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McHCK now working with UART.

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- Lots of code cleanup for the intialization of all arm chips
- Added more gcc flags to help with debugging linker and memory map
- Fixed UART initialization for the smaller MCHCK mk20dx128 (different pin mux)
This commit is contained in:
Jacob Alexander 2014-06-30 23:52:24 -07:00
parent 0365d517fe
commit f9e1600b28
6 changed files with 429 additions and 367 deletions
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4
CMakeLists.txt
View File

@ -21,8 +21,8 @@ set( CHIP
# "atmega32u4" # Teensy 2.0 (avr) # "atmega32u4" # Teensy 2.0 (avr)
# "at90usb646" # Teensy++ 1.0 (avr) # "at90usb646" # Teensy++ 1.0 (avr)
# "at90usb1286" # Teensy++ 2.0 (avr) # "at90usb1286" # Teensy++ 2.0 (avr)
"mk20dx128" # Teensy 3.0 (arm) # "mk20dx128" # Teensy 3.0 (arm)
# "mk20dx128vlf5" # McHCK mk20dx128vlf5 "mk20dx128vlf5" # McHCK mk20dx128vlf5
# "mk20dx256" # Teensy 3.1 (arm) # "mk20dx256" # Teensy 3.1 (arm)
) )

4
Lib/CMake/arm.cmake
View File

@ -109,7 +109,7 @@ set( WARN "-Wall -g" )
#| Tuning Options #| Tuning Options
#| -f...: tuning, see GCC manual #| -f...: tuning, see GCC manual
#| NOTE: -fshort-wchar is specified to allow USB strings be passed conveniently #| NOTE: -fshort-wchar is specified to allow USB strings be passed conveniently
set( TUNING "-mthumb -nostdlib -fdata-sections -ffunction-sections -fshort-wchar" ) set( TUNING "-mthumb -nostdlib -fdata-sections -ffunction-sections -fshort-wchar -fno-builtin -flto -fno-use-linker-plugin" )
#| Optimization level, can be [0, 1, 2, 3, s]. #| Optimization level, can be [0, 1, 2, 3, s].
@ -136,7 +136,7 @@ add_definitions( "-mcpu=${CPU} -DF_CPU=${F_CPU} -D_${CHIP}_=1 -O${OPT} ${TUNING}
#| Linker Flags #| Linker Flags
set( LINKER_FLAGS "-mcpu=${CPU} -Wl,-Map=link.map,--cref -Wl,--gc-sections -mthumb -Wl,--no-wchar-size-warning -T${CMAKE_CURRENT_SOURCE_DIR}/Lib/${CHIP}.ld" ) set( LINKER_FLAGS "-mcpu=${CPU} -Wl,-Map=link.map,--cref -Wl,--gc-sections -mthumb -Wl,--no-wchar-size-warning -T${CMAKE_CURRENT_SOURCE_DIR}/Lib/${CHIP}.ld -nostartfiles" )
#| Hex Flags (XXX, CMake seems to have issues if you quote the arguments for the custom commands...) #| Hex Flags (XXX, CMake seems to have issues if you quote the arguments for the custom commands...)

346
Lib/mk20dx.c
View File

@ -29,9 +29,13 @@
* SOFTWARE. * SOFTWARE.
*/ */
// Local Includes
#include "mk20dx.h" #include "mk20dx.h"
// ----- Variables -----
extern unsigned long _stext; extern unsigned long _stext;
extern unsigned long _etext; extern unsigned long _etext;
extern unsigned long _sdata; extern unsigned long _sdata;
@ -39,14 +43,23 @@ extern unsigned long _edata;
extern unsigned long _sbss; extern unsigned long _sbss;
extern unsigned long _ebss; extern unsigned long _ebss;
extern unsigned long _estack; extern unsigned long _estack;
extern int main (void);
void ResetHandler(void);
void __libc_init_array(void);
void fault_isr(void)
// ----- Function Declarations -----
extern int main ();
void ResetHandler();
// ----- Interrupts -----
// NVIC - Default ISR
void fault_isr()
{
while ( 1 )
{ {
while (1) {
// keep polling some communication while in fault // keep polling some communication while in fault
// mode, so we don't completely die. // mode, so we don't completely die.
if ( SIM_SCGC4 & SIM_SCGC4_USBOTG ) usb_isr(); if ( SIM_SCGC4 & SIM_SCGC4_USBOTG ) usb_isr();
@ -56,114 +69,117 @@ void fault_isr(void)
} }
} }
void unused_isr(void) void unused_isr()
{ {
fault_isr(); fault_isr();
} }
// NVIC - SysTick ISR
extern volatile uint32_t systick_millis_count; extern volatile uint32_t systick_millis_count;
void systick_default_isr(void) void systick_default_isr()
{ {
systick_millis_count++; 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"))); // NVIC - Default ISR/Vector Linking
void dma_ch1_isr(void) __attribute__ ((weak, alias("unused_isr"))); void nmi_isr() __attribute__ ((weak, alias("unused_isr")));
void dma_ch2_isr(void) __attribute__ ((weak, alias("unused_isr"))); void hard_fault_isr() __attribute__ ((weak, alias("unused_isr")));
void dma_ch3_isr(void) __attribute__ ((weak, alias("unused_isr"))); void memmanage_fault_isr() __attribute__ ((weak, alias("unused_isr")));
void dma_ch4_isr(void) __attribute__ ((weak, alias("unused_isr"))); void bus_fault_isr() __attribute__ ((weak, alias("unused_isr")));
void dma_ch5_isr(void) __attribute__ ((weak, alias("unused_isr"))); void usage_fault_isr() __attribute__ ((weak, alias("unused_isr")));
void dma_ch6_isr(void) __attribute__ ((weak, alias("unused_isr"))); void svcall_isr() __attribute__ ((weak, alias("unused_isr")));
void dma_ch7_isr(void) __attribute__ ((weak, alias("unused_isr"))); void debugmonitor_isr() __attribute__ ((weak, alias("unused_isr")));
void dma_ch8_isr(void) __attribute__ ((weak, alias("unused_isr"))); void pendablesrvreq_isr() __attribute__ ((weak, alias("unused_isr")));
void dma_ch9_isr(void) __attribute__ ((weak, alias("unused_isr"))); void systick_isr() __attribute__ ((weak, alias("systick_default_isr")));
void dma_ch10_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch11_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch0_isr() __attribute__ ((weak, alias("unused_isr")));
void dma_ch12_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch1_isr() __attribute__ ((weak, alias("unused_isr")));
void dma_ch13_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch2_isr() __attribute__ ((weak, alias("unused_isr")));
void dma_ch14_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch3_isr() __attribute__ ((weak, alias("unused_isr")));
void dma_ch15_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch4_isr() __attribute__ ((weak, alias("unused_isr")));
void dma_error_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch5_isr() __attribute__ ((weak, alias("unused_isr")));
void mcm_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch6_isr() __attribute__ ((weak, alias("unused_isr")));
void flash_cmd_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch7_isr() __attribute__ ((weak, alias("unused_isr")));
void flash_error_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch8_isr() __attribute__ ((weak, alias("unused_isr")));
void low_voltage_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch9_isr() __attribute__ ((weak, alias("unused_isr")));
void wakeup_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch10_isr() __attribute__ ((weak, alias("unused_isr")));
void watchdog_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch11_isr() __attribute__ ((weak, alias("unused_isr")));
void i2c0_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch12_isr() __attribute__ ((weak, alias("unused_isr")));
void i2c1_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch13_isr() __attribute__ ((weak, alias("unused_isr")));
void i2c2_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch14_isr() __attribute__ ((weak, alias("unused_isr")));
void spi0_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_ch15_isr() __attribute__ ((weak, alias("unused_isr")));
void spi1_isr(void) __attribute__ ((weak, alias("unused_isr"))); void dma_error_isr() __attribute__ ((weak, alias("unused_isr")));
void spi2_isr(void) __attribute__ ((weak, alias("unused_isr"))); void mcm_isr() __attribute__ ((weak, alias("unused_isr")));
void sdhc_isr(void) __attribute__ ((weak, alias("unused_isr"))); void flash_cmd_isr() __attribute__ ((weak, alias("unused_isr")));
void can0_message_isr(void) __attribute__ ((weak, alias("unused_isr"))); void flash_error_isr() __attribute__ ((weak, alias("unused_isr")));
void can0_bus_off_isr(void) __attribute__ ((weak, alias("unused_isr"))); void low_voltage_isr() __attribute__ ((weak, alias("unused_isr")));
void can0_error_isr(void) __attribute__ ((weak, alias("unused_isr"))); void wakeup_isr() __attribute__ ((weak, alias("unused_isr")));
void can0_tx_warn_isr(void) __attribute__ ((weak, alias("unused_isr"))); void watchdog_isr() __attribute__ ((weak, alias("unused_isr")));
void can0_rx_warn_isr(void) __attribute__ ((weak, alias("unused_isr"))); void i2c0_isr() __attribute__ ((weak, alias("unused_isr")));
void can0_wakeup_isr(void) __attribute__ ((weak, alias("unused_isr"))); void i2c1_isr() __attribute__ ((weak, alias("unused_isr")));
void i2s0_tx_isr(void) __attribute__ ((weak, alias("unused_isr"))); void i2c2_isr() __attribute__ ((weak, alias("unused_isr")));
void i2s0_rx_isr(void) __attribute__ ((weak, alias("unused_isr"))); void spi0_isr() __attribute__ ((weak, alias("unused_isr")));
void uart0_lon_isr(void) __attribute__ ((weak, alias("unused_isr"))); void spi1_isr() __attribute__ ((weak, alias("unused_isr")));
void uart0_status_isr(void) __attribute__ ((weak, alias("unused_isr"))); void spi2_isr() __attribute__ ((weak, alias("unused_isr")));
void uart0_error_isr(void) __attribute__ ((weak, alias("unused_isr"))); void sdhc_isr() __attribute__ ((weak, alias("unused_isr")));
void uart1_status_isr(void) __attribute__ ((weak, alias("unused_isr"))); void can0_message_isr() __attribute__ ((weak, alias("unused_isr")));
void uart1_error_isr(void) __attribute__ ((weak, alias("unused_isr"))); void can0_bus_off_isr() __attribute__ ((weak, alias("unused_isr")));
void uart2_status_isr(void) __attribute__ ((weak, alias("unused_isr"))); void can0_error_isr() __attribute__ ((weak, alias("unused_isr")));
void uart2_error_isr(void) __attribute__ ((weak, alias("unused_isr"))); void can0_tx_warn_isr() __attribute__ ((weak, alias("unused_isr")));
void uart3_status_isr(void) __attribute__ ((weak, alias("unused_isr"))); void can0_rx_warn_isr() __attribute__ ((weak, alias("unused_isr")));
void uart3_error_isr(void) __attribute__ ((weak, alias("unused_isr"))); void can0_wakeup_isr() __attribute__ ((weak, alias("unused_isr")));
void uart4_status_isr(void) __attribute__ ((weak, alias("unused_isr"))); void i2s0_tx_isr() __attribute__ ((weak, alias("unused_isr")));
void uart4_error_isr(void) __attribute__ ((weak, alias("unused_isr"))); void i2s0_rx_isr() __attribute__ ((weak, alias("unused_isr")));
void uart5_status_isr(void) __attribute__ ((weak, alias("unused_isr"))); void uart0_lon_isr() __attribute__ ((weak, alias("unused_isr")));
void uart5_error_isr(void) __attribute__ ((weak, alias("unused_isr"))); void uart0_status_isr() __attribute__ ((weak, alias("unused_isr")));
void adc0_isr(void) __attribute__ ((weak, alias("unused_isr"))); void uart0_error_isr() __attribute__ ((weak, alias("unused_isr")));
void adc1_isr(void) __attribute__ ((weak, alias("unused_isr"))); void uart1_status_isr() __attribute__ ((weak, alias("unused_isr")));
void cmp0_isr(void) __attribute__ ((weak, alias("unused_isr"))); void uart1_error_isr() __attribute__ ((weak, alias("unused_isr")));
void cmp1_isr(void) __attribute__ ((weak, alias("unused_isr"))); void uart2_status_isr() __attribute__ ((weak, alias("unused_isr")));
void cmp2_isr(void) __attribute__ ((weak, alias("unused_isr"))); void uart2_error_isr() __attribute__ ((weak, alias("unused_isr")));
void ftm0_isr(void) __attribute__ ((weak, alias("unused_isr"))); void uart3_status_isr() __attribute__ ((weak, alias("unused_isr")));
void ftm1_isr(void) __attribute__ ((weak, alias("unused_isr"))); void uart3_error_isr() __attribute__ ((weak, alias("unused_isr")));
void ftm2_isr(void) __attribute__ ((weak, alias("unused_isr"))); void uart4_status_isr() __attribute__ ((weak, alias("unused_isr")));
void ftm3_isr(void) __attribute__ ((weak, alias("unused_isr"))); void uart4_error_isr() __attribute__ ((weak, alias("unused_isr")));
void cmt_isr(void) __attribute__ ((weak, alias("unused_isr"))); void uart5_status_isr() __attribute__ ((weak, alias("unused_isr")));
void rtc_alarm_isr(void) __attribute__ ((weak, alias("unused_isr"))); void uart5_error_isr() __attribute__ ((weak, alias("unused_isr")));
void rtc_seconds_isr(void) __attribute__ ((weak, alias("unused_isr"))); void adc0_isr() __attribute__ ((weak, alias("unused_isr")));
void pit0_isr(void) __attribute__ ((weak, alias("unused_isr"))); void adc1_isr() __attribute__ ((weak, alias("unused_isr")));
void pit1_isr(void) __attribute__ ((weak, alias("unused_isr"))); void cmp0_isr() __attribute__ ((weak, alias("unused_isr")));
void pit2_isr(void) __attribute__ ((weak, alias("unused_isr"))); void cmp1_isr() __attribute__ ((weak, alias("unused_isr")));
void pit3_isr(void) __attribute__ ((weak, alias("unused_isr"))); void cmp2_isr() __attribute__ ((weak, alias("unused_isr")));
void pdb_isr(void) __attribute__ ((weak, alias("unused_isr"))); void ftm0_isr() __attribute__ ((weak, alias("unused_isr")));
void usb_isr(void) __attribute__ ((weak, alias("unused_isr"))); void ftm1_isr() __attribute__ ((weak, alias("unused_isr")));
void usb_charge_isr(void) __attribute__ ((weak, alias("unused_isr"))); void ftm2_isr() __attribute__ ((weak, alias("unused_isr")));
void dac0_isr(void) __attribute__ ((weak, alias("unused_isr"))); void ftm3_isr() __attribute__ ((weak, alias("unused_isr")));
void dac1_isr(void) __attribute__ ((weak, alias("unused_isr"))); void cmt_isr() __attribute__ ((weak, alias("unused_isr")));
void tsi0_isr(void) __attribute__ ((weak, alias("unused_isr"))); void rtc_alarm_isr() __attribute__ ((weak, alias("unused_isr")));
void mcg_isr(void) __attribute__ ((weak, alias("unused_isr"))); void rtc_seconds_isr() __attribute__ ((weak, alias("unused_isr")));
void lptmr_isr(void) __attribute__ ((weak, alias("unused_isr"))); void pit0_isr() __attribute__ ((weak, alias("unused_isr")));
void porta_isr(void) __attribute__ ((weak, alias("unused_isr"))); void pit1_isr() __attribute__ ((weak, alias("unused_isr")));
void portb_isr(void) __attribute__ ((weak, alias("unused_isr"))); void pit2_isr() __attribute__ ((weak, alias("unused_isr")));
void portc_isr(void) __attribute__ ((weak, alias("unused_isr"))); void pit3_isr() __attribute__ ((weak, alias("unused_isr")));
void portd_isr(void) __attribute__ ((weak, alias("unused_isr"))); void pdb_isr() __attribute__ ((weak, alias("unused_isr")));
void porte_isr(void) __attribute__ ((weak, alias("unused_isr"))); void usb_isr() __attribute__ ((weak, alias("unused_isr")));
void software_isr(void) __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")));
// TODO: create AVR-stype ISR() macro, with default linkage to undefined handler // NVIC - Interrupt Vector Table
//
__attribute__ ((section(".vectors"), used)) __attribute__ ((section(".vectors"), used))
void (* const gVectors[])(void) = void (* const gVectors[])() =
{ {
(void (*)(void))((unsigned long)&_estack), // 0 ARM: Initial Stack Pointer (void (*)(void))((unsigned long)&_estack), // 0 ARM: Initial Stack Pointer
ResetHandler, // 1 ARM: Initial Program Counter ResetHandler, // 1 ARM: Initial Program Counter
@ -328,32 +344,26 @@ void (* const gVectors[])(void) =
}; };
#if defined(_mk20dx128_) || defined(_mk20dx256_) // ----- Flash Configuration -----
// Only necessary for Teensy 3s, MCHCK uses the Bootloader to handle this
#if defined(_mk20dx128_) || defined(_mk20dx256_)
__attribute__ ((section(".flashconfig"), used)) __attribute__ ((section(".flashconfig"), used))
const uint8_t flashconfigbytes[16] = { const uint8_t flashconfigbytes[16] = {
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFF, 0xFF, 0xFF 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFF, 0xFF, 0xFF
}; };
#endif #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)
#endif
extern void rtc_set(unsigned long t);
// ----- Chip Entry Point -----
__attribute__ ((section(".startup"))) __attribute__ ((section(".startup")))
void ResetHandler(void) void ResetHandler()
{ {
uint32_t *src = &_etext; uint32_t *src = &_etext;
uint32_t *dest = &_sdata; uint32_t *dest = &_sdata;
unsigned int i;
/* Disable Watchdog */ /* Disable Watchdog */
WDOG_UNLOCK = WDOG_UNLOCK_SEQ1; WDOG_UNLOCK = WDOG_UNLOCK_SEQ1;
@ -370,75 +380,75 @@ void ResetHandler(void)
SIM_SCGC6 = SIM_SCGC6_RTC | SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 | SIM_SCGC6_FTFL; SIM_SCGC6 = SIM_SCGC6_RTC | SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 | SIM_SCGC6_FTFL;
#endif #endif
#if defined(_mk20dx128_) || defined(_mk20dx256_) // Teensy 3s
// if the RTC oscillator isn't enabled, get it started early // 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_SR = 0;
RTC_CR = RTC_CR_SC16P | RTC_CR_SC4P | RTC_CR_OSCE; RTC_CR = RTC_CR_SC16P | RTC_CR_SC4P | RTC_CR_OSCE;
} }
#endif
// release I/O pins hold, if we woke up from VLLS mode // 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.... // Prepare RAM
while ( dest < &_edata ) *dest++ = *src++; while ( dest < &_edata ) *dest++ = *src++;
dest = &_sbss; dest = &_sbss;
while ( dest < &_ebss ) *dest++ = 0; while ( dest < &_ebss ) *dest++ = 0;
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);
// MCHCK
#if defined(_mk20dx128vlf5_) #if defined(_mk20dx128vlf5_)
/* FLL at 48MHz */ /* FLL at 48MHz */
MCG_C4 = MCG_C4_DMX32 | MCG_C4_DRST_DRS( 1 ); MCG_C4 = MCG_C4_DMX32 | MCG_C4_DRST_DRS( 1 );
#if F_CPU == 96000000 //SIM_SOPT2 = SIM_SOPT2_PLLFLLSEL;
// config divisors: 96 MHz core, 48 MHz bus, 24 MHz flash SIM_SOPT2 = SIM_SOPT2_USBSRC | SIM_SOPT2_PLLFLLSEL | SIM_SOPT2_TRACECLKSEL | SIM_SOPT2_CLKOUTSEL( 6 );
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(3);
#elif F_CPU == 48000000 // Teensy 3.0 and 3.1
// 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);
#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);
#else #else
#error "Error, F_CPU must be 96000000, 48000000, or 24000000" unsigned int i;
#endif
// switch to PLL as clock source, FLL input = 16 MHz / 512 SCB_VTOR = 0; // use vector table in flash
MCG_C1 = MCG_C1_CLKS(0) | MCG_C1_FRDIV(4);
// configure USB for 48 MHz clock // default all interrupts to medium priority level
SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(1); // USB = 96 MHz PLL / 2 for ( i = 0; i < NVIC_NUM_INTERRUPTS; i++ )
{
NVIC_SET_PRIORITY( i, 128 );
}
SIM_SOPT2 = SIM_SOPT2_PLLFLLSEL;
// initialize the SysTick counter
SYST_RVR = (F_CPU / 1000) - 1;
SYST_CSR = SYST_CSR_CLKSOURCE | SYST_CSR_TICKINT | SYST_CSR_ENABLE;
#else
// start in FEI mode // start in FEI mode
// enable capacitors for crystal // enable capacitors for crystal
OSC0_CR = OSC_SC8P | OSC_SC2P; OSC0_CR = OSC_SC8P | OSC_SC2P;
// enable osc, 8-32 MHz range, low power mode // 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 // 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 // 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 // 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 // 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 // now we're in FBE mode
// config PLL input for 16 MHz Crystal / 4 = 4 MHz // config PLL input for 16 MHz Crystal / 4 = 4 MHz
MCG_C5 = MCG_C5_PRDIV0( 3 ); MCG_C5 = MCG_C5_PRDIV0( 3 );
// config PLL for 96 MHz output // config PLL for 96 MHz output
MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0( 0 ); MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0( 0 );
// wait for PLL to start using xtal as its input // 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 // wait for PLL to lock
while ( !(MCG_S & MCG_S_LOCK0) ); while ( !(MCG_S & MCG_S_LOCK0) );
// now we're in PBE mode // now we're in PBE mode
#if F_CPU == 96000000 #if F_CPU == 96000000
// config divisors: 96 MHz core, 48 MHz bus, 24 MHz flash // config divisors: 96 MHz core, 48 MHz bus, 24 MHz flash
@ -454,40 +464,46 @@ void ResetHandler(void)
#endif #endif
// switch to PLL as clock source, FLL input = 16 MHz / 512 // 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 // 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 // now we're in PEE mode
// configure USB for 48 MHz clock // configure USB for 48 MHz clock
SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV( 1 ); // USB = 96 MHz PLL / 2 SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV( 1 ); // USB = 96 MHz PLL / 2
// USB uses PLL clock, trace is CPU clock, CLKOUT=OSCERCLK0 // 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
// Initialize the SysTick counter
SYST_RVR = (F_CPU / 1000) - 1; SYST_RVR = (F_CPU / 1000) - 1;
SYST_CSR = SYST_CSR_CLKSOURCE | SYST_CSR_TICKINT | SYST_CSR_ENABLE; SYST_CSR = SYST_CSR_CLKSOURCE | SYST_CSR_TICKINT | SYST_CSR_ENABLE;
#endif
__enable_irq(); __enable_irq();
__libc_init_array();
main(); main();
while (1) ; while ( 1 ); // Shouldn't get here...
} }
// ----- RAM Setup -----
char *__brkval = (char *)&_ebss; 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; char *prev = __brkval;
__brkval += incr; __brkval += incr;
return prev; return prev;
} }
int nvic_execution_priority(void)
// ----- Interrupt Execution Priority -----
int nvic_execution_priority()
{ {
int priority = 256; int priority = 256;
uint32_t primask, faultmask, basepri, ipsr; uint32_t primask, faultmask, basepri, ipsr;
@ -495,16 +511,36 @@ int nvic_execution_priority(void)
// full algorithm in ARM DDI0403D, page B1-639 // full algorithm in ARM DDI0403D, page B1-639
// this isn't quite complete, but hopefully good enough // this isn't quite complete, but hopefully good enough
asm volatile( "mrs %0, faultmask\n" : "=r" (faultmask):: ); asm volatile( "mrs %0, faultmask\n" : "=r" (faultmask):: );
if (faultmask) return -1; if ( faultmask )
asm volatile("mrs %0, primask\n" : "=r" (primask)::); {
if (primask) return 0; return -1;
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, 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):: ); asm volatile( "mrs %0, basepri\n" : "=r" (basepri):: );
if (basepri > 0 && basepri < priority) priority = basepri; if ( basepri > 0 && basepri < priority )
{
priority = basepri;
}
return priority; return priority;
} }

44
Lib/mk20dx128vlf5.ld
View File

@ -1,7 +1,34 @@
/* -*- mode: ld-script; -*- */ /* Teensyduino Core Library
/* * http://www.pjrc.com/teensy/
* Linker script for MK20DX128VLF5 * Copyright (c) 2013 PJRC.COM, LLC.
* Modifications by Jacob Alexander 2014 for use with McHCK
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* 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
* included in all copies or substantial portions of the Software.
*
* 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.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/ */
MEMORY MEMORY
{ {
FLASH (rx) : ORIGIN = 3K, LENGTH = 128K-3K FLASH (rx) : ORIGIN = 3K, LENGTH = 128K-3K
@ -17,18 +44,9 @@ SECTIONS
KEEP(* (.vectors)) KEEP(* (.vectors))
*(.startup*) *(.startup*)
*(.text*) *(.text*)
*(.rodata*)
. = ALIGN(4); . = ALIGN(4);
KEEP(*(.init)) KEEP(*(.init))
. = ALIGN(4); } > FLASH
__preinit_array_start = .;
KEEP (*(.preinit_array))
__preinit_array_end = .;
__init_array_start = .;
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array))
__init_array_end = .;
} > FLASH = 0xFF
.ARM.exidx : .ARM.exidx :
{ {

11
Output/uartOut/arm/uart_serial.c
View File

@ -98,9 +98,18 @@ void uart_serial_setup()
// Setup the the UART interface for keyboard data input // Setup the the UART interface for keyboard data input
SIM_SCGC4 |= SIM_SCGC4_UART0; // Disable clock gating SIM_SCGC4 |= SIM_SCGC4_UART0; // Disable clock gating
// MCHCK
#if defined(_mk20dx128vlf5_)
// Pin Setup for UART0
PORTA_PCR1 = PORT_PCR_PE | PORT_PCR_PS | PORT_PCR_PFE | PORT_PCR_MUX(2); // RX Pin
PORTA_PCR2 = PORT_PCR_DSE | PORT_PCR_SRE | PORT_PCR_MUX(2); // TX Pin
// Teensy
#else
// Pin Setup for UART0 // Pin Setup for UART0
PORTB_PCR16 = PORT_PCR_PE | PORT_PCR_PS | PORT_PCR_PFE | PORT_PCR_MUX(3); // RX Pin PORTB_PCR16 = PORT_PCR_PE | PORT_PCR_PS | PORT_PCR_PFE | PORT_PCR_MUX(3); // RX Pin
PORTB_PCR17 = PORT_PCR_DSE | PORT_PCR_SRE | PORT_PCR_MUX(3); // TX Pin PORTB_PCR17 = PORT_PCR_DSE | PORT_PCR_SRE | PORT_PCR_MUX(3); // TX Pin
#endif
// Setup baud rate - 115200 Baud // Setup baud rate - 115200 Baud
// 48 MHz / ( 16 * Baud ) = BDH/L // 48 MHz / ( 16 * Baud ) = BDH/L
@ -115,7 +124,7 @@ void uart_serial_setup()
// 8 bit, No Parity, Idle Character bit after stop // 8 bit, No Parity, Idle Character bit after stop
UART0_C1 = UART_C1_ILT; UART0_C1 = UART_C1_ILT;
// Interrupt notification watermark // Interrupt notification watermarks
UART0_TWFIFO = 2; UART0_TWFIFO = 2;
UART0_RWFIFO = 4; UART0_RWFIFO = 4;

9
main.c
View File

@ -66,7 +66,7 @@ volatile uint8_t sendKeypresses = 0;
// ----- Functions ----- // ----- Functions -----
// Initial Pin Setup, make sure they are sane // Initial Pin Setup, make sure they are sane
inline void pinSetup(void) inline void pinSetup()
{ {
// AVR // AVR
@ -100,7 +100,7 @@ inline void pinSetup(void)
} }
inline void usbTimerSetup(void) inline void usbTimerSetup()
{ {
// AVR // AVR
#if defined(_at90usb162_) || defined(_atmega32u4_) || defined(_at90usb646_) || defined(_at90usb1286_) #if defined(_at90usb162_) || defined(_atmega32u4_) || defined(_at90usb646_) || defined(_at90usb1286_)
@ -134,8 +134,7 @@ inline void usbTimerSetup(void)
#endif #endif
} }
int main()
int main(void)
{ {
// Configuring Pins // Configuring Pins
pinSetup(); pinSetup();
@ -185,7 +184,7 @@ int main(void)
#if defined(_at90usb162_) || defined(_atmega32u4_) || defined(_at90usb646_) || defined(_at90usb1286_) // AVR #if defined(_at90usb162_) || defined(_atmega32u4_) || defined(_at90usb646_) || defined(_at90usb1286_) // AVR
ISR( TIMER0_OVF_vect ) ISR( TIMER0_OVF_vect )
#elif defined(_mk20dx128_) || defined(_mk20dx128vlf5_) || defined(_mk20dx256_) // ARM #elif defined(_mk20dx128_) || defined(_mk20dx128vlf5_) || defined(_mk20dx256_) // ARM
void pit0_isr(void) void pit0_isr()
#endif #endif
{ {
sendKeypressCounter++; sendKeypressCounter++;