RIOT/cpu/arm_common/bootloader.c

/******************************************************************************
Copyright 2008-2009, Freie Universitaet Berlin (FUB). All rights reserved.

These sources were developed at the Freie Universitaet Berlin, Computer Systems
and Telematics group (http://cst.mi.fu-berlin.de).
-------------------------------------------------------------------------------
This file is part of FeuerWare.

This program is free software: you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
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version.

FeuerWare is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with
this program.  If not, see http://www.gnu.org/licenses/ .
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/**
 * @ingroup     arm_common
 * @{
 */

/**
 * @file
 * @internal
 * @brief       ARM bootloader
 *
 * @author      Freie Universität Berlin, Computer Systems & Telematics, FeuerWhere project
 * @author      Heiko Will <hwill@inf.fu-berlin.de>
 * @author      Michael Baar <michael.baar@fu-berlin.de>
 * @version     $Revision$
 * @since       19.08.2008
 *
 * @note        $Id$
 */

#include <stdio.h>
#include <stdlib.h>
#include <kernel.h>
#include <thread.h>

void FIQ_Routine (void)   __attribute__ ((interrupt("FIQ")));
//void SWI_Routine (void)   __attribute__ ((interrupt("SWI")));
void UNDEF_Routine (void) __attribute__ ((interrupt("UNDEF")));

void IRQ_Routine (void) {
    printf("Kernel Panic,\nEarly IRQ call\n");
    while(1){};
}
/*-----------------------------------------------------------------------------------*/
void FIQ_Routine (void)  {
    printf("Kernel Panic,\nEarly FIQ call\n");
    while(1){};
}
/*-----------------------------------------------------------------------------------*/
void SWI_Routine (void)  {
    printf("Kernel Panic,\nEarly SWI call\n");
    while(1){};
}
/*-----------------------------------------------------------------------------------*/
void DEBUG_Routine (void)  {
    printf("DEBUG hit.");
    while(1){};
}
/*-----------------------------------------------------------------------------------*/
volatile int arm_abortflag = 0;

void abtorigin(const char* vector, u_long* lnk_ptr1)
{
    register u_long*    lnk_ptr2;
    register unsigned long* sp;
    register unsigned int   cpsr, spsr;

    __asm__ __volatile__("mrs %0, cpsr" : "=r" (cpsr) );        // copy current mode
    __asm__ __volatile__("mrs %0, spsr" : "=r" (spsr) );        // copy dabt generating mode
    __asm__ __volatile__("msr cpsr_c, %0" :: "r" (spsr) );      // switch to dabt generating mode
    __asm__ __volatile__("mov %0, lr" : "=r" (lnk_ptr2));       // copy lr
    __asm__ __volatile__("mov %0, sp" : "=r" (sp));             // copy sp
    __asm__ __volatile__("msr cpsr_c, %0" :: "r" (cpsr) );      // switch back to abt mode

    printf("#! %s abort at %p (0x%08lX) originating from %p (0x%08lX) in mode 0x%X\n",
        vector, (void*)lnk_ptr1, *(lnk_ptr1), (void*)lnk_ptr2, *(lnk_ptr2), spsr
    );
    stdio_flush();

    exit(1);
}
/*-----------------------------------------------------------------------------------*/
void UNDEF_Routine (void) {
    register u_long*    lnk_ptr;
    __asm__ __volatile__("sub %0, lr, #8" : "=r" (lnk_ptr) );   // get aborting instruction

    if( arm_abortflag == 0 ) {
        arm_abortflag = 1;                                          // remember state (if printing should fail again)
        abtorigin("undef", lnk_ptr);
    }

    exit(1);
}
/*-----------------------------------------------------------------------------------*/
void PABT_Routine (void) {
    register u_long*    lnk_ptr;
    __asm__ __volatile__("sub %0, lr, #8" : "=r" (lnk_ptr) );   // get aborting instruction

    if( arm_abortflag == 0 ) {
        arm_abortflag = 1;                                          // remember state (if printing should fail again)
        abtorigin("pabt", lnk_ptr);
    }

    exit(1);
}
/*-----------------------------------------------------------------------------------*/
void DABT_Routine (void) {
    register u_long*    lnk_ptr;
    __asm__ __volatile__("sub %0, lr, #8" : "=r" (lnk_ptr) );   // get aborting instruction

    if( arm_abortflag == 0 ) {
        arm_abortflag = 1;                                          // remember state (if printing should fail again)
        abtorigin("data", lnk_ptr);
    }

    exit(1);
}
/*-----------------------------------------------------------------------------------*/
static inline void
bl_init_data(void)
{
    extern unsigned int _etext;
    extern unsigned int _data;
    extern unsigned int _edata;
    extern unsigned int __bss_start;
    extern unsigned int __bss_end;

    register unsigned int* p1;
    register unsigned int* p2;
    register unsigned int* p3;

    // initialize data from flash
    // (linker script ensures that data is 32-bit aligned)
    p1 = &_etext;
    p2 = &_data;
    p3 = &_edata;
    while( p2 < p3 )
        *p2++ = *p1++;

    // clear bss
    // (linker script ensures that bss is 32-bit aligned)
    p1 = &__bss_start;
    p2 = &__bss_end;
    while( p1 < p2 )
        *p1++ = 0;
}
/*-----------------------------------------------------------------------------------*/
void bootloader(void) {
    extern void bl_uart_init(void);
    extern void bl_init_ports(void);
    extern void bl_init_clks(void);
    extern void bl_blink(void);

    /* board specific setup of clocks */
    bl_init_clks();
    /* initialize bss and data */
    bl_init_data();
    /* board specific setup of i/o pins */
    bl_init_ports();
    /* short blinking of both of the LEDs on startup */
    bl_blink();
    /* board specific setup of UART */
    bl_uart_init();

    printf("Board initialized.\n");
}

/** @} */