/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 PJRC.COM, LLC.
+ * 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
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
- * 1. The above copyright notice and this permission notice shall be
+ * 1. The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
- * 2. If the Software is incorporated into a build system that allows
+ * 2. If the Software is incorporated into a build system that allows
* selection among a list of target devices, then similar target
* devices manufactured by PJRC.COM must be included in the list of
* target devices and selectable in the same manner.
* SOFTWARE.
*/
+// ----- Includes -----
+
+// Local Includes
#include "mk20dx.h"
+
+// ----- Variables -----
+
extern unsigned long _stext;
extern unsigned long _etext;
extern unsigned long _sdata;
extern unsigned long _sbss;
extern unsigned long _ebss;
extern unsigned long _estack;
-//extern void __init_array_start(void);
-//extern void __init_array_end(void);
-extern int main (void);
-void ResetHandler(void);
-void _init_Teensyduino_internal_(void);
-void __libc_init_array(void);
+
+const uint8_t sys_reset_to_loader_magic[22] = "\xff\x00\x7fRESET TO LOADER\x7f\x00\xff";
+
+
+
+// ----- Function Declarations -----
+
+extern int main();
+void ResetHandler();
-void fault_isr(void)
+
+// ----- Interrupts -----
+
+// NVIC - Default ISR
+void fault_isr()
{
- while (1) {
+ while ( 1 )
+ {
// keep polling some communication while in fault
// mode, so we don't completely die.
- if (SIM_SCGC4 & SIM_SCGC4_USBOTG) usb_isr();
- if (SIM_SCGC4 & SIM_SCGC4_UART0) uart0_status_isr();
- if (SIM_SCGC4 & SIM_SCGC4_UART1) uart1_status_isr();
- if (SIM_SCGC4 & SIM_SCGC4_UART2) uart2_status_isr();
+ if ( SIM_SCGC4 & SIM_SCGC4_USBOTG ) usb_isr();
+ if ( SIM_SCGC4 & SIM_SCGC4_UART0 ) uart0_status_isr();
+ if ( SIM_SCGC4 & SIM_SCGC4_UART1 ) uart1_status_isr();
+ if ( SIM_SCGC4 & SIM_SCGC4_UART2 ) uart2_status_isr();
}
}
-void unused_isr(void)
+void unused_isr()
{
fault_isr();
}
+
+// NVIC - SysTick ISR
extern volatile uint32_t systick_millis_count;
-void systick_default_isr(void)
+void systick_default_isr()
{
systick_millis_count++;
}
-void nmi_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void hard_fault_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void memmanage_fault_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void bus_fault_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void usage_fault_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void svcall_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void debugmonitor_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void pendablesrvreq_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void systick_isr(void) __attribute__ ((weak, alias("systick_default_isr")));
-
-void dma_ch0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch2_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch3_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch4_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch5_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch6_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch7_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch8_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch9_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch10_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch11_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch12_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch13_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch14_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch15_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void mcm_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void flash_cmd_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void flash_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void low_voltage_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void wakeup_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void watchdog_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void i2c0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void i2c1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void i2c2_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void spi0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void spi1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void spi2_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void sdhc_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can0_message_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can0_bus_off_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can0_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can0_tx_warn_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can0_rx_warn_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can0_wakeup_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void i2s0_tx_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void i2s0_rx_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart0_lon_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart0_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart0_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart1_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart1_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart2_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart2_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart3_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart3_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart4_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart4_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart5_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart5_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void adc0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void adc1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void cmp0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void cmp1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void cmp2_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void ftm0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void ftm1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void ftm2_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void ftm3_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void cmt_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void rtc_alarm_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void rtc_seconds_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void pit0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void pit1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void pit2_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void pit3_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void pdb_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void usb_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void usb_charge_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dac0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dac1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void tsi0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void mcg_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void lptmr_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void porta_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void portb_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void portc_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void portd_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void porte_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void software_isr(void) __attribute__ ((weak, alias("unused_isr")));
-
-
-// TODO: create AVR-stype ISR() macro, with default linkage to undefined handler
-//
+
+// NVIC - Default ISR/Vector Linking
+void nmi_isr() __attribute__ ((weak, alias("unused_isr")));
+void hard_fault_isr() __attribute__ ((weak, alias("unused_isr")));
+void memmanage_fault_isr() __attribute__ ((weak, alias("unused_isr")));
+void bus_fault_isr() __attribute__ ((weak, alias("unused_isr")));
+void usage_fault_isr() __attribute__ ((weak, alias("unused_isr")));
+void svcall_isr() __attribute__ ((weak, alias("unused_isr")));
+void debugmonitor_isr() __attribute__ ((weak, alias("unused_isr")));
+void pendablesrvreq_isr() __attribute__ ((weak, alias("unused_isr")));
+void systick_isr() __attribute__ ((weak, alias("systick_default_isr")));
+
+void dma_ch0_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch1_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch2_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch3_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch4_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch5_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch6_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch7_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch8_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch9_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch10_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch11_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch12_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch13_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch14_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_ch15_isr() __attribute__ ((weak, alias("unused_isr")));
+void dma_error_isr() __attribute__ ((weak, alias("unused_isr")));
+void mcm_isr() __attribute__ ((weak, alias("unused_isr")));
+void flash_cmd_isr() __attribute__ ((weak, alias("unused_isr")));
+void flash_error_isr() __attribute__ ((weak, alias("unused_isr")));
+void low_voltage_isr() __attribute__ ((weak, alias("unused_isr")));
+void wakeup_isr() __attribute__ ((weak, alias("unused_isr")));
+void watchdog_isr() __attribute__ ((weak, alias("unused_isr")));
+void i2c0_isr() __attribute__ ((weak, alias("unused_isr")));
+void i2c1_isr() __attribute__ ((weak, alias("unused_isr")));
+void i2c2_isr() __attribute__ ((weak, alias("unused_isr")));
+void spi0_isr() __attribute__ ((weak, alias("unused_isr")));
+void spi1_isr() __attribute__ ((weak, alias("unused_isr")));
+void spi2_isr() __attribute__ ((weak, alias("unused_isr")));
+void sdhc_isr() __attribute__ ((weak, alias("unused_isr")));
+void can0_message_isr() __attribute__ ((weak, alias("unused_isr")));
+void can0_bus_off_isr() __attribute__ ((weak, alias("unused_isr")));
+void can0_error_isr() __attribute__ ((weak, alias("unused_isr")));
+void can0_tx_warn_isr() __attribute__ ((weak, alias("unused_isr")));
+void can0_rx_warn_isr() __attribute__ ((weak, alias("unused_isr")));
+void can0_wakeup_isr() __attribute__ ((weak, alias("unused_isr")));
+void i2s0_tx_isr() __attribute__ ((weak, alias("unused_isr")));
+void i2s0_rx_isr() __attribute__ ((weak, alias("unused_isr")));
+void uart0_lon_isr() __attribute__ ((weak, alias("unused_isr")));
+void uart0_status_isr() __attribute__ ((weak, alias("unused_isr")));
+void uart0_error_isr() __attribute__ ((weak, alias("unused_isr")));
+void uart1_status_isr() __attribute__ ((weak, alias("unused_isr")));
+void uart1_error_isr() __attribute__ ((weak, alias("unused_isr")));
+void uart2_status_isr() __attribute__ ((weak, alias("unused_isr")));
+void uart2_error_isr() __attribute__ ((weak, alias("unused_isr")));
+void uart3_status_isr() __attribute__ ((weak, alias("unused_isr")));
+void uart3_error_isr() __attribute__ ((weak, alias("unused_isr")));
+void uart4_status_isr() __attribute__ ((weak, alias("unused_isr")));
+void uart4_error_isr() __attribute__ ((weak, alias("unused_isr")));
+void uart5_status_isr() __attribute__ ((weak, alias("unused_isr")));
+void uart5_error_isr() __attribute__ ((weak, alias("unused_isr")));
+void adc0_isr() __attribute__ ((weak, alias("unused_isr")));
+void adc1_isr() __attribute__ ((weak, alias("unused_isr")));
+void cmp0_isr() __attribute__ ((weak, alias("unused_isr")));
+void cmp1_isr() __attribute__ ((weak, alias("unused_isr")));
+void cmp2_isr() __attribute__ ((weak, alias("unused_isr")));
+void ftm0_isr() __attribute__ ((weak, alias("unused_isr")));
+void ftm1_isr() __attribute__ ((weak, alias("unused_isr")));
+void ftm2_isr() __attribute__ ((weak, alias("unused_isr")));
+void ftm3_isr() __attribute__ ((weak, alias("unused_isr")));
+void cmt_isr() __attribute__ ((weak, alias("unused_isr")));
+void rtc_alarm_isr() __attribute__ ((weak, alias("unused_isr")));
+void rtc_seconds_isr() __attribute__ ((weak, alias("unused_isr")));
+void pit0_isr() __attribute__ ((weak, alias("unused_isr")));
+void pit1_isr() __attribute__ ((weak, alias("unused_isr")));
+void pit2_isr() __attribute__ ((weak, alias("unused_isr")));
+void pit3_isr() __attribute__ ((weak, alias("unused_isr")));
+void pdb_isr() __attribute__ ((weak, alias("unused_isr")));
+void usb_isr() __attribute__ ((weak, alias("unused_isr")));
+void usb_charge_isr() __attribute__ ((weak, alias("unused_isr")));
+void dac0_isr() __attribute__ ((weak, alias("unused_isr")));
+void dac1_isr() __attribute__ ((weak, alias("unused_isr")));
+void tsi0_isr() __attribute__ ((weak, alias("unused_isr")));
+void mcg_isr() __attribute__ ((weak, alias("unused_isr")));
+void lptmr_isr() __attribute__ ((weak, alias("unused_isr")));
+void porta_isr() __attribute__ ((weak, alias("unused_isr")));
+void portb_isr() __attribute__ ((weak, alias("unused_isr")));
+void portc_isr() __attribute__ ((weak, alias("unused_isr")));
+void portd_isr() __attribute__ ((weak, alias("unused_isr")));
+void porte_isr() __attribute__ ((weak, alias("unused_isr")));
+void software_isr() __attribute__ ((weak, alias("unused_isr")));
+
+
+// NVIC - Interrupt Vector Table
__attribute__ ((section(".vectors"), used))
-void (* const gVectors[])(void) =
+void (* const gVectors[])() =
{
- (void (*)(void))((unsigned long)&_estack), // 0 ARM: Initial Stack Pointer
- ResetHandler, // 1 ARM: Initial Program Counter
- nmi_isr, // 2 ARM: Non-maskable Interrupt (NMI)
- hard_fault_isr, // 3 ARM: Hard Fault
- memmanage_fault_isr, // 4 ARM: MemManage Fault
- bus_fault_isr, // 5 ARM: Bus Fault
- usage_fault_isr, // 6 ARM: Usage Fault
- fault_isr, // 7 --
- fault_isr, // 8 --
- fault_isr, // 9 --
- fault_isr, // 10 --
- svcall_isr, // 11 ARM: Supervisor call (SVCall)
- debugmonitor_isr, // 12 ARM: Debug Monitor
- fault_isr, // 13 --
- pendablesrvreq_isr, // 14 ARM: Pendable req serv(PendableSrvReq)
- systick_isr, // 15 ARM: System tick timer (SysTick)
-#if defined(_mk20dx128_)
- 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
- dma_ch3_isr, // 19 DMA channel 3 transfer complete
- dma_error_isr, // 20 DMA error interrupt channel
- unused_isr, // 21 DMA --
- flash_cmd_isr, // 22 Flash Memory Command complete
- flash_error_isr, // 23 Flash Read collision
- low_voltage_isr, // 24 Low-voltage detect/warning
- wakeup_isr, // 25 Low Leakage Wakeup
- watchdog_isr, // 26 Both EWM and WDOG interrupt
- i2c0_isr, // 27 I2C0
- spi0_isr, // 28 SPI0
- i2s0_tx_isr, // 29 I2S0 Transmit
- i2s0_rx_isr, // 30 I2S0 Receive
- uart0_lon_isr, // 31 UART0 CEA709.1-B (LON) status
- uart0_status_isr, // 32 UART0 status
- uart0_error_isr, // 33 UART0 error
- uart1_status_isr, // 34 UART1 status
- uart1_error_isr, // 35 UART1 error
- uart2_status_isr, // 36 UART2 status
- uart2_error_isr, // 37 UART2 error
- adc0_isr, // 38 ADC0
- cmp0_isr, // 39 CMP0
- cmp1_isr, // 40 CMP1
- ftm0_isr, // 41 FTM0
- ftm1_isr, // 42 FTM1
- cmt_isr, // 43 CMT
- rtc_alarm_isr, // 44 RTC Alarm interrupt
- rtc_seconds_isr, // 45 RTC Seconds interrupt
- pit0_isr, // 46 PIT Channel 0
- pit1_isr, // 47 PIT Channel 1
- pit2_isr, // 48 PIT Channel 2
- pit3_isr, // 49 PIT Channel 3
- pdb_isr, // 50 PDB Programmable Delay Block
- usb_isr, // 51 USB OTG
- usb_charge_isr, // 52 USB Charger Detect
- tsi0_isr, // 53 TSI0
- mcg_isr, // 54 MCG
- lptmr_isr, // 55 Low Power Timer
- porta_isr, // 56 Pin detect (Port A)
- portb_isr, // 57 Pin detect (Port B)
- portc_isr, // 58 Pin detect (Port C)
- portd_isr, // 59 Pin detect (Port D)
- porte_isr, // 60 Pin detect (Port E)
- software_isr, // 61 Software interrupt
-#elif defined(_mk20dx256_)
- 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
- dma_ch3_isr, // 19 DMA channel 3 transfer complete
- dma_ch4_isr, // 20 DMA channel 4 transfer complete
- dma_ch5_isr, // 21 DMA channel 5 transfer complete
- dma_ch6_isr, // 22 DMA channel 6 transfer complete
- dma_ch7_isr, // 23 DMA channel 7 transfer complete
- dma_ch8_isr, // 24 DMA channel 8 transfer complete
- dma_ch9_isr, // 25 DMA channel 9 transfer complete
- dma_ch10_isr, // 26 DMA channel 10 transfer complete
- dma_ch11_isr, // 27 DMA channel 10 transfer complete
- dma_ch12_isr, // 28 DMA channel 10 transfer complete
- dma_ch13_isr, // 29 DMA channel 10 transfer complete
- dma_ch14_isr, // 30 DMA channel 10 transfer complete
- dma_ch15_isr, // 31 DMA channel 10 transfer complete
- dma_error_isr, // 32 DMA error interrupt channel
- unused_isr, // 33 --
- flash_cmd_isr, // 34 Flash Memory Command complete
- flash_error_isr, // 35 Flash Read collision
- low_voltage_isr, // 36 Low-voltage detect/warning
- wakeup_isr, // 37 Low Leakage Wakeup
- watchdog_isr, // 38 Both EWM and WDOG interrupt
- unused_isr, // 39 --
- i2c0_isr, // 40 I2C0
- i2c1_isr, // 41 I2C1
- spi0_isr, // 42 SPI0
- spi1_isr, // 43 SPI1
- unused_isr, // 44 --
- can0_message_isr, // 45 CAN OR'ed Message buffer (0-15)
- can0_bus_off_isr, // 46 CAN Bus Off
- can0_error_isr, // 47 CAN Error
- can0_tx_warn_isr, // 48 CAN Transmit Warning
- can0_rx_warn_isr, // 49 CAN Receive Warning
- can0_wakeup_isr, // 50 CAN Wake Up
- i2s0_tx_isr, // 51 I2S0 Transmit
- i2s0_rx_isr, // 52 I2S0 Receive
- unused_isr, // 53 --
- unused_isr, // 54 --
- unused_isr, // 55 --
- unused_isr, // 56 --
- unused_isr, // 57 --
- unused_isr, // 58 --
- unused_isr, // 59 --
- uart0_lon_isr, // 60 UART0 CEA709.1-B (LON) status
- uart0_status_isr, // 61 UART0 status
- uart0_error_isr, // 62 UART0 error
- uart1_status_isr, // 63 UART1 status
- uart1_error_isr, // 64 UART1 error
- uart2_status_isr, // 65 UART2 status
- uart2_error_isr, // 66 UART2 error
- unused_isr, // 67 --
- unused_isr, // 68 --
- unused_isr, // 69 --
- unused_isr, // 70 --
- unused_isr, // 71 --
- unused_isr, // 72 --
- adc0_isr, // 73 ADC0
- adc1_isr, // 74 ADC1
- cmp0_isr, // 75 CMP0
- cmp1_isr, // 76 CMP1
- cmp2_isr, // 77 CMP2
- ftm0_isr, // 78 FTM0
- ftm1_isr, // 79 FTM1
- ftm2_isr, // 80 FTM2
- cmt_isr, // 81 CMT
- rtc_alarm_isr, // 82 RTC Alarm interrupt
- rtc_seconds_isr, // 83 RTC Seconds interrupt
- pit0_isr, // 84 PIT Channel 0
- pit1_isr, // 85 PIT Channel 1
- pit2_isr, // 86 PIT Channel 2
- pit3_isr, // 87 PIT Channel 3
- pdb_isr, // 88 PDB Programmable Delay Block
- usb_isr, // 89 USB OTG
- usb_charge_isr, // 90 USB Charger Detect
- unused_isr, // 91 --
- unused_isr, // 92 --
- unused_isr, // 93 --
- unused_isr, // 94 --
- unused_isr, // 95 --
- unused_isr, // 96 --
- dac0_isr, // 97 DAC0
- unused_isr, // 98 --
- tsi0_isr, // 99 TSI0
- mcg_isr, // 100 MCG
- lptmr_isr, // 101 Low Power Timer
- unused_isr, // 102 --
- porta_isr, // 103 Pin detect (Port A)
- portb_isr, // 104 Pin detect (Port B)
- portc_isr, // 105 Pin detect (Port C)
- portd_isr, // 106 Pin detect (Port D)
- porte_isr, // 107 Pin detect (Port E)
- unused_isr, // 108 --
- unused_isr, // 109 --
- software_isr, // 110 Software interrupt
+ (void (*)(void))((unsigned long)&_estack), // 0 ARM: Initial Stack Pointer
+ ResetHandler, // 1 ARM: Initial Program Counter
+ nmi_isr, // 2 ARM: Non-maskable Interrupt (NMI)
+ hard_fault_isr, // 3 ARM: Hard Fault
+ memmanage_fault_isr, // 4 ARM: MemManage Fault
+ bus_fault_isr, // 5 ARM: Bus Fault
+ usage_fault_isr, // 6 ARM: Usage Fault
+ fault_isr, // 7 --
+ fault_isr, // 8 --
+ fault_isr, // 9 --
+ fault_isr, // 10 --
+ svcall_isr, // 11 ARM: Supervisor call (SVCall)
+ debugmonitor_isr, // 12 ARM: Debug Monitor
+ fault_isr, // 13 --
+ pendablesrvreq_isr, // 14 ARM: Pendable req serv(PendableSrvReq)
+ systick_isr, // 15 ARM: System tick timer (SysTick)
+#if defined(_mk20dx128_) || defined(_mk20dx128vlf5_)
+ 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
+ dma_ch3_isr, // 19 DMA channel 3 transfer complete
+ dma_error_isr, // 20 DMA error interrupt channel
+ unused_isr, // 21 DMA --
+ flash_cmd_isr, // 22 Flash Memory Command complete
+ flash_error_isr, // 23 Flash Read collision
+ low_voltage_isr, // 24 Low-voltage detect/warning
+ wakeup_isr, // 25 Low Leakage Wakeup
+ watchdog_isr, // 26 Both EWM and WDOG interrupt
+ i2c0_isr, // 27 I2C0
+ spi0_isr, // 28 SPI0
+ i2s0_tx_isr, // 29 I2S0 Transmit
+ i2s0_rx_isr, // 30 I2S0 Receive
+ uart0_lon_isr, // 31 UART0 CEA709.1-B (LON) status
+ uart0_status_isr, // 32 UART0 status
+ uart0_error_isr, // 33 UART0 error
+ uart1_status_isr, // 34 UART1 status
+ uart1_error_isr, // 35 UART1 error
+ uart2_status_isr, // 36 UART2 status
+ uart2_error_isr, // 37 UART2 error
+ adc0_isr, // 38 ADC0
+ cmp0_isr, // 39 CMP0
+ cmp1_isr, // 40 CMP1
+ ftm0_isr, // 41 FTM0
+ ftm1_isr, // 42 FTM1
+ cmt_isr, // 43 CMT
+ rtc_alarm_isr, // 44 RTC Alarm interrupt
+ rtc_seconds_isr, // 45 RTC Seconds interrupt
+ pit0_isr, // 46 PIT Channel 0
+ pit1_isr, // 47 PIT Channel 1
+ pit2_isr, // 48 PIT Channel 2
+ pit3_isr, // 49 PIT Channel 3
+ pdb_isr, // 50 PDB Programmable Delay Block
+ usb_isr, // 51 USB OTG
+ usb_charge_isr, // 52 USB Charger Detect
+ tsi0_isr, // 53 TSI0
+ mcg_isr, // 54 MCG
+ lptmr_isr, // 55 Low Power Timer
+ porta_isr, // 56 Pin detect (Port A)
+ portb_isr, // 57 Pin detect (Port B)
+ portc_isr, // 58 Pin detect (Port C)
+ portd_isr, // 59 Pin detect (Port D)
+ porte_isr, // 60 Pin detect (Port E)
+ software_isr, // 61 Software interrupt
+#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
+ dma_ch3_isr, // 19 DMA channel 3 transfer complete
+ dma_ch4_isr, // 20 DMA channel 4 transfer complete
+ dma_ch5_isr, // 21 DMA channel 5 transfer complete
+ dma_ch6_isr, // 22 DMA channel 6 transfer complete
+ dma_ch7_isr, // 23 DMA channel 7 transfer complete
+ dma_ch8_isr, // 24 DMA channel 8 transfer complete
+ dma_ch9_isr, // 25 DMA channel 9 transfer complete
+ dma_ch10_isr, // 26 DMA channel 10 transfer complete
+ dma_ch11_isr, // 27 DMA channel 10 transfer complete
+ dma_ch12_isr, // 28 DMA channel 10 transfer complete
+ dma_ch13_isr, // 29 DMA channel 10 transfer complete
+ dma_ch14_isr, // 30 DMA channel 10 transfer complete
+ dma_ch15_isr, // 31 DMA channel 10 transfer complete
+ dma_error_isr, // 32 DMA error interrupt channel
+ unused_isr, // 33 --
+ flash_cmd_isr, // 34 Flash Memory Command complete
+ flash_error_isr, // 35 Flash Read collision
+ low_voltage_isr, // 36 Low-voltage detect/warning
+ wakeup_isr, // 37 Low Leakage Wakeup
+ watchdog_isr, // 38 Both EWM and WDOG interrupt
+ unused_isr, // 39 --
+ i2c0_isr, // 40 I2C0
+ i2c1_isr, // 41 I2C1
+ spi0_isr, // 42 SPI0
+ spi1_isr, // 43 SPI1
+ unused_isr, // 44 --
+ can0_message_isr, // 45 CAN OR'ed Message buffer (0-15)
+ can0_bus_off_isr, // 46 CAN Bus Off
+ can0_error_isr, // 47 CAN Error
+ can0_tx_warn_isr, // 48 CAN Transmit Warning
+ can0_rx_warn_isr, // 49 CAN Receive Warning
+ can0_wakeup_isr, // 50 CAN Wake Up
+ i2s0_tx_isr, // 51 I2S0 Transmit
+ i2s0_rx_isr, // 52 I2S0 Receive
+ unused_isr, // 53 --
+ unused_isr, // 54 --
+ unused_isr, // 55 --
+ unused_isr, // 56 --
+ unused_isr, // 57 --
+ unused_isr, // 58 --
+ unused_isr, // 59 --
+ uart0_lon_isr, // 60 UART0 CEA709.1-B (LON) status
+ uart0_status_isr, // 61 UART0 status
+ uart0_error_isr, // 62 UART0 error
+ uart1_status_isr, // 63 UART1 status
+ uart1_error_isr, // 64 UART1 error
+ uart2_status_isr, // 65 UART2 status
+ uart2_error_isr, // 66 UART2 error
+ unused_isr, // 67 --
+ unused_isr, // 68 --
+ unused_isr, // 69 --
+ unused_isr, // 70 --
+ unused_isr, // 71 --
+ unused_isr, // 72 --
+ adc0_isr, // 73 ADC0
+ adc1_isr, // 74 ADC1
+ cmp0_isr, // 75 CMP0
+ cmp1_isr, // 76 CMP1
+ cmp2_isr, // 77 CMP2
+ ftm0_isr, // 78 FTM0
+ ftm1_isr, // 79 FTM1
+ ftm2_isr, // 80 FTM2
+ cmt_isr, // 81 CMT
+ rtc_alarm_isr, // 82 RTC Alarm interrupt
+ rtc_seconds_isr, // 83 RTC Seconds interrupt
+ pit0_isr, // 84 PIT Channel 0
+ pit1_isr, // 85 PIT Channel 1
+ pit2_isr, // 86 PIT Channel 2
+ pit3_isr, // 87 PIT Channel 3
+ pdb_isr, // 88 PDB Programmable Delay Block
+ usb_isr, // 89 USB OTG
+ usb_charge_isr, // 90 USB Charger Detect
+ unused_isr, // 91 --
+ unused_isr, // 92 --
+ unused_isr, // 93 --
+ unused_isr, // 94 --
+ unused_isr, // 95 --
+ unused_isr, // 96 --
+ dac0_isr, // 97 DAC0
+ unused_isr, // 98 --
+ tsi0_isr, // 99 TSI0
+ mcg_isr, // 100 MCG
+ lptmr_isr, // 101 Low Power Timer
+ unused_isr, // 102 --
+ porta_isr, // 103 Pin detect (Port A)
+ portb_isr, // 104 Pin detect (Port B)
+ portc_isr, // 105 Pin detect (Port C)
+ portd_isr, // 106 Pin detect (Port D)
+ porte_isr, // 107 Pin detect (Port E)
+ unused_isr, // 108 --
+ unused_isr, // 109 --
+ software_isr, // 110 Software interrupt
#endif
};
-//void usb_isr(void)
-//{
-//}
+// ----- Flash Configuration -----
+
+// Only necessary for Teensy 3s, MCHCK uses the Bootloader to handle this
+#if defined(_mk20dx128_) || defined(_mk20dx256_)
__attribute__ ((section(".flashconfig"), used))
const uint8_t flashconfigbytes[16] = {
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
+
-// Automatically initialize the RTC. When the build defines the compile
-// time, and the user has added a crystal, the RTC will automatically
-// begin at the time of the first upload.
-#ifndef TIME_T
-#define TIME_T 1349049600 // default 1 Oct 2012 (never used, Arduino sets this)
+// ----- 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
-extern void rtc_set(unsigned long t);
+void *memset( void *addr, int val, unsigned int len )
+{
+ char *buf = addr;
+ for (; len > 0; --len, ++buf)
+ *buf = val;
+ return (addr);
+}
-static void startup_unused_hook(void) {}
-void startup_early_hook(void) __attribute__ ((weak, alias("startup_unused_hook")));
-void startup_late_hook(void) __attribute__ ((weak, alias("startup_unused_hook")));
+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);
+}
-__attribute__ ((section(".startup")))
-void ResetHandler(void)
+void *memcpy( void *dst, const void *src, unsigned int len )
{
- uint32_t *src = &_etext;
- uint32_t *dest = &_sdata;
- unsigned int i;
+ 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()
+{
+#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;
- startup_early_hook();
- // enable clocks to always-used peripherals
+ 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;
#if defined(_mk20dx128_)
- SIM_SCGC5 = 0x00043F82; // clocks active to all GPIO
- SIM_SCGC6 = SIM_SCGC6_RTC | SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 | SIM_SCGC6_FTFL;
+ SIM_SCGC6 |= SIM_SCGC6_RTC;
#elif defined(_mk20dx256_)
SIM_SCGC3 = SIM_SCGC3_ADC1 | SIM_SCGC3_FTM2;
- SIM_SCGC5 = 0x00043F82; // clocks active to all GPIO
- SIM_SCGC6 = SIM_SCGC6_RTC | SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 | SIM_SCGC6_FTFL;
+ SIM_SCGC6 |= SIM_SCGC6_RTC;
#endif
+#if defined(_mk20dx128_) || defined(_mk20dx256_) // Teensy 3s
// if the RTC oscillator isn't enabled, get it started early
- if (!(RTC_CR & RTC_CR_OSCE)) {
+ if ( !(RTC_CR & RTC_CR_OSCE) )
+ {
RTC_SR = 0;
RTC_CR = RTC_CR_SC16P | RTC_CR_SC4P | RTC_CR_OSCE;
}
+#endif
// release I/O pins hold, if we woke up from VLLS mode
- if (PMC_REGSC & PMC_REGSC_ACKISO) PMC_REGSC |= PMC_REGSC_ACKISO;
+ if ( PMC_REGSC & PMC_REGSC_ACKISO )
+ {
+ PMC_REGSC |= PMC_REGSC_ACKISO;
+ }
- // TODO: do this while the PLL is waiting to lock....
- while (dest < &_edata) *dest++ = *src++;
- dest = &_sbss;
- while (dest < &_ebss) *dest++ = 0;
- SCB_VTOR = 0; // use vector table in flash
+ // Prepare RAM
+ while ( dest < (uint32_t*)&_edata ) *dest++ = *src++;
+ dest = (uint32_t*)&_sbss;
+ while ( dest < (uint32_t*)&_ebss ) *dest++ = 0;
+
+// 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
+ 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 and Kiibohd-dfu (mk20dx256vlh7)
+#else
+ SCB_VTOR = 0; // use vector table in flash
// default all interrupts to medium priority level
- for (i=0; i < NVIC_NUM_INTERRUPTS; i++) NVIC_SET_PRIORITY(i, 128);
+ for ( unsigned int i = 0; i < NVIC_NUM_INTERRUPTS; i++ )
+ {
+ NVIC_SET_PRIORITY( i, 128 );
+ }
// start in FEI mode
// enable capacitors for crystal
OSC0_CR = OSC_SC8P | OSC_SC2P;
+
// enable osc, 8-32 MHz range, low power mode
- MCG_C2 = MCG_C2_RANGE0(2) | MCG_C2_EREFS;
+ MCG_C2 = MCG_C2_RANGE0( 2 ) | MCG_C2_EREFS;
+
// switch to crystal as clock source, FLL input = 16 MHz / 512
- MCG_C1 = MCG_C1_CLKS(2) | MCG_C1_FRDIV(4);
+ MCG_C1 = MCG_C1_CLKS( 2 ) | MCG_C1_FRDIV( 4 );
+
// wait for crystal oscillator to begin
- while ((MCG_S & MCG_S_OSCINIT0) == 0) ;
+ while ( (MCG_S & MCG_S_OSCINIT0) == 0 );
+
// wait for FLL to use oscillator
- while ((MCG_S & MCG_S_IREFST) != 0) ;
+ while ( (MCG_S & MCG_S_IREFST) != 0 );
+
// wait for MCGOUT to use oscillator
- while ((MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST(2)) ;
+ 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);
+ 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);
+ 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)) ;
+ while ( !(MCG_S & MCG_S_PLLST) );
+
// wait for PLL to lock
- while (!(MCG_S & MCG_S_LOCK0)) ;
+ while ( !(MCG_S & MCG_S_LOCK0) );
+
// now we're in PBE mode
#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);
+ 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);
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1( 1 ) | SIM_CLKDIV1_OUTDIV2( 1 ) | SIM_CLKDIV1_OUTDIV4( 3 );
#elif F_CPU == 24000000
// 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);
+ 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);
+ MCG_C1 = MCG_C1_CLKS( 0 ) | MCG_C1_FRDIV( 4 );
+
// wait for PLL clock to be used
- while ((MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST(3)) ;
+ 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(1); // USB = 96 MHz PLL / 2
+ 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);
+ SIM_SOPT2 = SIM_SOPT2_USBSRC | SIM_SOPT2_PLLFLLSEL | SIM_SOPT2_TRACECLKSEL | SIM_SOPT2_CLKOUTSEL( 6 );
- // initialize the SysTick counter
+#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;
- //init_pins();
__enable_irq();
+#else
+ // Disable Watchdog for bootloader
+ WDOG_STCTRLH &= ~WDOG_STCTRLH_WDOGEN;
+#endif
- //_init_Teensyduino_internal_(); XXX HaaTa - Why is this here? Perhaps fixed in a new version of the API?
- //if (RTC_SR & RTC_SR_TIF) rtc_set(TIME_T); XXX HaaTa - We don't care about the rtc
-
- __libc_init_array();
-
-/*
- for (ptr = &__init_array_start; ptr < &__init_array_end; ptr++) {
- (*ptr)();
- }
-*/
- startup_late_hook();
main();
- while (1) ;
+ while ( 1 ); // Shouldn't get here...
}
-// TODO: is this needed for c++ and where does it come from?
-/*
-void _init(void)
-{
-}
-*/
+
+
+// ----- RAM Setup -----
char *__brkval = (char *)&_ebss;
-void * _sbrk(int incr)
+void * _sbrk( int incr )
{
- //static char *heap_end = (char *)&_ebss;
- //char *prev = heap_end;
- //heap_end += incr;
-
char *prev = __brkval;
__brkval += incr;
return prev;
}
-__attribute__((weak))
-int _read(int file, char *ptr, int len)
-{
- return 0;
-}
-
-/* moved to Print.cpp, to support Print::printf()
-__attribute__((weak))
-int _write(int file, char *ptr, int len)
-{
- return 0;
-}
-*/
-
-__attribute__((weak))
-int _close(int fd)
-{
- return -1;
-}
-#include <sys/stat.h>
-
-__attribute__((weak))
-int _fstat(int fd, struct stat *st)
-{
- st->st_mode = S_IFCHR;
- return 0;
-}
-__attribute__((weak))
-int _isatty(int fd)
-{
- return 1;
-}
+// ----- Interrupt Execution Priority -----
-__attribute__((weak))
-int _lseek(int fd, long long offset, int whence)
+int nvic_execution_priority()
{
- return -1;
-}
-
-__attribute__((weak))
-void _exit(int status)
-{
- while (1);
-}
-
-__attribute__((weak))
-void __cxa_pure_virtual()
-{
- while (1);
-}
-
-__attribute__((weak))
-int __cxa_guard_acquire (int *g)
-{
- return 1;
-}
-
-__attribute__((weak))
-void __cxa_guard_release(int *g)
-{
-}
-
-int nvic_execution_priority(void)
-{
- int priority=256;
+ int priority = 256;
uint32_t primask, faultmask, basepri, ipsr;
// full algorithm in ARM DDI0403D, page B1-639
// this isn't quite complete, but hopefully good enough
- asm volatile("mrs %0, faultmask\n" : "=r" (faultmask)::);
- if (faultmask) return -1;
- asm volatile("mrs %0, primask\n" : "=r" (primask)::);
- if (primask) return 0;
- asm volatile("mrs %0, ipsr\n" : "=r" (ipsr)::);
- if (ipsr) {
- if (ipsr < 16) priority = 0; // could be non-zero
- else priority = NVIC_GET_PRIORITY(ipsr - 16);
+ asm volatile( "mrs %0, faultmask\n" : "=r" (faultmask):: );
+ if ( faultmask )
+ {
+ return -1;
}
- asm volatile("mrs %0, basepri\n" : "=r" (basepri)::);
- if (basepri > 0 && basepri < priority) priority = basepri;
+
+ asm volatile( "mrs %0, primask\n" : "=r" (primask):: );
+ if ( primask )
+ {
+ return 0;
+ }
+
+ asm volatile( "mrs %0, ipsr\n" : "=r" (ipsr):: );
+ if ( ipsr )
+ {
+ if ( ipsr < 16)
+ {
+ priority = 0; // could be non-zero
+ }
+ else
+ {
+ priority = NVIC_GET_PRIORITY( ipsr - 16 );
+ }
+ }
+
+ asm volatile( "mrs %0, basepri\n" : "=r" (basepri):: );
+ if ( basepri > 0 && basepri < priority )
+ {
+ priority = basepri;
+ }
+
return priority;
}
projects / kiibohd-controller.git / blobdiff