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authorlaforge <laforge@6dc7ffe9-61d6-0310-9af1-9938baff3ed1>2006-09-13 16:02:52 +0000
committerlaforge <laforge@6dc7ffe9-61d6-0310-9af1-9938baff3ed1>2006-09-13 16:02:52 +0000
commita97e460bea62375c9c870fb3e3650fbff20c5ad1 (patch)
tree64c0de524a604015a367aa979c777325765fbfa3 /firmware
parent8bd3d51b23e328e91c209dbebe8cfe002b0b0042 (diff)
Completely separate DFU from application program, we now have a real bootloader.
DFU occupies 0x00100000 - 0x00100fff in flash, application starts at 0x00101000. DFU also occupies the first couple of bytes in SRAM, application starts at 0x00200024. In order to produce a samba-flashable image, first build dfu.bin by typing 'make -f Makefule.dfu', succeeded by 'make TARGET=... DEBUG=... BOARD=...' and then concatenating the two files together, e.g. cat dfu.bin main_reqa.bin > flash.bin. Actual flashing via DFU is still not operational, but will be implemented next git-svn-id: https://svn.openpcd.org:2342/trunk@194 6dc7ffe9-61d6-0310-9af1-9938baff3ed1
Diffstat (limited to 'firmware')
-rw-r--r--firmware/Makefile8
-rw-r--r--firmware/Makefile.dfu537
-rw-r--r--firmware/TODO8
-rw-r--r--firmware/doc/dfu.txt42
-rw-r--r--firmware/link/AT91SAM7S256-ROM-sam7dfu-app.ld94
-rw-r--r--firmware/link/AT91SAM7S256-ROM-sam7dfu-dfu.ld109
-rw-r--r--firmware/src/dfu/dfu.c (renamed from firmware/src/os/dfu.c)12
-rw-r--r--firmware/src/dfu/dfu.h (renamed from firmware/src/os/dfu.h)11
-rw-r--r--firmware/src/os/main.c2
-rw-r--r--firmware/src/os/pcd_enumerate.c5
-rw-r--r--firmware/src/os/pcd_enumerate.h2
-rw-r--r--firmware/src/start/Cstartup.S348
-rw-r--r--firmware/src/start/Cstartup_app.S81
13 files changed, 1056 insertions, 203 deletions
diff --git a/firmware/Makefile b/firmware/Makefile
index 3d8c42d..a916ae6 100644
--- a/firmware/Makefile
+++ b/firmware/Makefile
@@ -53,7 +53,7 @@ RUN_MODE=RUN_FROM_ROM
#RUN_MODE=RUN_FROM_RAM
## We want to produce a full-flash image, but including DFU
-IMGTYPE=-dfu-fullimage
+IMGTYPE=-sam7dfu-app
# with / at end
PATH_TO_LINKSCRIPTS=link/
@@ -86,8 +86,8 @@ endif
SRCARM += src/os/pcd_enumerate.c src/os/fifo.c src/os/dbgu.c \
src/os/led.c src/os/req_ctx.c src/os/trigger.c \
src/os/main.c src/os/syscalls.c src/os/usb_handler.c \
- src/os/usb_benchmark.c src/os/dfu.c src/start/Cstartup_SAM7.c \
- src/os/tc_cdiv.c src/os/pit.c src/os/pwm.c src/os/pio_irq.c
+ src/os/usb_benchmark.c src/os/tc_cdiv.c src/os/pit.c \
+ src/os/pwm.c src/os/pio_irq.c
ifeq ($(BOARD), PCD)
# PCD support code
@@ -134,7 +134,7 @@ ASRCLIB += lib/lib1funcs.S lib/div64.S
endif
# List Assembler source files here which must be assembled in ARM-Mode..
-ASRCARM = src/start/Cstartup.S $(ASRCLIB)
+ASRCARM = src/start/Cstartup_app.S $(ASRCLIB)
## Output format. (can be ihex or binary)
## (binary i.e. for openocd and SAM-BA, hex i.e. for lpc21isp and uVision)
diff --git a/firmware/Makefile.dfu b/firmware/Makefile.dfu
new file mode 100644
index 0000000..5fcb4d3
--- /dev/null
+++ b/firmware/Makefile.dfu
@@ -0,0 +1,537 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# WinARM makefile for the FreeRTOS-demo on LPC2138
+# based in information from the FreeRTOS LPC2106 example
+#
+# by Martin Thomas, Kaiserslautern, Germany
+# <eversmith@heizung-thomas.de>
+#
+# based on the WinAVR makefile written by Eric B. Weddington, Jörg Wunsch, et al.
+# Released to the Public Domain
+# Please read the make user manual!
+#
+#
+# On command line:
+#
+# make all = Make software.
+#
+# make clean = Clean out built project files.
+#
+# make program = Download the hex file to the device
+#
+# (TODO: make filename.s = Just compile filename.c into the assembler code only)
+#
+# To rebuild project do "make clean" then "make all".
+#
+# Changelog:
+# - 17. Feb. 2005 - added thumb-interwork support (mth)
+# - 28. Apr. 2005 - added C++ support (mth)
+# - 29. Arp. 2005 - changed handling for lst-Filename (mth)
+# - 1. Nov. 2005 - exception-vector placement options (mth)
+# - 15. Nov. 2005 - added library-search-path (EXTRA_LIB...) (mth)
+# - 2. Dec. 2005 - fixed ihex and binary file extensions (mth)
+# - 22. Feb. 2006 - added AT91LIBNOWARN setting (mth)
+# - 19. Apr. 2006 - option FLASH_TOOL (default lpc21isp); variable IMGEXT (mth)
+# - 19. Mai. 2006 - USE_THUMB_MODE switch, ROM_RUN->RUN_FROM_ROM RAM_RUN->RUN_FROM_RAM
+
+
+FLASH_TOOL = AT91FLASH
+#FLASH_TOOL = UVISION
+#FLASH_TOOL = OPENOCD
+
+# MCU name and submodel
+MCU = arm7tdmi
+#SUBMDL = AT91SAM7S64
+SUBMDL = AT91SAM7S256
+
+USE_THUMB_MODE = NO
+#USE_THUMB_MODE = YES
+
+## Create ROM-Image (final)
+RUN_MODE=RUN_FROM_ROM
+## Create RAM-Image (debugging) - not used in this example
+#RUN_MODE=RUN_FROM_RAM
+
+## We want to produce a full-flash image, but including DFU
+IMGTYPE=-sam7dfu-dfu
+
+# with / at end
+PATH_TO_LINKSCRIPTS=link/
+
+#### not used in this example:
+## Exception-Vector placement only supported for "ROM_RUN"
+## (placement settings ignored when using "RAM_RUN")
+## - Exception vectors in ROM:
+#VECTOR_LOCATION=VECTORS_IN_ROM
+## - Exception vectors in RAM:
+#VECTOR_LOCATION=VECTORS_IN_RAM
+
+# Target file name (without extension).
+TARGET:=dfu
+
+# List C source files here. (C dependencies are automatically generated.)
+# use file-extension c for "c-only"-files
+SRC =
+
+# List C source files here which must be compiled in ARM-Mode.
+# use file-extension c for "c-only"-files
+
+SRCARM = src/start/Cstartup_SAM7.c src/dfu/dfu.c
+
+# List C++ source files here.
+# use file-extension cpp for C++-files (use extension .cpp)
+CPPSRC =
+
+# List C++ source files here which must be compiled in ARM-Mode.
+# use file-extension cpp for C++-files (use extension .cpp)
+#CPPSRCARM = $(TARGET).cpp
+CPPSRCARM =
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC =
+
+# List Assembler source files here which must be assembled in ARM-Mode..
+ASRCARM = src/start/Cstartup.S
+
+## Output format. (can be ihex or binary)
+## (binary i.e. for openocd and SAM-BA, hex i.e. for lpc21isp and uVision)
+#FORMAT = ihex
+FORMAT = binary
+
+# Optimization level, can be [0, 1, 2, 3, s].
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+OPT = s
+#OPT = 0
+
+# Debugging format.
+# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
+# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
+#DEBUGF = stabs
+DEBUGF = dwarf-2
+
+# List any extra directories to look for include files here.
+# Each directory must be seperated by a space.
+#### FreeRTOS
+EXTRAINCDIRS =
+
+# List any extra directories to look for library files here.
+# Each directory must be seperated by a space.
+#EXTRA_LIBDIRS = ../arm7_efsl_0_2_4
+EXTRA_LIBDIRS =
+
+## Using the Atmel AT91_lib produces warning with
+## the default warning-levels.
+## yes - disable these warnings; no - keep default settings
+AT91LIBNOWARN = yes
+#AT91LIBNOWARN = no
+
+# Compiler flag to set the C Standard level.
+# c89 - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99 - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+# Place -D or -U options for C here
+CDEFS = -D$(RUN_MODE) -D__MS_types__ -D__LIBRFID__
+
+ifdef DEBUG
+CDEFS += -DDEBUG
+endif
+
+ifdef OLIMEX
+CDEFS += -DOLIMEX
+endif
+
+ifeq ($(BOARD),PICC)
+CDEFS += -DPICC
+endif
+
+ifeq ($(BOARD),PCD)
+CDEFS += -DPCD
+endif
+
+# Place -I options here
+CINCS = -Iinclude -Isrc
+
+# Place -D or -U options for ASM here
+ADEFS = -D$(RUN_MODE)
+
+ifdef VECTOR_LOCATION
+CDEFS += -D$(VECTOR_LOCATION)
+ADEFS += -D$(VECTOR_LOCATION)
+endif
+
+CDEFS += -D__$(SUBMDL)__
+ADEFS += -D__$(SUBMDL)__
+
+
+# Compiler flags.
+# -g*: generate debugging information
+# -O*: optimization level
+# -f...: tuning, see GCC manual and avr-libc documentation
+# -Wall...: warning level
+# -Wa,...: tell GCC to pass this to the assembler.
+# -adhlns...: create assembler listing
+#
+# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
+CFLAGS = -g$(DEBUGF) -DBOARD=PCD -DPCD
+CFLAGS += $(CDEFS) $(CINCS)
+CFLAGS += -O$(OPT)
+CFLAGS += -Wall -Wextra -Wcast-align -Wimplicit -Wunused
+CFLAGS += -Wpointer-arith -Wswitch
+CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow
+CFLAGS += -Wbad-function-cast -Wsign-compare -Waggregate-return
+CFLAGS += -Wa,-adhlns=$(subst $(suffix $<),.lst,$<)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+#CFLAGS += -ffunction-sections -fdata-sections
+
+# flags only for C
+CONLYFLAGS += -Wnested-externs
+CONLYFLAGS += $(CSTANDARD)
+
+ifneq ($(AT91LIBNOWARN),yes)
+#AT91-lib warnings with:
+CFLAGS += -Wcast-qual
+CONLYFLAGS += -Wmissing-prototypes
+CONLYFLAGS += -Wstrict-prototypes
+CONLYFLAGS += -Wmissing-declarations
+endif
+
+# flags only for C++ (arm-elf-g++)
+# CPPFLAGS = -fno-rtti -fno-exceptions
+CPPFLAGS =
+
+# Assembler flags.
+# -Wa,...: tell GCC to pass this to the assembler.
+# -ahlns: create listing
+# -g$(DEBUGF): have the assembler create line number information
+ASFLAGS = $(ADEFS) -Wa,-adhlns=$(<:.S=.lst),--g$(DEBUGF) -Iinclude/ -D__ASSEMBLY__
+
+
+#Additional libraries.
+
+# Extra libraries
+# Each library-name must be seperated by a space.
+# To add libxyz.a, libabc.a and libefsl.a:
+# EXTRA_LIBS = xyz abc efsl
+#EXTRA_LIBS = efsl
+EXTRA_LIBS =
+
+#Support for newlibc-lpc (file: libnewlibc-lpc.a)
+#NEWLIBLPC = -lnewlib-lpc
+
+MATH_LIB = #-lm
+
+# CPLUSPLUS_LIB = -lstdc++
+
+
+# Linker flags.
+# -Wl,...: tell GCC to pass this to linker.
+# -Map: create map file
+# --cref: add cross reference to map file
+LDFLAGS = -nostartfiles -Wl,-Map=$(TARGET).map,--cref
+LDFLAGS += $(NEWLIBLPC) $(MATH_LIB)
+LDFLAGS += -lc -lgcc
+LDFLAGS += $(CPLUSPLUS_LIB)
+LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
+LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
+#LDFLAGS += --gc-sections
+
+# Set Linker-Script Depending On Selected Memory and Controller
+ifeq ($(RUN_MODE),RUN_FROM_RAM)
+LDFLAGS +=-T$(PATH_TO_LINKSCRIPTS)$(SUBMDL)-RAM.ld
+else
+LDFLAGS +=-T$(PATH_TO_LINKSCRIPTS)$(SUBMDL)-ROM$(IMGTYPE).ld
+endif
+
+
+# ---------------------------------------------------------------------------
+# Flash-Programming support using lpc21isp by Martin Maurer
+# only for Philips LPC and Analog ADuC ARMs
+#
+# Settings and variables:
+#LPC21ISP = lpc21isp
+LPC21ISP = lpc21isp
+LPC21ISP_PORT = com1
+LPC21ISP_BAUD = 38400
+LPC21ISP_XTAL = 12000
+LPC21ISP_FLASHFILE = $(TARGET).hex
+# verbose output:
+#LPC21ISP_DEBUG = -debug
+# enter bootloader via RS232 DTR/RTS (only if hardware supports this
+# feature - see Philips AppNote):
+LPC21ISP_CONTROL = -control
+# ---------------------------------------------------------------------------
+
+
+# Define directories, if needed.
+## DIRARM = c:/WinARM/
+## DIRARMBIN = $(DIRAVR)/bin/
+## DIRAVRUTILS = $(DIRAVR)/utils/bin/
+
+# Define programs and commands.
+SHELL = sh
+CC = arm-elf-gcc
+CPP = arm-elf-g++
+OBJCOPY = arm-elf-objcopy
+OBJDUMP = arm-elf-objdump
+SIZE = arm-elf-size
+NM = arm-elf-nm
+REMOVE = rm -f
+COPY = cp
+
+# Define Messages
+# English
+MSG_ERRORS_NONE = Errors: none
+MSG_BEGIN = "-------- begin (mode: $(RUN_MODE)) --------"
+MSG_END = -------- end --------
+MSG_SIZE_BEFORE = Size before:
+MSG_SIZE_AFTER = Size after:
+MSG_FLASH = Creating load file for Flash:
+MSG_EXTENDED_LISTING = Creating Extended Listing:
+MSG_SYMBOL_TABLE = Creating Symbol Table:
+MSG_LINKING = Linking:
+MSG_COMPILING = Compiling C:
+MSG_COMPILING_ARM = "Compiling C (ARM-only):"
+MSG_COMPILINGCPP = Compiling C++:
+MSG_COMPILINGCPP_ARM = "Compiling C++ (ARM-only):"
+MSG_ASSEMBLING = Assembling:
+MSG_ASSEMBLING_ARM = "Assembling (ARM-only):"
+MSG_CLEANING = Cleaning project:
+MSG_FORMATERROR = Can not handle output-format
+MSG_LPC21_RESETREMINDER = You may have to bring the target in bootloader-mode now.
+
+# Define all object files.
+COBJ = $(SRC:.c=.o)
+AOBJ = $(ASRC:.S=.o)
+COBJARM = $(SRCARM:.c=.o)
+AOBJARM = $(ASRCARM:.S=.o)
+CPPOBJ = $(CPPSRC:.cpp=.o)
+CPPOBJARM = $(CPPSRCARM:.cpp=.o)
+
+# Define all listing files.
+LST = $(ASRC:.S=.lst) $(ASRCARM:.S=.lst) $(SRC:.c=.lst) $(SRCARM:.c=.lst)
+LST += $(CPPSRC:.cpp=.lst) $(CPPSRCARM:.cpp=.lst)
+
+# Compiler flags to generate dependency files.
+### GENDEPFLAGS = -Wp,-M,-MP,-MT,$(*F).o,-MF,.dep/$(@F).d
+GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
+
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mcpu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
+ALL_ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
+
+
+# Default target.
+all: begin gccversion sizebefore build sizeafter finished end
+
+ifeq ($(FORMAT),ihex)
+build: elf hex lss sym
+hex: $(TARGET).hex
+IMGEXT=hex
+else
+ifeq ($(FORMAT),binary)
+build: elf bin lss sym
+bin: $(TARGET).bin
+IMGEXT=bin
+else
+$(error "$(MSG_FORMATERROR) $(FORMAT)")
+endif
+endif
+
+elf: $(TARGET).elf
+lss: $(TARGET).lss
+sym: $(TARGET).sym
+
+# Eye candy.
+begin:
+ @echo
+ @echo $(MSG_BEGIN)
+
+finished:
+ @echo $(MSG_ERRORS_NONE)
+
+end:
+ @echo $(MSG_END)
+ @echo
+
+
+# Display size of file.
+HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
+ELFSIZE = $(SIZE) -A $(TARGET).elf
+sizebefore:
+ @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
+
+sizeafter:
+ @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
+
+
+# Display compiler version information.
+gccversion :
+ @$(CC) --version
+
+
+# Program the device.
+# Program the device by using our relais card robot over USB
+ifeq ($(FLASH_TOOL),AT91FLASH)
+program: $(TARGET).$(IMGEXT)
+ ls -l $(TARGET).$(IMGEXT)
+ at91flash $(TARGET).$(IMGEXT)
+else
+ifeq ($(FLASH_TOOL),UVISION)
+# Program the device with Keil's uVision (needs configured uVision-Workspace).
+program: $(TARGET).$(IMGEXT)
+ @echo
+ @echo "Programming with uVision"
+ C:\Keil\uv3\Uv3.exe -f uvisionflash.Uv2 -ouvisionflash.txt
+else
+ifeq ($(FLASH_TOOL),OPENOCD)
+# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
+program: $(TARGET).$(IMGEXT)
+ @echo
+ @echo "Programming with OPENOCD"
+ C:\WinARM\utils\openocd\openocd_svn59\openocd.exe -f oocd_sam7_flash.cfg
+else
+# Program the device. - lpc21isp will not work for SAM7
+program: $(TARGET).$(IMGEXT)
+ @echo
+ @echo $(MSG_LPC21_RESETREMINDER)
+ $(LPC21ISP) $(LPC21ISP_OPTIONS) $(LPC21ISP_DEBUG) $(LPC21ISP_FLASHFILE) $(LPC21ISP_PORT) $(LPC21ISP_BAUD) $(LPC21ISP_XTAL)
+endif
+endif
+endif
+
+
+# Create final output file (.hex) from ELF output file.
+%.hex: %.elf
+ @echo
+ @echo $(MSG_FLASH) $@
+ $(OBJCOPY) -O $(FORMAT) $< $@
+
+# Create final output file (.bin) from ELF output file.
+%.bin: %.elf
+ @echo
+ @echo $(MSG_FLASH) $@
+ $(OBJCOPY) -O $(FORMAT) $< $@
+
+
+# Create extended listing file from ELF output file.
+# testing: option -C
+%.lss: %.elf
+ @echo
+ @echo $(MSG_EXTENDED_LISTING) $@
+ $(OBJDUMP) -h -S -C $< > $@
+
+
+# Create a symbol table from ELF output file.
+%.sym: %.elf
+ @echo
+ @echo $(MSG_SYMBOL_TABLE) $@
+ $(NM) -n $< > $@
+
+
+# Link: create ELF output file from object files.
+.SECONDARY : $(TARGET).elf
+.PRECIOUS : $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ) $(CPPOBJ) $(CPPOBJARM)
+%.elf: $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ) $(CPPOBJ) $(CPPOBJARM)
+ @echo
+ @echo $(MSG_LINKING) $@
+ $(CC) $(ALL_CFLAGS) $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ) $(CPPOBJ) $(CPPOBJARM) --output $@ $(LDFLAGS)
+
+# Compile: create object files from C source files. ARM/Thumb
+$(COBJ) : %.o : %.c
+ @echo
+ @echo $(MSG_COMPILING) $<
+ $(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
+
+# Compile: create object files from C source files. ARM-only
+$(COBJARM) : %.o : %.c
+ @echo
+ @echo $(MSG_COMPILING_ARM) $<
+ $(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
+
+# Compile: create object files from C++ source files. ARM/Thumb
+$(CPPOBJ) : %.o : %.cpp
+ @echo
+ @echo $(MSG_COMPILINGCPP) $<
+ $(CPP) -c $(ALL_CFLAGS) $(CPPFLAGS) $< -o $@
+
+# Compile: create object files from C++ source files. ARM-only
+$(CPPOBJARM) : %.o : %.cpp
+ @echo
+ @echo $(MSG_COMPILINGCPP_ARM) $<
+ $(CPP) -c $(ALL_CFLAGS) $(CPPFLAGS) $< -o $@
+
+
+# Compile: create assembler files from C source files. ARM/Thumb
+## does not work - TODO - hints welcome
+##$(COBJ) : %.s : %.c
+## $(CC) $(THUMB) -S $(ALL_CFLAGS) $< -o $@
+
+
+# Assemble: create object files from assembler source files. ARM/Thumb
+$(AOBJ) : %.o : %.S
+ @echo
+ @echo $(MSG_ASSEMBLING) $<
+ $(CC) -c $(ALL_ASFLAGS) $< -o $@
+
+
+# Assemble: create object files from assembler source files. ARM-only
+$(AOBJARM) : %.o : %.S
+ @echo
+ @echo $(MSG_ASSEMBLING_ARM) $<
+ $(CC) -c $(ALL_ASFLAGS) $< -o $@
+
+
+# Target: clean project.
+clean: begin clean_list finished end
+
+
+clean_list :
+ @echo
+ @echo $(MSG_CLEANING)
+ $(REMOVE) $(TARGET).hex
+ $(REMOVE) $(TARGET).bin
+ $(REMOVE) $(TARGET).obj
+ $(REMOVE) $(TARGET).elf
+ $(REMOVE) $(TARGET).map
+ $(REMOVE) $(TARGET).obj
+ $(REMOVE) $(TARGET).a90
+ $(REMOVE) $(TARGET).sym
+ $(REMOVE) $(TARGET).lnk
+ $(REMOVE) $(TARGET).lss
+ $(REMOVE) $(COBJ)
+ $(REMOVE) $(CPPOBJ)
+ $(REMOVE) $(AOBJ)
+ $(REMOVE) $(COBJARM)
+ $(REMOVE) $(CPPOBJARM)
+ $(REMOVE) $(AOBJARM)
+ $(REMOVE) $(LST)
+ $(REMOVE) $(SRC:.c=.s)
+ $(REMOVE) $(SRC:.c=.d)
+ $(REMOVE) $(SRCARM:.c=.s)
+ $(REMOVE) $(SRCARM:.c=.d)
+ $(REMOVE) $(CPPSRC:.cpp=.s)
+ $(REMOVE) $(CPPSRC:.cpp=.d)
+ $(REMOVE) $(CPPSRCARM:.cpp=.s)
+ $(REMOVE) $(CPPSRCARM:.cpp=.d)
+ $(REMOVE) .dep/*
+
+
+# Include the dependency files.
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+
+
+# Listing of phony targets.
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
+build elf hex bin lss sym clean clean_list program
+
diff --git a/firmware/TODO b/firmware/TODO
index eea1974..c63fb89 100644
--- a/firmware/TODO
+++ b/firmware/TODO
@@ -12,16 +12,12 @@ USB:
- Add DFU descriptor to host
DFU:
-- implement DFU protocol for memory and flash
+- implement DFU protocol for bootloader flash partition
- add capability to copy and execute DFU from RAM
+- Get rid of lots of constant values and replace them by proper defines
Generic:
-
-Later, for PICCsim:
-- Implement SSC code for sampling subcarrier
-- Implement SSC code for generating subcarrier
-- Implement Manchester coding
-
Way Later, for librfid:
- Implement parts (or all of) 14443 in firmware as alternative configuration
diff --git a/firmware/doc/dfu.txt b/firmware/doc/dfu.txt
index 9b40c3c..78fe5a6 100644
--- a/firmware/doc/dfu.txt
+++ b/firmware/doc/dfu.txt
@@ -86,4 +86,46 @@ dfu_api x x flash (const anyway)
dfu_state x x RAM
+preconditions:
+ - dfu code assumes to be loaded to address zero to make it work from both ram and rom
+
+startup:
+ - exception vectors (in flash)
+ - call lowlevel_init
+ - setup user/supervisor/FIQ/IRQ stack
+ - relocate dfu_state
+ - if DFU switch is pressed
+ - jump to dfu_main in flash
+ - relocate all of DFU .text/.data into ram (including exception vectors)
+ - initialize DFU .bss
+ - remap RAM to address zero
+
+ - if DFU switch is not pressed jump to entry address of app
+ - Cstartup_app.S
+ - relocate application .data
+ - initialize application .bss
+ - jump to appliction main
+ - application uses dfu_api in flash, pointing to in-flash data
+ - application calls dfu_switch()
+ - disable all interupts but USB
+ - relocate all of DFU .text/.data into ram (including exception vectors)
+ - remap RAM to address zero
+ - check whether app has already remapped RAM before !?!
+
+memory map:
+
+load_addr run_Addr
+0x00100000 0x00000000 exception vectors (DFU Cstartup)
+ Cstartup_SAM7
+
+ 0x00200000
+
+
+DFU constants:
+_etext:
+_data: 0x200000
+_edata:
+
+APP contants:
+_data: _edata_dfu
diff --git a/firmware/link/AT91SAM7S256-ROM-sam7dfu-app.ld b/firmware/link/AT91SAM7S256-ROM-sam7dfu-app.ld
new file mode 100644
index 0000000..32bd787
--- /dev/null
+++ b/firmware/link/AT91SAM7S256-ROM-sam7dfu-app.ld
@@ -0,0 +1,94 @@
+/* Memory Definitions */
+
+MEMORY
+{
+ FLASH (rx) : ORIGIN = 0x00101000, LENGTH = (0x00040000 - 0x1000)
+ DATA (rw) : ORIGIN = 0x00200024, LENGTH = (0x00010000 - 0x24)
+ STACK (rw) : ORIGIN = 0x00210000, LENGTH = 0x00000000
+}
+
+
+/* Section Definitions */
+
+SECTIONS
+{
+ . = 0x00000000;
+ /* first section is .text which is used for code */
+ .text 0x00101000: AT ( 0x00000000 ) {
+ src/start/Cstartup_app.o (.text)
+ * (.text)
+ * (.rodata*)
+ . = ALIGN(4);
+ } >FLASH
+
+ _etext = . ;
+ PROVIDE (etext = .);
+
+ /* 0x00200000 ... */
+ .data 0x00200024: AT ( ADDR(.text) + SIZEOF(.text) - ADDR(.text) ) {
+ _data = . ;
+ * (.data)
+ . = ALIGN(4);
+ } >DATA
+
+ _edata = . ;
+ PROVIDE (edata = .);
+
+ /* .bss section which is used for uninitialized data */
+ .bss : {
+ __bss_start = . ;
+ __bss_start__ = . ;
+ *(.bss)
+ *(COMMON)
+ } >DATA
+
+ . = ALIGN(4);
+ __bss_end__ = . ;
+ __bss_end__ = . ;
+
+ PROVIDE (main = .);
+
+ _end = . ;
+
+ . = ALIGN(4);
+ .int_data : {
+ *(.internal_ram_top)
+ } >STACK
+
+ PROVIDE (end = .);
+
+ /* Stabs debugging sections. */
+ .stab 0 : { *(.stab) }
+ .stabstr 0 : { *(.stabstr) }
+ .stab.excl 0 : { *(.stab.excl) }
+ .stab.exclstr 0 : { *(.stab.exclstr) }
+ .stab.index 0 : { *(.stab.index) }
+ .stab.indexstr 0 : { *(.stab.indexstr) }
+ .comment 0 : { *(.comment) }
+ /* DWARF debug sections.
+ Symbols in the DWARF debugging sections are relative to the beginning
+ of the section so we begin them at 0. */
+ /* DWARF 1 */
+ .debug 0 : { *(.debug) }
+ .line 0 : { *(.line) }
+ /* GNU DWARF 1 extensions */
+ .debug_srcinfo 0 : { *(.debug_srcinfo) }
+ .debug_sfnames 0 : { *(.debug_sfnames) }
+ /* DWARF 1.1 and DWARF 2 */
+ .debug_aranges 0 : { *(.debug_aranges) }
+ .debug_pubnames 0 : { *(.debug_pubnames) }
+ /* DWARF 2 */
+ .debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
+ .debug_abbrev 0 : { *(.debug_abbrev) }
+ .debug_line 0 : { *(.debug_line) }
+ .debug_frame 0 : { *(.debug_frame) }
+ .debug_str 0 : { *(.debug_str) }
+ .debug_loc 0 : { *(.debug_loc) }
+ .debug_macinfo 0 : { *(.debug_macinfo) }
+ /* SGI/MIPS DWARF 2 extensions */
+ .debug_weaknames 0 : { *(.debug_weaknames) }
+ .debug_funcnames 0 : { *(.debug_funcnames) }
+ .debug_typenames 0 : { *(.debug_typenames) }
+ .debug_varnames 0 : { *(.debug_varnames) }
+
+}
diff --git a/firmware/link/AT91SAM7S256-ROM-sam7dfu-dfu.ld b/firmware/link/AT91SAM7S256-ROM-sam7dfu-dfu.ld
new file mode 100644
index 0000000..03cd6e0
--- /dev/null
+++ b/firmware/link/AT91SAM7S256-ROM-sam7dfu-dfu.ld
@@ -0,0 +1,109 @@
+/* Memory Definitions */
+
+MEMORY
+{
+ FLASH (rx) : ORIGIN = 0x00000000, LENGTH = 0x00040000
+ DATA (rw) : ORIGIN = 0x00200000, LENGTH = 0x00010000
+ STACK (rw) : ORIGIN = 0x00210000, LENGTH = 0x00000000
+}
+
+
+/* Section Definitions */
+
+SECTIONS
+{
+ . = 0x00000000;
+ /* first section is .text which is used for code */
+ .text 0x00000000: AT ( 0x00000000 ) {
+ * (.reset)
+ * (.text)
+ * (.rodata)
+ . = ALIGN(4);
+ } >FLASH
+
+ _etext = . ;
+ PROVIDE (etext = .);
+
+ .data.shared (0x00200020): AT (LOADADDR(.text) + SIZEOF(.text)) {
+ * (.data.shared)
+ . = ALIGN(4);
+ } >DATA
+
+ /* 0x00200000 ... */
+ .data (0x00200000 + SIZEOF(.text)): AT ( LOADADDR(.text) + SIZEOF(.text) + SIZEOF(.data.shared)) {
+ _data = . ;
+ * (.vectram)
+ * (.data)
+ . = ALIGN(4);
+ } >DATA
+
+ _edata = . ;
+ PROVIDE (edata = .);
+
+ /* dfu.functab addresses are valid as long as DFU is in flash, i.e. only while
+ * application calls those functions. Once executing in DFU mode, we are
+ * re-located to ram */
+ .dfu.functab 0x00000fd0: AT ( ADDR(.dfu.functab) - ADDR(.text) ) {
+ *(.dfu.functab)
+ . = ALIGN(4096);
+ } >FLASH
+
+
+ /* .bss section which is used for uninitialized data */
+ .bss : {
+ __bss_start = . ;
+ __bss_start__ = . ;
+ *(.bss)
+ *(COMMON)
+ } >DATA
+
+ . = ALIGN(4);
+ __bss_end__ = . ;
+ __bss_end__ = . ;
+
+ PROVIDE (main = .);
+
+ _end = . ;
+
+ . = ALIGN(4);
+ .int_data : {
+ *(.internal_ram_top)
+ } >STACK
+
+ PROVIDE (end = .);
+
+ /* Stabs debugging sections. */
+ .stab 0 : { *(.stab) }
+ .stabstr 0 : { *(.stabstr) }
+ .stab.excl 0 : { *(.stab.excl) }
+ .stab.exclstr 0 : { *(.stab.exclstr) }
+ .stab.index 0 : { *(.stab.index) }
+ .stab.indexstr 0 : { *(.stab.indexstr) }
+ .comment 0 : { *(.comment) }
+ /* DWARF debug sections.
+ Symbols in the DWARF debugging sections are relative to the beginning
+ of the section so we begin them at 0. */
+ /* DWARF 1 */
+ .debug 0 : { *(.debug) }
+ .line 0 : { *(.line) }
+ /* GNU DWARF 1 extensions */
+ .debug_srcinfo 0 : { *(.debug_srcinfo) }
+ .debug_sfnames 0 : { *(.debug_sfnames) }
+ /* DWARF 1.1 and DWARF 2 */
+ .debug_aranges 0 : { *(.debug_aranges) }
+ .debug_pubnames 0 : { *(.debug_pubnames) }
+ /* DWARF 2 */
+ .debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
+ .debug_abbrev 0 : { *(.debug_abbrev) }
+ .debug_line 0 : { *(.debug_line) }
+ .debug_frame 0 : { *(.debug_frame) }
+ .debug_str 0 : { *(.debug_str) }
+ .debug_loc 0 : { *(.debug_loc) }
+ .debug_macinfo 0 : { *(.debug_macinfo) }
+ /* SGI/MIPS DWARF 2 extensions */
+ .debug_weaknames 0 : { *(.debug_weaknames) }
+ .debug_funcnames 0 : { *(.debug_funcnames) }
+ .debug_typenames 0 : { *(.debug_typenames) }
+ .debug_varnames 0 : { *(.debug_varnames) }
+
+}
diff --git a/firmware/src/os/dfu.c b/firmware/src/dfu/dfu.c
index f2bc0ca..f50b564 100644
--- a/firmware/src/os/dfu.c
+++ b/firmware/src/dfu/dfu.c
@@ -11,9 +11,8 @@
#include <usb_dfu.h>
#include <lib_AT91SAM7.h>
-#include <os/dfu.h>
+#include <dfu/dfu.h>
#include <os/pcd_enumerate.h>
-#include <os/req_ctx.h>
#include "../openpcd.h"
/* If debug is enabled, we need to access debug functions from flash
@@ -29,7 +28,7 @@
#endif
-void __dfufunc udp_init(void)
+static void __dfufunc udp_init(void)
{
/* Set the PLL USB Divider */
AT91C_BASE_CKGR->CKGR_PLLR |= AT91C_CKGR_USBDIV_1;
@@ -107,7 +106,7 @@ static void __dfufunc udp_ep0_send_stall(void)
static u_int8_t status;
static u_int8_t *ptr;
-static u_int8_t dfu_state;
+static __dfudata u_int32_t dfu_state;
static int __dfufunc handle_dnload(u_int16_t val, u_int16_t len)
{
@@ -149,7 +148,7 @@ static __dfufunc int handle_upload(u_int16_t val, u_int16_t len)
{
DEBUGE("upload ");
if (len > AT91C_IFLASH_PAGE_SIZE
- || ptr > AT91C_IFLASH_SIZE) {
+ || ptr > AT91C_IFLASH_SIZE - 0x1000) {
/* Too big */
dfu_state = DFU_STATE_dfuERROR;
status = DFU_STATUS_errADDRESS;
@@ -226,7 +225,7 @@ int __dfufunc dfu_ep0_handler(u_int8_t req_type, u_int8_t req,
handle_dnload(val, len);
break;
case USB_REQ_DFU_UPLOAD:
- ptr = 0;
+ ptr = 0x00101000; /* Flash base address for app */
dfu_state = DFU_STATE_dfuUPLOAD_IDLE;
handle_upload(val, len);
break;
@@ -667,6 +666,7 @@ void __dfufunc dfu_main(void)
}
const struct dfuapi __dfufunctab dfu_api = {
+ .udp_init = &udp_init,
.ep0_send_data = &udp_ep0_send_data,
.ep0_send_zlp = &udp_ep0_send_zlp,
.ep0_send_stall = &udp_ep0_send_stall,
diff --git a/firmware/src/os/dfu.h b/firmware/src/dfu/dfu.h
index 8786044..992a4f2 100644
--- a/firmware/src/os/dfu.h
+++ b/firmware/src/dfu/dfu.h
@@ -13,8 +13,6 @@
#include <usb_ch9.h>
#include <usb_dfu.h>
-#include "dbgu.h"
-
/* USB DFU functional descriptor */
#define DFU_FUNC_DESC { \
.bLength = USB_DT_DFU_SIZE, \
@@ -38,9 +36,10 @@
.iInterface = 1, \
}
-#define __dfufunc __attribute__ ((long_call, section (".dfu.func")))
-#define __dfustruct __attribute__ ((section (".dfu.struct"))) const
#define __dfufunctab __attribute__ ((section (".dfu.functab")))
+#define __dfudata __attribute__ ((section (".data.shared")))
+#define __dfufunc
+#define __dfustruct const
#if 0
extern void __dfufunc udp_ep0_send_data(const char *data, u_int32_t length);
@@ -55,9 +54,6 @@ extern static u_int8_t dfu_state;
struct udp_pcd;
#endif
-
-extern void __dfufunc udp_init(void);
-
struct _dfu_desc {
struct usb_config_descriptor ucfg;
struct usb_interface_descriptor uif[2];
@@ -65,6 +61,7 @@ struct _dfu_desc {
};
struct dfuapi {
+ void (*udp_init)(void);
void (*ep0_send_data)(const char *data, u_int32_t len);
void (*ep0_send_zlp)(void);
void (*ep0_send_stall)(void);
diff --git a/firmware/src/os/main.c b/firmware/src/os/main.c
index 4b7a7a2..878fdbf 100644
--- a/firmware/src/os/main.c
+++ b/firmware/src/os/main.c
@@ -3,7 +3,6 @@
#include <include/lib_AT91SAM7.h>
#include <os/dbgu.h>
#include <os/led.h>
-#include <os/dfu.h>
#include <os/main.h>
#include <os/power.h>
#include <os/pcd_enumerate.h>
@@ -20,7 +19,6 @@ int main(void)
_init_func();
/* initialize USB */
- udp_init();
udp_open();
// Enable User Reset and set its minimal assertion to 960 us
diff --git a/firmware/src/os/pcd_enumerate.c b/firmware/src/os/pcd_enumerate.c
index cded8c8..40bd88e 100644
--- a/firmware/src/os/pcd_enumerate.c
+++ b/firmware/src/os/pcd_enumerate.c
@@ -23,7 +23,7 @@
#include <os/pcd_enumerate.h>
#include <os/req_ctx.h>
-#include <os/dfu.h>
+#include <dfu/dfu.h>
#include "../openpcd.h"
#include <os/dbgu.h>
@@ -41,6 +41,7 @@
#ifdef CONFIG_DFU
#define DFU_API_LOCATION ((const struct dfuapi *) 0x00102100)
static const struct dfuapi *dfu = DFU_API_LOCATION;
+#define udp_init dfu->udp_init
#define udp_ep0_send_data dfu->ep0_send_data
#define udp_ep0_send_zlp dfu->ep0_send_zlp
#define udp_ep0_send_stall dfu->ep0_send_stall
@@ -328,6 +329,7 @@ static void udp_irq(void)
void udp_open(void)
{
DEBUGPCRF("entering");
+ udp_init();
upcd.pUdp = AT91C_BASE_UDP;
upcd.cur_config = 0;
upcd.cur_rcv_bank = AT91C_UDP_RX_DATA_BK0;
@@ -340,7 +342,6 @@ void udp_open(void)
/* End-of-Bus-Reset is always enabled */
/* Set the Pull up resistor */
- AT91F_PIO_CfgOutput(AT91C_BASE_PIOA, OPENPCD_PIO_UDP_PUP);
AT91F_PIO_SetOutput(AT91C_BASE_PIOA, OPENPCD_PIO_UDP_PUP);
}
diff --git a/firmware/src/os/pcd_enumerate.h b/firmware/src/os/pcd_enumerate.h
index 57ff88c..813243e 100644
--- a/firmware/src/os/pcd_enumerate.h
+++ b/firmware/src/os/pcd_enumerate.h
@@ -5,7 +5,7 @@
#include <sys/types.h>
#include <asm/atomic.h>
#include "openpcd.h"
-#include "dfu.h"
+#include <dfu/dfu.h>
struct req_ctx;
diff --git a/firmware/src/start/Cstartup.S b/firmware/src/start/Cstartup.S
index e91fd86..e7d5714 100644
--- a/firmware/src/start/Cstartup.S
+++ b/firmware/src/start/Cstartup.S
@@ -76,165 +76,22 @@
.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
+ .global _remap_call_dfu
+ .func _remap_call_dfu
+_remap_call_dfu:
+ led1on
+ /* Remap RAM to 0x00000000 for DFU */
ldr r1, =AT91C_BASE_AIC
mov r2, #0x01
str r2, [r1, #AIC_MCR_RCR]
+
+ ldr r4, =dfu_main
+ bx r4
- /* 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
+ .size _remap_call_dfu, . - _remap_call_dfu
.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
@@ -255,9 +112,6 @@ Top_Stack:
* .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
@@ -277,17 +131,108 @@ swivec:
pabtvec:
B pabtvec /* 0x0C Prefetch Abort */
dabtvec:
- B dabtvec /* 0x10 Data Abort */
+ b dabtvec /* 0x10 Data Abort */
rsvdvec:
- B rsvdvec /* 0x14 reserved */
+ b rsvdvec /* 0x14 reserved */
irqvec:
- B irqvec /* 0x18 IRQ */
-fiqvec:
- B fiqvec /* 0x1c FIQ */
+ b IRQ_Handler_Entry /* 0x18 IRQ */
+fiqvec:
+ b FIQ_Handler_Entry
+ /* 0x1c FIQ */
+dfu_state_dummy:
+ .word 0
+
+FIQ_Handler_Entry:
+
+/*- 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_Entry
+ .func IRQ_Handler_Entry
+
+IRQ_Handler_Entry:
+
+ /*- 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_Entry, . - IRQ_Handler_Entry
+ .endfunc
.align 0
.RAM_TOP:
.word Top_Stack
+ .global _startup
+ .func _startup
InitReset:
/*------------------------------------------------------------------------------
/*- Low level Init (PMC, AIC, ? ....) by C function AT91F_LowLevelInit
@@ -348,16 +293,7 @@ InitReset:
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)
+# Relocate DFU .data section (Copy from ROM to RAM)
LDR R1, =_etext
LDR R2, =_data
LDR R3, =_edata
@@ -366,7 +302,7 @@ LoopRel: CMP R2, R3
STRLO R0, [R2], #4
BLO LoopRel
-# Clear .bss section (Zero init)
+# Clear DFU .bss section (Zero init)
MOV R0, #0
LDR R1, =__bss_start__
LDR R2, =__bss_end__
@@ -374,13 +310,75 @@ LoopZI: CMP R1, R2
STRLO R0, [R1], #4
BLO LoopZI
- led1on
+ /* prepare c function call to main */
+ mov r0, #0 /* argc = 0 */
+ ldr lr, =exit
+ ldr r10, =0x00101000
- ldr r0, =_remap
- bx r0
+#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
+ bne _reloc_dfu_text
+#endif
+
+ bx r10
+
+_reloc_dfu_text:
+
+ ldr r1, =0x00100000
+ ldr r2, =0x00200000
+ ldr r3, =_etext
+ add r3, r3, r2
+loop_rel_t: cmp r2, r3
+ ldrlo r4, [r1], #4
+ strlo r4, [r2], #4
+ blo loop_rel_t
+ ldr r4, =_remap_call_dfu
+ bx r4
+
.size _startup, . - _startup
.endfunc
-
+
+/* "exit" dummy 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
+
+
+
.end
diff --git a/firmware/src/start/Cstartup_app.S b/firmware/src/start/Cstartup_app.S
new file mode 100644
index 0000000..4a2187a
--- /dev/null
+++ b/firmware/src/start/Cstartup_app.S
@@ -0,0 +1,81 @@
+/* Cstartup header for the application to be started by at91dfu
+ * (C) 2006 by Harald Welte <hwelte@hmw-consulting.de> */
+
+//#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
+
+ .global _startup
+ .func _startup
+_startup:
+ /* Relocate .data section (copy from Flash to RAM) */
+ ldr r1, =_etext
+ ldr r2, =_data
+ ldr r3, =_edata
+loop_r: cmp r2, r3
+ ldrlo r0, [r1], #4
+ strlo r0, [r2], #4
+ blo loop_r
+
+ /* Clear .bss section (Zero init) */
+ mov r0, #0
+ ldr r1, =__bss_start__
+ ldr r2, =__bss_end__
+loop_z: cmp r1, r2
+ strlo r0, [r1], #4
+ blo loop_z
+
+ led1on
+
+ /* prepare C function call to main */
+ mov r0, #0 /* argc = 0 */
+ ldr lr, =exit
+ ldr r10, =main
+
+ bx r10
+
+ .size _startup, . - _startup
+ .endfunc
+
+/* "exit" dummy to avoid sbrk write read etc. needed by the newlib default "exit" */
+ .global exit
+ .func exit
+exit:
+ b .
+ .size exit, . - exit
+ .endfunc
+
+ .end
+