Lib/mk20dx.c

   1 /* Teensyduino Core Library
   2  * http://www.pjrc.com/teensy/
   3  * Copyright (c) 2013 PJRC.COM, LLC.
   4  * Modifications by Jacob Alexander 2014-2015
   5  *
   6  * Permission is hereby granted, free of charge, to any person obtaining
   7  * a copy of this software and associated documentation files (the
   8  * "Software"), to deal in the Software without restriction, including
   9  * without limitation the rights to use, copy, modify, merge, publish,
  10  * distribute, sublicense, and/or sell copies of the Software, and to
  11  * permit persons to whom the Software is furnished to do so, subject to
  12  * the following conditions:
  13  *
  14  * 1. The above copyright notice and this permission notice shall be
  15  * included in all copies or substantial portions of the Software.
  16  *
  17  * 2. If the Software is incorporated into a build system that allows
  18  * selection among a list of target devices, then similar target
  19  * devices manufactured by PJRC.COM must be included in the list of
  20  * target devices and selectable in the same manner.
  21  *
  22  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
  23  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
  24  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
  25  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
  26  * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
  27  * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
  28  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  29  * SOFTWARE.
  30  */
  31
  32 // ----- Includes -----
  33
  34 // Local Includes
  35 #include "mk20dx.h"
  36
  37
  38
  39 // ----- Variables -----
  40
  41 extern unsigned long _stext;
  42 extern unsigned long _etext;
  43 extern unsigned long _sdata;
  44 extern unsigned long _edata;
  45 extern unsigned long _sbss;
  46 extern unsigned long _ebss;
  47 extern unsigned long _estack;
  48
  49 const uint8_t sys_reset_to_loader_magic[22] = "\xff\x00\x7fRESET TO LOADER\x7f\x00\xff";
  50
  51
  52
  53 // ----- Function Declarations -----
  54
  55 extern int main();
  56 void ResetHandler();
  57
  58
  59
  60 // ----- Interrupts -----
  61
  62 // NVIC - Default ISR
  63 void fault_isr()
  64 {
  65         while ( 1 )
  66         {
  67                 // keep polling some communication while in fault
  68                 // mode, so we don't completely die.
  69                 if ( SIM_SCGC4 & SIM_SCGC4_USBOTG ) usb_isr();
  70                 if ( SIM_SCGC4 & SIM_SCGC4_UART0 )  uart0_status_isr();
  71                 if ( SIM_SCGC4 & SIM_SCGC4_UART1 )  uart1_status_isr();
  72                 if ( SIM_SCGC4 & SIM_SCGC4_UART2 )  uart2_status_isr();
  73         }
  74 }
  75
  76 void unused_isr()
  77 {
  78         fault_isr();
  79 }
  80
  81
  82 // NVIC - SysTick ISR
  83 extern volatile uint32_t systick_millis_count;
  84 void systick_default_isr()
  85 {
  86         systick_millis_count++;
  87 }
  88
  89
  90 // NVIC - Default ISR/Vector Linking
  91 void nmi_isr()              __attribute__ ((weak, alias("unused_isr")));
  92 void hard_fault_isr()       __attribute__ ((weak, alias("unused_isr")));
  93 void memmanage_fault_isr()  __attribute__ ((weak, alias("unused_isr")));
  94 void bus_fault_isr()        __attribute__ ((weak, alias("unused_isr")));
  95 void usage_fault_isr()      __attribute__ ((weak, alias("unused_isr")));
  96 void svcall_isr()           __attribute__ ((weak, alias("unused_isr")));
  97 void debugmonitor_isr()     __attribute__ ((weak, alias("unused_isr")));
  98 void pendablesrvreq_isr()   __attribute__ ((weak, alias("unused_isr")));
  99 void systick_isr()          __attribute__ ((weak, alias("systick_default_isr")));
 100
 101 void dma_ch0_isr()          __attribute__ ((weak, alias("unused_isr")));
 102 void dma_ch1_isr()          __attribute__ ((weak, alias("unused_isr")));
 103 void dma_ch2_isr()          __attribute__ ((weak, alias("unused_isr")));
 104 void dma_ch3_isr()          __attribute__ ((weak, alias("unused_isr")));
 105 void dma_ch4_isr()          __attribute__ ((weak, alias("unused_isr")));
 106 void dma_ch5_isr()          __attribute__ ((weak, alias("unused_isr")));
 107 void dma_ch6_isr()          __attribute__ ((weak, alias("unused_isr")));
 108 void dma_ch7_isr()          __attribute__ ((weak, alias("unused_isr")));
 109 void dma_ch8_isr()          __attribute__ ((weak, alias("unused_isr")));
 110 void dma_ch9_isr()          __attribute__ ((weak, alias("unused_isr")));
 111 void dma_ch10_isr()         __attribute__ ((weak, alias("unused_isr")));
 112 void dma_ch11_isr()         __attribute__ ((weak, alias("unused_isr")));
 113 void dma_ch12_isr()         __attribute__ ((weak, alias("unused_isr")));
 114 void dma_ch13_isr()         __attribute__ ((weak, alias("unused_isr")));
 115 void dma_ch14_isr()         __attribute__ ((weak, alias("unused_isr")));
 116 void dma_ch15_isr()         __attribute__ ((weak, alias("unused_isr")));
 117 void dma_error_isr()        __attribute__ ((weak, alias("unused_isr")));
 118 void mcm_isr()              __attribute__ ((weak, alias("unused_isr")));
 119 void flash_cmd_isr()        __attribute__ ((weak, alias("unused_isr")));
 120 void flash_error_isr()      __attribute__ ((weak, alias("unused_isr")));
 121 void low_voltage_isr()      __attribute__ ((weak, alias("unused_isr")));
 122 void wakeup_isr()           __attribute__ ((weak, alias("unused_isr")));
 123 void watchdog_isr()         __attribute__ ((weak, alias("unused_isr")));
 124 void i2c0_isr()             __attribute__ ((weak, alias("unused_isr")));
 125 void i2c1_isr()             __attribute__ ((weak, alias("unused_isr")));
 126 void i2c2_isr()             __attribute__ ((weak, alias("unused_isr")));
 127 void spi0_isr()             __attribute__ ((weak, alias("unused_isr")));
 128 void spi1_isr()             __attribute__ ((weak, alias("unused_isr")));
 129 void spi2_isr()             __attribute__ ((weak, alias("unused_isr")));
 130 void sdhc_isr()             __attribute__ ((weak, alias("unused_isr")));
 131 void can0_message_isr()     __attribute__ ((weak, alias("unused_isr")));
 132 void can0_bus_off_isr()     __attribute__ ((weak, alias("unused_isr")));
 133 void can0_error_isr()       __attribute__ ((weak, alias("unused_isr")));
 134 void can0_tx_warn_isr()     __attribute__ ((weak, alias("unused_isr")));
 135 void can0_rx_warn_isr()     __attribute__ ((weak, alias("unused_isr")));
 136 void can0_wakeup_isr()      __attribute__ ((weak, alias("unused_isr")));
 137 void i2s0_tx_isr()          __attribute__ ((weak, alias("unused_isr")));
 138 void i2s0_rx_isr()          __attribute__ ((weak, alias("unused_isr")));
 139 void uart0_lon_isr()        __attribute__ ((weak, alias("unused_isr")));
 140 void uart0_status_isr()     __attribute__ ((weak, alias("unused_isr")));
 141 void uart0_error_isr()      __attribute__ ((weak, alias("unused_isr")));
 142 void uart1_status_isr()     __attribute__ ((weak, alias("unused_isr")));
 143 void uart1_error_isr()      __attribute__ ((weak, alias("unused_isr")));
 144 void uart2_status_isr()     __attribute__ ((weak, alias("unused_isr")));
 145 void uart2_error_isr()      __attribute__ ((weak, alias("unused_isr")));
 146 void uart3_status_isr()     __attribute__ ((weak, alias("unused_isr")));
 147 void uart3_error_isr()      __attribute__ ((weak, alias("unused_isr")));
 148 void uart4_status_isr()     __attribute__ ((weak, alias("unused_isr")));
 149 void uart4_error_isr()      __attribute__ ((weak, alias("unused_isr")));
 150 void uart5_status_isr()     __attribute__ ((weak, alias("unused_isr")));
 151 void uart5_error_isr()      __attribute__ ((weak, alias("unused_isr")));
 152 void adc0_isr()             __attribute__ ((weak, alias("unused_isr")));
 153 void adc1_isr()             __attribute__ ((weak, alias("unused_isr")));
 154 void cmp0_isr()             __attribute__ ((weak, alias("unused_isr")));
 155 void cmp1_isr()             __attribute__ ((weak, alias("unused_isr")));
 156 void cmp2_isr()             __attribute__ ((weak, alias("unused_isr")));
 157 void ftm0_isr()             __attribute__ ((weak, alias("unused_isr")));
 158 void ftm1_isr()             __attribute__ ((weak, alias("unused_isr")));
 159 void ftm2_isr()             __attribute__ ((weak, alias("unused_isr")));
 160 void ftm3_isr()             __attribute__ ((weak, alias("unused_isr")));
 161 void cmt_isr()              __attribute__ ((weak, alias("unused_isr")));
 162 void rtc_alarm_isr()        __attribute__ ((weak, alias("unused_isr")));
 163 void rtc_seconds_isr()      __attribute__ ((weak, alias("unused_isr")));
 164 void pit0_isr()             __attribute__ ((weak, alias("unused_isr")));
 165 void pit1_isr()             __attribute__ ((weak, alias("unused_isr")));
 166 void pit2_isr()             __attribute__ ((weak, alias("unused_isr")));
 167 void pit3_isr()             __attribute__ ((weak, alias("unused_isr")));
 168 void pdb_isr()              __attribute__ ((weak, alias("unused_isr")));
 169 void usb_isr()              __attribute__ ((weak, alias("unused_isr")));
 170 void usb_charge_isr()       __attribute__ ((weak, alias("unused_isr")));
 171 void dac0_isr()             __attribute__ ((weak, alias("unused_isr")));
 172 void dac1_isr()             __attribute__ ((weak, alias("unused_isr")));
 173 void tsi0_isr()             __attribute__ ((weak, alias("unused_isr")));
 174 void mcg_isr()              __attribute__ ((weak, alias("unused_isr")));
 175 void lptmr_isr()            __attribute__ ((weak, alias("unused_isr")));
 176 void porta_isr()            __attribute__ ((weak, alias("unused_isr")));
 177 void portb_isr()            __attribute__ ((weak, alias("unused_isr")));
 178 void portc_isr()            __attribute__ ((weak, alias("unused_isr")));
 179 void portd_isr()            __attribute__ ((weak, alias("unused_isr")));
 180 void porte_isr()            __attribute__ ((weak, alias("unused_isr")));
 181 void software_isr()         __attribute__ ((weak, alias("unused_isr")));
 182
 183
 184 // NVIC - Interrupt Vector Table
 185 __attribute__ ((section(".vectors"), used))
 186 void (* const gVectors[])() =
 187 {
 188         (void (*)(void))((unsigned long)&_estack),      //  0 ARM: Initial Stack Pointer
 189         ResetHandler,                                   //  1 ARM: Initial Program Counter
 190         nmi_isr,                                        //  2 ARM: Non-maskable Interrupt (NMI)
 191         hard_fault_isr,                                 //  3 ARM: Hard Fault
 192         memmanage_fault_isr,                            //  4 ARM: MemManage Fault
 193         bus_fault_isr,                                  //  5 ARM: Bus Fault
 194         usage_fault_isr,                                //  6 ARM: Usage Fault
 195         fault_isr,                                      //  7 --
 196         fault_isr,                                      //  8 --
 197         fault_isr,                                      //  9 --
 198         fault_isr,                                      // 10 --
 199         svcall_isr,                                     // 11 ARM: Supervisor call (SVCall)
 200         debugmonitor_isr,                               // 12 ARM: Debug Monitor
 201         fault_isr,                                      // 13 --
 202         pendablesrvreq_isr,                             // 14 ARM: Pendable req serv(PendableSrvReq)
 203         systick_isr,                                    // 15 ARM: System tick timer (SysTick)
 204 #if defined(_mk20dx128_) || defined(_mk20dx128vlf5_)
 205         dma_ch0_isr,                                    // 16 DMA channel 0 transfer complete
 206         dma_ch1_isr,                                    // 17 DMA channel 1 transfer complete
 207         dma_ch2_isr,                                    // 18 DMA channel 2 transfer complete
 208         dma_ch3_isr,                                    // 19 DMA channel 3 transfer complete
 209         dma_error_isr,                                  // 20 DMA error interrupt channel
 210         unused_isr,                                     // 21 DMA --
 211         flash_cmd_isr,                                  // 22 Flash Memory Command complete
 212         flash_error_isr,                                // 23 Flash Read collision
 213         low_voltage_isr,                                // 24 Low-voltage detect/warning
 214         wakeup_isr,                                     // 25 Low Leakage Wakeup
 215         watchdog_isr,                                   // 26 Both EWM and WDOG interrupt
 216         i2c0_isr,                                       // 27 I2C0
 217         spi0_isr,                                       // 28 SPI0
 218         i2s0_tx_isr,                                    // 29 I2S0 Transmit
 219         i2s0_rx_isr,                                    // 30 I2S0 Receive
 220         uart0_lon_isr,                                  // 31 UART0 CEA709.1-B (LON) status
 221         uart0_status_isr,                               // 32 UART0 status
 222         uart0_error_isr,                                // 33 UART0 error
 223         uart1_status_isr,                               // 34 UART1 status
 224         uart1_error_isr,                                // 35 UART1 error
 225         uart2_status_isr,                               // 36 UART2 status
 226         uart2_error_isr,                                // 37 UART2 error
 227         adc0_isr,                                       // 38 ADC0
 228         cmp0_isr,                                       // 39 CMP0
 229         cmp1_isr,                                       // 40 CMP1
 230         ftm0_isr,                                       // 41 FTM0
 231         ftm1_isr,                                       // 42 FTM1
 232         cmt_isr,                                        // 43 CMT
 233         rtc_alarm_isr,                                  // 44 RTC Alarm interrupt
 234         rtc_seconds_isr,                                // 45 RTC Seconds interrupt
 235         pit0_isr,                                       // 46 PIT Channel 0
 236         pit1_isr,                                       // 47 PIT Channel 1
 237         pit2_isr,                                       // 48 PIT Channel 2
 238         pit3_isr,                                       // 49 PIT Channel 3
 239         pdb_isr,                                        // 50 PDB Programmable Delay Block
 240         usb_isr,                                        // 51 USB OTG
 241         usb_charge_isr,                                 // 52 USB Charger Detect
 242         tsi0_isr,                                       // 53 TSI0
 243         mcg_isr,                                        // 54 MCG
 244         lptmr_isr,                                      // 55 Low Power Timer
 245         porta_isr,                                      // 56 Pin detect (Port A)
 246         portb_isr,                                      // 57 Pin detect (Port B)
 247         portc_isr,                                      // 58 Pin detect (Port C)
 248         portd_isr,                                      // 59 Pin detect (Port D)
 249         porte_isr,                                      // 60 Pin detect (Port E)
 250         software_isr,                                   // 61 Software interrupt
 251 #elif defined(_mk20dx256_) || defined(_mk20dx256vlh7_)
 252         dma_ch0_isr,                                    // 16 DMA channel 0 transfer complete
 253         dma_ch1_isr,                                    // 17 DMA channel 1 transfer complete
 254         dma_ch2_isr,                                    // 18 DMA channel 2 transfer complete
 255         dma_ch3_isr,                                    // 19 DMA channel 3 transfer complete
 256         dma_ch4_isr,                                    // 20 DMA channel 4 transfer complete
 257         dma_ch5_isr,                                    // 21 DMA channel 5 transfer complete
 258         dma_ch6_isr,                                    // 22 DMA channel 6 transfer complete
 259         dma_ch7_isr,                                    // 23 DMA channel 7 transfer complete
 260         dma_ch8_isr,                                    // 24 DMA channel 8 transfer complete
 261         dma_ch9_isr,                                    // 25 DMA channel 9 transfer complete
 262         dma_ch10_isr,                                   // 26 DMA channel 10 transfer complete
 263         dma_ch11_isr,                                   // 27 DMA channel 10 transfer complete
 264         dma_ch12_isr,                                   // 28 DMA channel 10 transfer complete
 265         dma_ch13_isr,                                   // 29 DMA channel 10 transfer complete
 266         dma_ch14_isr,                                   // 30 DMA channel 10 transfer complete
 267         dma_ch15_isr,                                   // 31 DMA channel 10 transfer complete
 268         dma_error_isr,                                  // 32 DMA error interrupt channel
 269         unused_isr,                                     // 33 --
 270         flash_cmd_isr,                                  // 34 Flash Memory Command complete
 271         flash_error_isr,                                // 35 Flash Read collision
 272         low_voltage_isr,                                // 36 Low-voltage detect/warning
 273         wakeup_isr,                                     // 37 Low Leakage Wakeup
 274         watchdog_isr,                                   // 38 Both EWM and WDOG interrupt
 275         unused_isr,                                     // 39 --
 276         i2c0_isr,                                       // 40 I2C0
 277         i2c1_isr,                                       // 41 I2C1
 278         spi0_isr,                                       // 42 SPI0
 279         spi1_isr,                                       // 43 SPI1
 280         unused_isr,                                     // 44 --
 281         can0_message_isr,                               // 45 CAN OR'ed Message buffer (0-15)
 282         can0_bus_off_isr,                               // 46 CAN Bus Off
 283         can0_error_isr,                                 // 47 CAN Error
 284         can0_tx_warn_isr,                               // 48 CAN Transmit Warning
 285         can0_rx_warn_isr,                               // 49 CAN Receive Warning
 286         can0_wakeup_isr,                                // 50 CAN Wake Up
 287         i2s0_tx_isr,                                    // 51 I2S0 Transmit
 288         i2s0_rx_isr,                                    // 52 I2S0 Receive
 289         unused_isr,                                     // 53 --
 290         unused_isr,                                     // 54 --
 291         unused_isr,                                     // 55 --
 292         unused_isr,                                     // 56 --
 293         unused_isr,                                     // 57 --
 294         unused_isr,                                     // 58 --
 295         unused_isr,                                     // 59 --
 296         uart0_lon_isr,                                  // 60 UART0 CEA709.1-B (LON) status
 297         uart0_status_isr,                               // 61 UART0 status
 298         uart0_error_isr,                                // 62 UART0 error
 299         uart1_status_isr,                               // 63 UART1 status
 300         uart1_error_isr,                                // 64 UART1 error
 301         uart2_status_isr,                               // 65 UART2 status
 302         uart2_error_isr,                                // 66 UART2 error
 303         unused_isr,                                     // 67 --
 304         unused_isr,                                     // 68 --
 305         unused_isr,                                     // 69 --
 306         unused_isr,                                     // 70 --
 307         unused_isr,                                     // 71 --
 308         unused_isr,                                     // 72 --
 309         adc0_isr,                                       // 73 ADC0
 310         adc1_isr,                                       // 74 ADC1
 311         cmp0_isr,                                       // 75 CMP0
 312         cmp1_isr,                                       // 76 CMP1
 313         cmp2_isr,                                       // 77 CMP2
 314         ftm0_isr,                                       // 78 FTM0
 315         ftm1_isr,                                       // 79 FTM1
 316         ftm2_isr,                                       // 80 FTM2
 317         cmt_isr,                                        // 81 CMT
 318         rtc_alarm_isr,                                  // 82 RTC Alarm interrupt
 319         rtc_seconds_isr,                                // 83 RTC Seconds interrupt
 320         pit0_isr,                                       // 84 PIT Channel 0
 321         pit1_isr,                                       // 85 PIT Channel 1
 322         pit2_isr,                                       // 86 PIT Channel 2
 323         pit3_isr,                                       // 87 PIT Channel 3
 324         pdb_isr,                                        // 88 PDB Programmable Delay Block
 325         usb_isr,                                        // 89 USB OTG
 326         usb_charge_isr,                                 // 90 USB Charger Detect
 327         unused_isr,                                     // 91 --
 328         unused_isr,                                     // 92 --
 329         unused_isr,                                     // 93 --
 330         unused_isr,                                     // 94 --
 331         unused_isr,                                     // 95 --
 332         unused_isr,                                     // 96 --
 333         dac0_isr,                                       // 97 DAC0
 334         unused_isr,                                     // 98 --
 335         tsi0_isr,                                       // 99 TSI0
 336         mcg_isr,                                        // 100 MCG
 337         lptmr_isr,                                      // 101 Low Power Timer
 338         unused_isr,                                     // 102 --
 339         porta_isr,                                      // 103 Pin detect (Port A)
 340         portb_isr,                                      // 104 Pin detect (Port B)
 341         portc_isr,                                      // 105 Pin detect (Port C)
 342         portd_isr,                                      // 106 Pin detect (Port D)
 343         porte_isr,                                      // 107 Pin detect (Port E)
 344         unused_isr,                                     // 108 --
 345         unused_isr,                                     // 109 --
 346         software_isr,                                   // 110 Software interrupt
 347 #endif
 348 };
 349
 350
 351 // ----- Flash Configuration -----
 352
 353 // Only necessary for Teensy 3s, MCHCK uses the Bootloader to handle this
 354 #if defined(_mk20dx128_) || defined(_mk20dx256_)
 355 __attribute__ ((section(".flashconfig"), used))
 356 const uint8_t flashconfigbytes[16] = {
 357         0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
 358         0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFF, 0xFF, 0xFF
 359 };
 360 #elif defined(_mk20dx128vlf5_) && defined(_bootloader_)
 361 // XXX Byte labels may be in incorrect positions, double check before modifying
 362 //     FSEC is in correct location -Jacob
 363 __attribute__ ((section(".flashconfig"), used))
 364 const uint8_t flashconfigbytes[16] = {
 365         0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, // Backdoor Verif Key 28.3.1
 366
 367         //
 368         // Protecting the first 4k of Flash memory from being over-written while running (bootloader protection)
 369         // Still possible to overwrite the bootloader using an external flashing device
 370         // For more details see:
 371         //  http://cache.freescale.com/files/training/doc/dwf/AMF_ENT_T1031_Boston.pdf (page 8)
 372         //  http://cache.freescale.com/files/microcontrollers/doc/app_note/AN4507.pdf
 373         //  http://cache.freescale.com/files/32bit/doc/ref_manual/K20P48M50SF0RM.pdf (28.34.6)
 374         //
 375         0xFF, 0xFF, 0xFF, 0xFE, // Program Flash Protection Bytes FPROT0-3
 376
 377         0xBE, // Flash security byte FSEC
 378         0x03, // Flash nonvolatile option byte FOPT
 379         0xFF, // EEPROM Protection Byte FEPROT
 380         0xFF, // Data Flash Protection Byte FDPROT
 381 };
 382 #elif defined(_mk20dx256vlh7_) && defined(_bootloader_)
 383 // XXX Byte labels may be in incorrect positions, double check before modifying
 384 //     FSEC is in correct location -Jacob
 385 __attribute__ ((section(".flashconfig"), used))
 386 const uint8_t flashconfigbytes[16] = {
 387         0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, // Backdoor Verif Key 28.3.1
 388
 389         //
 390         // Protecting the first 8k of Flash memory from being over-written while running (bootloader protection)
 391         // Still possible to overwrite the bootloader using an external flashing device
 392         // For more details see:
 393         //  http://cache.freescale.com/files/training/doc/dwf/AMF_ENT_T1031_Boston.pdf (page 8)
 394         //  http://cache.freescale.com/files/microcontrollers/doc/app_note/AN4507.pdf
 395         //  http://cache.freescale.com/files/32bit/doc/ref_manual/K20P64M72SF1RM.pdf (28.34.6)
 396         //
 397         0xFF, 0xFF, 0xFF, 0xFF, // Program Flash Protection Bytes FPROT0-3 // XXX TODO PROTECT
 398
 399         0xBE, // Flash security byte FSEC
 400         0x03, // Flash nonvolatile option byte FOPT
 401         0xFF, // EEPROM Protection Byte FEPROT
 402         0xFF, // Data Flash Protection Byte FDPROT
 403 };
 404 #endif
 405
 406
 407
 408 // ----- Functions -----
 409
 410 #if ( defined(_mk20dx128vlf5_) || defined(_mk20dx256vlh7_) ) && defined(_bootloader_) // Bootloader Section
 411 __attribute__((noreturn))
 412 static inline void jump_to_app( uintptr_t addr )
 413 {
 414         // addr is in r0
 415         __asm__("ldr sp, [%[addr], #0]\n"
 416                 "ldr pc, [%[addr], #4]"
 417                 :: [addr] "r" (addr));
 418         // NOTREACHED
 419         __builtin_unreachable();
 420 }
 421 #endif
 422
 423 void *memset( void *addr, int val, unsigned int len )
 424 {
 425         char *buf = addr;
 426
 427         for (; len > 0; --len, ++buf)
 428                 *buf = val;
 429         return (addr);
 430 }
 431
 432 int memcmp( const void *a, const void *b, unsigned int len )
 433 {
 434         const uint8_t *ap = a, *bp = b;
 435         int val = 0;
 436
 437         for (; len > 0 && (val = *ap - *bp) == 0; --len, ++ap, ++bp)
 438                 /* NOTHING */;
 439         return (val);
 440 }
 441
 442 void *memcpy( void *dst, const void *src, unsigned int len )
 443 {
 444         char *dstbuf = dst;
 445         const char *srcbuf = src;
 446
 447         for (; len > 0; --len, ++dstbuf, ++srcbuf)
 448                 *dstbuf = *srcbuf;
 449         return (dst);
 450 }
 451
 452
 453
 454 // ----- Chip Entry Point -----
 455
 456 __attribute__ ((section(".startup")))
 457 void ResetHandler()
 458 {
 459 #if ( defined(_mk20dx128vlf5_) || defined(_mk20dx256vlh7_) ) && defined(_bootloader_) // Bootloader Section
 460         extern uint32_t _app_rom;
 461
 462         // We treat _app_rom as pointer to directly read the stack
 463         // pointer and check for valid app code.  This is no fool
 464         // proof method, but it should help for the first flash.
 465         //
 466         // Purposefully disabling the watchdog *after* the reset check this way
 467         // if the chip goes into an odd state we'll reset to the bootloader (invalid firmware image)
 468         // RCM_SRS0 & 0x20
 469         //
 470         // Also checking for ARM lock-up signal (invalid firmware image)
 471         // RCM_SRS1 & 0x02
 472         if (    // PIN  (External Reset Pin/Switch)
 473                    RCM_SRS0 & 0x40
 474                 // WDOG (Watchdog timeout)
 475                 || RCM_SRS0 & 0x20
 476                 // LOCKUP (ARM Core LOCKUP event)
 477                 || RCM_SRS1 & 0x02
 478                 // Blank flash check
 479                 || _app_rom == 0xffffffff
 480                 // Software reset
 481                 || memcmp( (uint8_t*)&VBAT, sys_reset_to_loader_magic, sizeof(sys_reset_to_loader_magic) ) == 0
 482         )
 483         {
 484                 memset( (uint8_t*)&VBAT, 0, sizeof(VBAT) );
 485         }
 486         else
 487         {
 488                 uint32_t addr = (uintptr_t)&_app_rom;
 489                 SCB_VTOR = addr; // relocate vector table
 490                 jump_to_app( addr );
 491         }
 492 #endif
 493         // Disable Watchdog
 494         WDOG_UNLOCK = WDOG_UNLOCK_SEQ1;
 495         WDOG_UNLOCK = WDOG_UNLOCK_SEQ2;
 496         WDOG_STCTRLH = WDOG_STCTRLH_ALLOWUPDATE;
 497
 498         uint32_t *src = (uint32_t*)&_etext;
 499         uint32_t *dest = (uint32_t*)&_sdata;
 500
 501         // Enable clocks to always-used peripherals
 502         SIM_SCGC5 = 0x00043F82; // Clocks active to all GPIO
 503         SIM_SCGC6 = SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 | SIM_SCGC6_FTFL;
 504 #if defined(_mk20dx128_)
 505         SIM_SCGC6 |= SIM_SCGC6_RTC;
 506 #elif defined(_mk20dx256_)
 507         SIM_SCGC3 = SIM_SCGC3_ADC1 | SIM_SCGC3_FTM2;
 508         SIM_SCGC6 |= SIM_SCGC6_RTC;
 509 #endif
 510
 511 #if defined(_mk20dx128_) || defined(_mk20dx256_) // Teensy 3s
 512         // if the RTC oscillator isn't enabled, get it started early
 513         if ( !(RTC_CR & RTC_CR_OSCE) )
 514         {
 515                 RTC_SR = 0;
 516                 RTC_CR = RTC_CR_SC16P | RTC_CR_SC4P | RTC_CR_OSCE;
 517         }
 518 #endif
 519
 520         // release I/O pins hold, if we woke up from VLLS mode
 521         if ( PMC_REGSC & PMC_REGSC_ACKISO )
 522         {
 523                 PMC_REGSC |= PMC_REGSC_ACKISO;
 524         }
 525
 526         // Prepare RAM
 527         while ( dest < (uint32_t*)&_edata ) *dest++ = *src++;
 528         dest = (uint32_t*)&_sbss;
 529         while ( dest < (uint32_t*)&_ebss ) *dest++ = 0;
 530
 531 // MCHCK / Kiibohd-dfu
 532 #if defined(_mk20dx128vlf5_)
 533         // Default all interrupts to medium priority level
 534         for ( unsigned int i = 0; i < NVIC_NUM_INTERRUPTS; i++ )
 535         {
 536                 NVIC_SET_PRIORITY( i, 128 );
 537         }
 538
 539         // FLL at 48MHz
 540         MCG_C4 = MCG_C4_DMX32 | MCG_C4_DRST_DRS( 1 );
 541
 542         // USB Clock and FLL select
 543         SIM_SOPT2 = SIM_SOPT2_USBSRC | SIM_SOPT2_TRACECLKSEL;
 544
 545 // Teensy 3.0 and 3.1 and Kiibohd-dfu (mk20dx256vlh7)
 546 #else
 547         SCB_VTOR = 0;   // use vector table in flash
 548
 549         // default all interrupts to medium priority level
 550         for ( unsigned int i = 0; i < NVIC_NUM_INTERRUPTS; i++ )
 551         {
 552                 NVIC_SET_PRIORITY( i, 128 );
 553         }
 554
 555         // start in FEI mode
 556         // enable capacitors for crystal
 557         OSC0_CR = OSC_SC8P | OSC_SC2P;
 558
 559         // enable osc, 8-32 MHz range, low power mode
 560         MCG_C2 = MCG_C2_RANGE0( 2 ) | MCG_C2_EREFS;
 561
 562         // switch to crystal as clock source, FLL input = 16 MHz / 512
 563         MCG_C1 =  MCG_C1_CLKS( 2 ) | MCG_C1_FRDIV( 4 );
 564
 565         // wait for crystal oscillator to begin
 566         while ( (MCG_S & MCG_S_OSCINIT0) == 0 );
 567
 568         // wait for FLL to use oscillator
 569         while ( (MCG_S & MCG_S_IREFST) != 0 );
 570
 571         // wait for MCGOUT to use oscillator
 572         while ( (MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST( 2 ) );
 573
 574         // now we're in FBE mode
 575 #if F_CPU == 72000000
 576         // config PLL input for 16 MHz Crystal / 8 = 2 MHz
 577         MCG_C5 = MCG_C5_PRDIV0( 7 );
 578 #else
 579         // config PLL input for 16 MHz Crystal / 4 = 4 MHz
 580         MCG_C5 = MCG_C5_PRDIV0( 3 );
 581 #endif
 582
 583 #if F_CPU == 72000000
 584         // config PLL for 72 MHz output (36 * 2 MHz Ext PLL)
 585         MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0( 12 );
 586 #else
 587         // config PLL for 96 MHz output
 588         MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0( 0 );
 589 #endif
 590
 591         // wait for PLL to start using xtal as its input
 592         while ( !(MCG_S & MCG_S_PLLST) );
 593
 594         // wait for PLL to lock
 595         while ( !(MCG_S & MCG_S_LOCK0) );
 596
 597         // now we're in PBE mode
 598 #if F_CPU == 96000000
 599         // config divisors: 96 MHz core, 48 MHz bus, 24 MHz flash
 600         SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1( 0 ) | SIM_CLKDIV1_OUTDIV2( 1 ) | SIM_CLKDIV1_OUTDIV4( 3 );
 601 #elif F_CPU == 72000000
 602         // config divisors: 72 MHz core, 36 MHz bus, 24 MHz flash
 603         SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1( 0 ) | SIM_CLKDIV1_OUTDIV2( 1 ) | SIM_CLKDIV1_OUTDIV4( 2 );
 604 #elif F_CPU == 48000000
 605         // config divisors: 48 MHz core, 48 MHz bus, 24 MHz flash
 606         SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1( 1 ) | SIM_CLKDIV1_OUTDIV2( 1 ) | SIM_CLKDIV1_OUTDIV4( 3 );
 607 #elif F_CPU == 24000000
 608         // config divisors: 24 MHz core, 24 MHz bus, 24 MHz flash
 609         SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1( 3 ) | SIM_CLKDIV1_OUTDIV2( 3 ) | SIM_CLKDIV1_OUTDIV4( 3 );
 610 #else
 611 #error "Error, F_CPU must be 96000000, 72000000, 48000000, or 24000000"
 612 #endif
 613         // switch to PLL as clock source, FLL input = 16 MHz / 512
 614         MCG_C1 = MCG_C1_CLKS( 0 ) | MCG_C1_FRDIV( 4 );
 615
 616         // wait for PLL clock to be used
 617         while ( (MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST( 3 ) );
 618
 619         // now we're in PEE mode
 620 #if F_CPU == 72000000
 621         // configure USB for 48 MHz clock
 622         SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV( 2 ) | SIM_CLKDIV2_USBFRAC; // USB = 72 MHz PLL / 1.5
 623 #else
 624         // configure USB for 48 MHz clock
 625         SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV( 1 ); // USB = 96 MHz PLL / 2
 626 #endif
 627
 628         // USB uses PLL clock, trace is CPU clock, CLKOUT=OSCERCLK0
 629         SIM_SOPT2 = SIM_SOPT2_USBSRC | SIM_SOPT2_PLLFLLSEL | SIM_SOPT2_TRACECLKSEL | SIM_SOPT2_CLKOUTSEL( 6 );
 630
 631 #endif
 632
 633 #if !defined(_bootloader_)
 634         // Initialize the SysTick counter
 635         SYST_RVR = (F_CPU / 1000) - 1;
 636         SYST_CSR = SYST_CSR_CLKSOURCE | SYST_CSR_TICKINT | SYST_CSR_ENABLE;
 637
 638         __enable_irq();
 639 #else
 640         // Disable Watchdog for bootloader
 641         WDOG_STCTRLH &= ~WDOG_STCTRLH_WDOGEN;
 642 #endif
 643
 644         main();
 645         while ( 1 ); // Shouldn't get here...
 646 }
 647
 648
 649
 650 // ----- RAM Setup -----
 651
 652 char *__brkval = (char *)&_ebss;
 653
 654 void * _sbrk( int incr )
 655 {
 656         char *prev = __brkval;
 657         __brkval += incr;
 658         return prev;
 659 }
 660
 661
 662
 663 // ----- Interrupt Execution Priority -----
 664
 665 int nvic_execution_priority()
 666 {
 667         int priority = 256;
 668         uint32_t primask, faultmask, basepri, ipsr;
 669
 670         // full algorithm in ARM DDI0403D, page B1-639
 671         // this isn't quite complete, but hopefully good enough
 672         asm volatile( "mrs %0, faultmask\n" : "=r" (faultmask):: );
 673         if ( faultmask )
 674         {
 675                 return -1;
 676         }
 677
 678         asm volatile( "mrs %0, primask\n" : "=r" (primask):: );
 679         if ( primask )
 680         {
 681                 return 0;
 682         }
 683
 684         asm volatile( "mrs %0, ipsr\n" : "=r" (ipsr):: );
 685         if ( ipsr )
 686         {
 687                 if ( ipsr < 16)
 688                 {
 689                         priority = 0; // could be non-zero
 690                 }
 691                 else
 692                 {
 693                         priority = NVIC_GET_PRIORITY( ipsr - 16 );
 694                 }
 695         }
 696
 697         asm volatile( "mrs %0, basepri\n" : "=r" (basepri):: );
 698         if ( basepri > 0 && basepri < priority )
 699         {
 700                 priority = basepri;
 701         }
 702
 703         return priority;
 704 }
 705