Context Navigation

← Previous Revision
Latest Revision
Next Revision →
Blame
Revision Log

cpu_support.S@ 4

Last change on this file since 4 was 4, checked in by msugi, 14 years ago
Interface誌2006年8月号添付のTOPPERS/OSEK用SH2をTOPPERS/ATK1に対応させました．多少のバグフィックスも行っています．
File size: 15.0 KB

Line
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	bra _start_dispatch /* fBXpb`Ö */
271	nop
272
273	/*
274	* Ýnhoû(fBXpb`v è)
275	*
276	* Äoµð:
277	* EFLGWX^ÌIPL=0xf, ^XNReLXg(callevel=1)
278	* EgpX^bNÍ^XNX^bN
279	* E^XNReLXgÍr0-r7,mach,machl,gbr,prªX^bNÉÏÜê½óÔ
280	*/
281	.align 2
282	.globl ret_int
283	ret_int:
284	/* cèÌWX^ðÛ¶ */
285	mov.l r8 , @-r15
286	mov.l r9 , @-r15
287	mov.l r10 , @-r15
288	mov.l r11 , @-r15
289	mov.l r12 , @-r15
290	mov.l r13 , @-r15
291	mov.l r14 , @-r15
292	shll2 r0 /* runtskÍr0ÉüÁÄ¢é */
293	mov.l tcxb_sp_adr , r1
294	mov.l r15 , @(r0 , r1) /* X^bN\|C^ðÛ¶ */
295	mov.l tcxb_pc_adr , r1
296	mov.l ret_int_r_adr , r2 /* ßèÔnðret_int_rÉÝè */
297	mov.l r2 , @(r0 , r1) /* X^bN\|C^ðÛ¶ */
298	/* CPUbNóÔÉÉ */
299	xor r0 , r0
300	mov.l _intmask_adr , r1
301	mov.l r0 , @r1
302	mov.l _lock_flag_adr , r1
303	mov #1 , r0
304	mov.l r0 , @r1
305	bra dispatcher /* fBXpb`Ö */
306	nop
307
308	.align 4
309	ret_int_r_adr:
310	.long ret_int_r
311	_intmask_adr:
312	.long _intmask
313	_lock_flag_adr:
314	.long _lock_flag
315
316
317	/*
318	* ÄÑoµð: IPL=0xf, (CPUbNóÔ),
319	* callevel=1(^XNReLXg), ^XNX^bN
320	* X^bNÉÍr14-r8,gbr,mach,machl,pr,r7-r0ÌÅÏÜêÄ¢é
321	*/
322	.align 2
323	ret_int_r:
324	mov.l @r15+ , r14 /* WX^ðA */
325	mov.l @r15+ , r13
326	mov.l @r15+ , r12
327	mov.l @r15+ , r11
328	mov.l @r15+ , r10
329	mov.l @r15+ , r9
330	mov.l @r15+ , r8
331	ldc.l @r15+ , gbr
332	lds.l @r15+ , mach
333	lds.l @r15+ , macl
334	lds.l @r15+ , pr
335	mov.l @r15+ , r7
336	mov.l @r15+ , r6
337	mov.l @r15+ , r5
338	mov.l @r15+ , r4
339	mov.l @r15+ , r3
340	mov.l @r15+ , r2
341	mov.l @r15+ , r1
342	mov.l @r15+ , r0
343	rte /* èÝ³ÖA */
344	nop
345
346	/*
347	* Ýoüû(AZu¾êLqª)
348	*
349	* Äoµð:
350	* ESRWX^ÌIPLÍ0xf
351	* EX^bNÍ½dèÝÈçÝX^bN, »¤ÅÈ¯êÎ
352	* ^XNX^bN
353	* Er0 ÉÍÝnhÌAhXªi[³êÄ¢é.
354	* Er1 ÉÍOñÌÀsÝIDªi[³êÄ¢éD
355	* Er2 ÉÍèÝótÌSRWX^Ìlªi[³êÄ¢é
356	*
357	* WX^ªX^bNãÉÇÌæ¤ÉÛ¶³êÄ¢é©ðÈºÉ¦·.
358	* ±Ì}ÅÍãªáÊ, ºªÊÌAhXÅ, X^bNÍº©ç
359	* ãûüÉü©ÁÄÏÝã°çêéàÌÆ·é.
360	*
361	* -------------------------
362	* \| R3(4byte) \|
363	* --------------------------
364	* \| R2(4byte) \|
365	* --------------------------
366	* \| R1(4byte) \|
367	* --------------------------
368	* \| R0(4byte) \|
369	* --------------------------
370	* \| SR(4byte) \| <- èÝ¶ÌSRWX^(H/WÉÄÛ¶)
371	* --------------------------
372	* \| PC(4byte) \| <- èÝ©çA·éPC(H/WÉÄÛ¶)
373	* --------------------------
374	*
375	* èÝ¤ÊÅcèÌWX^ðÞðµ½ãÌX^bNðÈºÉ¦·D
376	* -------------------------
377	* \| GBR(4byte) \|
378	* -------------------------
379	* \| MACH(4byte) \|
380	* -------------------------
381	* \| MACL(4byte) \|
382	* -------------------------
383	* \| PR(4byte) \|
384	* -------------------------
385	* \| R7(4byte) \|
386	* -------------------------
387	* \| R6(4byte) \|
388	* -------------------------
389	* \| R5(4byte) \|
390	* -------------------------
391	* \| R4(4byte) \|
392	* -------------------------
393	* \| R3(4byte) \|
394	* --------------------------
395	* \| R2(4byte) \|
396	* --------------------------
397	* \| R1(4byte) \|
398	* --------------------------
399	* \| R0(4byte) \|
400	* --------------------------
401	* \| SR(4byte) \| <- èÝ¶ÌSRWX^(H/WÉÄÛ¶)
402	* --------------------------
403	* \| PC(4byte) \| <- èÝ©çA·éPC(H/WÉÄÛ¶)
404	* --------------------------
405	*
406	* xfBXpb`vÉret_intÉÄX^bNÉÏÜêéWX^ð
407	* ÈºÉ¦·D
408	*
409	* -------------------------
410	* \| R14(4byte) \|
411	* -------------------------
412	* \| R13(4byte) \|
413	* -------------------------
414	* \| R12(4byte) \|
415	* --------------------------
416	* \| R11(4byte) \|
417	* --------------------------
418	* \| R10(4byte) \|
419	* --------------------------
420	* \| R9(4byte) \|
421	* -------------------------
422	* \| R8(4byte) \|
423	* -------------------------
424	* \| MACH(4byte) \|
425	* -------------------------
426	* \| MACL(4byte) \|
427	* -------------------------
428	* \| PR(4byte) \|
429	* -------------------------
430	* \| R7(4byte) \|
431	* -------------------------
432	* \| R6(4byte) \|
433	* -------------------------
434	* \| R5(4byte) \|
435	* -------------------------
436	* \| R4(4byte) \|
437	* -------------------------
438	* \| R3(4byte) \|
439	* --------------------------
440	* \| R2(4byte) \|
441	* --------------------------
442	* \| R1(4byte) \|
443	* --------------------------
444	* \| R0(4byte) \|
445	* --------------------------
446	* \| SR(4byte) \| <- èÝ¶ÌSRWX^(H/WÉÄÛ¶)
447	* --------------------------
448	* \| PC(4byte) \| <- èÝ©çA·éPC(H/WÉÄÛ¶)
449	* --------------------------
450	*
451	* nh©ç^[µ½ãÍ, ½dÝÅÈ,
452	* fBXpb`vª é(schedtsk != runtsk)ÉC
453	* ret_int Öªò·éD
454	*
455	* ½dÝ©Ç¤©ÍcallevelÌlÅ»è·é.
456	* callevel != 1 ÈçÎ½dÝÅ éÆ»è·é.
457	*
458	*/
459
460	.align 2
461	_interrupt:
462	/* cèÌX^bNðÞð */
463	mov.l r4 , @-r15
464	mov.l r5 , @-r15
465	mov.l r6 , @-r15
466	mov.l r7 , @-r15
467	sts.l pr , @-r15
468	sts.l macl , @-r15
469	sts.l mach , @-r15
470	stc.l gbr , @-r15
471	mov #TCL_TASK , r4 /* ½dèÝ©ð`FbN */
472	mov.l callevel_adr , r3
473	mov.b @r3 , r5
474	cmp/eq r4 , r5
475	bf int_from_int
476	int_from_task:
477	mov.l int_stack , r4 /* X^bNðØèÖ¦ */
478	mov.l r15 , @-r4
479	mov r4 , r15
480	mov #TCL_ISR2 , r6 /* ÀsxðÏX */
481	mov.b r6 , @r3
482	int_from_int:
483	mov.w r1 , @-r15 /* OÌèÝIDðX^bNÉÛ¶ */
484	mov.w r5 , @-r15 /* OÌÀsxðX^bNÉÛ¶ */
485	/* ±±Å[hÅÛ¶µÄ¢éÌÍA */
486	/* SPð4oCg«EÉÛÂ½ßÅ é */
487	ldc r2 , sr /* èÝÂ */
488	jsr @r0 /* èÝ[`ÄÑoµ */
489	nop
490	mov.l mask_ipm , r0 /* èÝÖ~ */
491	ldc r0 , sr
492	mov.w @r15+ , r0 /* OÌÀsxðA */
493	mov.l callevel_adr , r1
494	mov.b r0 , @r1
495	mov.w @r15+ , r2 /* OÌèÝIDðA */
496	mov.l runisr_adr , r1
497	mov.b r2 , @r1
498	mov #TCL_TASK , r1 /* ½dèÝ©Ç¤©H */
499	cmp/eq r0 , r1
500	bf int_return
501
502	/* iÌèÝ©çA·é */
503	mov.l @r15 , r15 /* ^XNX^bNÉß· */
504	mov.l callevel_adr , r2
505	mov.b r1 , @r2
506
507	/* èÝüèûÅèÝªüÁÄÈ¢©ðmF */
508	mov r15 , r0
509	mov.l @(52, r0) , r0 /* èÝOÌSRWX^ðæèoµ */
510	mov.l mask_ipm , r1 /* IPMðæèoµ */
511	and r1 , r0
512	tst r0 , r0 /* 0©Ç¤©`FbN */
513	bf int_return /* 0ÅÈ¢êÍ½dèÝ */
514
515	mov.l runtsk_adr , r1 /* fBXpb`vª é©H */
516	mov.b @r1 , r0
517	extu.b r0 , r0
518	mov.l schedtsk_adr , r1
519	mov.b @r1 , r2
520	extu.b r2 , r2
521	cmp/eq r0 , r2
522	bf ret_int
523	int_return:
524	ldc.l @r15+ , gbr /* WX^ðA */
525	lds.l @r15+ , mach
526	lds.l @r15+ , macl
527	lds.l @r15+ , pr
528	mov.l @r15+ , r7
529	mov.l @r15+ , r6
530	mov.l @r15+ , r5
531	mov.l @r15+ , r4
532	mov.l @r15+ , r3
533	mov.l @r15+ , r2
534	mov.l @r15+ , r1
535	mov.l @r15+ , r0
536	rte /* èÝ³ÉA */
537	nop
538
539
540	/* ¢gpÝÌ */
541	.globl _unused_interrupt
542	_unused_interrupt:
543	rte
544	nop
545
546	.align 4
547	runtsk_adr:
548	.long _runtsk
549	schedtsk_adr:
550	.long _schedtsk
551	tcxb_sp_adr:
552	.long _tcxb_sp
553	tcxb_pc_adr:
554	.long _tcxb_pc
555	int_stack:
556	.long STACK_TOP
557	callevel_adr:
558	.long _callevel
559	runisr_adr:
560	.long _runisr
561	mask_ipm:
562	.long 0x000000f0
563	invalid_tsk:
564	.long INVALID_TASK
565
566	/* èÌè` */
567	.equ TCL_TASK , 1
568	.equ TCL_ISR2 , 2
569	.equ INVALID_TASK , 0xff
570
571
572
573	.end

Note: See TracBrowser for help on using the repository browser.

Download in other formats:

Original Format