Merge pull request #2412 from jfischer-phytec-iot/pr@kinetis-startup
Add common startup.c for Kinetis MCUs.
This commit is contained in:
Joakim Gebart
commit
f6ce0561ed
@ -3,3 +3,9 @@ export INCLUDES += -I$(RIOTCPU)/kinetis_common/include
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# Add search path for linker scripts
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# Add search path for linker scripts
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export LINKFLAGS += -L$(RIOTCPU)/kinetis_common/ldscripts
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export LINKFLAGS += -L$(RIOTCPU)/kinetis_common/ldscripts
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# add the CPU specific startup code for the linker
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export UNDEF += $(BINDIR)kinetis_common/startup.o
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# add the CPU specific fault handlers for the linker
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export UNDEF += $(BINDIR)kinetis_common/fault_handlers.o
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60
cpu/kinetis_common/fault_handlers.c
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60
cpu/kinetis_common/fault_handlers.c
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@ -0,0 +1,60 @@
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/*
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* Copyright (C) 2014 Freie Universität Berlin
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* Copyright (C) 2015 PHYTEC Messtechnik GmbH
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*
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* This file is subject to the terms and conditions of the GNU Lesser General
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* Public License v2.1. See the file LICENSE in the top level directory for more
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* details.
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*/
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/**
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* @ingroup cpu_kinetis_common_fhandlers
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* @{
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*
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* @file
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* @brief Fault Handlers for Freescale Kinetis MCUs
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*
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* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
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* @author Johann Fischer <j.fischer@phytec.de>
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*
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* @}
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*/
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#include <stdint.h>
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#include "crash.h"
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#include "fault_handlers.h"
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void isr_nmi(void)
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{
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core_panic(PANIC_NMI_HANDLER, "NMI HANDLER");
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}
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void isr_hard_fault(void)
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{
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core_panic(PANIC_HARD_FAULT, "HARD FAULT");
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}
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void isr_mem_manage(void)
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{
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core_panic(PANIC_MEM_MANAGE, "MEM MANAGE HANDLER");
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}
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void isr_bus_fault(void)
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{
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core_panic(PANIC_BUS_FAULT, "BUS FAULT");
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}
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void isr_usage_fault(void)
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{
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core_panic(PANIC_USAGE_FAULT, "ISR USAGE FAULT");
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}
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void isr_debug_mon(void)
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{
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core_panic(PANIC_DEBUG_MON, "DEBUG MON HANDLER");
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}
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void isr_unhandled(void)
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{
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core_panic(PANIC_UNHANDLED_ISR, "UNHANDLED ISR");
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}
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85
cpu/kinetis_common/include/fault_handlers.h
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85
cpu/kinetis_common/include/fault_handlers.h
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@ -0,0 +1,85 @@
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/*
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* Copyright (C) 2014 Freie Universität Berlin
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* Copyright (C) 2015 PHYTEC Messtechnik GmbH
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*
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* This file is subject to the terms and conditions of the GNU Lesser General
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* Public License v2.1. See the file LICENSE in the top level directory for more
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* details.
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*/
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/**
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* @defgroup cpu_kinetis_common_fhandlers Kinetis Fault Handlers
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* @ingroup cpu_kinetis_common
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* @brief Fault Handlers for Freescale Kinetis MCUs.
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*
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* @{
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* @file
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* @brief Interface definition for the Kinetis Fault Handlers.
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*
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* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
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* @author Johann Fischer <j.fischer@phytec.de>
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*/
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#ifndef FAULT_HANDLERS_H
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#define FAULT_HANDLERS_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief Non Maskable Interrupt
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*/
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void isr_nmi(void);
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/**
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* @brief HardFault
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*/
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void isr_hard_fault(void);
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/**
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* @brief MemManage
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*/
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void isr_mem_manage(void);
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/**
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* @brief BusFault
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*/
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void isr_bus_fault(void);
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/**
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* @brief UsageFault
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*/
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void isr_usage_fault(void);
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/**
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* @brief Debug Interrupt
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*/
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void isr_debug_mon(void);
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/**
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* @brief Default handler, called in case no interrupt handler was defined.
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*/
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void isr_unhandled(void);
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/**
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* @brief Definition of different panic modes
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*/
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typedef enum {
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PANIC_NMI_HANDLER, /**< non maskable interrupt */
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PANIC_HARD_FAULT, /**< hard fault */
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PANIC_MEM_MANAGE, /**< memory controller interrupt */
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PANIC_BUS_FAULT, /**< bus fault */
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PANIC_USAGE_FAULT, /**< undefined instruction or unaligned access */
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PANIC_DEBUG_MON, /**< debug interrupt */
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PANIC_UNHANDLED_ISR, /**< unhandled interrupt */
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} panic_t;
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#ifdef __cplusplus
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}
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#endif
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#endif /* FAULT_HANDLERS_H */
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/** @} */
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57
cpu/kinetis_common/include/wdog.h
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57
cpu/kinetis_common/include/wdog.h
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@ -0,0 +1,57 @@
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/*
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* Copyright (C) 2015 PHYTEC Messtechnik GmbH
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* Copyright (C) 2015 Eistec AB
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*
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* This file is subject to the terms and conditions of the GNU Lesser General
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* Public License v2.1. See the file LICENSE in the top level directory for more
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* details.
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*/
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/**
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* @defgroup cpu_kinetis_common_wdog Kinetis WDOG
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* @ingroup cpu_kinetis_common
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* @brief Driver for Freescale WDOG device.
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* There are different implementations of the Watchdog devices.
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* Currently, it is only possible to turn the Watchdog off.
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* It supports two types: an advanced Watchdog, mostly found
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* on Kinetis MCUs with Cortex-M4 inside and a simpler
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* COP Watchdog.
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*
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* ### WDOG Configuration Example (for periph_conf.h) ###
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* The driver attempts to determine the type of the WDOG.
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* Also you can force the use of advanced WDOG:
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*
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* #define KINETIS_WDOG_ADVANCED 1
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*
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* Or the use of COP WDOG:
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*
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* #define KINETIS_WDOG_ADVANCED 0
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*
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* @{
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* @file
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* @brief Interface definition for the Kinetis WDOG driver.
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*
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* @author Johann Fischer <j.fischer@phytec.de>
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* @author Joakim Gebart <joakim.gebart@eistec.se>
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*/
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#ifndef WDOG_H
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#define WDOG_H
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/**
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* @brief Disable hardware watchdog.
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*/
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void wdog_disable(void);
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#ifdef __cplusplus
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}
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#endif
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#endif /* WDOG_H */
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/** @} */
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129
cpu/kinetis_common/startup.c
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129
cpu/kinetis_common/startup.c
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@ -0,0 +1,129 @@
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/*
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* Copyright (C) 2014 Freie Universität Berlin
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* Copyright (C) 2015 PHYTEC Messtechnik GmbH
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* Copyright (C) 2015 Eistec AB
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*
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* This file is subject to the terms and conditions of the GNU Lesser General
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* Public License v2.1. See the file LICENSE in the top level directory for more
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* details.
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*/
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/**
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* @ingroup cpu_kinetis_common
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* @{
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*
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* @file
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* @brief Startup code for Freescale Kinetis MCUs
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*
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* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
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* @author Johann Fischer <j.fischer@phytec.de>
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* @author Joakim Gebart <joakim.gebart@eistec.se>
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*
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* @}
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*/
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#include <stdint.h>
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#include "cpu-conf.h"
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#include "wdog.h"
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/**
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* @name Memory markers as defined in the linker script
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* @{
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*/
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extern uint32_t _sfixed[];
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extern uint32_t _efixed[];
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extern uint32_t _etext[];
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extern uint32_t _srelocate[];
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extern uint32_t _erelocate[];
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extern uint32_t _szero[];
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extern uint32_t _ezero[];
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extern uint32_t _sstack[];
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extern uint32_t _ramcode_start[];
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extern uint32_t _ramcode_end[];
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extern uint32_t _ramcode_load[];
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extern uint32_t _vector_ram_start[];
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extern uint32_t _vector_ram_end[];
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extern uint32_t _vector_rom[];
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/** @} */
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/**
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* @brief functions for initializing the board, std-lib and kernel
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*/
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extern void board_init(void);
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extern void kernel_init(void);
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extern void __libc_init_array(void);
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/**
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* @brief This function is the entry point after a system reset
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*
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* After a system reset, the following steps are necessary and carried out:
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* 0. disable the Watchdog Timer
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* 1. load data section from flash to ram
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* 2. overwrite uninitialized data section (BSS) with zeros
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* 3. initialize the newlib
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* 4. initialize the board (sync clock, setup std-IO)
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* 5. initialize and start RIOTs kernel
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*/
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void reset_handler(void)
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{
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uint32_t *dst;
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uint32_t *src = _etext;
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/* disable the WDOG */
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wdog_disable();
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/* load .data section from flash to ram */
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for (dst = _srelocate; dst < _erelocate;) {
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*(dst++) = *(src++);
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}
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/* default .bss section to zero */
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for (dst = _szero; dst < _ezero;) {
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*(dst++) = 0;
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}
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/* copy .ramcode from flash to RAM */
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src = _ramcode_load;
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for (dst = _ramcode_start; dst < _ramcode_end;) {
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*(dst++) = *(src++);
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}
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/*
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* Copy ISR vector from flash to RAM.
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*
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* To use this CPU feature, define RAMVECT_SIZE=0x400 when building and write
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* the new vector table address in RAM to SCB->VTOR.
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*/
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src = _vector_rom;
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for (dst = _vector_ram_start; dst < _vector_ram_end;) {
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*(dst++) = *(src++);
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}
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/* initialize the board and startup the kernel */
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board_init();
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/* initialize std-c library (this should be done after board_init) */
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__libc_init_array();
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/* startup the kernel */
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kernel_init();
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}
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/* fcfield table */
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__attribute__((weak, section(".fcfield")))
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const uint8_t flash_configuration_field[] = {
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0xff, /* backdoor comparison key 3., offset: 0x0 */
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0xff, /* backdoor comparison key 2., offset: 0x1 */
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0xff, /* backdoor comparison key 1., offset: 0x2 */
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0xff, /* backdoor comparison key 0., offset: 0x3 */
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0xff, /* backdoor comparison key 7., offset: 0x4 */
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0xff, /* backdoor comparison key 6., offset: 0x5 */
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0xff, /* backdoor comparison key 5., offset: 0x6 */
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0xff, /* backdoor comparison key 4., offset: 0x7 */
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0xff, /* non-volatile p-flash protection 1 - low register, offset: 0x8 */
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0xff, /* non-volatile p-flash protection 1 - high register, offset: 0x9 */
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0xff, /* non-volatile p-flash protection 0 - low register, offset: 0xa */
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0xff, /* non-volatile p-flash protection 0 - high register, offset: 0xb */
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0xfe, /* non-volatile flash security register, offset: 0xc */
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0xff, /* non-volatile flash option register, offset: 0xd */
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0xff, /* non-volatile eeram protection register, offset: 0xe */
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0xff, /* non-volatile d-flash protection register, offset: 0xf */
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};
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75
cpu/kinetis_common/wdog.c
Normal file
75
cpu/kinetis_common/wdog.c
Normal file
@ -0,0 +1,75 @@
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/*
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* Copyright (C) 2015 PHYTEC Messtechnik GmbH
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* Copyright (C) 2015 Eistec AB
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*
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|
* This file is subject to the terms and conditions of the GNU Lesser General
|
||||||
|
* Public License v2.1. See the file LICENSE in the top level directory for more
|
||||||
|
* details.
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*/
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/**
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* @ingroup cpu_kinetis_common_wdog
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*
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* @{
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*
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* @file
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* @brief Low-level WDOG driver implementation
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*
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* @author Johann Fischer <j.fischer@phytec.de>
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* @author Joakim Gebart <joakim.gebart@eistec.se>
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*
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* @}
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*/
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#include <stdint.h>
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#include "wdog.h"
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#include "cpu-conf.h"
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#include "periph_conf.h"
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#ifndef KINETIS_WDOG_ADVANCED
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/**
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* Attempts to determine the type of the WDOG,
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* using the WDOG_STCTRLH_CLKSRC_MASK field.
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*/
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#ifdef WDOG_STCTRLH_CLKSRC_MASK
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#define KINETIS_WDOG_ADVANCED 1
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#endif
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#endif
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/**
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* @brief Disable hardware watchdog.
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*
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* For advanced WDOG (mostly Kinetis MCUs with Cortex-M4 inside):
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* The following unlock sequence must be completed within 256 bus cycles or
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* the watchdog will reset the system. The watchdog is enabled by default at
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* power on.
|
||||||
|
*
|
||||||
|
* The sequence is:
|
||||||
|
* 1. Write 0xC520 to the unlock register
|
||||||
|
* 2. Write 0xD928 to the unlock register
|
||||||
|
*
|
||||||
|
* Watchdog is now unlocked to allow us to change its settings
|
||||||
|
*
|
||||||
|
* 3. Clear the WDOGEN bit of the WDOG_STCTRLH register to completely disable
|
||||||
|
* the watchdog.
|
||||||
|
*
|
||||||
|
* It is now possible to single step through the code without the watchdog
|
||||||
|
* resetting the system.
|
||||||
|
*
|
||||||
|
* TODO: Only disable watchdog on debug builds.
|
||||||
|
*/
|
||||||
|
void wdog_disable(void)
|
||||||
|
{
|
||||||
|
#if KINETIS_WDOG_ADVANCED
|
||||||
|
/* unlock and disable the WDOG */
|
||||||
|
WDOG->UNLOCK = (uint16_t)0xc520;
|
||||||
|
WDOG->UNLOCK = (uint16_t)0xd928;
|
||||||
|
WDOG->STCTRLH = (uint16_t)(WDOG_STCTRLH_WAITEN_MASK
|
||||||
|
| WDOG_STCTRLH_STOPEN_MASK
|
||||||
|
| WDOG_STCTRLH_ALLOWUPDATE_MASK
|
||||||
|
| WDOG_STCTRLH_CLKSRC_MASK);
|
||||||
|
#else
|
||||||
|
/* disable the COP WDOG */
|
||||||
|
SIM->COPC = (uint32_t)0x00u;
|
||||||
|
#endif
|
||||||
|
}
|
||||||
Loading…
x
Reference in New Issue
Block a user