rt-thread/bsp/at91sam9260/drivers/board.c

/*
 * Copyright (c) 2006-2021, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2011-01-13     weety      first version
 */

#include <rtthread.h>
#include <rthw.h>

#include "board.h"
#include <mmu.h>

/**
 * @addtogroup at91sam9260
 */
/*@{*/
#if defined(__CC_ARM)
extern int Image$$ER_ZI$$ZI$$Limit;
#define HEAP_BEGIN  (&Image$$ER_ZI$$ZI$$Limit)
#elif (defined (__GNUC__))
extern unsigned char __bss_end__;
#define HEAP_BEGIN  (&__bss_end__)
#elif (defined (__ICCARM__))
#pragma section=".noinit"
#define HEAP_BEGIN  (__section_end(".noinit"))
#endif

#define HEAP_END    (((rt_uint32_t)HEAP_BEGIN & (0xF0 << 24)) + (32 << 20))

extern void rt_hw_interrupt_init(void);
extern void rt_hw_clock_init(void);

extern void rt_hw_get_clock(void);
extern void rt_hw_set_dividor(rt_uint8_t hdivn, rt_uint8_t pdivn);
extern void rt_hw_set_clock(rt_uint8_t sdiv, rt_uint8_t pdiv, rt_uint8_t mdiv);
extern void rt_dbgu_isr(void);

static struct mem_desc at91_mem_desc[] = {
    { 0x00000000, 0xFFFFFFFF, 0x00000000, RW_NCNB },     /* None cached for 4G memory */
    { 0x20000000, 0x24000000-1, 0x20000000, RW_CB },     /* 64M cached SDRAM memory */
    { 0x00000000, 0x100000, 0x20000000, RW_CB },         /* isr vector table */
    { 0x90000000, 0x90400000-1, 0x00200000, RW_NCNB },   /* 4K SRAM0@2M + 4k SRAM1@3M + 16k UHP@5M */
    { 0xA0000000, 0xA4000000-1, 0x20000000, RW_NCNB }    /* 64M none-cached SDRAM memory */
};


#define PIT_CPIV(x) ((x) & AT91_PIT_CPIV)
#define PIT_PICNT(x)    (((x) & AT91_PIT_PICNT) >> 20)

static rt_uint32_t pit_cycle;       /* write-once */
static rt_uint32_t pit_cnt;     /* access only w/system irq blocked */

/**
 * This function will handle rtos timer
 */
void rt_timer_handler(int vector, void *param)
{
    #ifdef RT_USING_DBGU
    if (at91_sys_read(AT91_DBGU + AT91_US_CSR) & 0x1)
    {
        rt_dbgu_isr();
    }
    #endif
    if (at91_sys_read(AT91_PIT_SR) & AT91_PIT_PITS)
    {
        unsigned nr_ticks;

        /* Get number of ticks performed before irq, and ack it */
        nr_ticks = PIT_PICNT(at91_sys_read(AT91_PIT_PIVR));
        rt_tick_increase();
    }
}

static void at91sam926x_pit_reset(void)
{
    /* Disable timer and irqs */
    at91_sys_write(AT91_PIT_MR, 0);

    /* Clear any pending interrupts, wait for PIT to stop counting */
    while (PIT_CPIV(at91_sys_read(AT91_PIT_PIVR)) != 0)
        ;

    /* Start PIT but don't enable IRQ */
    //at91_sys_write(AT91_PIT_MR, (pit_cycle - 1) | AT91_PIT_PITEN);
    pit_cnt += pit_cycle * PIT_PICNT(at91_sys_read(AT91_PIT_PIVR));
    at91_sys_write(AT91_PIT_MR, (pit_cycle - 1) | AT91_PIT_PITEN
            | AT91_PIT_PITIEN);
    rt_kprintf("PIT_MR=0x%08x\n", at91_sys_read(AT91_PIT_MR));
}

/*
 * Set up both clocksource and clockevent support.
 */
static void at91sam926x_pit_init(void)
{
    rt_uint32_t pit_rate;
    rt_uint32_t bits;

    /*
     * Use our actual MCK to figure out how many MCK/16 ticks per
     * 1/HZ period (instead of a compile-time constant LATCH).
     */
    pit_rate = clk_get_rate(clk_get("mck")) / 16;
    rt_kprintf("pit_rate=%dHZ\n", pit_rate);
    pit_cycle = (pit_rate + RT_TICK_PER_SECOND/2) / RT_TICK_PER_SECOND;

    /* Initialize and enable the timer */
    at91sam926x_pit_reset();

}

/**
 * This function will init pit for system ticks
 */
 void rt_hw_timer_init()
 {
    at91sam926x_pit_init();

    /* install interrupt handler */
    rt_hw_interrupt_install(AT91_ID_SYS, rt_timer_handler,
                            RT_NULL, "system");
    rt_hw_interrupt_umask(AT91_ID_SYS);

 }

 void at91_tc1_init()
 {
    at91_sys_write(AT91_PMC_PCER, 1<<AT91SAM9260_ID_TC0);
    writel(AT91_TC_TC0XC0S_NONE | AT91_TC_TC1XC1S_NONE | AT91_TC_TC2XC2S_NONE, AT91SAM9260_BASE_TCB0 + AT91_TC_BMR);
    writel(AT91_TC_CLKDIS, AT91SAM9260_BASE_TC0 + AT91_TC_CCR);
    writel(AT91_TC_TIMER_CLOCK4, AT91SAM9260_BASE_TC0 + AT91_TC_CMR);
    writel(0xffff, AT91SAM9260_BASE_TC0 + AT91_TC_CV);
 }

#define RXRDY           0x01
#define TXRDY           (1 << 1)
#define BPS         115200  /* serial baudrate */

typedef struct uartport
{
    volatile rt_uint32_t CR;
    volatile rt_uint32_t MR;
    volatile rt_uint32_t IER;
    volatile rt_uint32_t IDR;
    volatile rt_uint32_t IMR;
    volatile rt_uint32_t CSR;
    volatile rt_uint32_t RHR;
    volatile rt_uint32_t THR;
    volatile rt_uint32_t BRGR;
    volatile rt_uint32_t RTOR;
    volatile rt_uint32_t TTGR;
    volatile rt_uint32_t reserved0[5];
    volatile rt_uint32_t FIDI;
    volatile rt_uint32_t NER;
    volatile rt_uint32_t reserved1;
    volatile rt_uint32_t IFR;
    volatile rt_uint32_t reserved2[44];
    volatile rt_uint32_t RPR;
    volatile rt_uint32_t RCR;
    volatile rt_uint32_t TPR;
    volatile rt_uint32_t TCR;
    volatile rt_uint32_t RNPR;
    volatile rt_uint32_t RNCR;
    volatile rt_uint32_t TNPR;
    volatile rt_uint32_t TNCR;
    volatile rt_uint32_t PTCR;
    volatile rt_uint32_t PTSR;
}uartport;

#define CIDR FIDI
#define EXID NER
#define FNR  reserved1

#define DBGU    ((struct uartport *)AT91SAM9260_BASE_DBGU)

static void at91_usart_putc(char c)
{
    while (!(DBGU->CSR & TXRDY));
    DBGU->THR = c;
}

/**
 * This function is used to display a string on console, normally, it's
 * invoked by rt_kprintf
 *
 * @param str the displayed string
 */
void rt_hw_console_output(const char* str)
{
    while (*str)
    {
        if (*str=='\n')
        {
            at91_usart_putc('\r');
        }

        at91_usart_putc(*str++);
    }
}

static void rt_hw_console_init(void)
{
    int div;
    int mode = 0;

    DBGU->CR = AT91_US_RSTTX | AT91_US_RSTRX |
           AT91_US_RXDIS | AT91_US_TXDIS;
    mode |= AT91_US_USMODE_NORMAL | AT91_US_USCLKS_MCK |
        AT91_US_CHMODE_NORMAL;
    mode |= AT91_US_CHRL_8;
    mode |= AT91_US_NBSTOP_1;
    mode |= AT91_US_PAR_NONE;
    DBGU->MR = mode;
    div = (clk_get_rate(clk_get("mck")) / 16 + BPS/2) / BPS;
    DBGU->BRGR = div;
    DBGU->CR = AT91_US_RXEN | AT91_US_TXEN;
}


/**
 * This function will init at91sam9260 board
 */
void rt_hw_board_init()
{
    /* initialize the system clock */
    rt_hw_clock_init();

    /* initialize console */
    rt_hw_console_init();

    /* initialize mmu */
    rt_hw_mmu_init(at91_mem_desc, sizeof(at91_mem_desc)/sizeof(at91_mem_desc[0]));

    /* initialize hardware interrupt */
    rt_hw_interrupt_init();

    /* initialize early device */
#ifdef RT_USING_COMPONENTS_INIT
    rt_components_board_init();
#endif
#ifdef RT_USING_CONSOLE
    rt_console_set_device(RT_CONSOLE_DEVICE_NAME);
#endif
    /* initialize timer0 */
    rt_hw_timer_init();

/* initialize board */
#ifdef RT_USING_HEAP
    rt_system_heap_init((void *)HEAP_BEGIN, (void *)HEAP_END);
#endif

}

/*@}*/