/* * 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 at91sam9g45 */ /*@{*/ #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 & 0xF0000000) + 0x04000000) 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); #define SAM9G45_BLOCK_SIZE 0x10000000 // 256M #define MMU_SECTION_SIZE 0x100000 // 1M #define PERIPHERALS_ADDR // 1M #define SECTION_END(sa) ((sa) + MMU_SECTION_SIZE - 1) // sa: start address #define BLOCK_END(ba) ((ba) + SAM9G45_BLOCK_SIZE - 1) // ba: block address static struct mem_desc at91_mem_desc[] = { /* FIXME, hornby, to confirm MMU and memory */ { 0x00000000, 0xFFFFFFFF , 0x00000000, RW_NCNB }, /* None cached for 4G memory */ //{ 0x00000000, SECTION_END(0x00000000), 0x00000000, RW_CNB }, /* TLB for ITCM, ITCM map to address zero, 32KB */ //{ 0x00200000, SECTION_END(0x00200000), 0x00200000, RW_CNB }, /* TLB for DTCM, 32KB */ //{ 0x00300000, SECTION_END(0x00300000), 0x00300000, RW_CNB }, /* TLB for internal RAM, 64KB, we use it as global variable area */ //{ 0x00600000, SECTION_END(0x00600000), 0x00600000, RW_NCNB }, /* TLB for UDPHS(DMA) */ //{ 0x00700000, SECTION_END(0x00700000), 0x00700000, RW_NCNB }, /* TLB for UHP OHCI */ //{ 0x00800000, SECTION_END(0x00800000), 0x00800000, RW_NCNB }, /* TLB for UHP EHCI */ //{ 0x30000000, 0x30000000+0x00100000-1, 0x30000000, RW_CB }, /* 1M external SRAM for program code and stack */ //{ 0x40000000, BLOCK_END(0x40000000), 0x40000000, RW_NCNB }, /* 256M for nand-flash controller */ //{ 0x60000000, BLOCK_END(0x60000000), 0x60000000, RW_NCNB }, /* 256M for FPGA */ //{ 0x70000000, 0x70000000+0x08000000-1, 0x70000000, RW_NCNB }, /* 128M for main DDR-SDRAM for print data */ { 0x00000000, SECTION_END(0x00000000), 0x70000000, RW_CB }, /* isr */ { 0x70000000, 0x70000000+0x08000000-1, 0x70000000, RW_CB }, /* 128M for main DDR-SDRAM for print data */ //{ 0xFFF00000, SECTION_END(0xFFF00000), 0xFFF00000, RW_NCNB }, /* Internal Peripherals, 1MB */ }; #define PIT_CPIV(x) ((x) & AT91C_PITC_CPIV) #define PIT_PICNT(x) (((x) & AT91C_PITC_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 (readl(AT91C_DBGU_CSR) & AT91C_US_RXRDY) { rt_dbgu_isr(); } #endif if (readl(AT91C_PITC_PISR) & AT91C_PITC_PITS) { unsigned nr_ticks; /* Get number of ticks performed before irq, and ack it */ nr_ticks = PIT_PICNT(readl(AT91C_PITC_PIVR)); while (nr_ticks--) rt_tick_increase(); } } static void at91sam9g45_pit_reset(void) { /* Disable timer and irqs */ AT91C_BASE_PITC->PITC_PIMR = 0; /* Clear any pending interrupts, wait for PIT to stop counting */ while (PIT_CPIV(readl(AT91C_PITC_PIVR)) != 0) ; /* Start PIT but don't enable IRQ */ //AT91C_BASE_PITC->PITC_PIMR = (pit_cycle - 1) | AT91C_PITC_PITEN; pit_cnt += pit_cycle * PIT_PICNT(readl(AT91C_PITC_PIVR)); AT91C_BASE_PITC->PITC_PIMR = (pit_cycle - 1) | AT91C_PITC_PITEN | AT91C_PITC_PITIEN; rt_kprintf("PIT_MR=0x%08x\n", readl(AT91C_PITC_PIMR)); } /* * Set up both clocksource and clockevent support. */ static void at91sam9g45_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 */ at91sam9g45_pit_reset(); } /** * This function will init pit for system ticks */ void rt_hw_timer_init() { at91sam9g45_pit_init(); /* install interrupt handler */ rt_hw_interrupt_install(AT91C_ID_SYS, rt_timer_handler, RT_NULL, "system"); rt_hw_interrupt_umask(AT91C_ID_SYS); } void at91_tc1_init() { AT91C_BASE_PMC->PMC_PCER = 1<<AT91C_ID_TC; writel(AT91C_TCB_TC0XC0S_NONE | AT91C_TCB_TC1XC1S_NONE | AT91C_TCB_TC2XC2S_NONE, AT91C_TCB0_BMR); writel(AT91C_TC_CLKDIS, AT91C_TC0_CCR); writel(AT91C_TC_CLKS_TIMER_DIV4_CLOCK, AT91C_TC0_CMR); writel(0xffff, AT91C_TC0_CV); } #define BPS 115200 /* serial console port baudrate */ static void at91_usart_putc(char c) { while (!(AT91C_BASE_DBGU->DBGU_CSR & AT91C_US_TXRDY)) ; AT91C_BASE_DBGU->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; AT91C_BASE_DBGU->DBGU_CR = AT91C_US_RSTTX | AT91C_US_RSTRX | AT91C_US_RXDIS | AT91C_US_TXDIS; mode |= AT91C_US_USMODE_NORMAL | AT91C_US_CLKS_CLOCK | AT91C_US_CHMODE_NORMAL; mode |= AT91C_US_CHRL_8_BITS; mode |= AT91C_US_NBSTOP_1_BIT; mode |= AT91C_US_PAR_NONE; AT91C_BASE_DBGU->DBGU_MR = mode; div = (clk_get_rate(clk_get("mck")) / 16 + BPS/2) / BPS; AT91C_BASE_DBGU->DBGU_BRGR = div; AT91C_BASE_DBGU->DBGU_CR = AT91C_US_RXEN | AT91C_US_TXEN; } /** * This function will init at91sam9g45 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 #if defined(RT_USING_CONSOLE) && defined(RT_USING_DEVICE) 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 } /*@}*/