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authorlaforge <laforge@6dc7ffe9-61d6-0310-9af1-9938baff3ed1>2006-09-12 17:35:30 +0000
committerlaforge <laforge@6dc7ffe9-61d6-0310-9af1-9938baff3ed1>2006-09-12 17:35:30 +0000
commitd256545b2fd62d78910efcc6273c3b70abd3aa13 (patch)
treea05e17ec752cfbcc0b79fdbfba81fb949545a112 /firmware/src/start
parent04e0441914eeb25e042189679b55c9577fc96d2a (diff)
move to new directory
git-svn-id: https://svn.openpcd.org:2342/trunk@191 6dc7ffe9-61d6-0310-9af1-9938baff3ed1
Diffstat (limited to 'firmware/src/start')
-rw-r--r--firmware/src/start/Cstartup.S386
-rw-r--r--firmware/src/start/Cstartup_SAM7.c89
2 files changed, 475 insertions, 0 deletions
diff --git a/firmware/src/start/Cstartup.S b/firmware/src/start/Cstartup.S
new file mode 100644
index 0000000..e91fd86
--- /dev/null
+++ b/firmware/src/start/Cstartup.S
@@ -0,0 +1,386 @@
+/*------------------------------------------------------------------------------
+//*- ATMEL Microcontroller Software Support - ROUSSET -
+//*------------------------------------------------------------------------------
+//* The software is delivered "AS IS" without warranty or condition of any
+//* kind, either express, implied or statutory. This includes without
+//* limitation any warranty or condition with respect to merchantability or
+//* fitness for any particular purpose, or against the infringements of
+//* intellectual property rights of others.
+//*-----------------------------------------------------------------------------
+//*- File source : Cstartup.s
+//*- Object : Generic CStartup for KEIL and GCC No Use REMAP
+//*- Compilation flag : None
+//*-
+//*- 1.0 18/Oct/04 JPP : Creation
+//*- 1.1 21/Feb/05 JPP : Set Interrupt
+//*- 1.1 01/Apr/05 JPP : save SPSR
+//*-----------------------------------------------------------------------------*/
+
+#define CONFIG_DFU_SWITCH
+
+//#define DEBUG_LL
+
+#ifdef DEBUG_LL
+/* Debugging macros for switching on/off LED1 (green) */
+#define PIOA_PER 0xFFFFF400
+#define PIOA_OER 0xFFFFF410
+#define PIOA_SODR 0xFFFFF430
+#define PIOA_CODR 0xFFFFF434
+#define LED1 25 /* this only works on OpenPICC, not Olimex */
+ .macro led1on
+ ldr r2, =PIOA_CODR
+ mov r1, #(1 << LED1)
+ str r1, [r2]
+ .endm
+ .macro led1off
+ ldr r2, =PIOA_SODR
+ mov r1, #(1 << LED1)
+ str r1, [r2]
+ .endm
+ .macro ledinit
+ ldr r2, =PIOA_PER
+ mov r1, #(1 << LED1)
+ str r1, [r2]
+ ldr r2, =PIOA_OER
+ str r1, [r2]
+ led1off
+ .endm
+#else
+ .macro ledinit
+ .endm
+ .macro led1on
+ .endm
+ .macro led1off
+ .endm
+#endif
+
+ .equ IRQ_Stack_Size, 0x00000400
+
+ .equ AIC_IVR, (256)
+ .equ AIC_FVR, (260)
+ .equ AIC_EOICR, (304)
+ .equ AIC_MCR_RCR, (0xf00)
+ .equ AT91C_BASE_AIC, (0xFFFFF000)
+ .equ AT91C_PMC_PCER, (0xFFFFFC10)
+ .equ AT91C_BASE_PIOA, (0xFFFFF400)
+ .equ AT91C_ID_PIOA, (2)
+ .equ PIOA_PDSR, (0x3c)
+ .equ PIO_BOOTLDR, (1 << 27)
+ #.equ PIO_BOOTLDR, (1 << 6)
+
+
+/* #include "AT91SAM7S64_inc.h" */
+
+/* Exception Vectors in RAM */
+
+ .text
+ .arm
+ .section .vectram, "ax"
+resetvecR: B resetvecR
+undefvecR: B undefvecR
+swivecR: B swivecR
+pabtvecR: B pabtvecR
+dabtvecR: B dabtvecR
+rsvdvecR: B rsvdvecR
+irqvecR: B IRQ_Handler_EntryR
+fiqvecR:
+
+FIQ_Handler_EntryR:
+
+/*- Switch in SVC/User Mode to allow User Stack access for C code */
+/* because the FIQ is not yet acknowledged*/
+
+/*- Save and r0 in FIQ_Register */
+ mov r9,r0
+ ldr r0 , [r8, #AIC_FVR]
+ msr CPSR_c,#I_BIT | F_BIT | ARM_MODE_SVC
+
+/*- Save scratch/used registers and LR in User Stack */
+ stmfd sp!, { r1-r3, r12, lr}
+
+/*- Branch to the routine pointed by the AIC_FVR */
+ mov r14, pc
+ bx r0
+
+/*- Restore scratch/used registers and LR from User Stack */
+ ldmia sp!, { r1-r3, r12, lr}
+
+/*- Leave Interrupts disabled and switch back in FIQ mode */
+ msr CPSR_c, #I_BIT | F_BIT | ARM_MODE_FIQ
+
+/*- Restore the R0 ARM_MODE_SVC register */
+ mov r0,r9
+
+/*- Restore the Program Counter using the LR_fiq directly in the PC */
+ subs pc,lr,#4
+
+ .global IRQ_Handler_EntryR
+ .func IRQ_Handler_EntryR
+
+IRQ_Handler_EntryR:
+
+/*- Manage Exception Entry */
+/*- Adjust and save LR_irq in IRQ stack */
+ sub lr, lr, #4
+ stmfd sp!, {lr}
+
+/*- Save SPSR need to be saved for nested interrupt */
+ mrs r14, SPSR
+ stmfd sp!, {r14}
+
+/*- Save and r0 in IRQ stack */
+ stmfd sp!, {r0}
+
+/*- Write in the IVR to support Protect Mode */
+/*- No effect in Normal Mode */
+/*- De-assert the NIRQ and clear the source in Protect Mode */
+ ldr r14, =AT91C_BASE_AIC
+ ldr r0 , [r14, #AIC_IVR]
+ str r14, [r14, #AIC_IVR]
+
+/*- Enable Interrupt and Switch in Supervisor Mode */
+ msr CPSR_c, #ARM_MODE_SVC
+
+/*- Save scratch/used registers and LR in User Stack */
+ stmfd sp!, { r1-r3, r12, r14}
+
+/*- Branch to the routine pointed by the AIC_IVR */
+ mov r14, pc
+ bx r0
+/*- Restore scratch/used registers and LR from User Stack*/
+ ldmia sp!, { r1-r3, r12, r14}
+
+/*- Disable Interrupt and switch back in IRQ mode */
+ msr CPSR_c, #I_BIT | ARM_MODE_IRQ
+
+/*- Mark the End of Interrupt on the AIC */
+ ldr r14, =AT91C_BASE_AIC
+ str r14, [r14, #AIC_EOICR]
+
+/*- Restore SPSR_irq and r0 from IRQ stack */
+ ldmia sp!, {r0}
+
+/*- Restore SPSR_irq and r0 from IRQ stack */
+ ldmia sp!, {r14}
+ msr SPSR_cxsf, r14
+
+/*- Restore adjusted LR_irq from IRQ stack directly in the PC */
+ ldmia sp!, {pc}^
+
+ .size IRQ_Handler_EntryR, . - IRQ_Handler_EntryR
+ .endfunc
+
+ .global remap
+ .func remap
+_remap:
+# led1on
+# Remap RAM to 0x00000000 for DFU
+ ldr r1, =AT91C_BASE_AIC
+ mov r2, #0x01
+ str r2, [r1, #AIC_MCR_RCR]
+
+ /* prepare c function call to main */
+ mov r0, #0 /* argc = 0 */
+ ldr lr,=exit
+ ldr r10,=main
+
+#ifdef CONFIG_DFU_SWITCH
+ /* check whether bootloader button is pressed */
+ ldr r1, =AT91C_PMC_PCER
+ mov r2, #(1 << AT91C_ID_PIOA)
+ str r2, [r1]
+
+ ldr r1, =AT91C_BASE_PIOA
+ ldr r2, [r1, #PIOA_PDSR]
+ tst r2, #PIO_BOOTLDR
+ ldrne r10,=dfu_main
+#endif
+
+ bx r10
+ .size remap, . - remap
+ .endfunc
+
+/* "exit" dummy added by mthomas to avoid sbrk write read etc. needed
+ by the newlib default "exit" */
+ .global exit
+ .func exit
+exit:
+ b .
+ .size exit, . - exit
+ .endfunc
+
+/*---------------------------------------------------------------
+//* ?EXEPTION_VECTOR
+//* This module is only linked if needed for closing files.
+//*---------------------------------------------------------------*/
+ .global AT91F_Default_FIQ_handler
+ .func AT91F_Default_FIQ_handler
+AT91F_Default_FIQ_handler:
+ b AT91F_Default_FIQ_handler
+ .size AT91F_Default_FIQ_handler, . - AT91F_Default_FIQ_handler
+ .endfunc
+
+ .global AT91F_Default_IRQ_handler
+ .func AT91F_Default_IRQ_handler
+AT91F_Default_IRQ_handler:
+ b AT91F_Default_IRQ_handler
+ .size AT91F_Default_IRQ_handler, . - AT91F_Default_IRQ_handler
+ .endfunc
+
+ .global AT91F_Spurious_handler
+ .func AT91F_Spurious_handler
+AT91F_Spurious_handler:
+ b AT91F_Spurious_handler
+ .size AT91F_Spurious_handler, . - AT91F_Spurious_handler
+ .endfunc
+
+
+
+#;------------------------------------------------------------------------------
+#;- Section Definition
+#;-----------------
+#;- Section
+#;- .internal_ram_top Top_Stack: used by the cstartup for vector initalisation
+#;- management defined by ld and affect from ldscript
+#;------------------------------------------------------------------------------
+ .section .internal_ram_top
+ .code 32
+ .align 0
+ .global Top_Stack
+Top_Stack:
+
+/*------------------------------------------------------------------------------
+*- Area Definition
+*------------------------------------------------------------------------------
+* .text is used instead of .section .text so it works with arm-aout too. */
+ .section .reset
+ .text
+ .global _startup
+ .func _startup
+_startup:
+reset:
+/*------------------------------------------------------------------------------
+//*- Exception vectors
+//*--------------------
+//*- These vectors can be read at address 0 or at RAM address
+//*- They ABSOLUTELY requires to be in relative addresssing mode in order to
+//*- guarantee a valid jump. For the moment, all are just looping.
+//*- If an exception occurs before remap, this would result in an infinite loop.
+//*- To ensure if a exeption occurs before start application to infinite loop.
+//*------------------------------------------------------------------------------*/
+
+ B InitReset /* 0x00 Reset handler */
+undefvec:
+ B undefvec /* 0x04 Undefined Instruction */
+swivec:
+ B swivec /* 0x08 Software Interrupt */
+pabtvec:
+ B pabtvec /* 0x0C Prefetch Abort */
+dabtvec:
+ B dabtvec /* 0x10 Data Abort */
+rsvdvec:
+ B rsvdvec /* 0x14 reserved */
+irqvec:
+ B irqvec /* 0x18 IRQ */
+fiqvec:
+ B fiqvec /* 0x1c FIQ */
+ .align 0
+.RAM_TOP:
+ .word Top_Stack
+
+InitReset:
+/*------------------------------------------------------------------------------
+/*- Low level Init (PMC, AIC, ? ....) by C function AT91F_LowLevelInit
+/*------------------------------------------------------------------------------*/
+ .extern AT91F_LowLevelInit
+/*- minumum C initialization */
+/*- call AT91F_LowLevelInit( void) */
+
+ ldr r13,.RAM_TOP /* temporary stack in internal RAM */
+/*--Call Low level init function in ABSOLUTE through the Interworking */
+ ldr r0,=AT91F_LowLevelInit
+ mov lr, pc
+ bx r0
+ ledinit
+/*------------------------------------------------------------------------------
+//*- Stack Sizes Definition
+//*------------------------
+//*- Interrupt Stack requires 2 words x 8 priority level x 4 bytes when using
+//*- the vectoring. This assume that the IRQ management.
+//*- The Interrupt Stack must be adjusted depending on the interrupt handlers.
+//*- Fast Interrupt not requires stack If in your application it required you must
+//*- be definehere.
+//*- The System stack size is not defined and is limited by the free internal
+//*- SRAM.
+//*------------------------------------------------------------------------------*/
+
+/*------------------------------------------------------------------------------
+//*- Top of Stack Definition
+//*-------------------------
+//*- Interrupt and Supervisor Stack are located at the top of internal memory in
+//*- order to speed the exception handling context saving and restoring.
+//*- ARM_MODE_SVC (Application, C) Stack is located at the top of the external memory.
+//*------------------------------------------------------------------------------*/
+
+ .EQU IRQ_STACK_SIZE, (3*8*4)
+ .EQU ARM_MODE_FIQ, 0x11
+ .EQU ARM_MODE_IRQ, 0x12
+ .EQU ARM_MODE_SVC, 0x13
+
+ .EQU I_BIT, 0x80
+ .EQU F_BIT, 0x40
+
+/*------------------------------------------------------------------------------
+//*- Setup the stack for each mode
+//*-------------------------------*/
+ mov r0,r13
+
+/*- Set up Fast Interrupt Mode and set FIQ Mode Stack*/
+ msr CPSR_c, #ARM_MODE_FIQ | I_BIT | F_BIT
+/*- Init the FIQ register*/
+ ldr r8, =AT91C_BASE_AIC
+
+/*- Set up Interrupt Mode and set IRQ Mode Stack*/
+ msr CPSR_c, #ARM_MODE_IRQ | I_BIT | F_BIT
+ mov r13, r0 /* Init stack IRQ */
+ sub r0, r0, #IRQ_Stack_Size
+/*- Set up Supervisor Mode and set Supervisor Mode Stack*/
+ msr CPSR_c, #ARM_MODE_SVC
+ mov r13, r0 /* Init stack Sup */
+
+/*- Relocate DFU .data section (Copy from ROM to RAM)*/
+ ldr r1, =_etext_dfu
+ ldr r2, =_data_dfu
+ ldr r3, =_edata_dfu
+LoopRelDFU: cmp r2, r3
+ ldrlo r0, [r1], #4
+ strlo r0, [r2], #4
+ blo LoopRelDFU
+
+# Relocate .data section (Copy from ROM to RAM)
+ LDR R1, =_etext
+ LDR R2, =_data
+ LDR R3, =_edata
+LoopRel: CMP R2, R3
+ LDRLO R0, [R1], #4
+ STRLO R0, [R2], #4
+ BLO LoopRel
+
+# Clear .bss section (Zero init)
+ MOV R0, #0
+ LDR R1, =__bss_start__
+ LDR R2, =__bss_end__
+LoopZI: CMP R1, R2
+ STRLO R0, [R1], #4
+ BLO LoopZI
+
+ led1on
+
+ ldr r0, =_remap
+ bx r0
+
+ .size _startup, . - _startup
+ .endfunc
+
+ .end
+
diff --git a/firmware/src/start/Cstartup_SAM7.c b/firmware/src/start/Cstartup_SAM7.c
new file mode 100644
index 0000000..66dbe20
--- /dev/null
+++ b/firmware/src/start/Cstartup_SAM7.c
@@ -0,0 +1,89 @@
+//*----------------------------------------------------------------------------
+//* ATMEL Microcontroller Software Support - ROUSSET -
+//*----------------------------------------------------------------------------
+//* The software is delivered "AS IS" without warranty or condition of any
+//* kind, either express, implied or statutory. This includes without
+//* limitation any warranty or condition with respect to merchantability or
+//* fitness for any particular purpose, or against the infringements of
+//* intellectual property rights of others.
+//*----------------------------------------------------------------------------
+//* File Name : Cstartup_SAM7.c
+//* Object : Low level initializations written in C for GCC Tools
+//* Creation : 12/Jun/04
+//* 1.2 28/Feb/05 JPP : LIB change AT91C_WDTC_WDDIS & PLL
+//* 1.3 21/Mar/05 JPP : Change PLL Wait time
+//*----------------------------------------------------------------------------
+
+// Include the board file description
+#include <board.h>
+
+// The following functions must be write in ARM mode this function called directly
+// by exception vector
+extern void AT91F_Spurious_handler (void);
+extern void AT91F_Default_IRQ_handler (void);
+extern void AT91F_Default_FIQ_handler (void);
+
+//*----------------------------------------------------------------------------
+//* \fn AT91F_LowLevelInit
+//* \brief This function performs very low level HW initialization
+//* this function can be use a Stack, depending the compilation
+//* optimization mode
+//*----------------------------------------------------------------------------
+void
+AT91F_LowLevelInit (void)
+{
+ int i;
+ AT91PS_PMC pPMC = AT91C_BASE_PMC;
+ //* Set Flash Waite sate
+ // Single Cycle Access at Up to 30 MHz, or 40
+ // if MCK = 47923200 I have 50 Cycle for 1 usecond ( flied MC_FMR->FMCN
+ AT91C_BASE_MC->MC_FMR = ((AT91C_MC_FMCN) & (48 << 16)) | AT91C_MC_FWS_1FWS;
+
+ //* Watchdog Disable
+ AT91C_BASE_WDTC->WDTC_WDMR = AT91C_WDTC_WDDIS;
+
+ //* Set MCK at 47 923 200
+ // 1 Enabling the Main Oscillator:
+ // SCK = 1/32768 = 30.51 uSecond
+ // Start up time = 8 * 6 / SCK = 56 * 30.51 = 1,46484375 ms
+ pPMC->PMC_MOR = ((AT91C_CKGR_OSCOUNT) & (0x06 << 8)) | AT91C_CKGR_MOSCEN;
+ // Wait the startup time
+ while (!(pPMC->PMC_SR & AT91C_PMC_MOSCS));
+ // 2 Checking the Main Oscillator Frequency (Optional)
+ // 3 Setting PLL and divider:
+ // - div by 24 Fin = 0,7680 =(18,432 / 24)
+ // - Mul 125: Fout = 96,0000 =(0,7680 *125)
+ // for 96 MHz the erroe is 0.16%
+ // Field out NOT USED = 0
+ // PLLCOUNT pll startup time estimate at : 0.844 ms
+ // PLLCOUNT 28 = 0.000844 /(1/32768)
+#if 0
+ pPMC->PMC_PLLR = ((AT91C_CKGR_DIV & 0x05) |
+ (AT91C_CKGR_PLLCOUNT & (28 << 8)) |
+ (AT91C_CKGR_MUL & (25 << 16)));
+#else
+ pPMC->PMC_PLLR = ((AT91C_CKGR_DIV & 24) |
+ (AT91C_CKGR_PLLCOUNT & (28 << 8)) |
+ (AT91C_CKGR_MUL & (125 << 16)));
+#endif
+
+ // Wait the startup time
+ while (!(pPMC->PMC_SR & AT91C_PMC_LOCK));
+ while (!(pPMC->PMC_SR & AT91C_PMC_MCKRDY));
+ // 4. Selection of Master Clock and Processor Clock
+ // select the PLL clock divided by 2
+ pPMC->PMC_MCKR = AT91C_PMC_PRES_CLK_2;
+ while (!(pPMC->PMC_SR & AT91C_PMC_MCKRDY));
+
+ pPMC->PMC_MCKR |= AT91C_PMC_CSS_PLL_CLK;
+ while (!(pPMC->PMC_SR & AT91C_PMC_MCKRDY));
+
+ // Set up the default interrupts handler vectors
+ AT91C_BASE_AIC->AIC_SVR[0] = (int) AT91F_Default_FIQ_handler;
+ for (i = 1; i < 31; i++)
+ {
+ AT91C_BASE_AIC->AIC_SVR[i] = (int) AT91F_Default_IRQ_handler;
+ }
+ AT91C_BASE_AIC->AIC_SPU = (int) AT91F_Spurious_handler;
+
+}