|
- #include "imxrt.h"
- #include "wiring.h"
- #include "usb_dev.h"
-
- #include "debug/printf.h"
-
-
- extern unsigned long _stextload;
- extern unsigned long _stext;
- extern unsigned long _etext;
- extern unsigned long _sdataload;
- extern unsigned long _sdata;
- extern unsigned long _edata;
- extern unsigned long _sbss;
- extern unsigned long _ebss;
- extern unsigned long _flexram_bank_config;
- extern unsigned long _estack;
-
- __attribute__ ((used, aligned(1024)))
- void (* _VectorsRam[NVIC_NUM_INTERRUPTS+16])(void);
-
- static void memory_copy(uint32_t *dest, const uint32_t *src, uint32_t *dest_end);
- static void memory_clear(uint32_t *dest, uint32_t *dest_end);
- static void configure_systick(void);
- static void reset_PFD();
- extern void systick_isr(void);
- extern void pendablesrvreq_isr(void);
- void configure_cache(void);
- void unused_interrupt_vector(void);
- void usb_pll_start();
- extern void analog_init(void);
- extern void pwm_init(void);
- extern void tempmon_init(void);
- uint32_t set_arm_clock(uint32_t frequency);
- extern void __libc_init_array(void);
-
-
- __attribute__((section(".startup"), optimize("no-tree-loop-distribute-patterns"), naked))
- void ResetHandler(void)
- {
- unsigned int i;
-
- #if defined(__IMXRT1062__)
- IOMUXC_GPR_GPR17 = (uint32_t)&_flexram_bank_config;
- IOMUXC_GPR_GPR16 = 0x00000007;
- IOMUXC_GPR_GPR14 = 0x00AA0000;
- __asm__ volatile("mov sp, %0" : : "r" ((uint32_t)&_estack) : );
- #endif
-
-
-
-
-
-
-
-
- memory_copy(&_stext, &_stextload, &_etext);
- memory_copy(&_sdata, &_sdataload, &_edata);
- memory_clear(&_sbss, &_ebss);
-
-
- SCB_CPACR = 0x00F00000;
-
-
- for (i=0; i < NVIC_NUM_INTERRUPTS + 16; i++) _VectorsRam[i] = &unused_interrupt_vector;
- for (i=0; i < NVIC_NUM_INTERRUPTS; i++) NVIC_SET_PRIORITY(i, 128);
- SCB_VTOR = (uint32_t)_VectorsRam;
-
- reset_PFD();
-
-
-
-
- CCM_CSCMR1 = (CCM_CSCMR1 & ~CCM_CSCMR1_PERCLK_PODF(0x3F)) | CCM_CSCMR1_PERCLK_CLK_SEL;
-
- CCM_CSCDR1 = (CCM_CSCDR1 & ~CCM_CSCDR1_UART_CLK_PODF(0x3F)) | CCM_CSCDR1_UART_CLK_SEL;
-
- #if defined(__IMXRT1062__)
-
- IOMUXC_GPR_GPR26 = 0xFFFFFFFF;
- IOMUXC_GPR_GPR27 = 0xFFFFFFFF;
- IOMUXC_GPR_GPR28 = 0xFFFFFFFF;
- IOMUXC_GPR_GPR29 = 0xFFFFFFFF;
- #endif
-
-
- printf_debug_init();
- printf("\n***********IMXRT Startup**********\n");
- printf("test %d %d %d\n", 1, -1234567, 3);
-
- configure_cache();
- configure_systick();
- usb_pll_start();
- reset_PFD();
-
- set_arm_clock(600000000);
-
-
-
- if (!(SNVS_LPCR & SNVS_LPCR_SRTC_ENV)) {
-
- SNVS_LPSRTCLR = 1546300800u << 15;
- SNVS_LPSRTCMR = 1546300800u >> 17;
- SNVS_LPCR |= SNVS_LPCR_SRTC_ENV;
- }
- SNVS_HPCR |= SNVS_HPCR_RTC_EN | SNVS_HPCR_HP_TS;
-
- while (millis() < 20) ;
- usb_init();
- analog_init();
- pwm_init();
- tempmon_init();
-
- while (millis() < 300) ;
-
- __libc_init_array();
-
-
- setup();
-
- while (1) {
-
- loop();
- yield();
- }
- }
-
-
-
-
-
-
-
-
-
-
-
-
- #define SYSTICK_EXT_FREQ 100000
-
- extern volatile uint32_t systick_cycle_count;
- static void configure_systick(void)
- {
- _VectorsRam[14] = pendablesrvreq_isr;
- _VectorsRam[15] = systick_isr;
- SYST_RVR = (SYSTICK_EXT_FREQ / 1000) - 1;
- SYST_CVR = 0;
- SYST_CSR = SYST_CSR_TICKINT | SYST_CSR_ENABLE;
- SCB_SHPR3 = 0x20200000;
- ARM_DEMCR |= ARM_DEMCR_TRCENA;
- ARM_DWT_CTRL |= ARM_DWT_CTRL_CYCCNTENA;
- systick_cycle_count = ARM_DWT_CYCCNT;
- }
-
-
-
- #define NOEXEC SCB_MPU_RASR_XN
- #define READONLY SCB_MPU_RASR_AP(7)
- #define READWRITE SCB_MPU_RASR_AP(3)
- #define NOACCESS SCB_MPU_RASR_AP(0)
- #define MEM_CACHE_WT SCB_MPU_RASR_TEX(0) | SCB_MPU_RASR_C
- #define MEM_CACHE_WB SCB_MPU_RASR_TEX(0) | SCB_MPU_RASR_C | SCB_MPU_RASR_B
- #define MEM_CACHE_WBWA SCB_MPU_RASR_TEX(1) | SCB_MPU_RASR_C | SCB_MPU_RASR_B
- #define MEM_NOCACHE SCB_MPU_RASR_TEX(1)
- #define DEV_NOCACHE SCB_MPU_RASR_TEX(2)
- #define SIZE_128K (SCB_MPU_RASR_SIZE(16) | SCB_MPU_RASR_ENABLE)
- #define SIZE_256K (SCB_MPU_RASR_SIZE(17) | SCB_MPU_RASR_ENABLE)
- #define SIZE_512K (SCB_MPU_RASR_SIZE(18) | SCB_MPU_RASR_ENABLE)
- #define SIZE_1M (SCB_MPU_RASR_SIZE(19) | SCB_MPU_RASR_ENABLE)
- #define SIZE_2M (SCB_MPU_RASR_SIZE(20) | SCB_MPU_RASR_ENABLE)
- #define SIZE_4M (SCB_MPU_RASR_SIZE(21) | SCB_MPU_RASR_ENABLE)
- #define SIZE_8M (SCB_MPU_RASR_SIZE(22) | SCB_MPU_RASR_ENABLE)
- #define SIZE_16M (SCB_MPU_RASR_SIZE(23) | SCB_MPU_RASR_ENABLE)
- #define SIZE_32M (SCB_MPU_RASR_SIZE(24) | SCB_MPU_RASR_ENABLE)
- #define SIZE_64M (SCB_MPU_RASR_SIZE(25) | SCB_MPU_RASR_ENABLE)
- #define REGION(n) (SCB_MPU_RBAR_REGION(n) | SCB_MPU_RBAR_VALID)
-
- __attribute__((section(".progmem")))
- void configure_cache(void)
- {
-
-
-
-
-
- SCB_MPU_CTRL = 0;
-
- SCB_MPU_RBAR = 0x00000000 | REGION(0);
- SCB_MPU_RASR = MEM_NOCACHE | READWRITE | SIZE_512K;
-
- SCB_MPU_RBAR = 0x00200000 | REGION(1);
- SCB_MPU_RASR = MEM_CACHE_WT | READONLY | SIZE_128K;
-
- SCB_MPU_RBAR = 0x20000000 | REGION(2);
- SCB_MPU_RASR = MEM_NOCACHE | READWRITE | NOEXEC | SIZE_512K;
-
- SCB_MPU_RBAR = 0x20200000 | REGION(3);
- SCB_MPU_RASR = MEM_CACHE_WBWA | READWRITE | NOEXEC | SIZE_1M;
-
- SCB_MPU_RBAR = 0x40000000 | REGION(4);
- SCB_MPU_RASR = DEV_NOCACHE | READWRITE | NOEXEC | SIZE_64M;
-
- SCB_MPU_RBAR = 0x60000000 | REGION(5);
- SCB_MPU_RASR = MEM_CACHE_WBWA | READONLY | SIZE_16M;
-
-
-
-
-
- SCB_MPU_CTRL = SCB_MPU_CTRL_ENABLE;
-
-
- asm("dsb");
- asm("isb");
- SCB_CACHE_ICIALLU = 0;
-
- asm("dsb");
- asm("isb");
- SCB_CCR |= (SCB_CCR_IC | SCB_CCR_DC);
- }
-
-
- __attribute__((section(".progmem")))
- void usb_pll_start()
- {
- while (1) {
- uint32_t n = CCM_ANALOG_PLL_USB1;
- printf("CCM_ANALOG_PLL_USB1=%08lX\n", n);
- if (n & CCM_ANALOG_PLL_USB1_DIV_SELECT) {
- printf(" ERROR, 528 MHz mode!\n");
- CCM_ANALOG_PLL_USB1_CLR = 0xC000;
- CCM_ANALOG_PLL_USB1_SET = CCM_ANALOG_PLL_USB1_BYPASS;
- CCM_ANALOG_PLL_USB1_CLR = CCM_ANALOG_PLL_USB1_POWER |
- CCM_ANALOG_PLL_USB1_DIV_SELECT |
- CCM_ANALOG_PLL_USB1_ENABLE |
- CCM_ANALOG_PLL_USB1_EN_USB_CLKS;
- continue;
- }
- if (!(n & CCM_ANALOG_PLL_USB1_ENABLE)) {
- printf(" enable PLL\n");
-
- CCM_ANALOG_PLL_USB1_SET = CCM_ANALOG_PLL_USB1_ENABLE;
- continue;
- }
- if (!(n & CCM_ANALOG_PLL_USB1_POWER)) {
- printf(" power up PLL\n");
- CCM_ANALOG_PLL_USB1_SET = CCM_ANALOG_PLL_USB1_POWER;
- continue;
- }
- if (!(n & CCM_ANALOG_PLL_USB1_LOCK)) {
- printf(" wait for lock\n");
- continue;
- }
- if (n & CCM_ANALOG_PLL_USB1_BYPASS) {
- printf(" turn off bypass\n");
- CCM_ANALOG_PLL_USB1_CLR = CCM_ANALOG_PLL_USB1_BYPASS;
- continue;
- }
- if (!(n & CCM_ANALOG_PLL_USB1_EN_USB_CLKS)) {
- printf(" enable USB clocks\n");
- CCM_ANALOG_PLL_USB1_SET = CCM_ANALOG_PLL_USB1_EN_USB_CLKS;
- continue;
- }
- return;
- }
- }
-
- __attribute__((section(".progmem")))
- void reset_PFD()
- {
-
- CCM_ANALOG_PFD_528_SET = (1 << 31) | (1 << 23) | (1 << 15) | (1 << 7);
- CCM_ANALOG_PFD_528 = 0x2018101B;
-
- CCM_ANALOG_PFD_480_SET = (1 << 31) | (1 << 23) | (1 << 15) | (1 << 7);
- CCM_ANALOG_PFD_480 = 0x13110D0C;
- }
-
-
-
-
-
-
-
-
-
-
-
- __attribute__((naked))
- void unused_interrupt_vector(void)
- {
- __asm( ".syntax unified\n"
- "MOVS R0, #4 \n"
- "MOV R1, LR \n"
- "TST R0, R1 \n"
- "BEQ _MSP \n"
- "MRS R0, PSP \n"
- "B HardFault_HandlerC \n"
- "_MSP: \n"
- "MRS R0, MSP \n"
- "B HardFault_HandlerC \n"
- ".syntax divided\n") ;
- }
-
- __attribute__((weak))
- void HardFault_HandlerC(unsigned int *hardfault_args) {
- volatile unsigned int stacked_r0 ;
- volatile unsigned int stacked_r1 ;
- volatile unsigned int stacked_r2 ;
- volatile unsigned int stacked_r3 ;
- volatile unsigned int stacked_r12 ;
- volatile unsigned int stacked_lr ;
- volatile unsigned int stacked_pc ;
- volatile unsigned int stacked_psr ;
- volatile unsigned int _CFSR ;
- volatile unsigned int _HFSR ;
- volatile unsigned int _DFSR ;
- volatile unsigned int _AFSR ;
- volatile unsigned int _BFAR ;
- volatile unsigned int _MMAR ;
- volatile unsigned int addr ;
- volatile unsigned int nn ;
-
- stacked_r0 = ((unsigned int)hardfault_args[0]) ;
- stacked_r1 = ((unsigned int)hardfault_args[1]) ;
- stacked_r2 = ((unsigned int)hardfault_args[2]) ;
- stacked_r3 = ((unsigned int)hardfault_args[3]) ;
- stacked_r12 = ((unsigned int)hardfault_args[4]) ;
- stacked_lr = ((unsigned int)hardfault_args[5]) ;
- stacked_pc = ((unsigned int)hardfault_args[6]) ;
- stacked_psr = ((unsigned int)hardfault_args[7]) ;
-
-
-
- _CFSR = (*((volatile unsigned int *)(0xE000ED28))) ;
-
- _HFSR = (*((volatile unsigned int *)(0xE000ED2C))) ;
-
- _DFSR = (*((volatile unsigned int *)(0xE000ED30))) ;
-
- _AFSR = (*((volatile unsigned int *)(0xE000ED3C))) ;
-
-
-
- _MMAR = (*((volatile unsigned int *)(0xE000ED34))) ;
-
- _BFAR = (*((volatile unsigned int *)(0xE000ED38))) ;
-
-
- asm volatile("mrs %0, ipsr\n" : "=r" (addr)::);
- printf("\nFault irq %d\n", addr & 0x1FF);
- printf(" stacked_r0 :: %x\n", stacked_r0);
- printf(" stacked_r1 :: %x\n", stacked_r1);
- printf(" stacked_r2 :: %x\n", stacked_r2);
- printf(" stacked_r3 :: %x\n", stacked_r3);
- printf(" stacked_r12 :: %x\n", stacked_r12);
- printf(" stacked_lr :: %x\n", stacked_lr);
- printf(" stacked_pc :: %x\n", stacked_pc);
- printf(" stacked_psr :: %x\n", stacked_psr);
- printf(" _CFSR :: %x\n", _CFSR);
-
- if(_CFSR > 0){
-
- if((_CFSR & 1) == 1){
- printf(" (IACCVIOL) Instruction Access Violation\n");
- } else if(((_CFSR & (0x02))>>1) == 1){
- printf(" (DACCVIOL) Data Access Violation\n");
- } else if(((_CFSR & (0x08))>>3) == 1){
- printf(" (MUNSTKERR) MemMange Fault on Unstacking\n");
- } else if(((_CFSR & (0x10))>>4) == 1){
- printf(" (MSTKERR) MemMange Fault on stacking\n");
- } else if(((_CFSR & (0x20))>>5) == 1){
- printf(" (MLSPERR) MemMange Fault on FP Lazy State\n");
- }
- if(((_CFSR & (0x80))>>7) == 1){
- printf(" (MMARVALID) MemMange Fault Address Valid\n");
- }
-
- if(((_CFSR & 0x100)>>8) == 1){
- printf(" (IBUSERR) Instruction Bus Error\n");
- } else if(((_CFSR & (0x200))>>9) == 1){
- printf(" (PRECISERR) Data bus error(address in BFAR)\n");
- } else if(((_CFSR & (0x400))>>10) == 1){
- printf(" (IMPRECISERR) Data bus error but address not related to instruction\n");
- } else if(((_CFSR & (0x800))>>11) == 1){
- printf(" (UNSTKERR) Bus Fault on unstacking for a return from exception \n");
- } else if(((_CFSR & (0x1000))>>12) == 1){
- printf(" (STKERR) Bus Fault on stacking for exception entry\n");
- } else if(((_CFSR & (0x2000))>>13) == 1){
- printf(" (LSPERR) Bus Fault on FP lazy state preservation\n");
- }
- if(((_CFSR & (0x8000))>>15) == 1){
- printf(" (BFARVALID) Bus Fault Address Valid\n");
- }
-
- if(((_CFSR & 0x10000)>>16) == 1){
- printf(" (UNDEFINSTR) Undefined instruction\n");
- } else if(((_CFSR & (0x20000))>>17) == 1){
- printf(" (INVSTATE) Instruction makes illegal use of EPSR)\n");
- } else if(((_CFSR & (0x40000))>>18) == 1){
- printf(" (INVPC) Usage fault: invalid EXC_RETURN\n");
- } else if(((_CFSR & (0x80000))>>19) == 1){
- printf(" (NOCP) No Coprocessor \n");
- } else if(((_CFSR & (0x1000000))>>24) == 1){
- printf(" (UNALIGNED) Unaligned access UsageFault\n");
- } else if(((_CFSR & (0x2000000))>>25) == 1){
- printf(" (DIVBYZERO) Divide by zero\n");
- }
- }
- printf(" _HFSR :: %x\n", _HFSR);
- if(_HFSR > 0){
-
- if(((_HFSR & (0x02))>>1) == 1){
- printf(" (VECTTBL) Bus Fault on Vec Table Read\n");
- } else if(((_HFSR & (0x40000000))>>30) == 1){
- printf(" (FORCED) Forced Hard Fault\n");
- } else if(((_HFSR & (0x80000000))>>31) == 31){
- printf(" (DEBUGEVT) Reserved for Debug\n");
- }
- }
- printf(" _DFSR :: %x\n", _DFSR);
- printf(" _AFSR :: %x\n", _AFSR);
- printf(" _BFAR :: %x\n", _BFAR);
- printf(" _MMAR :: %x\n", _MMAR);
-
- IOMUXC_SW_MUX_CTL_PAD_GPIO_B0_03 = 5;
- IOMUXC_SW_PAD_CTL_PAD_GPIO_B0_03 = IOMUXC_PAD_DSE(7);
- GPIO2_GDIR |= (1 << 3);
- GPIO2_DR_SET = (1 << 3);
- GPIO2_DR_CLEAR = (1 << 3);
-
- if ( F_CPU_ACTUAL >= 600000000 )
- set_arm_clock(300000000);
-
- while (1)
- {
- GPIO2_DR_SET = (1 << 3);
-
- for (nn = 0; nn < 2000000/2; nn++) ;
- GPIO2_DR_CLEAR = (1 << 3);
-
- for (nn = 0; nn < 18000000/2; nn++) ;
- }
- }
-
- __attribute__((weak))
- void userDebugDump(){
- volatile unsigned int nn;
- printf("\nuserDebugDump() in startup.c ___ \n");
-
- while (1)
- {
- GPIO2_DR_SET = (1 << 3);
-
- for (nn = 0; nn < 2000000; nn++) ;
- GPIO2_DR_CLEAR = (1 << 3);
-
- for (nn = 0; nn < 18000000; nn++) ;
- GPIO2_DR_SET = (1 << 3);
-
- for (nn = 0; nn < 20000000; nn++) ;
- GPIO2_DR_CLEAR = (1 << 3);
-
- for (nn = 0; nn < 10000000; nn++) ;
- }
- }
-
- __attribute__((weak))
- void PJRCunused_interrupt_vector(void)
- {
-
- #ifdef PRINT_DEBUG_STUFF
- uint32_t addr;
- asm volatile("mrs %0, ipsr\n" : "=r" (addr)::);
- printf("\nirq %d\n", addr & 0x1FF);
- asm("ldr %0, [sp, #52]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- asm("ldr %0, [sp, #48]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- asm("ldr %0, [sp, #44]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- asm("ldr %0, [sp, #40]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- asm("ldr %0, [sp, #36]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- asm("ldr %0, [sp, #33]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- asm("ldr %0, [sp, #34]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- asm("ldr %0, [sp, #28]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- asm("ldr %0, [sp, #24]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- asm("ldr %0, [sp, #20]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- asm("ldr %0, [sp, #16]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- asm("ldr %0, [sp, #12]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- asm("ldr %0, [sp, #8]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- asm("ldr %0, [sp, #4]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- asm("ldr %0, [sp, #0]" : "=r" (addr) ::);
- printf(" %x\n", addr);
- #endif
- #if 1
- if ( F_CPU_ACTUAL >= 600000000 )
- set_arm_clock(100000000);
- IOMUXC_SW_MUX_CTL_PAD_GPIO_B0_03 = 5;
- IOMUXC_SW_PAD_CTL_PAD_GPIO_B0_03 = IOMUXC_PAD_DSE(7);
- GPIO2_GDIR |= (1<<3);
- GPIO2_DR_SET = (1<<3);
- while (1) {
- volatile uint32_t n;
- GPIO2_DR_SET = (1<<3);
- for (n=0; n < 2000000/6; n++) ;
- GPIO2_DR_CLEAR = (1<<3);
- for (n=0; n < 1500000/6; n++) ;
- }
- #else
- if ( F_CPU_ACTUAL >= 600000000 )
- set_arm_clock(100000000);
- while (1) asm ("WFI");
- #endif
- }
-
- __attribute__((section(".startup"), optimize("no-tree-loop-distribute-patterns")))
- static void memory_copy(uint32_t *dest, const uint32_t *src, uint32_t *dest_end)
- {
- if (dest == src) return;
- while (dest < dest_end) {
- *dest++ = *src++;
- }
- }
-
- __attribute__((section(".startup"), optimize("no-tree-loop-distribute-patterns")))
- static void memory_clear(uint32_t *dest, uint32_t *dest_end)
- {
- while (dest < dest_end) {
- *dest++ = 0;
- }
- }
-
-
-
-
-
-
- #include <errno.h>
-
-
- extern unsigned long _heap_start;
- extern unsigned long _heap_end;
-
- char *__brkval = (char *)&_heap_start;
-
- void * _sbrk(int incr)
- {
- char *prev = __brkval;
- if (incr != 0) {
- if (prev + incr > (char *)&_heap_end) {
- errno = ENOMEM;
- return (void *)-1;
- }
- __brkval = prev + incr;
- }
- return prev;
- }
-
- __attribute__((weak))
- int _read(int file, char *ptr, int len)
- {
- return 0;
- }
-
- __attribute__((weak))
- int _close(int fd)
- {
- return -1;
- }
-
- #include <sys/stat.h>
-
- __attribute__((weak))
- int _fstat(int fd, struct stat *st)
- {
- st->st_mode = S_IFCHR;
- return 0;
- }
-
- __attribute__((weak))
- int _isatty(int fd)
- {
- return 1;
- }
-
- __attribute__((weak))
- int _lseek(int fd, long long offset, int whence)
- {
- return -1;
- }
-
- __attribute__((weak))
- void _exit(int status)
- {
- while (1) asm ("WFI");
- }
-
- __attribute__((weak))
- void __cxa_pure_virtual()
- {
- while (1) asm ("WFI");
- }
-
- __attribute__((weak))
- int __cxa_guard_acquire (char *g)
- {
- return !(*g);
- }
-
- __attribute__((weak))
- void __cxa_guard_release(char *g)
- {
- *g = 1;
- }
-
- __attribute__((weak))
- void abort(void)
- {
- while (1) asm ("WFI");
- }
|