ãªå ´åã«ï¼ãã£ã¹ããããå¿
691	è¦ãªãã¦ãï¼
692	* reqflgãtrueã«ããããã§ããï¼
693	*/
694	ldr r0, =p_runtsk /* ãã£ã¹ããããè¡ããªãå ´åã§ãï¼r1ã«p_runtsk ã®å¤(TCB) */
695	ldr r1, [r0] /* ãå
696	¥ã£ã¦ããå¿
697	è¦ãããã®ã§ï¼å
698	ã«èªã¿è¾¼ã */
699	ldr r0, =dspflg
700	ldr r2, [r0]
701	cmp r2, #0x01 /* dspflgãfalseãªãret_int_r_1ã¸ */
702	bne ret_int_r_1
703	ldr r0, =p_schedtsk
704	ldr r2, [r0]
705	cmp r1, r2 /* p_runtskã¨p_schedtskãåããªã */
706	beq ret_int_r_1 /* ret_int_r_1ã¸ */
707	mov r0, r8
708	mov r1, r9
709	mov r2, r10
710	mov r3, r11
711	push {r0-r7}
712	ldr r2, =p_runtsk
713	ldr r1, [r2]
714	mov r0, sp
715	str r0, [r1,#TCB_sp] /* ã¿ã¹ã¯ã¹ã¿ãã¯ãä¿å */
716	ldr r2, =ret_int_r /* å®è¡åéçªå°ãä¿å */
717	str r2, [r1,#TCB_pc]
718	b dispatcher /* ãã£ã¹ãããã£ã¸ */
719
720	/*
721	* å²è¾¼ã¿ã«ããããªã¨ã³ãããããã¿ã¹ã¯ã¸ã®ãªã¿ã¼ã³å¦ç
722	*
723	* Threadã¢ã¼ãã§ï¼ãã£ã¹ãããã£ãå²è¾¼ã¿ã®åºå£å¦çããå¼ã³åºãããï¼
724	* å²è¾¼ã¿ã«ããããªã¨ã³ãããããã¿ã¹ã¯ã¸ãªã¿ã¼ã³ããã«ã¯ï¼ãã£ãã
725	* Handlerã¢ã¼ãã«ç§»è¡ãï¼PCã«0xfffffffdãä»£å
726	¥ãã¦ãªã¿ã¼ã³ããå¿
727	è¦
728	* ãããï¼ãã®ããï¼SVCã«ããï¼SVCãã³ãã©ãå¼ã³åºãï¼Handlerã¢ã¼
729	* ãã¸ç§»è¡ããï¼
730	*/
731	ATHUMB(ret_int_r)
732	AGLOBAL(ret_int_r)
733	ALABEL(ret_int_r)
734	pop {r0-r7}
735	mov r8, r0
736	mov r9, r1
737	mov r10, r2
738	mov r11, r3
739	ALABEL(ret_int_r_1)
740	/*
741	* enatexãtrueã§ï¼texptnã0ã§ãªããã°ï¼ã¿ã¹ã¯ä¾å¤å¦çã«ã¼ãã³ã
742	* å¼ã³åºãï¼
743	* dispatcherããå¼ã³åºãããããï¼TCBã®ã¢ãã¬ã¹ã¯r1ã«å
744	¥ã£ã¦ãã
745	*/
746	ldr r2, =p_runtsk
747	ldr r1, [r2]
748	ldrb r0, [r1,#TCB_enatex]
749	movs r2, #TCB_enatex_mask
750	tst r0, r2
751	beq ret_int_r_2 /* enatex ã false ãªã ret_int_r_2ã¸ */
752	ldr r0, [r1,#TCB_texptn] /* texptn ã 0 ãªããªã¿ã¼ã³ */
753	cmp r0, #0x00
754	beq ret_int_r_2
755	ldr r1, =ipmflg /* ipmflgã false ãªããªã¿ã¼ã³ */
756	ldr r0, [r1]
757	cmp r0, #0x00
758	beq ret_int_r_2
759	bl call_texrtn /* ã¿ã¹ã¯ä¾å¤ã«ã¼ãã³ã®å¼ã³åºã */
760	ALABEL(ret_int_r_2)
761	ldr r0, =NVIC_ICSR
762	ldr r1, =NVIC_PENDSVSET
763	str r1, [r0]
764	cpsie i /* PRIMASKãã¯ãªã¢ãã¦PendSVCãåãä»ãã */
765	1: /* ããã«ã¯æ¥ãªã */
766	b 1b
767
768	/*
769	* SVCãã³ãã©
770	*/
771	ATHUMB(svc_handler)
772	AGLOBAL(svc_handler)
773	ALABEL(svc_handler)
774	1:
775	b 1b
776
777	/*
778	* PendSVCãã³ãã©
779	*/
780	ATHUMB(pendsvc_handler)
781	AGLOBAL(pendsvc_handler)
782	ALABEL(pendsvc_handler)
783	/*
784	* å²è¾¼ã¿å¦çããã®ãªã¿ã¼ã³ã«ããï¼CPUããã¯è§£é¤ç¶æ
785	ã«ç§»è¡ããã
786	* ãæºåããï¼
787	*/
788	mrs r0, psp
789	adds r0, #EXC_FRAME_SIZE /* ã¹ã¿ãã¯ãæ¨ã¦ã */
790	msr psp, r0
791	movs r0, #0
792	bx lr /* ãªã¿ã¼ã³ */
793
794	/*
795	* ãã£ã¹ãããã£ã®åä½éå§
796	*/
797	ATHUMB(start_dispatch)
798	AGLOBAL(start_dispatch)
799	ALABEL(start_dispatch)
800	/*
801	* ãã®ã«ã¼ãã³ã¯ï¼ã«ã¼ãã«èµ·åæã«ï¼ãã¹ã¦ã®å²è¾¼ã¿ãç¦æ¢ããç¶æ
802
803	* ï¼å²è¾¼ã¿ããã¯ç¶æ
804	ã¨åçï¼ã§å¼ã³åºãããï¼ã¾ãï¼å²è¾¼ã¿ã¢ã¼ãï¼é
805	* ã¿ã¹ã¯ã³ã³ããã¹ãã¨åçï¼ã§å¼ã³åºããããã¨ãæ³å®ãã¦ããï¼
806	*
807	* core_initializeã§ï¼lock_flagãtrueã«ï¼saved_iipmãIIPM_ENAALLã«
808	* åæåãã¦ããããï¼ã«ã¼ãã«ç®¡çå¤ã®å²è¾¼ã¿ãè¨±å¯ãããã¨ã§ï¼
809	* CPUããã¯ç¶æ
810	ã»ï¼ã¢ãã«ä¸ã®ï¼å²è¾¼ã¿åªå
811	åº¦ãã¹ã¯å
812	¨è§£é¤ç¶æ
813	ã«ãªãï¼
814	* ã¾ãï¼task_initializeã§disdspãfalseã«åæåãã¦ããããï¼ãã£
815	* ã¹ãããè¨±å¯ç¶æ
816	ã«ãªã£ã¦ããï¼
817	*/
818	ldr r0,=istkpt /* MSPãåæå */
819	ldr r1,[r0] /* start_dispatchå¼ã³åºãæã«å¼ã³åºãç¨ã« */
820	msr msp, r1 /* ä½¿ç¨ãã¦ããããåæåãã */
821	movs r0, #CONTROL_PSP /* PSPãæå¹ã« */
822	msr control, r0
823	isb /* control ã®æä½å¾ã«å¿
824	è¦ */
825
826	/*
827	* ç¾å¨ã®ã³ã³ããã¹ããæ¨ã¦ã¦ãã£ã¹ããã
828	*/
829	ATHUMB(exit_and_dispatch)
830	AGLOBAL(exit_and_dispatch)
831	ALABEL(exit_and_dispatch)
832	/* ãã£ã¹ãããã£æ¬ä½ï¼dispatcherï¼ã¸ */
833
834
835	/*
836	* ãã£ã¹ãããã£æ¬ä½
837	*/
838	ALABEL(dispatcher)
839	/*
840	* ãã®ã«ã¼ãã³ã¯ï¼ã¿ã¹ã¯ã³ã³ããã¹ãã»CPUããã¯ç¶æ
841	ã»ãã£ã¹ããã
842	* è¨±å¯ç¶æ
843	ã»ï¼ã¢ãã«ä¸ã®ï¼å²è¾¼ã¿åªå
844	åº¦ãã¹ã¯å
845	¨è§£é¤ç¶æ
846	ã§å¼ã³åºã
847	* ããï¼
848	*
849	* ããªãã¡ï¼Threadã¢ã¼ãã»lock_flagãtrueã»disdspãfalseã»dspflg
850	* ãtrueã»saved_iipmãIIPM_ENAALLã¨ãªã£ã¦ããï¼å®è¡åéçªå°ã¸ãã
851	* ã®ç¶æ
852	ã®ã¾ã¾åå²ããï¼
853	*/
854	#ifdef LOG_DSP_ENTER
855	ldr r1, =p_runtsk /* p_runtskããã©ã¡ã¼ã¿ã« */
856	ldr r0, [r1]
857	bl log_dsp_enter
858	#endif /* LOG_DSP_ENTER */
859	ALABEL(dispatcher_0)
860	ldr r0, =p_schedtsk /* p_schedtskãp_runtskã« */
861	ldr r1, [r0]
862	ldr r2, =p_runtsk
863	str r1, [r2]
864	cmp r1, #0x00 /* p_runtskãNULLãªãdispatcher_1ã¸ */
865	beq dispatcher_1
866	ldr r2, [r1,#TCB_sp] /* ã¿ã¹ã¯ã¹ã¿ãã¯ãå¾©å¸° */
867	mov sp, r2
868	#ifdef LOG_DSP_LEAVE
869	mov r0, r1 /* p_runtskããã©ã¡ã¼ã¿ã« */
870	mov r4, r1 /* r1ã¯ã¹ã¯ã©ããã¬ã¸ã¹ã¿ãªã®ã§ä¿å */
871	bl log_dsp_leave
872	mov r1, r4
873	#endif /* LOG_DSP_LEAVE */
874	ldr r2, [r1,#TCB_pc] /* å®è¡åéçªå°ãå¾©å¸° */
875	mov pc, r2
876	ALABEL(dispatcher_1)
877	/*
878	* CPUããã¯ç¶æ
879	ã®è§£é¤ã¨ï¼éã¿ã¹ã¯ã³ã³ããã¹ãå®è¡ç¶æ
880	ã¸ã®
881	* æºåããã
882	*/
883	movs r0, #CONTROL_MSP /* MSPãæå¹ã« */
884	msr control, r0
885	isb /* control ã®æä½å¾ã«å¿
886	è¦ */
887	movs r4, #0 /* r4 <- '0' */
888	ldr r6, =reqflg /* r6 <- reqflg */
889	ALABEL(dispatcher_2)
890	/*
891	* å²è¾¼ã¿ãè¨±å¯ãï¼éã¿ã¹ã¯ã³ã³ããã¹ãå®è¡ç¶æ
892	ã¨ãå²è¾¼ã¿ãå¾
893	ã¤ï¼
894	*
895	* ããã§éã¿ã¹ã¯ã³ã³ããã¹ãå®è¡ç¶æ
896	ã«åãæããã®ã¯ï¼ããã§çºç
897	* ããå²è¾¼ã¿å¦çã«ã©ã®ã¹ã¿ãã¯ãä½¿ããã¨ããåé¡ã®è§£æ±ºã¨ï¼å²è¾¼ã¿
898	* ãã³ãã©å
899	ã§ã®ã¿ã¹ã¯ãã£ã¹ãããã®é²æ¢ã¨ãã2ã¤ã®æå³ãããï¼
900	*
901	* ããã»ããµãå²è¾¼ã¿å¾
902	ã¡ã«ç§»è¡ãããå¦çã¨ï¼å²è¾¼ã¿è¨±å¯ã¨ã¯ï¼ä¸å¯
903	* åã«è¡ãªãå¿
904	è¦ãããï¼
905	* ãããä¸å¯åã«è¡ãªããªãå ´åï¼å²è¾¼ã¿ãè¨±å¯ããç´å¾ã«å²è¾¼
906	* ã¿ãå
907	¥ãï¼ãã®ä¸ã§ã¿ã¹ã¯ãå®è¡å¯è½ç¶æ
908	ã«ãªãã¨ï¼å®è¡ãã¹ãã¿ã¹
909	* ã¯ãããã«ããããããããã»ããµãå²è¾¼ã¿å¾
910	ã¡ã«ãªã£ã¦ãã¾ãï¼
911	* ARM-Mã§ã¯ï¼PRIMASKãã»ããããç¶æ
912	ã§WFIãå¼ã³åºããã¨ã§å®ç¾ã§ããï¼
913	* ãã®ç¶æ
914	ã§å²è¾¼ã¿ãå
915	¥ãã¨ï¼å²è¾¼ã¿ã¯å®è¡ãããï¼WFIãããªã¿ã¼ã³ã
916	* ããã¨ã«ãªãã®ã§ï¼ä¸æ¦å²è¾¼ã¿ãè¨±å¯ãã¦å²è¾¼ã¿ãã³ãã©ãå®è¡ããï¼
917	*
918	* å²è¾¼ã¿å¾
919	ã¡ã®éã¯ï¼p_runtskãNULLï¼ï¼0ï¼ã«è¨å®ããªããã°ãªããª
920	* ãï¼ãã®ããã«è¨å®ããªãã¨ï¼å²è¾¼ã¿ãã³ãã©ããiget_tidãå¼ã³åº
921	* ããéã®åä½ãä»æ§ã«åè´ããªããªãï¼
922	*
923	* ã¿ã¼ã²ããã«ãã£ã¦ã¯ï¼çé»åã¢ã¼ãçã«ç§»è¡ããããï¼æ¨æºã®æ¹æ³ã¨
924	* ç°ãªãæé ãå¿
925	è¦ãªå ´åãããï¼
926	* ãã®ãããªã¿ã¼ã²ããã§ã¯ï¼ã¿ã¼ã²ããä¾åã«ããã¦ï¼TOPPERS_CUSTOM_IDLE
927	* ãå®ç¾©ãï¼ã¢ã»ã³ãã©ãã¯ãã¨ãã¦ï¼toppers_asm_custom_idle ãç¨æ
928	* ããã°ããï¼
929	*
930	* ãªãï¼toppers_asm_custom_idle ã®è¨è¿°ã«ããã£ã¦ã¯ï¼æ¬¡ã®ã¬ã¸ã¹ã¿ã¯
931	* toppers_asm_custom_idleã®åå¾ã§ä½¿ç¨ããããï¼
932	* toppers_asm_custom_idle å
933	ã§ä½¿ç¨ããå ´åã¯ï¼åå¾ã§ä¿åå¾©å¸°ãããã¨ï¼
934	* ãããã®ã¬ã¸ã¹ã¿ã¯ Calee saved ã¬ã¸ã¹ã¿ã§ããããï¼
935	* toppers_asm_custom_idle ã¨ãã¦é¢æ°å¼ã³åºããããå ´åã¯ï¼å¼ã³åºãã
936	* é¢æ°ã§èªåçã«ä¿åå¾©å¸°ãããããï¼ã¢ã»ã³ãã©ã¬ãã«ã§ã®ä¿åå¾©å¸°ã¯å¿
937
938	* è¦ãªãï¼
939	*
940	* ã¬ã¸ã¹ã¿ : å
941	å®¹
942	* r4 : '0'
943	* r5 : 'IIPM_LOCK'
944	* r6 : reqflgã®ã¢ãã¬ã¹
945	* r7 : lock_flgã®ã¢ãã¬ã¹
946	* sp : éã¿ã¹ã¯ã³ã³ããã¹ãç¨ã®ã¹ã¿ãã¯ã®å
947	é ã¢ãã¬ã¹(msp)
948	*/
949	#ifdef TOPPERS_CUSTOM_IDLE
950	toppers_asm_custom_idle
951	#else
952	wfi
953	cpsie i /* PRIMASK ãã¯ãªã¢ï¼å²è¾¼ã¿ãåãä»ããï¼ */
954	cpsid i /* PRIMASK ãã»ãã */
955	#endif /* TOPPERS_CUSTOM_IDLE */
956
957	ldr r0, [r6] /* reqflgãfalseãªãdispatcher_2ã¸ */
958	cmp r0, #0
959	beq dispatcher_2
960	str r4, [r6] /* reqflgãfalseã« */
961
962	/*
963	* CPUããã¯ç¶æ
964	ã«æ»ãï¼å²è¾¼ã¿å¾
965	ã¡ã®éã«å®è¡ããå²è¾¼ã¿ãã³ãã©ã«ã
966	* ãï¼saved_iipmãæ¸ãæããããå¯è½æ§ãããããï¼å
967	ã®å¤ã«æ»ãå¿
968
969	* è¦ãããï¼dispatcherãå®è¡ãããæã¯ï¼saved_iipmãIIPM_ENAALL
970	* ã¨ãªã£ã¦ããããï¼ããã§ã¯saved_iipmãIIPM_ENAALLï¼ï¼0ï¼ã«æ»ã
971	* ã°ããï¼
972	*/
973	movs r0, #CONTROL_PSP /* PSPãæå¹ã« */
974	msr control, r0
975	isb /* control ã®æä½å¾ã«å¿
976	è¦ */
977	b dispatcher_0
978
979	/*
980	* ã«ã¼ãã«ã®çµäºå¦çã®å¼åºã
981	*
982	* ã¹ã¿ãã¯ãéã¿ã¹ã¯ã³ã³ããã¹ãç¨ã«åãæ¿ãï¼
983	*
984	*/
985	ATHUMB(call_exit_kernel)
986	AGLOBAL(call_exit_kernel)
987	ALABEL(call_exit_kernel)
988	movs r0, #CONTROL_MSP
989	msr control, r0 /* MSPãæå¹ã« */
990	isb /* control ã®æä½å¾ã«å¿
991	è¦ */
992	ldr r0, =exit_kernel /* ã«ã¼ãã«ã®çµäºå¦çãå¼ã¶ */
993	bx r0
994
995	/*
996	* ã¿ã¹ã¯èµ·åå¦ç
997	*
998	* dispatcherããå¼ã³åºãããããï¼TCBã®ã¢ãã¬ã¹ã¯r1ã«å
999	¥ã£ã¦ãã
1000	*
1001	*/
1002	ATHUMB(start_r)
1003	AGLOBAL(start_r)
1004	ALABEL(start_r)
1005	movs r0, #0
1006	cpsie i /* å²è¾¼ã¿è¨±å¯ */
1007	ldr r0, =ext_tsk /* æ»ãçªå°è¨å® */
1008	mov lr, r0
1009	ldr r2, [r1, #TCB_p_tinib] /* p_runtsk->p_tinibãr2ã« */
1010	ldr r0, [r2, #TINIB_exinf] /* exinfãå¼æ°ã¬ã¸ã¹ã¿r0ã« */
1011	ldr r1, [r2, #TINIB_task] /* ã¿ã¹ã¯èµ·åçªå°ã«ã¸ã£ã³ã */
1012	bx r1
1013
1014	/*
1015	* å¾®å°æéå¾
1016	ã¡
1017	*/
1018	ABALIGN(4)
1019	ATEXT
1020	ATHUMB(sil_dly_nse)
1021	AGLOBAL(sil_dly_nse)
1022	ALABEL(sil_dly_nse)
1023	subs r0, r0, #SIL_DLY_TIM1
1024	cmp r0, #0
1025	bgt sil_dly_nse1
1026	bx lr
1027	ALABEL(sil_dly_nse1)
1028	subs r0, r0, #SIL_DLY_TIM2
1029	cmp r0, #0
1030	bgt sil_dly_nse1
1031	bx lr

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