forked from micropython/micropython
-
Notifications
You must be signed in to change notification settings - Fork 4
/
samd_isr.c
371 lines (347 loc) · 17.7 KB
/
samd_isr.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2019 Damien P. George
*
* 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:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* 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.
*/
#include "py/runtime.h"
#include "py/mphal.h"
#include "samd_soc.h"
#include "pendsv.h"
#include "shared/runtime/softtimer.h"
typedef void (*ISR)(void);
extern uint32_t _estack, _sidata, _sdata, _edata, _sbss, _ebss;
extern void Default_Handler(void);
extern void SysTick_Handler(void);
extern void PendSV_Handler(void);
extern void EIC_Handler(void);
const ISR isr_vector[];
volatile uint32_t systick_ms;
volatile uint32_t ticks_us64_upper;
#if defined(MCU_SAMD21)
volatile uint32_t rng_state;
#endif
void Reset_Handler(void) __attribute__((naked));
void Reset_Handler(void) {
// Set stack pointer
#if __CORTEX_M >= 0x03
__asm volatile ("ldr sp, =_estack");
#else
__asm volatile ("ldr r0, =_estack");
__asm volatile ("mov sp, r0");
#endif
// Copy .data section from flash to RAM
for (uint32_t *src = &_sidata, *dest = &_sdata; dest < &_edata;) {
*dest++ = *src++;
}
// Zero out .bss section
for (uint32_t *dest = &_sbss; dest < &_ebss;) {
*dest++ = 0;
}
// When we get here: stack is initialised, bss is clear, data is copied
#if __FPU_PRESENT == 1 && __FPU_USED == 1
// Set CP10 and CP11 Full Access
SCB->CPACR |= (3UL << 10 * 2) | (3UL << 11 * 2);
#endif
// SCB->VTOR
*((volatile uint32_t *)0xe000ed08) = (uint32_t)&isr_vector;
// SCB->CCR: enable 8-byte stack alignment for IRQ handlers, in accord with EABI
*((volatile uint32_t *)0xe000ed14) |= 1 << 9;
// Initialise the cpu and peripherals
samd_init();
// Now that we have a basic system up and running we can call main
samd_main();
// we must not return
for (;;) {
}
}
void Default_Handler(void) {
for (;;) {
}
}
void SysTick_Handler(void) {
#if defined(MCU_SAMD21)
// Use the phase jitter between the clocks to get some entropy
// and accumulate the random number register with a "spiced" LCG.
rng_state = (rng_state * 32310901 + 1) ^ (REG_TC4_COUNT32_COUNT >> 1);
#endif
uint32_t next_tick = systick_ms + 1;
systick_ms = next_tick;
if (soft_timer_next == next_tick) {
pendsv_schedule_dispatch(PENDSV_DISPATCH_SOFT_TIMER, soft_timer_handler);
}
}
void us_timer_IRQ(void) {
#if defined(MCU_SAMD21)
if (TC4->COUNT32.INTFLAG.reg & TC_INTFLAG_OVF) {
ticks_us64_upper++;
}
TC4->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF;
#elif defined(MCU_SAMD51)
if (TC0->COUNT32.INTFLAG.reg & TC_INTFLAG_OVF) {
ticks_us64_upper++;
}
TC0->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF;
#endif
}
// Sercom IRQ handler support
void (*sercom_irq_handler_table[SERCOM_INST_NUM])(int num) = {};
void sercom_register_irq(int sercom_id, void (*sercom_irq_handler)) {
if (sercom_id < SERCOM_INST_NUM) {
sercom_irq_handler_table[sercom_id] = sercom_irq_handler;
}
}
static inline void common_sercom_irq_handler(int sercom_id) {
if (sercom_irq_handler_table[sercom_id]) {
sercom_irq_handler_table[sercom_id](sercom_id);
}
}
void Sercom0_Handler(void) {
common_sercom_irq_handler(0);
}
void Sercom1_Handler(void) {
common_sercom_irq_handler(1);
}
void Sercom2_Handler(void) {
common_sercom_irq_handler(2);
}
void Sercom3_Handler(void) {
common_sercom_irq_handler(3);
}
void Sercom4_Handler(void) {
common_sercom_irq_handler(4);
}
void Sercom5_Handler(void) {
common_sercom_irq_handler(5);
}
#if defined(MCU_SAMD51)
void Sercom6_Handler(void) {
common_sercom_irq_handler(6);
}
void Sercom7_Handler(void) {
common_sercom_irq_handler(7);
}
#endif
#if defined(MCU_SAMD21)
const ISR isr_vector[] __attribute__((section(".isr_vector"))) = {
(ISR)&_estack,
&Reset_Handler,
&Default_Handler, // NMI_Handler
&Default_Handler, // HardFault_Handler
&Default_Handler, // MemManage_Handler
&Default_Handler, // BusFault_Handler
&Default_Handler, // UsageFault_Handler
0,
0,
0,
0,
&Default_Handler, // SVC_Handler
&Default_Handler, // DebugMon_Handler
0,
&PendSV_Handler, // PendSV_Handler
&SysTick_Handler, // SysTick_Handler
0, // 0 Power Manager (PM)
0, // 1 System Control (SYSCTRL)
0, // 2 Watchdog Timer (WDT)
0, // 3 Real-Time Counter (RTC)
&EIC_Handler, // 4 External Interrupt Controller (EIC)
0, // 5 Non-Volatile Memory Controller (NVMCTRL)
0, // 6 Direct Memory Access Controller (DMAC)
USB_Handler_wrapper,// 7 Universal Serial Bus (USB)
0, // 8 Event System Interface (EVSYS)
&Sercom0_Handler, // 9 Serial Communication Interface 0 (SERCOM0)
&Sercom1_Handler, // 10 SAMD21G18A Serial Communication Interface 1 (SERCOM1)
&Sercom2_Handler, // 11 SAMD21G18A Serial Communication Interface 2 (SERCOM2)
&Sercom3_Handler, // 12 SAMD21G18A Serial Communication Interface 3 (SERCOM3)
&Sercom4_Handler, // 13 SAMD21G18A Serial Communication Interface 4 (SERCOM4)
&Sercom5_Handler, // 14 SAMD21G18A Serial Communication Interface 5 (SERCOM5)
0, // 15 Timer Counter Control 0 (TCC0)
0, // 16 Timer Counter Control 1 (TCC1)
0, // 17 Timer Counter Control 2 (TCC2)
0, // 18 Basic Timer Counter 3 (TC3)
&us_timer_IRQ, // 19 Basic Timer Counter 4 (TC4)
0, // 20 Basic Timer Counter 5 (TC5)
0, // 21 Basic Timer Counter 6 (TC6)
0, // 22 Basic Timer Counter 7 (TC7)
0, // 23 Analog Digital Converter (ADC)
0, // 24 Analog Comparators (AC)
0, // 25 Digital Analog Converter (DAC)
0, // 26 Peripheral Touch Controller (PTC)
0, // 27 Inter-IC Sound Interface (I2S)
};
#else
const ISR isr_vector[] __attribute__((section(".isr_vector"))) = {
(ISR)&_estack,
&Reset_Handler,
&Default_Handler, // NMI_Handler
&Default_Handler, // HardFault_Handler
&Default_Handler, // MemManage_Handler
&Default_Handler, // BusFault_Handler
&Default_Handler, // UsageFault_Handler
0,
0,
0,
0,
&Default_Handler, // SVC_Handler
&Default_Handler, // DebugMon_Handler
0,
&PendSV_Handler, // PendSV_Handler
&SysTick_Handler, // SysTick_Handler
0, // 0 Power Manager (PM)
0, // 1 Main Clock (MCLK)
0, // 2 Oscillators Control (OSCCTRL): OSCCTRL_XOSCFAIL_0, OSCCTRL_XOSCRDY_0
0, // 3 Oscillators Control (OSCCTRL): OSCCTRL_XOSCFAIL_1, OSCCTRL_XOSCRDY_1
0, // 4 Oscillators Control (OSCCTRL): OSCCTRL_DFLLLOCKC, OSCCTRL_DFLLLOCKF, OSCCTRL_DFLLOOB, OSCCTRL_DFLLRCS, OSCCTRL_DFLLRDY
0, // 5 Oscillators Control (OSCCTRL): OSCCTRL_DPLLLCKF_0, OSCCTRL_DPLLLCKR_0, OSCCTRL_DPLLLDRTO_0, OSCCTRL_DPLLLTO_0
0, // 6 Oscillators Control (OSCCTRL): OSCCTRL_DPLLLCKF_1, OSCCTRL_DPLLLCKR_1, OSCCTRL_DPLLLDRTO_1, OSCCTRL_DPLLLTO_1
0, // 7 32kHz Oscillators Control (OSC32KCTRL)
0, // 8 Supply Controller (SUPC): SUPC_B12SRDY, SUPC_B33SRDY, SUP
0, // 9 Supply Controller (SUPC): SUPC_BOD12DET, SUPC_BOD33DET
0, // 10 Watchdog Timer (WDT)
0, // 11 Real-Time Counter (RTC)
&EIC_Handler, // 12 External Interrupt Controller (EIC): EIC_EXTINT_0
&EIC_Handler, // 13 External Interrupt Controller (EIC): EIC_EXTINT_1
&EIC_Handler, // 14 External Interrupt Controller (EIC): EIC_EXTINT_2
&EIC_Handler, // 15 External Interrupt Controller (EIC): EIC_EXTINT_3
&EIC_Handler, // 16 External Interrupt Controller (EIC): EIC_EXTINT_4
&EIC_Handler, // 17 External Interrupt Controller (EIC): EIC_EXTINT_5
&EIC_Handler, // 18 External Interrupt Controller (EIC): EIC_EXTINT_6
&EIC_Handler, // 19 External Interrupt Controller (EIC): EIC_EXTINT_7
&EIC_Handler, // 20 External Interrupt Controller (EIC): EIC_EXTINT_8
&EIC_Handler, // 21 External Interrupt Controller (EIC): EIC_EXTINT_9
&EIC_Handler, // 22 External Interrupt Controller (EIC): EIC_EXTINT_10
&EIC_Handler, // 23 External Interrupt Controller (EIC): EIC_EXTINT_11
&EIC_Handler, // 24 External Interrupt Controller (EIC): EIC_EXTINT_12
&EIC_Handler, // 25 External Interrupt Controller (EIC): EIC_EXTINT_13
&EIC_Handler, // 26 External Interrupt Controller (EIC): EIC_EXTINT_14
&EIC_Handler, // 27 External Interrupt Controller (EIC): EIC_EXTINT_15
0, // 28 Frequency Meter (FREQM)
0, // 29 Non-Volatile Memory Controller (NVMCTRL): NVMCTRL_0 - _7
0, // 30 Non-Volatile Memory Controller (NVMCTRL): NVMCTRL_8 - _10
0, // 31 Direct Memory Access Controller (DMAC): DMAC_SUSP_0, DMAC_TCMPL_0, DMAC_TERR_0
0, // 32 Direct Memory Access Controller (DMAC): DMAC_SUSP_1, DMAC_TCMPL_1, DMAC_TERR_1
0, // 33 Direct Memory Access Controller (DMAC): DMAC_SUSP_2, DMAC_TCMPL_2, DMAC_TERR_2
0, // 34 Direct Memory Access Controller (DMAC): DMAC_SUSP_3, DMAC_TCMPL_3, DMAC_TERR_3
0, // 35 Direct Memory Access Controller (DMAC): DMAC_SUSP_4 - _31, DMAC_TCMPL_4 _31, DMAC_TERR_4- _31
0, // 36 Event System Interface (EVSYS): EVSYS_EVD_0, EVSYS_OVR_0
0, // 37 Event System Interface (EVSYS): EVSYS_EVD_1, EVSYS_OVR_1
0, // 38 Event System Interface (EVSYS): EVSYS_EVD_2, EVSYS_OVR_2
0, // 39 Event System Interface (EVSYS): EVSYS_EVD_3, EVSYS_OVR_3
0, // 40 Event System Interface (EVSYS): EVSYS_EVD_10, EVSYS_EVD_11
0, // 41 Peripheral Access Controller (PAC)
0, // 42 Trigger Allocator (TAL): TAL_BRK
0, // 43 Trigger Allocator (TAL): TAL_IPS_x
0,
0, // 45 RAM ECC (RAMECC)
&Sercom0_Handler, // 46 Serial Communication Interface 0 (SERCOM0): SERCOM0_0
&Sercom0_Handler, // 47 Serial Communication Interface 0 (SERCOM0): SERCOM0_1
&Sercom0_Handler, // 48 Serial Communication Interface 0 (SERCOM0): SERCOM0_2
&Sercom0_Handler, // 49 Serial Communication Interface 0 (SERCOM0): SERCOM0_3 - 6
&Sercom1_Handler, // 50 Serial Communication Interface 1 (SERCOM1): SERCOM1_0
&Sercom1_Handler, // 51 Serial Communication Interface 1 (SERCOM1): SERCOM1_1
&Sercom1_Handler, // 52 Serial Communication Interface 1 (SERCOM1): SERCOM1_2
&Sercom1_Handler, // 53 Serial Communication Interface 1 (SERCOM1): SERCOM1_3 - 6
&Sercom2_Handler, // 54 Serial Communication Interface 2 (SERCOM2): SERCOM2_0
&Sercom2_Handler, // 55 Serial Communication Interface 2 (SERCOM2): SERCOM2_1
&Sercom2_Handler, // 56 Serial Communication Interface 2 (SERCOM2): SERCOM2_2
&Sercom2_Handler, // 57 Serial Communication Interface 2 (SERCOM2): SERCOM2_3 - 6
&Sercom3_Handler, // 58 Serial Communication Interface 3 (SERCOM3): SERCOM3_0
&Sercom3_Handler, // 59 Serial Communication Interface 3 (SERCOM3): SERCOM3_1
&Sercom3_Handler, // 60 Serial Communication Interface 3 (SERCOM3): SERCOM3_2
&Sercom3_Handler, // 61 Serial Communication Interface 3 (SERCOM3): SERCOM3_3 - 6
&Sercom4_Handler, // 62 Serial Communication Interface 4 (SERCOM4): SERCOM4_0
&Sercom4_Handler, // 63 Serial Communication Interface 4 (SERCOM4): SERCOM4_1
&Sercom4_Handler, // 64 Serial Communication Interface 4 (SERCOM4): SERCOM4_2
&Sercom4_Handler, // 65 Serial Communication Interface 4 (SERCOM4): SERCOM4_3 - 6
&Sercom5_Handler, // 66 Serial Communication Interface 5 (SERCOM5): SERCOM5_0
&Sercom5_Handler, // 67 Serial Communication Interface 5 (SERCOM5): SERCOM5_1
&Sercom5_Handler, // 68 Serial Communication Interface 5 (SERCOM5): SERCOM5_2
&Sercom5_Handler, // 69 Serial Communication Interface 5 (SERCOM5): SERCOM5_3 - 6
&Sercom6_Handler, // 70 Serial Communication Interface 6 (SERCOM6): SERCOM6_0
&Sercom6_Handler, // 71 Serial Communication Interface 6 (SERCOM6): SERCOM6_1
&Sercom6_Handler, // 72 Serial Communication Interface 6 (SERCOM6): SERCOM6_2
&Sercom6_Handler, // 73 Serial Communication Interface 6 (SERCOM6): SERCOM6_3 - 6
&Sercom7_Handler, // 74 Serial Communication Interface 7 (SERCOM7): SERCOM7_0
&Sercom7_Handler, // 75 Serial Communication Interface 7 (SERCOM7): SERCOM7_1
&Sercom7_Handler, // 76 Serial Communication Interface 7 (SERCOM7): SERCOM7_2
&Sercom7_Handler, // 77 Serial Communication Interface 7 (SERCOM7): SERCOM7_3 - 6
0, // 78 Control Area Network 0 (CAN0)
0, // 79 Control Area Network 1 (CAN1)
&USB_Handler_wrapper, // 80 Universal Serial Bus (USB): USB_EORSM_DNRS, ...
&USB_Handler_wrapper, // 81 Universal Serial Bus (USB): USB_SOF_HSOF
&USB_Handler_wrapper, // 82 Universal Serial Bus (USB): USB_TRCPT0_0 - _7
&USB_Handler_wrapper, // 83 Universal Serial Bus (USB): USB_TRCPT1_0 - _7
0, // 84 Ethernet MAC (GMAC)
0, // 85 Timer Counter Control 0 (TCC0): TCC0_CNT_A ...
0, // 86 Timer Counter Control 0 (TCC0): TCC0_MC_0
0, // 87 Timer Counter Control 0 (TCC0): TCC0_MC_1
0, // 88 Timer Counter Control 0 (TCC0): TCC0_MC_2
0, // 89 Timer Counter Control 0 (TCC0): TCC0_MC_3
0, // 90 Timer Counter Control 0 (TCC0): TCC0_MC_4
0, // 91 Timer Counter Control 0 (TCC0): TCC0_MC_5
0, // 92 Timer Counter Control 1 (TCC1): TCC1_CNT_A ...
0, // 93 Timer Counter Control 1 (TCC1): TCC1_MC_0
0, // 94 Timer Counter Control 1 (TCC1): TCC1_MC_1
0, // 95 Timer Counter Control 1 (TCC1): TCC1_MC_2
0, // 96 Timer Counter Control 1 (TCC1): TCC1_MC_3
0, // 97 Timer Counter Control 2 (TCC2): TCC2_CNT_A ...
0, // 98 Timer Counter Control 2 (TCC2): TCC2_MC_0
0, // 99 Timer Counter Control 2 (TCC2): TCC2_MC_1
0, // 100 Timer Counter Control 2 (TCC2): TCC2_MC_2
0, // 101 Timer Counter Control 3 (TCC3): TCC3_CNT_A ...
0, // 102 Timer Counter Control 3 (TCC3): TCC3_MC_0
0, // 103 Timer Counter Control 3 (TCC3): TCC3_MC_1
0, // 104 Timer Counter Control 4 (TCC4): TCC4_CNT_A ...
0, // 105 Timer Counter Control 4 (TCC4): TCC4_MC_0
0, // 106 Timer Counter Control 4 (TCC4): TCC4_MC_1
&us_timer_IRQ, // 107 Basic Timer Counter 0 (TC0)
0, // 108 Basic Timer Counter 1 (TC1)
0, // 109 Basic Timer Counter 2 (TC2)
0, // 110 Basic Timer Counter 3 (TC3)
0, // 111 Basic Timer Counter 4 (TC4)
0, // 112 Basic Timer Counter 5 (TC5)
0, // 113 Basic Timer Counter 6 (TC6)
0, // 114 Basic Timer Counter 7 (TC7)
0, // 115 Quadrature Decoder (PDEC): PDEC_DIR_A, PDEC_ERR_A, PDEC_OVF, PDEC_VLC_A
0, // 116 Quadrature Decoder (PDEC): PDEC_MC_0
0, // 117 Quadrature Decoder (PDEC): PDEC_MC_1
0, // 118 Analog Digital Converter 0 (ADC0): ADC0_OVERRUN, ADC0_WINMON
0, // 119 Analog Digital Converter 0 (ADC0): ADC0_RESRDY
0, // 120 Analog Digital Converter 1 (ADC1): ADC1_OVERRUN, ADC1_WINMON
0, // 121 Analog Digital Converter 1 (ADC1): ADC1_RESRDY
0, // 122 Analog Comparators (AC)
0, // 123 Digital-to-Analog Converter (DAC): DAC_OVERRUN_A_x, DAC_UNDERRUN_A_x
0, // 124 Digital-to-Analog Converter (DAC): DAC_EMPTY_0
0, // 125 Digital-to-Analog Converter (DAC): DAC_EMPTY_1
0, // 126 Digital-to-Analog Converter (DAC): DAC_RESRDY_0
0, // 127 Digital-to-Analog Converter (DAC): DAC_RESRDY_1
0, // 128 Inter-IC Sound Interface (I2S)
0, // 129 Parallel Capture Controller (PCC)
0, // 130 Advanced Encryption Standard (AES)
0, // 131 True Random Generator (TRNG)
0, // 132 Integrity Check Monitor (ICM)
0, // 133 PUblic-Key Cryptography Controller (PUKCC)
0, // 134 Quad SPI interface (QSPI)
0, // 135 SD/MMC Host Controller 0 (SDHC0)
0, // 136 SD/MMC Host Controller 1 (SDHC1)
};
#endif