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/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "chconf.h"
.set MODE_USR, 0x10
.set MODE_FIQ, 0x11
.set MODE_IRQ, 0x12
.set MODE_SVC, 0x13
.set MODE_ABT, 0x17
.set MODE_UND, 0x1B
.set MODE_SYS, 0x1F
.equ I_BIT, 0x80
.equ F_BIT, 0x40
.text
.code 32
.balign 4
.globl threadstart
threadstart:
msr CPSR_c, #MODE_SYS
#ifndef THUMB_NO_INTERWORKING
mov r0, r5
mov lr, pc
bx r4
bl chThdExit
#else
add r0, pc, #1
bx r0
.code 16
mov r0, r5
mov lr, pc
bx r4
bl chThdExit
.code 32
#endif
.globl UndHandler
UndHandler:
.globl SwiHandler
SwiHandler:
.globl PrefetchHandler
PrefetchHandler:
.globl AbortHandler
AbortHandler:
.globl FiqHandler
FiqHandler:
#ifdef THUMB_NO_INTERWORKING
ldr r0, =chSysHalt
bx r0
#else
bl chSysHalt
#endif
#ifdef THUMB
.globl chSysLock
chSysLock:
msr CPSR_c, #0x9F
bx lr
.globl chSysUnlock
chSysUnlock:
msr CPSR_c, #0x1F
bx lr
#endif
.globl chSysSwitchI
chSysSwitchI:
#ifdef CH_CURRP_REGISTER_CACHE
stmfd sp!, {r4, r5, r6, r8, r9, r10, r11, lr}
str sp, [r0, #0]
ldr sp, [r1, #0]
#ifdef THUMB
ldmfd sp!, {r4, r5, r6, r8, r9, r10, r11, lr}
bx lr
#else
ldmfd sp!, {r4, r5, r6, r8, r9, r10, r11, pc}
#endif
#else
stmfd sp!, {r4, r5, r6, r7, r8, r9, r10, r11, lr}
str sp, [r0, #0]
ldr sp, [r1, #0]
#ifdef THUMB
ldmfd sp!, {r4, r5, r6, r7, r8, r9, r10, r11, lr}
bx lr
#else
ldmfd sp!, {r4, r5, r6, r7, r8, r9, r10, r11, pc}
#endif
#endif /* CH_CURRP_REGISTER_CACHE */
/*
* System stack frame structure after a context switch in the
* interrupt handler:
*
* High +------------+
* | R12 | -+
* | R3 | |
* | R2 | |
* | R1 | | External context: IRQ handler frame
* | R0 | |
* | LR_IRQ | | (user code return address)
* | SPSR | -+ (user code status)
* | .... | <- mk_DoRescheduleI() stack frame, optimize it for space
* | LR | -+ (system code return address)
* | R11 | |
* | R10 | |
* | R9 | |
* | R8 | | Internal context: mk_SwitchI() frame
* | (R7) | | (optional, see CH_CURRP_REGISTER_CACHE)
* | R6 | |
* | R5 | |
* SP-> | R4 | -+
* Low +------------+
*/
.globl IrqHandler
IrqHandler:
sub lr, lr, #4
stmfd sp!, {r0-r3, r12, lr}
#ifdef THUMB_NO_INTERWORKING
add r0, pc, #1
bx r0
.code 16
bl NonVectoredIrq
b IrqCommon
.code 32
#else
bl NonVectoredIrq
b IrqCommon
#endif
.globl T0IrqHandler
T0IrqHandler:
sub lr, lr, #4
stmfd sp!, {r0-r3, r12, lr}
#ifdef THUMB_NO_INTERWORKING
add r0, pc, #1
bx r0
.code 16
bl Timer0Irq
b IrqCommon
.code 32
#else
bl Timer0Irq
b IrqCommon
#endif
.globl UART0IrqHandler
UART0IrqHandler:
sub lr, lr, #4
stmfd sp!, {r0-r3, r12, lr}
#ifdef THUMB_NO_INTERWORKING
add r0, pc, #1
bx r0
.code 16
bl UART0Irq
b IrqCommon
.code 32
#else
bl UART0Irq
b IrqCommon
#endif
.globl UART1IrqHandler
UART1IrqHandler:
sub lr, lr, #4
stmfd sp!, {r0-r3, r12, lr}
#ifdef THUMB_NO_INTERWORKING
add r0, pc, #1
bx r0
.code 16
bl UART1Irq
b IrqCommon
.code 32
#else
bl UART1Irq
b IrqCommon
#endif
/*
* Common exit point for all IRQ routines, it performs the rescheduling if
* required.
*/
IrqCommon:
#ifdef THUMB_NO_INTERWORKING
.code 16
bl chSchRescRequiredI
mov lr, pc
bx lr
.code 32
#else
bl chSchRescRequiredI
#endif
cmp r0, #0 // Simply returns if a
ldmeqfd sp!, {r0-r3, r12, pc}^ // reschedule is not required.
// Saves the IRQ mode registers in the system stack.
ldmfd sp!, {r0-r3, r12, lr} // IRQ stack now empty.
msr CPSR_c, #MODE_SYS | I_BIT
stmfd sp!, {r0-r3, r12} // Registers on System Stack.
msr CPSR_c, #MODE_IRQ | I_BIT
mrs r0, SPSR
mov r1, lr
msr CPSR_c, #MODE_SYS | I_BIT
stmfd sp!, {r0, r1} // Push R0=SPSR, R1=LR_IRQ.
// Context switch.
#ifdef THUMB_NO_INTERWORKING
add r0, pc, #1
bx r0
.code 16
bl chSchDoRescheduleI
mov lr, pc
bx lr
.code 32
#else
bl chSchDoRescheduleI
#endif
// Re-establish the IRQ conditions again.
ldmfd sp!, {r0, r1} // Pop R0=SPSR, R1=LR_IRQ.
msr CPSR_c, #MODE_IRQ | I_BIT
msr SPSR_fsxc, r0
mov lr, r1
msr CPSR_c, #MODE_SYS | I_BIT
ldmfd sp!, {r0-r3, r12}
msr CPSR_c, #MODE_IRQ | I_BIT
subs pc, lr, #0
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