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
   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 // Local Includes
  33 #include "mk20dx.h"
  34 #include <print.h>
  35
  36
  37
  38 // ----- Variables -----
  39
  40 extern unsigned long _stext;
  41 extern unsigned long _etext;
  42 extern unsigned long _sdata;
  43 extern unsigned long _edata;
  44 extern unsigned long _sbss;
  45 extern unsigned long _ebss;
  46 extern unsigned long _estack;
  47
  48
  49
  50 // ----- Function Declarations -----
  51
  52 extern int main ();
  53 void ResetHandler();
  54
  55
  56
  57 // ----- Interrupts -----
  58
  59 // NVIC - Default ISR
  60 void fault_isr()
  61 {
  62         while ( 1 )
  63         {
  64                 // keep polling some communication while in fault
  65                 // mode, so we don't completely die.
  66                 if ( SIM_SCGC4 & SIM_SCGC4_USBOTG ) usb_isr();
  67                 if ( SIM_SCGC4 & SIM_SCGC4_UART0 )  uart0_status_isr();
  68                 if ( SIM_SCGC4 & SIM_SCGC4_UART1 )  uart1_status_isr();
  69                 if ( SIM_SCGC4 & SIM_SCGC4_UART2 )  uart2_status_isr();
  70         }
  71 }
  72
  73 void unused_isr()
  74 {
  75         fault_isr();
  76 }
  77
  78
  79 // NVIC - SysTick ISR
  80 extern volatile uint32_t systick_millis_count;
  81 void systick_default_isr()
  82 {
  83         systick_millis_count++;
  84 }
  85
  86
  87 // NVIC - Default ISR/Vector Linking
  88 void nmi_isr()              __attribute__ ((weak, alias("unused_isr")));
  89 void hard_fault_isr()       __attribute__ ((weak, alias("unused_isr")));
  90 void memmanage_fault_isr()  __attribute__ ((weak, alias("unused_isr")));
  91 void bus_fault_isr()        __attribute__ ((weak, alias("unused_isr")));
  92 void usage_fault_isr()      __attribute__ ((weak, alias("unused_isr")));
  93 void svcall_isr()           __attribute__ ((weak, alias("unused_isr")));
  94 void debugmonitor_isr()     __attribute__ ((weak, alias("unused_isr")));
  95 void pendablesrvreq_isr()   __attribute__ ((weak, alias("unused_isr")));
  96 void systick_isr()          __attribute__ ((weak, alias("systick_default_isr")));
  97
  98 void dma_ch0_isr()          __attribute__ ((weak, alias("unused_isr")));
  99 void dma_ch1_isr()          __attribute__ ((weak, alias("unused_isr")));
 100 void dma_ch2_isr()          __attribute__ ((weak, alias("unused_isr")));
 101 void dma_ch3_isr()          __attribute__ ((weak, alias("unused_isr")));
 102 void dma_ch4_isr()          __attribute__ ((weak, alias("unused_isr")));
 103 void dma_ch5_isr()          __attribute__ ((weak, alias("unused_isr")));
 104 void dma_ch6_isr()          __attribute__ ((weak, alias("unused_isr")));
 105 void dma_ch7_isr()          __attribute__ ((weak, alias("unused_isr")));
 106 void dma_ch8_isr()          __attribute__ ((weak, alias("unused_isr")));
 107 void dma_ch9_isr()          __attribute__ ((weak, alias("unused_isr")));
 108 void dma_ch10_isr()         __attribute__ ((weak, alias("unused_isr")));
 109 void dma_ch11_isr()         __attribute__ ((weak, alias("unused_isr")));
 110 void dma_ch12_isr()         __attribute__ ((weak, alias("unused_isr")));
 111 void dma_ch13_isr()         __attribute__ ((weak, alias("unused_isr")));
 112 void dma_ch14_isr()         __attribute__ ((weak, alias("unused_isr")));
 113 void dma_ch15_isr()         __attribute__ ((weak, alias("unused_isr")));
 114 void dma_error_isr()        __attribute__ ((weak, alias("unused_isr")));
 115 void mcm_isr()              __attribute__ ((weak, alias("unused_isr")));
 116 void flash_cmd_isr()        __attribute__ ((weak, alias("unused_isr")));
 117 void flash_error_isr()      __attribute__ ((weak, alias("unused_isr")));
 118 void low_voltage_isr()      __attribute__ ((weak, alias("unused_isr")));
 119 void wakeup_isr()           __attribute__ ((weak, alias("unused_isr")));
 120 void watchdog_isr()         __attribute__ ((weak, alias("unused_isr")));
 121 void i2c0_isr()             __attribute__ ((weak, alias("unused_isr")));
 122 void i2c1_isr()             __attribute__ ((weak, alias("unused_isr")));
 123 void i2c2_isr()             __attribute__ ((weak, alias("unused_isr")));
 124 void spi0_isr()             __attribute__ ((weak, alias("unused_isr")));
 125 void spi1_isr()             __attribute__ ((weak, alias("unused_isr")));
 126 void spi2_isr()             __attribute__ ((weak, alias("unused_isr")));
 127 void sdhc_isr()             __attribute__ ((weak, alias("unused_isr")));
 128 void can0_message_isr()     __attribute__ ((weak, alias("unused_isr")));
 129 void can0_bus_off_isr()     __attribute__ ((weak, alias("unused_isr")));
 130 void can0_error_isr()       __attribute__ ((weak, alias("unused_isr")));
 131 void can0_tx_warn_isr()     __attribute__ ((weak, alias("unused_isr")));
 132 void can0_rx_warn_isr()     __attribute__ ((weak, alias("unused_isr")));
 133 void can0_wakeup_isr()      __attribute__ ((weak, alias("unused_isr")));
 134 void i2s0_tx_isr()          __attribute__ ((weak, alias("unused_isr")));
 135 void i2s0_rx_isr()          __attribute__ ((weak, alias("unused_isr")));
 136 void uart0_lon_isr()        __attribute__ ((weak, alias("unused_isr")));
 137 void uart0_status_isr()     __attribute__ ((weak, alias("unused_isr")));
 138 void uart0_error_isr()      __attribute__ ((weak, alias("unused_isr")));
 139 void uart1_status_isr()     __attribute__ ((weak, alias("unused_isr")));
 140 void uart1_error_isr()      __attribute__ ((weak, alias("unused_isr")));
 141 void uart2_status_isr()     __attribute__ ((weak, alias("unused_isr")));
 142 void uart2_error_isr()      __attribute__ ((weak, alias("unused_isr")));
 143 void uart3_status_isr()     __attribute__ ((weak, alias("unused_isr")));
 144 void uart3_error_isr()      __attribute__ ((weak, alias("unused_isr")));
 145 void uart4_status_isr()     __attribute__ ((weak, alias("unused_isr")));
 146 void uart4_error_isr()      __attribute__ ((weak, alias("unused_isr")));
 147 void uart5_status_isr()     __attribute__ ((weak, alias("unused_isr")));
 148 void uart5_error_isr()      __attribute__ ((weak, alias("unused_isr")));
 149 void adc0_isr()             __attribute__ ((weak, alias("unused_isr")));
 150 void adc1_isr()             __attribute__ ((weak, alias("unused_isr")));
 151 void cmp0_isr()             __attribute__ ((weak, alias("unused_isr")));
 152 void cmp1_isr()             __attribute__ ((weak, alias("unused_isr")));
 153 void cmp2_isr()             __attribute__ ((weak, alias("unused_isr")));
 154 void ftm0_isr()             __attribute__ ((weak, alias("unused_isr")));
 155 void ftm1_isr()             __attribute__ ((weak, alias("unused_isr")));
 156 void ftm2_isr()             __attribute__ ((weak, alias("unused_isr")));
 157 void ftm3_isr()             __attribute__ ((weak, alias("unused_isr")));
 158 void cmt_isr()              __attribute__ ((weak, alias("unused_isr")));
 159 void rtc_alarm_isr()        __attribute__ ((weak, alias("unused_isr")));
 160 void rtc_seconds_isr()      __attribute__ ((weak, alias("unused_isr")));
 161 void pit0_isr()             __attribute__ ((weak, alias("unused_isr")));
 162 void pit1_isr()             __attribute__ ((weak, alias("unused_isr")));
 163 void pit2_isr()             __attribute__ ((weak, alias("unused_isr")));
 164 void pit3_isr()             __attribute__ ((weak, alias("unused_isr")));
 165 void pdb_isr()              __attribute__ ((weak, alias("unused_isr")));
 166 void usb_isr()              __attribute__ ((weak, alias("unused_isr")));
 167 void usb_charge_isr()       __attribute__ ((weak, alias("unused_isr")));
 168 void dac0_isr()             __attribute__ ((weak, alias("unused_isr")));
 169 void dac1_isr()             __attribute__ ((weak, alias("unused_isr")));
 170 void tsi0_isr()             __attribute__ ((weak, alias("unused_isr")));
 171 void mcg_isr()              __attribute__ ((weak, alias("unused_isr")));
 172 void lptmr_isr()            __attribute__ ((weak, alias("unused_isr")));
 173 void porta_isr()            __attribute__ ((weak, alias("unused_isr")));
 174 void portb_isr()            __attribute__ ((weak, alias("unused_isr")));
 175 void portc_isr()            __attribute__ ((weak, alias("unused_isr")));
 176 void portd_isr()            __attribute__ ((weak, alias("unused_isr")));
 177 void porte_isr()            __attribute__ ((weak, alias("unused_isr")));
 178 void software_isr()         __attribute__ ((weak, alias("unused_isr")));
 179
 180
 181 // NVIC - Interrupt Vector Table
 182 __attribute__ ((section(".vectors"), used))
 183 void (* const gVectors[])() =
 184 {
 185         (void (*)(void))((unsigned long)&_estack),      //  0 ARM: Initial Stack Pointer
 186         ResetHandler,                                   //  1 ARM: Initial Program Counter
 187         nmi_isr,                                        //  2 ARM: Non-maskable Interrupt (NMI)
 188         hard_fault_isr,                                 //  3 ARM: Hard Fault
 189         memmanage_fault_isr,                            //  4 ARM: MemManage Fault
 190         bus_fault_isr,                                  //  5 ARM: Bus Fault
 191         usage_fault_isr,                                //  6 ARM: Usage Fault
 192         fault_isr,                                      //  7 --
 193         fault_isr,                                      //  8 --
 194         fault_isr,                                      //  9 --
 195         fault_isr,                                      // 10 --
 196         svcall_isr,                                     // 11 ARM: Supervisor call (SVCall)
 197         debugmonitor_isr,                               // 12 ARM: Debug Monitor
 198         fault_isr,                                      // 13 --
 199         pendablesrvreq_isr,                             // 14 ARM: Pendable req serv(PendableSrvReq)
 200         systick_isr,                                    // 15 ARM: System tick timer (SysTick)
 201 #if defined(_mk20dx128_) || defined(_mk20dx128vlf5_)
 202         dma_ch0_isr,                                    // 16 DMA channel 0 transfer complete
 203         dma_ch1_isr,                                    // 17 DMA channel 1 transfer complete
 204         dma_ch2_isr,                                    // 18 DMA channel 2 transfer complete
 205         dma_ch3_isr,                                    // 19 DMA channel 3 transfer complete
 206         dma_error_isr,                                  // 20 DMA error interrupt channel
 207         unused_isr,                                     // 21 DMA --
 208         flash_cmd_isr,                                  // 22 Flash Memory Command complete
 209         flash_error_isr,                                // 23 Flash Read collision
 210         low_voltage_isr,                                // 24 Low-voltage detect/warning
 211         wakeup_isr,                                     // 25 Low Leakage Wakeup
 212         watchdog_isr,                                   // 26 Both EWM and WDOG interrupt
 213         i2c0_isr,                                       // 27 I2C0
 214         spi0_isr,                                       // 28 SPI0
 215         i2s0_tx_isr,                                    // 29 I2S0 Transmit
 216         i2s0_rx_isr,                                    // 30 I2S0 Receive
 217         uart0_lon_isr,                                  // 31 UART0 CEA709.1-B (LON) status
 218         uart0_status_isr,                               // 32 UART0 status
 219         uart0_error_isr,                                // 33 UART0 error
 220         uart1_status_isr,                               // 34 UART1 status
 221         uart1_error_isr,                                // 35 UART1 error
 222         uart2_status_isr,                               // 36 UART2 status
 223         uart2_error_isr,                                // 37 UART2 error
 224         adc0_isr,                                       // 38 ADC0
 225         cmp0_isr,                                       // 39 CMP0
 226         cmp1_isr,                                       // 40 CMP1
 227         ftm0_isr,                                       // 41 FTM0
 228         ftm1_isr,                                       // 42 FTM1
 229         cmt_isr,                                        // 43 CMT
 230         rtc_alarm_isr,                                  // 44 RTC Alarm interrupt
 231         rtc_seconds_isr,                                // 45 RTC Seconds interrupt
 232         pit0_isr,                                       // 46 PIT Channel 0
 233         pit1_isr,                                       // 47 PIT Channel 1
 234         pit2_isr,                                       // 48 PIT Channel 2
 235         pit3_isr,                                       // 49 PIT Channel 3
 236         pdb_isr,                                        // 50 PDB Programmable Delay Block
 237         usb_isr,                                        // 51 USB OTG
 238         usb_charge_isr,                                 // 52 USB Charger Detect
 239         tsi0_isr,                                       // 53 TSI0
 240         mcg_isr,                                        // 54 MCG
 241         lptmr_isr,                                      // 55 Low Power Timer
 242         porta_isr,                                      // 56 Pin detect (Port A)
 243         portb_isr,                                      // 57 Pin detect (Port B)
 244         portc_isr,                                      // 58 Pin detect (Port C)
 245         portd_isr,                                      // 59 Pin detect (Port D)
 246         porte_isr,                                      // 60 Pin detect (Port E)
 247         software_isr,                                   // 61 Software interrupt
 248 #elif defined(_mk20dx256_)
 249         dma_ch0_isr,                                    // 16 DMA channel 0 transfer complete
 250         dma_ch1_isr,                                    // 17 DMA channel 1 transfer complete
 251         dma_ch2_isr,                                    // 18 DMA channel 2 transfer complete
 252         dma_ch3_isr,                                    // 19 DMA channel 3 transfer complete
 253         dma_ch4_isr,                                    // 20 DMA channel 4 transfer complete
 254         dma_ch5_isr,                                    // 21 DMA channel 5 transfer complete
 255         dma_ch6_isr,                                    // 22 DMA channel 6 transfer complete
 256         dma_ch7_isr,                                    // 23 DMA channel 7 transfer complete
 257         dma_ch8_isr,                                    // 24 DMA channel 8 transfer complete
 258         dma_ch9_isr,                                    // 25 DMA channel 9 transfer complete
 259         dma_ch10_isr,                                   // 26 DMA channel 10 transfer complete
 260         dma_ch11_isr,                                   // 27 DMA channel 10 transfer complete
 261         dma_ch12_isr,                                   // 28 DMA channel 10 transfer complete
 262         dma_ch13_isr,                                   // 29 DMA channel 10 transfer complete
 263         dma_ch14_isr,                                   // 30 DMA channel 10 transfer complete
 264         dma_ch15_isr,                                   // 31 DMA channel 10 transfer complete
 265         dma_error_isr,                                  // 32 DMA error interrupt channel
 266         unused_isr,                                     // 33 --
 267         flash_cmd_isr,                                  // 34 Flash Memory Command complete
 268         flash_error_isr,                                // 35 Flash Read collision
 269         low_voltage_isr,                                // 36 Low-voltage detect/warning
 270         wakeup_isr,                                     // 37 Low Leakage Wakeup
 271         watchdog_isr,                                   // 38 Both EWM and WDOG interrupt
 272         unused_isr,                                     // 39 --
 273         i2c0_isr,                                       // 40 I2C0
 274         i2c1_isr,                                       // 41 I2C1
 275         spi0_isr,                                       // 42 SPI0
 276         spi1_isr,                                       // 43 SPI1
 277         unused_isr,                                     // 44 --
 278         can0_message_isr,                               // 45 CAN OR'ed Message buffer (0-15)
 279         can0_bus_off_isr,                               // 46 CAN Bus Off
 280         can0_error_isr,                                 // 47 CAN Error
 281         can0_tx_warn_isr,                               // 48 CAN Transmit Warning
 282         can0_rx_warn_isr,                               // 49 CAN Receive Warning
 283         can0_wakeup_isr,                                // 50 CAN Wake Up
 284         i2s0_tx_isr,                                    // 51 I2S0 Transmit
 285         i2s0_rx_isr,                                    // 52 I2S0 Receive
 286         unused_isr,                                     // 53 --
 287         unused_isr,                                     // 54 --
 288         unused_isr,                                     // 55 --
 289         unused_isr,                                     // 56 --
 290         unused_isr,                                     // 57 --
 291         unused_isr,                                     // 58 --
 292         unused_isr,                                     // 59 --
 293         uart0_lon_isr,                                  // 60 UART0 CEA709.1-B (LON) status
 294         uart0_status_isr,                               // 61 UART0 status
 295         uart0_error_isr,                                // 62 UART0 error
 296         uart1_status_isr,                               // 63 UART1 status
 297         uart1_error_isr,                                // 64 UART1 error
 298         uart2_status_isr,                               // 65 UART2 status
 299         uart2_error_isr,                                // 66 UART2 error
 300         unused_isr,                                     // 67 --
 301         unused_isr,                                     // 68 --
 302         unused_isr,                                     // 69 --
 303         unused_isr,                                     // 70 --
 304         unused_isr,                                     // 71 --
 305         unused_isr,                                     // 72 --
 306         adc0_isr,                                       // 73 ADC0
 307         adc1_isr,                                       // 74 ADC1
 308         cmp0_isr,                                       // 75 CMP0
 309         cmp1_isr,                                       // 76 CMP1
 310         cmp2_isr,                                       // 77 CMP2
 311         ftm0_isr,                                       // 78 FTM0
 312         ftm1_isr,                                       // 79 FTM1
 313         ftm2_isr,                                       // 80 FTM2
 314         cmt_isr,                                        // 81 CMT
 315         rtc_alarm_isr,                                  // 82 RTC Alarm interrupt
 316         rtc_seconds_isr,                                // 83 RTC Seconds interrupt
 317         pit0_isr,                                       // 84 PIT Channel 0
 318         pit1_isr,                                       // 85 PIT Channel 1
 319         pit2_isr,                                       // 86 PIT Channel 2
 320         pit3_isr,                                       // 87 PIT Channel 3
 321         pdb_isr,                                        // 88 PDB Programmable Delay Block
 322         usb_isr,                                        // 89 USB OTG
 323         usb_charge_isr,                                 // 90 USB Charger Detect
 324         unused_isr,                                     // 91 --
 325         unused_isr,                                     // 92 --
 326         unused_isr,                                     // 93 --
 327         unused_isr,                                     // 94 --
 328         unused_isr,                                     // 95 --
 329         unused_isr,                                     // 96 --
 330         dac0_isr,                                       // 97 DAC0
 331         unused_isr,                                     // 98 --
 332         tsi0_isr,                                       // 99 TSI0
 333         mcg_isr,                                        // 100 MCG
 334         lptmr_isr,                                      // 101 Low Power Timer
 335         unused_isr,                                     // 102 --
 336         porta_isr,                                      // 103 Pin detect (Port A)
 337         portb_isr,                                      // 104 Pin detect (Port B)
 338         portc_isr,                                      // 105 Pin detect (Port C)
 339         portd_isr,                                      // 106 Pin detect (Port D)
 340         porte_isr,                                      // 107 Pin detect (Port E)
 341         unused_isr,                                     // 108 --
 342         unused_isr,                                     // 109 --
 343         software_isr,                                   // 110 Software interrupt
 344 #endif
 345 };
 346
 347
 348 // ----- Flash Configuration -----
 349
 350 // Only necessary for Teensy 3s, MCHCK uses the Bootloader to handle this
 351 #if defined(_mk20dx128_) || defined(_mk20dx256_)
 352 __attribute__ ((section(".flashconfig"), used))
 353 const uint8_t flashconfigbytes[16] = {
 354         0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
 355         0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFF, 0xFF, 0xFF
 356 };
 357 #endif
 358
 359
 360
 361 // ----- Chip Entry Point -----
 362
 363 __attribute__ ((section(".startup")))
 364 void ResetHandler()
 365 {
 366         uint32_t *src = &_etext;
 367         uint32_t *dest = &_sdata;
 368
 369         // Disable Watchdog
 370         WDOG_UNLOCK = WDOG_UNLOCK_SEQ1;
 371         WDOG_UNLOCK = WDOG_UNLOCK_SEQ2;
 372         WDOG_STCTRLH = WDOG_STCTRLH_ALLOWUPDATE;
 373
 374         // Enable clocks to always-used peripherals
 375         SIM_SCGC5 = 0x00043F82; // Clocks active to all GPIO
 376         SIM_SCGC6 = SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 | SIM_SCGC6_FTFL;
 377 #if defined(_mk20dx128_)
 378         SIM_SCGC6 |= SIM_SCGC6_RTC;
 379 #elif defined(_mk20dx256_)
 380         SIM_SCGC3 = SIM_SCGC3_ADC1 | SIM_SCGC3_FTM2;
 381         SIM_SCGC6 |= SIM_SCGC6_RTC;
 382 #endif
 383
 384 #if defined(_mk20dx128_) || defined(_mk20dx256_) // Teensy 3s
 385         // if the RTC oscillator isn't enabled, get it started early
 386         if ( !(RTC_CR & RTC_CR_OSCE) )
 387         {
 388                 RTC_SR = 0;
 389                 RTC_CR = RTC_CR_SC16P | RTC_CR_SC4P | RTC_CR_OSCE;
 390         }
 391 #endif
 392
 393         // release I/O pins hold, if we woke up from VLLS mode
 394         if ( PMC_REGSC & PMC_REGSC_ACKISO )
 395         {
 396                 PMC_REGSC |= PMC_REGSC_ACKISO;
 397         }
 398
 399         // Prepare RAM
 400         while ( dest < &_edata ) *dest++ = *src++;
 401         dest = &_sbss;
 402         while ( dest < &_ebss ) *dest++ = 0;
 403
 404 // MCHCK
 405 #if defined(_mk20dx128vlf5_)
 406         // Default all interrupts to medium priority level
 407         for ( unsigned int i = 0; i < NVIC_NUM_INTERRUPTS; i++ )
 408         {
 409                 NVIC_SET_PRIORITY( i, 128 );
 410         }
 411
 412         // FLL at 48MHz
 413         MCG_C4 = MCG_C4_DMX32 | MCG_C4_DRST_DRS( 1 );
 414
 415         // USB Clock and FLL select
 416         SIM_SOPT2 = SIM_SOPT2_USBSRC | SIM_SOPT2_TRACECLKSEL;
 417
 418 // Teensy 3.0 and 3.1
 419 #else
 420         unsigned int i;
 421
 422         SCB_VTOR = 0;   // use vector table in flash
 423
 424         // default all interrupts to medium priority level
 425         for ( i = 0; i < NVIC_NUM_INTERRUPTS; i++ )
 426         {
 427                 NVIC_SET_PRIORITY( i, 128 );
 428         }
 429
 430         // start in FEI mode
 431         // enable capacitors for crystal
 432         OSC0_CR = OSC_SC8P | OSC_SC2P;
 433
 434         // enable osc, 8-32 MHz range, low power mode
 435         MCG_C2 = MCG_C2_RANGE0( 2 ) | MCG_C2_EREFS;
 436
 437         // switch to crystal as clock source, FLL input = 16 MHz / 512
 438         MCG_C1 =  MCG_C1_CLKS( 2 ) | MCG_C1_FRDIV( 4 );
 439
 440         // wait for crystal oscillator to begin
 441         while ( (MCG_S & MCG_S_OSCINIT0) == 0 );
 442
 443         // wait for FLL to use oscillator
 444         while ( (MCG_S & MCG_S_IREFST) != 0 );
 445
 446         // wait for MCGOUT to use oscillator
 447         while ( (MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST( 2 ) );
 448
 449         // now we're in FBE mode
 450         // config PLL input for 16 MHz Crystal / 4 = 4 MHz
 451         MCG_C5 = MCG_C5_PRDIV0( 3 );
 452
 453         // config PLL for 96 MHz output
 454         MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0( 0 );
 455
 456         // wait for PLL to start using xtal as its input
 457         while ( !(MCG_S & MCG_S_PLLST) );
 458
 459         // wait for PLL to lock
 460         while ( !(MCG_S & MCG_S_LOCK0) );
 461
 462         // now we're in PBE mode
 463 #if F_CPU == 96000000
 464         // config divisors: 96 MHz core, 48 MHz bus, 24 MHz flash
 465         SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1( 0 ) | SIM_CLKDIV1_OUTDIV2( 1 ) | SIM_CLKDIV1_OUTDIV4( 3 );
 466 #elif F_CPU == 48000000
 467         // config divisors: 48 MHz core, 48 MHz bus, 24 MHz flash
 468         SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1( 1 ) | SIM_CLKDIV1_OUTDIV2( 1 ) | SIM_CLKDIV1_OUTDIV4( 3 );
 469 #elif F_CPU == 24000000
 470         // config divisors: 24 MHz core, 24 MHz bus, 24 MHz flash
 471         SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1( 3 ) | SIM_CLKDIV1_OUTDIV2( 3 ) | SIM_CLKDIV1_OUTDIV4( 3 );
 472 #else
 473 #error "Error, F_CPU must be 96000000, 48000000, or 24000000"
 474 #endif
 475         // switch to PLL as clock source, FLL input = 16 MHz / 512
 476         MCG_C1 = MCG_C1_CLKS( 0 ) | MCG_C1_FRDIV( 4 );
 477
 478         // wait for PLL clock to be used
 479         while ( (MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST( 3 ) );
 480
 481         // now we're in PEE mode
 482         // configure USB for 48 MHz clock
 483         SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV( 1 ); // USB = 96 MHz PLL / 2
 484
 485         // USB uses PLL clock, trace is CPU clock, CLKOUT=OSCERCLK0
 486         SIM_SOPT2 = SIM_SOPT2_USBSRC | SIM_SOPT2_PLLFLLSEL | SIM_SOPT2_TRACECLKSEL | SIM_SOPT2_CLKOUTSEL( 6 );
 487
 488 #endif
 489         // Initialize the SysTick counter
 490         SYST_RVR = (F_CPU / 1000) - 1;
 491         SYST_CSR = SYST_CSR_CLKSOURCE | SYST_CSR_TICKINT | SYST_CSR_ENABLE;
 492
 493         __enable_irq();
 494
 495         main();
 496         while ( 1 ); // Shouldn't get here...
 497 }
 498
 499
 500
 501 // ----- RAM Setup -----
 502
 503 char *__brkval = (char *)&_ebss;
 504
 505 void * _sbrk( int incr )
 506 {
 507         char *prev = __brkval;
 508         __brkval += incr;
 509         return prev;
 510 }
 511
 512
 513
 514 // ----- Interrupt Execution Priority -----
 515
 516 int nvic_execution_priority()
 517 {
 518         int priority = 256;
 519         uint32_t primask, faultmask, basepri, ipsr;
 520
 521         // full algorithm in ARM DDI0403D, page B1-639
 522         // this isn't quite complete, but hopefully good enough
 523         asm volatile( "mrs %0, faultmask\n" : "=r" (faultmask):: );
 524         if ( faultmask )
 525         {
 526                 return -1;
 527         }
 528
 529         asm volatile( "mrs %0, primask\n" : "=r" (primask):: );
 530         if ( primask )
 531         {
 532                 return 0;
 533         }
 534
 535         asm volatile( "mrs %0, ipsr\n" : "=r" (ipsr):: );
 536         if ( ipsr )
 537         {
 538                 if ( ipsr < 16)
 539                 {
 540                         priority = 0; // could be non-zero
 541                 }
 542                 else
 543                 {
 544                         priority = NVIC_GET_PRIORITY( ipsr - 16 );
 545                 }
 546         }
 547
 548         asm volatile( "mrs %0, basepri\n" : "=r" (basepri):: );
 549         if ( basepri > 0 && basepri < priority )
 550         {
 551                 priority = basepri;
 552         }
 553
 554         return priority;
 555 }
 556