Merge pull request #2412 from jfischer-phytec-iot/pr@kinetis-startup

Add common startup.c for Kinetis MCUs.

cpu/kinetis_common/Makefile.include

@@ -3,3 +3,9 @@ export INCLUDES += -I$(RIOTCPU)/kinetis_common/include
 
 # Add search path for linker scripts
 export LINKFLAGS += -L$(RIOTCPU)/kinetis_common/ldscripts
+
+# add the CPU specific startup code for the linker
+export UNDEF += $(BINDIR)kinetis_common/startup.o
+
+# add the CPU specific fault handlers for the linker
+export UNDEF += $(BINDIR)kinetis_common/fault_handlers.o

cpu/kinetis_common/fault_handlers.c

@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin
+ * Copyright (C) 2015 PHYTEC Messtechnik GmbH
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser General
+ * Public License v2.1. See the file LICENSE in the top level directory for more
+ * details.
+ */
+
+/**
+ * @ingroup     cpu_kinetis_common_fhandlers
+ * @{
+ *
+ * @file
+ * @brief       Fault Handlers for Freescale Kinetis MCUs
+ *
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ * @author      Johann Fischer <j.fischer@phytec.de>
+ *
+ * @}
+ */
+
+#include <stdint.h>
+#include "crash.h"
+#include "fault_handlers.h"
+
+void isr_nmi(void)
+{
+    core_panic(PANIC_NMI_HANDLER, "NMI HANDLER");
+}
+
+void isr_hard_fault(void)
+{
+    core_panic(PANIC_HARD_FAULT, "HARD FAULT");
+}
+
+void isr_mem_manage(void)
+{
+    core_panic(PANIC_MEM_MANAGE, "MEM MANAGE HANDLER");
+}
+
+void isr_bus_fault(void)
+{
+    core_panic(PANIC_BUS_FAULT, "BUS FAULT");
+}
+
+void isr_usage_fault(void)
+{
+    core_panic(PANIC_USAGE_FAULT, "ISR USAGE FAULT");
+}
+
+void isr_debug_mon(void)
+{
+    core_panic(PANIC_DEBUG_MON, "DEBUG MON HANDLER");
+}
+
+void isr_unhandled(void)
+{
+    core_panic(PANIC_UNHANDLED_ISR, "UNHANDLED ISR");
+}

cpu/kinetis_common/include/fault_handlers.h

@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin
+ * Copyright (C) 2015 PHYTEC Messtechnik GmbH
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser General
+ * Public License v2.1. See the file LICENSE in the top level directory for more
+ * details.
+ */
+
+/**
+ * @defgroup    cpu_kinetis_common_fhandlers Kinetis Fault Handlers
+ * @ingroup     cpu_kinetis_common
+ * @brief       Fault Handlers for Freescale Kinetis MCUs.
+ *
+ * @{
+
+ * @file
+ * @brief       Interface definition for the Kinetis Fault Handlers.
+ *
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ * @author      Johann Fischer <j.fischer@phytec.de>
+ */
+
+#ifndef FAULT_HANDLERS_H
+#define FAULT_HANDLERS_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Non Maskable Interrupt
+ */
+void isr_nmi(void);
+
+/**
+ * @brief HardFault
+ */
+void isr_hard_fault(void);
+
+/**
+ * @brief MemManage
+ */
+void isr_mem_manage(void);
+
+/**
+ * @brief BusFault
+ */
+void isr_bus_fault(void);
+
+/**
+ * @brief UsageFault
+ */
+void isr_usage_fault(void);
+
+/**
+ * @brief Debug Interrupt
+ */
+void isr_debug_mon(void);
+
+/**
+ * @brief Default handler, called in case no interrupt handler was defined.
+ */
+void isr_unhandled(void);
+
+/**
+ * @brief Definition of different panic modes
+ */
+typedef enum {
+    PANIC_NMI_HANDLER,       /**< non maskable interrupt */
+    PANIC_HARD_FAULT,        /**< hard fault */
+    PANIC_MEM_MANAGE,        /**< memory controller interrupt */
+    PANIC_BUS_FAULT,         /**< bus fault */
+    PANIC_USAGE_FAULT,       /**< undefined instruction or unaligned access */
+    PANIC_DEBUG_MON,         /**< debug interrupt */
+    PANIC_UNHANDLED_ISR,     /**< unhandled interrupt */
+} panic_t;
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* FAULT_HANDLERS_H */
+/** @} */

cpu/kinetis_common/include/wdog.h

@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2015 PHYTEC Messtechnik GmbH
+ * Copyright (C) 2015 Eistec AB
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser General
+ * Public License v2.1. See the file LICENSE in the top level directory for more
+ * details.
+ */
+
+/**
+ * @defgroup    cpu_kinetis_common_wdog Kinetis WDOG
+ * @ingroup     cpu_kinetis_common
+ * @brief       Driver for Freescale WDOG device.
+ *              There are different implementations of the Watchdog devices.
+ *              Currently, it is only possible to turn the Watchdog off.
+ *              It supports two types: an advanced Watchdog, mostly found
+ *              on Kinetis MCUs with Cortex-M4 inside and a simpler
+ *              COP Watchdog.
+ *
+ *              ### WDOG Configuration Example (for periph_conf.h) ###
+ *              The driver attempts to determine the type of the WDOG.
+ *              Also you can force the use of advanced WDOG: 
+ *
+ *                  #define KINETIS_WDOG_ADVANCED    1
+ *
+ *              Or the use of COP WDOG: 
+ *
+ *                  #define KINETIS_WDOG_ADVANCED    0
+ *
+ * @{
+
+ * @file
+ * @brief       Interface definition for the Kinetis WDOG driver.
+ *
+ * @author      Johann Fischer <j.fischer@phytec.de>
+ * @author      Joakim Gebart <joakim.gebart@eistec.se>
+ */
+
+#ifndef WDOG_H
+#define WDOG_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/**
+ * @brief Disable hardware watchdog.
+ */
+void wdog_disable(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* WDOG_H */
+/** @} */

cpu/kinetis_common/startup.c

@@ -0,0 +1,129 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin
+ * Copyright (C) 2015 PHYTEC Messtechnik GmbH
+ * Copyright (C) 2015 Eistec AB
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser General
+ * Public License v2.1. See the file LICENSE in the top level directory for more
+ * details.
+ */
+
+/**
+ * @ingroup     cpu_kinetis_common
+ * @{
+ *
+ * @file
+ * @brief       Startup code for Freescale Kinetis MCUs
+ *
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ * @author      Johann Fischer <j.fischer@phytec.de>
+ * @author      Joakim Gebart <joakim.gebart@eistec.se>
+ *
+ * @}
+ */
+
+#include <stdint.h>
+#include "cpu-conf.h"
+#include "wdog.h"
+
+/**
+ * @name Memory markers as defined in the linker script
+ * @{
+ */
+extern uint32_t _sfixed[];
+extern uint32_t _efixed[];
+extern uint32_t _etext[];
+extern uint32_t _srelocate[];
+extern uint32_t _erelocate[];
+extern uint32_t _szero[];
+extern uint32_t _ezero[];
+extern uint32_t _sstack[];
+extern uint32_t _ramcode_start[];
+extern uint32_t _ramcode_end[];
+extern uint32_t _ramcode_load[];
+extern uint32_t _vector_ram_start[];
+extern uint32_t _vector_ram_end[];
+extern uint32_t _vector_rom[];
+/** @} */
+
+/**
+ * @brief functions for initializing the board, std-lib and kernel
+ */
+extern void board_init(void);
+extern void kernel_init(void);
+extern void __libc_init_array(void);
+
+/**
+ * @brief This function is the entry point after a system reset
+ *
+ * After a system reset, the following steps are necessary and carried out:
+ * 0. disable the Watchdog Timer
+ * 1. load data section from flash to ram
+ * 2. overwrite uninitialized data section (BSS) with zeros
+ * 3. initialize the newlib
+ * 4. initialize the board (sync clock, setup std-IO)
+ * 5. initialize and start RIOTs kernel
+ */
+void reset_handler(void)
+{
+    uint32_t *dst;
+    uint32_t *src = _etext;
+
+    /* disable the WDOG */
+    wdog_disable();
+
+    /* load .data section from flash to ram */
+    for (dst = _srelocate; dst < _erelocate;) {
+        *(dst++) = *(src++);
+    }
+
+    /* default .bss section to zero */
+    for (dst = _szero; dst < _ezero;) {
+        *(dst++) = 0;
+    }
+
+    /* copy .ramcode from flash to RAM */
+    src = _ramcode_load;
+    for (dst = _ramcode_start; dst < _ramcode_end;) {
+        *(dst++) = *(src++);
+    }
+
+    /*
+     * Copy ISR vector from flash to RAM.
+     *
+     * To use this CPU feature, define RAMVECT_SIZE=0x400 when building and write
+     * the new vector table address in RAM to SCB->VTOR.
+     */
+    src = _vector_rom;
+    for (dst = _vector_ram_start; dst < _vector_ram_end;) {
+        *(dst++) = *(src++);
+    }
+
+    /* initialize the board and startup the kernel */
+    board_init();
+    /* initialize std-c library (this should be done after board_init) */
+    __libc_init_array();
+    /* startup the kernel */
+    kernel_init();
+}
+
+/* fcfield table */
+__attribute__((weak, section(".fcfield")))
+const uint8_t flash_configuration_field[] = {
+    0xff,    /* backdoor comparison key 3., offset: 0x0 */
+    0xff,    /* backdoor comparison key 2., offset: 0x1 */
+    0xff,    /* backdoor comparison key 1., offset: 0x2 */
+    0xff,    /* backdoor comparison key 0., offset: 0x3 */
+    0xff,    /* backdoor comparison key 7., offset: 0x4 */
+    0xff,    /* backdoor comparison key 6., offset: 0x5 */
+    0xff,    /* backdoor comparison key 5., offset: 0x6 */
+    0xff,    /* backdoor comparison key 4., offset: 0x7 */
+    0xff,    /* non-volatile p-flash protection 1 - low register, offset: 0x8 */
+    0xff,    /* non-volatile p-flash protection 1 - high register, offset: 0x9 */
+    0xff,    /* non-volatile p-flash protection 0 - low register, offset: 0xa */
+    0xff,    /* non-volatile p-flash protection 0 - high register, offset: 0xb */
+    0xfe,    /* non-volatile flash security register, offset: 0xc */
+    0xff,    /* non-volatile flash option register, offset: 0xd */
+    0xff,    /* non-volatile eeram protection register, offset: 0xe */
+    0xff,    /* non-volatile d-flash protection register, offset: 0xf */
+};

cpu/kinetis_common/wdog.c

@@ -0,0 +1,75 @@
+/*
+ * Copyright (C) 2015 PHYTEC Messtechnik GmbH
+ * Copyright (C) 2015 Eistec AB
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser General
+ * Public License v2.1. See the file LICENSE in the top level directory for more
+ * details.
+ */
+
+/**
+ * @ingroup     cpu_kinetis_common_wdog
+ *
+ * @{
+ *
+ * @file
+ * @brief       Low-level WDOG driver implementation
+ *
+ * @author      Johann Fischer <j.fischer@phytec.de>
+ * @author      Joakim Gebart <joakim.gebart@eistec.se>
+ *
+ * @}
+ */
+
+#include <stdint.h>
+#include "wdog.h"
+#include "cpu-conf.h"
+#include "periph_conf.h"
+
+#ifndef KINETIS_WDOG_ADVANCED
+/**
+ * Attempts to determine the type of the WDOG,
+ * using the WDOG_STCTRLH_CLKSRC_MASK field.
+ */
+#ifdef WDOG_STCTRLH_CLKSRC_MASK
+#define KINETIS_WDOG_ADVANCED    1
+#endif
+#endif
+
+/**
+ * @brief Disable hardware watchdog.
+ *
+ * For advanced WDOG (mostly Kinetis MCUs with Cortex-M4 inside):
+ * The following unlock sequence must be completed within 256 bus cycles or
+ * the watchdog will reset the system. The watchdog is enabled by default at
+ * power on.
+ *
+ * The sequence is:
+ * 1. Write 0xC520 to the unlock register
+ * 2. Write 0xD928 to the unlock register
+ *
+ * Watchdog is now unlocked to allow us to change its settings
+ *
+ * 3. Clear the WDOGEN bit of the WDOG_STCTRLH register to completely disable
+ * the watchdog.
+ *
+ * It is now possible to single step through the code without the watchdog
+ * resetting the system.
+ *
+ * TODO: Only disable watchdog on debug builds.
+ */
+void wdog_disable(void)
+{
+#if KINETIS_WDOG_ADVANCED
+    /* unlock and disable the WDOG */
+    WDOG->UNLOCK = (uint16_t)0xc520;
+    WDOG->UNLOCK = (uint16_t)0xd928;
+    WDOG->STCTRLH = (uint16_t)(WDOG_STCTRLH_WAITEN_MASK
+                               | WDOG_STCTRLH_STOPEN_MASK
+                               | WDOG_STCTRLH_ALLOWUPDATE_MASK
+                               | WDOG_STCTRLH_CLKSRC_MASK);
+#else
+    /* disable the COP WDOG */
+    SIM->COPC = (uint32_t)0x00u;
+#endif
+}