mirror of https://github.com/Desuuuu/klipper.git
armcm_boot: Add generic code for early board init on armcm machines
Add basic ARM Cortex-M C init code and build linker scripts to src/generic/ code. This can be used to simplify the various ARM board code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -209,6 +209,50 @@ const int initial_pins_size PROGMEM = ARRAY_SIZE(initial_pins);
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Handlers.append(HandleInitialPins())
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Handlers.append(HandleInitialPins())
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######################################################################
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# ARM IRQ vector table generation
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######################################################################
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# Create ARM IRQ vector table from interrupt handler declarations
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class Handle_arm_irq:
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def __init__(self):
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self.irqs = {}
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self.ctr_dispatch = { 'DECL_ARMCM_IRQ': self.decl_armcm_irq }
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def decl_armcm_irq(self, req):
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func, num = req.split()[1:]
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num = decode_integer(num)
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if num in self.irqs and self.irqs[num] != func:
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error("Conflicting IRQ definition %d (old %s new %s)"
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% (num, self.irqs[num], func))
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self.irqs[num] = func
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def update_data_dictionary(self, data):
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pass
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def generate_code(self, options):
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armcm_offset = 16
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if 1 - armcm_offset not in self.irqs:
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# The ResetHandler was not defined - don't build VectorTable
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return ""
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max_irq = max(self.irqs.keys())
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table = [" DefaultHandler,\n"] * (max_irq + armcm_offset + 1)
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defs = []
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for num, func in self.irqs.items():
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if num < 1 - armcm_offset:
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error("Invalid IRQ %d (%s)" % (num, func))
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defs.append("extern void %s(void);\n" % (func,))
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table[num + armcm_offset] = " %s,\n" % (func,)
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table[0] = " &_stack_end,\n"
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fmt = """
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extern void DefaultHandler(void);
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extern uint32_t _stack_end;
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%s
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const void *VectorTable[] __visible __section(".vector_table") = {
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%s};
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"""
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return fmt % (''.join(defs), ''.join(table))
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Handlers.append(Handle_arm_irq())
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######################################################################
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######################################################################
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# Wire protocol commands and responses
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# Wire protocol commands and responses
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######################################################################
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######################################################################
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@ -0,0 +1,73 @@
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// ARM Cortex-M vector table and initial bootup handling
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//
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// Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include "armcm_boot.h" // DECL_ARMCM_IRQ
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#include "board/internal.h" // SystemInit
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// Symbols created by armcm_boot.lds.S linker script
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extern uint32_t _data_start, _data_end, _data_flash;
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extern uint32_t _bss_start, _bss_end, _stack_start;
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/****************************************************************
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* Basic interrupt handlers
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****************************************************************/
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// Initial code entry point - invoked by the processor after a reset
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void
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ResetHandler(void)
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{
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// Copy global variables from flash to ram
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uint32_t count = (&_data_end - &_data_start) * 4;
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__builtin_memcpy(&_data_start, &_data_flash, count);
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// Clear the bss segment
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__builtin_memset(&_bss_start, 0, (&_bss_end - &_bss_start) * 4);
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barrier();
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// Initializing the C library isn't needed...
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//__libc_init_array();
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// Initialize the machine
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SystemInit();
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// Run the main code
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extern int main(void);
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main();
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// The main() call should not return
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for (;;)
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;
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}
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DECL_ARMCM_IRQ(ResetHandler, -15);
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// Code called for any undefined interrupts
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void
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DefaultHandler(void)
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{
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for (;;)
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;
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}
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/****************************************************************
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* Dynamic memory range
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****************************************************************/
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// Return the start of memory available for dynamic allocations
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void *
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dynmem_start(void)
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{
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return &_bss_end;
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}
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// Return the end of memory available for dynamic allocations
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void *
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dynmem_end(void)
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{
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return &_stack_start;
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}
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@ -0,0 +1,20 @@
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#ifndef __GENERIC_ARMCM_BOOT_H
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#define __GENERIC_ARMCM_BOOT_H
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#include "ctr.h" // DECL_CTR_INT
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// Declare an IRQ handler
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#define DECL_ARMCM_IRQ(FUNC, NUM) \
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DECL_CTR_INT("DECL_ARMCM_IRQ " __stringify(FUNC), (NUM))
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// Statically declare an IRQ handler and run-time enable it
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#define armcm_enable_irq(FUNC, NUM, PRIORITY) do { \
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DECL_ARMCM_IRQ(FUNC, (NUM)); \
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NVIC_SetPriority((NUM), (PRIORITY)); \
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NVIC_EnableIRQ((NUM)); \
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} while (0)
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// Vectors created by scripts/buildcommands.py from DECL_ARMCM_IRQ commands
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extern const void * const VectorTable[];
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#endif // armcm_boot.h
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@ -0,0 +1,63 @@
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// Generic ARM Cortex-M linker script
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//
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// Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include "autoconf.h" // CONFIG_FLASH_START
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OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm")
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OUTPUT_ARCH(arm)
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MEMORY
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{
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rom (rx) : ORIGIN = CONFIG_FLASH_START , LENGTH = CONFIG_FLASH_SIZE
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ram (rwx) : ORIGIN = CONFIG_RAM_START , LENGTH = CONFIG_RAM_SIZE
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}
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SECTIONS
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{
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.text : {
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. = ALIGN(4);
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KEEP(*(.vector_table))
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*(.text .text.*)
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*(.rodata .rodata*)
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} > rom
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. = ALIGN(4);
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_data_flash = .;
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.data : AT (_data_flash)
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{
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. = ALIGN(4);
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_data_start = .;
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*(.ramfunc .ramfunc.*);
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*(.data .data.*);
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. = ALIGN(4);
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_data_end = .;
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} > ram
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.bss (NOLOAD) :
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{
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. = ALIGN(4);
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_bss_start = .;
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*(.bss .bss.*)
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*(COMMON)
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. = ALIGN(4);
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_bss_end = .;
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} > ram
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_stack_start = CONFIG_RAM_START + CONFIG_RAM_SIZE - CONFIG_STACK_SIZE ;
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.stack _stack_start (NOLOAD) :
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{
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. = . + CONFIG_STACK_SIZE;
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_stack_end = .;
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} > ram
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/DISCARD/ : {
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// The .init/.fini sections are used by __libc_init_array(), but
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// that isn't needed so no need to include them in the binary.
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*(.init)
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*(.fini)
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}
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}
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@ -5,6 +5,7 @@
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// This file may be distributed under the terms of the GNU GPLv3 license.
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include "autoconf.h" // CONFIG_CLOCK_FREQ
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#include "autoconf.h" // CONFIG_CLOCK_FREQ
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#include "armcm_boot.h" // DECL_ARMCM_IRQ
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#include "board/internal.h" // SysTick
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#include "board/internal.h" // SysTick
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#include "board/irq.h" // irq_disable
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#include "board/irq.h" // irq_disable
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#include "board/misc.h" // timer_from_us
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#include "board/misc.h" // timer_from_us
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@ -160,6 +161,7 @@ SysTick_Handler(void)
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timer_set_diff(diff);
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timer_set_diff(diff);
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irq_enable();
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irq_enable();
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}
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}
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DECL_ARMCM_IRQ(SysTick_Handler, SysTick_IRQn);
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// Make sure timer_repeat_until doesn't wrap 32bit comparisons
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// Make sure timer_repeat_until doesn't wrap 32bit comparisons
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void
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void
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