296 lines
8.3 KiB
ArmAsm
296 lines
8.3 KiB
ArmAsm
;/*
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; * File : start_rvds.S
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; * This file is part of RT-Thread RTOS
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; * COPYRIGHT (C) 2006, RT-Thread Development Team
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; *
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; * This program is free software; you can redistribute it and/or modify
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; * it under the terms of the GNU General Public License as published by
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; * the Free Software Foundation; either version 2 of the License, or
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; * (at your option) any later version.
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; *
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; * This program is distributed in the hope that it will be useful,
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; * but WITHOUT ANY WARRANTY; without even the implied warranty of
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; * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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; * GNU General Public License for more details.
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; *
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; * You should have received a copy of the GNU General Public License along
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; * with this program; if not, write to the Free Software Foundation, Inc.,
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; * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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; *
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; * Change Logs:
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; * Date Author Notes
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; * 2011-08-14 weety first version
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; * 2015-04-15 ArdaFu Split from AT91SAM9260 BSP
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; * 2015-04-21 ArdaFu Remove remap code. Using mmu to map vector table
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; * 2015-06-04 aozima Align stack address to 8 byte.
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; */
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S_FRAME_SIZE EQU (18*4) ;72
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;S_SPSR EQU (17*4) ;SPSR
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;S_CPSR EQU (16*4) ;CPSR
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S_PC EQU (15*4) ;R15
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;S_LR EQU (14*4) ;R14
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;S_SP EQU (13*4) ;R13
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;S_IP EQU (12*4) ;R12
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;S_FP EQU (11*4) ;R11
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;S_R10 EQU (10*4)
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;S_R9 EQU (9*4)
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;S_R8 EQU (8*4)
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;S_R7 EQU (7*4)
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;S_R6 EQU (6*4)
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;S_R5 EQU (5*4)
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;S_R4 EQU (4*4)
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;S_R3 EQU (3*4)
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;S_R2 EQU (2*4)
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;S_R1 EQU (1*4)
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;S_R0 EQU (0*4)
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MODE_USR EQU 0X10
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MODE_FIQ EQU 0X11
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MODE_IRQ EQU 0X12
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MODE_SVC EQU 0X13
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MODE_ABT EQU 0X17
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MODE_UND EQU 0X1B
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MODE_SYS EQU 0X1F
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MODEMASK EQU 0X1F
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NOINT EQU 0xC0
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GET rt_low_level_keil.inc
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;----------------------- Stack and Heap Definitions ----------------------------
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AREA STACK, NOINIT, READWRITE, ALIGN=3
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Stack_Mem
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SPACE UND_STK_SIZE
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EXPORT UND_STACK_START
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UND_STACK_START
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ALIGN 8
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SPACE ABT_STK_SIZE
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EXPORT ABT_STACK_START
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ABT_STACK_START
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ALIGN 8
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SPACE FIQ_STK_SIZE
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EXPORT FIQ_STACK_START
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FIQ_STACK_START
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ALIGN 8
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SPACE IRQ_STK_SIZE
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EXPORT IRQ_STACK_START
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IRQ_STACK_START
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ALIGN 8
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SPACE SYS_STK_SIZE
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EXPORT SYS_STACK_START
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SYS_STACK_START
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ALIGN 8
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SPACE SVC_STK_SIZE
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EXPORT SVC_STACK_START
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SVC_STACK_START
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Stack_Top
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PRESERVE8
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;--------------Jump vector table------------------------------------------------
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EXPORT Entry_Point
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AREA RESET, CODE, READONLY
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ARM
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Entry_Point
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LDR PC, vector_reset
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LDR PC, vector_undef
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LDR PC, vector_swi
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LDR PC, vector_pabt
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LDR PC, vector_dabt
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LDR PC, vector_resv
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LDR PC, vector_irq
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LDR PC, vector_fiq
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vector_reset
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DCD Reset_Handler
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vector_undef
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DCD Undef_Handler
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vector_swi
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DCD SWI_Handler
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vector_pabt
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DCD PAbt_Handler
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vector_dabt
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DCD DAbt_Handler
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vector_resv
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DCD Resv_Handler
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vector_irq
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DCD IRQ_Handler
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vector_fiq
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DCD FIQ_Handler
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;----------------- Reset Handler -----------------------------------------------
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IMPORT rt_low_level_init
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IMPORT __main
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EXPORT Reset_Handler
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Reset_Handler
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; set the cpu to SVC32 mode
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MRS R0,CPSR
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BIC R0,R0,#MODEMASK
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ORR R0,R0,#MODE_SVC:OR:NOINT
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MSR CPSR_cxsf,R0
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; Set CO-Processor
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; little-end，disbale I/D Cache MMU, vector table is 0x00000000
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MRC p15, 0, R0, c1, c0, 0 ; Read CP15
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LDR R1, =0x00003085 ; set clear bits
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BIC R0, R0, R1
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MCR p15, 0, R0, c1, c0, 0 ; Write CP15
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; Call low level init function,
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; disable and clear all IRQs, Init MMU, Init interrupt controller, etc.
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LDR SP, =SVC_STACK_START
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LDR R0, =rt_low_level_init
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BLX R0
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Setup_Stack
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; Setup Stack for each mode
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MRS R0, CPSR
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BIC R0, R0, #MODEMASK
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ORR R1, R0, #MODE_UND:OR:NOINT
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MSR CPSR_cxsf, R1 ; Undef mode
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LDR SP, =UND_STACK_START
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ORR R1,R0,#MODE_ABT:OR:NOINT
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MSR CPSR_cxsf,R1 ; Abort mode
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LDR SP, =ABT_STACK_START
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ORR R1,R0,#MODE_IRQ:OR:NOINT
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MSR CPSR_cxsf,R1 ; IRQ mode
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LDR SP, =IRQ_STACK_START
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ORR R1,R0,#MODE_FIQ:OR:NOINT
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MSR CPSR_cxsf,R1 ; FIQ mode
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LDR SP, =FIQ_STACK_START
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ORR R1,R0,#MODE_SYS:OR:NOINT
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MSR CPSR_cxsf,R1 ; SYS/User mode
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LDR SP, =SYS_STACK_START
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ORR R1,R0,#MODE_SVC:OR:NOINT
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MSR CPSR_cxsf,R1 ; SVC mode
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LDR SP, =SVC_STACK_START
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; Enter the C code
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LDR R0, =__main
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BLX R0
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;----------------- Exception Handler -------------------------------------------
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IMPORT rt_hw_trap_udef
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IMPORT rt_hw_trap_swi
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IMPORT rt_hw_trap_pabt
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IMPORT rt_hw_trap_dabt
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IMPORT rt_hw_trap_resv
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IMPORT rt_hw_trap_irq
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IMPORT rt_hw_trap_fiq
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IMPORT rt_interrupt_enter
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IMPORT rt_interrupt_leave
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IMPORT rt_thread_switch_interrupt_flag
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IMPORT rt_interrupt_from_thread
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IMPORT rt_interrupt_to_thread
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Undef_Handler PROC
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SUB SP, SP, #S_FRAME_SIZE
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STMIA SP, {R0 - R12} ; Calling R0-R12
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ADD R8, SP, #S_PC
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STMDB R8, {SP, LR} ; Calling SP, LR
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STR LR, [R8, #0] ; Save calling PC
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MRS R6, SPSR
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STR R6, [R8, #4] ; Save CPSR
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STR R0, [R8, #8] ; Save SPSR
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MOV R0, SP
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BL rt_hw_trap_udef
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ENDP
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SWI_Handler PROC
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BL rt_hw_trap_swi
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ENDP
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PAbt_Handler PROC
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BL rt_hw_trap_pabt
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ENDP
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DAbt_Handler PROC
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SUB SP, SP, #S_FRAME_SIZE
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STMIA SP, {R0 - R12} ; Calling R0-R12
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ADD R8, SP, #S_PC
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STMDB R8, {SP, LR} ; Calling SP, LR
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STR LR, [R8, #0] ; Save calling PC
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MRS R6, SPSR
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STR R6, [R8, #4] ; Save CPSR
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STR R0, [R8, #8] ; Save SPSR
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MOV R0, SP
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BL rt_hw_trap_dabt
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ENDP
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Resv_Handler PROC
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BL rt_hw_trap_resv
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ENDP
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FIQ_Handler PROC
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STMFD SP!, {R0-R7,LR}
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BL rt_hw_trap_fiq
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LDMFD SP!, {R0-R7,LR}
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SUBS PC, LR, #4
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ENDP
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IRQ_Handler PROC
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STMFD SP!, {R0-R12,LR}
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BL rt_interrupt_enter
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BL rt_hw_trap_irq
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BL rt_interrupt_leave
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; If rt_thread_switch_interrupt_flag set,
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; jump to rt_hw_context_switch_interrupt_do and don't return
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LDR R0, =rt_thread_switch_interrupt_flag
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LDR R1, [R0]
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CMP R1, #1
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BEQ rt_hw_context_switch_interrupt_do
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LDMFD SP!, {R0-R12,LR}
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SUBS PC, LR, #4
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ENDP
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;------ void rt_hw_context_switch_interrupt_do(rt_base_t flag) -----------------
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rt_hw_context_switch_interrupt_do PROC
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MOV R1, #0 ; Clear flag
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STR R1, [R0] ; Save to flag variable
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LDMFD SP!, {R0-R12,LR} ; Reload saved registers
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STMFD SP, {R0-R2} ; Save R0-R2
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SUB R1, SP, #4*3 ; Save old task's SP to R1
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SUB R2, LR, #4 ; Save old task's PC to R2
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MRS R0, SPSR ; Get CPSR of interrupt thread
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MSR CPSR_c, #MODE_SVC:OR:NOINT ; Switch to SVC mode and no interrupt
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STMFD SP!, {R2} ; Push old task's PC
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STMFD SP!, {R3-R12,LR} ; Push old task's LR,R12-R3
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LDMFD R1, {R1-R3}
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STMFD SP!, {R1-R3} ; Push old task's R2-R0
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STMFD SP!, {R0} ; Push old task's CPSR
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LDR R4, =rt_interrupt_from_thread
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LDR R5, [R4] ; R5 = stack ptr in old tasks's TCB
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STR SP, [R5] ; Store SP in preempted tasks's TCB
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LDR R6, =rt_interrupt_to_thread
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LDR R6, [R6] ; R6 = stack ptr in new tasks's TCB
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LDR SP, [R6] ; Get new task's stack pointer
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LDMFD SP!, {R4} ; Pop new task's SPSR
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MSR SPSR_cxsf, R4
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LDMFD SP!, {R0-R12,LR,PC}^ ; pop new task's R0-R12,LR & PC SPSR to CPSR
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ENDP
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END
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