/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 PJRC.COM, LLC.
- * Modifications by Jacob Alexander 2014
+ * Modifications by Jacob Alexander 2014-2015
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* SOFTWARE.
*/
+// ----- Includes -----
+
// Local Includes
#include "mk20dx.h"
-#include <print.h>
extern unsigned long _ebss;
extern unsigned long _estack;
+const uint8_t sys_reset_to_loader_magic[22] = "\xff\x00\x7fRESET TO LOADER\x7f\x00\xff";
+
// ----- Function Declarations -----
-extern int main ();
+extern int main();
void ResetHandler();
portd_isr, // 59 Pin detect (Port D)
porte_isr, // 60 Pin detect (Port E)
software_isr, // 61 Software interrupt
-#elif defined(_mk20dx256_)
+#elif defined(_mk20dx256_) || defined(_mk20dx256vlh7_)
dma_ch0_isr, // 16 DMA channel 0 transfer complete
dma_ch1_isr, // 17 DMA channel 1 transfer complete
dma_ch2_isr, // 18 DMA channel 2 transfer complete
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFF, 0xFF, 0xFF
};
+#elif defined(_mk20dx128vlf5_) && defined(_bootloader_)
+// XXX Byte labels may be in incorrect positions, double check before modifying
+// FSEC is in correct location -Jacob
+__attribute__ ((section(".flashconfig"), used))
+const uint8_t flashconfigbytes[16] = {
+ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, // Backdoor Verif Key 28.3.1
+
+ //
+ // Protecting the first 4k of Flash memory from being over-written while running (bootloader protection)
+ // Still possible to overwrite the bootloader using an external flashing device
+ // For more details see:
+ // http://cache.freescale.com/files/training/doc/dwf/AMF_ENT_T1031_Boston.pdf (page 8)
+ // http://cache.freescale.com/files/microcontrollers/doc/app_note/AN4507.pdf
+ // http://cache.freescale.com/files/32bit/doc/ref_manual/K20P48M50SF0RM.pdf (28.34.6)
+ //
+ 0xFF, 0xFF, 0xFF, 0xFE, // Program Flash Protection Bytes FPROT0-3
+
+ 0xBE, // Flash security byte FSEC
+ 0x03, // Flash nonvolatile option byte FOPT
+ 0xFF, // EEPROM Protection Byte FEPROT
+ 0xFF, // Data Flash Protection Byte FDPROT
+};
+#elif defined(_mk20dx256vlh7_) && defined(_bootloader_)
+// XXX Byte labels may be in incorrect positions, double check before modifying
+// FSEC is in correct location -Jacob
+__attribute__ ((section(".flashconfig"), used))
+const uint8_t flashconfigbytes[16] = {
+ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, // Backdoor Verif Key 28.3.1
+
+ //
+ // Protecting the first 8k of Flash memory from being over-written while running (bootloader protection)
+ // Still possible to overwrite the bootloader using an external flashing device
+ // For more details see:
+ // http://cache.freescale.com/files/training/doc/dwf/AMF_ENT_T1031_Boston.pdf (page 8)
+ // http://cache.freescale.com/files/microcontrollers/doc/app_note/AN4507.pdf
+ // http://cache.freescale.com/files/32bit/doc/ref_manual/K20P64M72SF1RM.pdf (28.34.6)
+ //
+ 0xFF, 0xFF, 0xFF, 0xFF, // Program Flash Protection Bytes FPROT0-3 // XXX TODO PROTECT
+
+ 0xBE, // Flash security byte FSEC
+ 0x03, // Flash nonvolatile option byte FOPT
+ 0xFF, // EEPROM Protection Byte FEPROT
+ 0xFF, // Data Flash Protection Byte FDPROT
+};
+#endif
+
+
+
+// ----- Functions -----
+
+#if ( defined(_mk20dx128vlf5_) || defined(_mk20dx256vlh7_) ) && defined(_bootloader_) // Bootloader Section
+__attribute__((noreturn))
+static inline void jump_to_app( uintptr_t addr )
+{
+ // addr is in r0
+ __asm__("ldr sp, [%[addr], #0]\n"
+ "ldr pc, [%[addr], #4]"
+ :: [addr] "r" (addr));
+ // NOTREACHED
+ __builtin_unreachable();
+}
#endif
+void *memset( void *addr, int val, unsigned int len )
+{
+ char *buf = addr;
+
+ for (; len > 0; --len, ++buf)
+ *buf = val;
+ return (addr);
+}
+
+int memcmp( const void *a, const void *b, unsigned int len )
+{
+ const uint8_t *ap = a, *bp = b;
+ int val = 0;
+
+ for (; len > 0 && (val = *ap - *bp) == 0; --len, ++ap, ++bp)
+ /* NOTHING */;
+ return (val);
+}
+
+void *memcpy( void *dst, const void *src, unsigned int len )
+{
+ char *dstbuf = dst;
+ const char *srcbuf = src;
+
+ for (; len > 0; --len, ++dstbuf, ++srcbuf)
+ *dstbuf = *srcbuf;
+ return (dst);
+}
+
// ----- Chip Entry Point -----
__attribute__ ((section(".startup")))
void ResetHandler()
{
- uint32_t *src = &_etext;
- uint32_t *dest = &_sdata;
-
+#if ( defined(_mk20dx128vlf5_) || defined(_mk20dx256vlh7_) ) && defined(_bootloader_) // Bootloader Section
+ extern uint32_t _app_rom;
+
+ // We treat _app_rom as pointer to directly read the stack
+ // pointer and check for valid app code. This is no fool
+ // proof method, but it should help for the first flash.
+ //
+ // Purposefully disabling the watchdog *after* the reset check this way
+ // if the chip goes into an odd state we'll reset to the bootloader (invalid firmware image)
+ // RCM_SRS0 & 0x20
+ //
+ // Also checking for ARM lock-up signal (invalid firmware image)
+ // RCM_SRS1 & 0x02
+ if ( // PIN (External Reset Pin/Switch)
+ RCM_SRS0 & 0x40
+ // WDOG (Watchdog timeout)
+ || RCM_SRS0 & 0x20
+ // LOCKUP (ARM Core LOCKUP event)
+ || RCM_SRS1 & 0x02
+ // Blank flash check
+ || _app_rom == 0xffffffff
+ // Software reset
+ || memcmp( (uint8_t*)&VBAT, sys_reset_to_loader_magic, sizeof(sys_reset_to_loader_magic) ) == 0
+ )
+ {
+ memset( (uint8_t*)&VBAT, 0, sizeof(VBAT) );
+ }
+ else
+ {
+ uint32_t addr = (uintptr_t)&_app_rom;
+ SCB_VTOR = addr; // relocate vector table
+ jump_to_app( addr );
+ }
+#endif
// Disable Watchdog
WDOG_UNLOCK = WDOG_UNLOCK_SEQ1;
WDOG_UNLOCK = WDOG_UNLOCK_SEQ2;
WDOG_STCTRLH = WDOG_STCTRLH_ALLOWUPDATE;
+ uint32_t *src = (uint32_t*)&_etext;
+ uint32_t *dest = (uint32_t*)&_sdata;
+
// Enable clocks to always-used peripherals
SIM_SCGC5 = 0x00043F82; // Clocks active to all GPIO
SIM_SCGC6 = SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 | SIM_SCGC6_FTFL;
}
// Prepare RAM
- while ( dest < &_edata ) *dest++ = *src++;
- dest = &_sbss;
- while ( dest < &_ebss ) *dest++ = 0;
+ while ( dest < (uint32_t*)&_edata ) *dest++ = *src++;
+ dest = (uint32_t*)&_sbss;
+ while ( dest < (uint32_t*)&_ebss ) *dest++ = 0;
-// MCHCK
+// MCHCK / Kiibohd-dfu
#if defined(_mk20dx128vlf5_)
// Default all interrupts to medium priority level
for ( unsigned int i = 0; i < NVIC_NUM_INTERRUPTS; i++ )
NVIC_SET_PRIORITY( i, 128 );
}
- // FLL at 48MHz
+ // FLL at 48MHz
MCG_C4 = MCG_C4_DMX32 | MCG_C4_DRST_DRS( 1 );
// USB Clock and FLL select
SIM_SOPT2 = SIM_SOPT2_USBSRC | SIM_SOPT2_TRACECLKSEL;
-// Teensy 3.0 and 3.1
+// Teensy 3.0 and 3.1 and Kiibohd-dfu (mk20dx256vlh7)
#else
- unsigned int i;
-
- SCB_VTOR = 0; // use vector table in flash
+ SCB_VTOR = 0; // use vector table in flash
// default all interrupts to medium priority level
- for ( i = 0; i < NVIC_NUM_INTERRUPTS; i++ )
+ for ( unsigned int i = 0; i < NVIC_NUM_INTERRUPTS; i++ )
{
NVIC_SET_PRIORITY( i, 128 );
}
while ( (MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST( 2 ) );
// now we're in FBE mode
+#if F_CPU == 72000000
+ // config PLL input for 16 MHz Crystal / 8 = 2 MHz
+ MCG_C5 = MCG_C5_PRDIV0( 7 );
+#else
// config PLL input for 16 MHz Crystal / 4 = 4 MHz
MCG_C5 = MCG_C5_PRDIV0( 3 );
+#endif
+#if F_CPU == 72000000
+ // config PLL for 72 MHz output (36 * 2 MHz Ext PLL)
+ MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0( 12 );
+#else
// config PLL for 96 MHz output
MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0( 0 );
+#endif
// wait for PLL to start using xtal as its input
while ( !(MCG_S & MCG_S_PLLST) );
#if F_CPU == 96000000
// config divisors: 96 MHz core, 48 MHz bus, 24 MHz flash
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1( 0 ) | SIM_CLKDIV1_OUTDIV2( 1 ) | SIM_CLKDIV1_OUTDIV4( 3 );
+#elif F_CPU == 72000000
+ // config divisors: 72 MHz core, 36 MHz bus, 24 MHz flash
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1( 0 ) | SIM_CLKDIV1_OUTDIV2( 1 ) | SIM_CLKDIV1_OUTDIV4( 2 );
#elif F_CPU == 48000000
// config divisors: 48 MHz core, 48 MHz bus, 24 MHz flash
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1( 1 ) | SIM_CLKDIV1_OUTDIV2( 1 ) | SIM_CLKDIV1_OUTDIV4( 3 );
// config divisors: 24 MHz core, 24 MHz bus, 24 MHz flash
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1( 3 ) | SIM_CLKDIV1_OUTDIV2( 3 ) | SIM_CLKDIV1_OUTDIV4( 3 );
#else
-#error "Error, F_CPU must be 96000000, 48000000, or 24000000"
+#error "Error, F_CPU must be 96000000, 72000000, 48000000, or 24000000"
#endif
// switch to PLL as clock source, FLL input = 16 MHz / 512
MCG_C1 = MCG_C1_CLKS( 0 ) | MCG_C1_FRDIV( 4 );
while ( (MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST( 3 ) );
// now we're in PEE mode
+#if F_CPU == 72000000
+ // configure USB for 48 MHz clock
+ SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV( 2 ) | SIM_CLKDIV2_USBFRAC; // USB = 72 MHz PLL / 1.5
+#else
// configure USB for 48 MHz clock
SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV( 1 ); // USB = 96 MHz PLL / 2
+#endif
// USB uses PLL clock, trace is CPU clock, CLKOUT=OSCERCLK0
SIM_SOPT2 = SIM_SOPT2_USBSRC | SIM_SOPT2_PLLFLLSEL | SIM_SOPT2_TRACECLKSEL | SIM_SOPT2_CLKOUTSEL( 6 );
#endif
+
+#if !defined(_bootloader_)
// Initialize the SysTick counter
SYST_RVR = (F_CPU / 1000) - 1;
SYST_CSR = SYST_CSR_CLKSOURCE | SYST_CSR_TICKINT | SYST_CSR_ENABLE;
__enable_irq();
+#else
+ // Disable Watchdog for bootloader
+ WDOG_STCTRLH &= ~WDOG_STCTRLH_WDOGEN;
+#endif
main();
while ( 1 ); // Shouldn't get here...
projects / kiibohd-controller.git / blobdiff