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circuitpython/ports/stm/supervisor/port.c

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2017 Scott Shawcroft for Adafruit Industries
* Copyright (c) 2019 Lucian Copeland for Adafruit Industries
*
* 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 <stdint.h>
#include "supervisor/background_callback.h"
#include "supervisor/board.h"
#include "supervisor/port.h"
#include "common-hal/microcontroller/Pin.h"
#include "shared-bindings/microcontroller/__init__.h"
#ifdef CIRCUITPY_AUDIOPWMIO
#include "common-hal/audiopwmio/PWMAudioOut.h"
#endif
#if CIRCUITPY_BUSIO
#include "common-hal/busio/I2C.h"
#include "common-hal/busio/SPI.h"
#include "common-hal/busio/UART.h"
#endif
#if CIRCUITPY_PULSEIO
#include "common-hal/pulseio/PulseOut.h"
#include "common-hal/pulseio/PulseIn.h"
#endif
#if CIRCUITPY_PWMIO
#include "common-hal/pwmio/PWMOut.h"
#endif
#if CIRCUITPY_PULSEIO || CIRCUITPY_PWMIO
#include "peripherals/timers.h"
#endif
#if CIRCUITPY_SDIOIO
#include "common-hal/sdioio/SDCard.h"
#endif
#if CIRCUITPY_PULSEIO || CIRCUITPY_ALARM
#include "peripherals/exti.h"
#endif
#if CIRCUITPY_ALARM
#include "common-hal/alarm/__init__.h"
#endif
#if CIRCUITPY_RTC
#include "shared-bindings/rtc/__init__.h"
#endif
#include "peripherals/clocks.h"
#include "peripherals/gpio.h"
#include "peripherals/rtc.h"
#include STM32_HAL_H
void NVIC_SystemReset(void) NORETURN;
#if (CPY_STM32H7) || (CPY_STM32F7)
// Device memories must be accessed in order.
#define DEVICE 2
// Normal memory can have accesses reorder and prefetched.
#define NORMAL 0
// Prevents instruction access.
#define NO_EXECUTION 1
#define EXECUTION 0
// Shareable if the memory system manages coherency.
#define NOT_SHAREABLE 0
#define SHAREABLE 1
#define NOT_CACHEABLE 0
#define CACHEABLE 1
#define NOT_BUFFERABLE 0
#define BUFFERABLE 1
#define NO_SUBREGIONS 0
extern uint32_t _ld_stack_top;
extern uint32_t _ld_d1_ram_bss_start;
extern uint32_t _ld_d1_ram_bss_size;
extern uint32_t _ld_d1_ram_data_destination;
extern uint32_t _ld_d1_ram_data_size;
extern uint32_t _ld_d1_ram_data_flash_copy;
extern uint32_t _ld_dtcm_bss_start;
extern uint32_t _ld_dtcm_bss_size;
extern uint32_t _ld_dtcm_data_destination;
extern uint32_t _ld_dtcm_data_size;
extern uint32_t _ld_dtcm_data_flash_copy;
extern uint32_t _ld_itcm_destination;
extern uint32_t _ld_itcm_size;
extern uint32_t _ld_itcm_flash_copy;
extern void main(void);
extern void SystemInit(void);
// This replaces the Reset_Handler in gcc/startup_*.s, calls SystemInit from system_*.c
__attribute__((used, naked)) void Reset_Handler(void) {
__disable_irq();
__set_MSP((uint32_t)&_ld_stack_top);
/* Disable MPU */
ARM_MPU_Disable();
// Copy all of the itcm code to run from ITCM. Do this while the MPU is disabled because we write
// protect it.
for (uint32_t i = 0; i < ((size_t)&_ld_itcm_size) / 4; i++) {
(&_ld_itcm_destination)[i] = (&_ld_itcm_flash_copy)[i];
}
// The first number in RBAR is the region number. When searching for a policy, the region with
// the highest number wins. If none match, then the default policy set at enable applies.
// Mark all the flash the same until instructed otherwise.
MPU->RBAR = ARM_MPU_RBAR(11, 0x08000000U);
MPU->RASR = ARM_MPU_RASR(EXECUTION, ARM_MPU_AP_FULL, NORMAL, NOT_SHAREABLE, CACHEABLE, BUFFERABLE, NO_SUBREGIONS, CPY_FLASH_REGION_SIZE);
// This the ITCM. Set it to read-only because we've loaded everything already and it's easy to
// accidentally write the wrong value to 0x00000000 (aka NULL).
MPU->RBAR = ARM_MPU_RBAR(12, 0x00000000U);
MPU->RASR = ARM_MPU_RASR(EXECUTION, ARM_MPU_AP_RO, NORMAL, NOT_SHAREABLE, CACHEABLE, BUFFERABLE, NO_SUBREGIONS, CPY_ITCM_REGION_SIZE);
// This the DTCM.
MPU->RBAR = ARM_MPU_RBAR(14, 0x20000000U);
MPU->RASR = ARM_MPU_RASR(EXECUTION, ARM_MPU_AP_FULL, NORMAL, NOT_SHAREABLE, CACHEABLE, BUFFERABLE, NO_SUBREGIONS, CPY_DTCM_REGION_SIZE);
// This is AXI SRAM (D1).
MPU->RBAR = ARM_MPU_RBAR(15, CPY_SRAM_START_ADDR);
MPU->RASR = ARM_MPU_RASR(EXECUTION, ARM_MPU_AP_FULL, NORMAL, NOT_SHAREABLE, CACHEABLE, BUFFERABLE, CPY_SRAM_SUBMASK, CPY_SRAM_REGION_SIZE);
/* Enable MPU */
ARM_MPU_Enable(MPU_CTRL_PRIVDEFENA_Msk);
// Copy all of the data to run from DTCM.
for (uint32_t i = 0; i < ((size_t)&_ld_dtcm_data_size) / 4; i++) {
(&_ld_dtcm_data_destination)[i] = (&_ld_dtcm_data_flash_copy)[i];
}
// Clear DTCM bss.
for (uint32_t i = 0; i < ((size_t)&_ld_dtcm_bss_size) / 4; i++) {
(&_ld_dtcm_bss_start)[i] = 0;
}
// Copy all of the data to run from D1 RAM.
for (uint32_t i = 0; i < ((size_t)&_ld_d1_ram_data_size) / 4; i++) {
(&_ld_d1_ram_data_destination)[i] = (&_ld_d1_ram_data_flash_copy)[i];
}
// Clear D1 RAM bss.
for (uint32_t i = 0; i < ((size_t)&_ld_d1_ram_bss_size) / 4; i++) {
(&_ld_d1_ram_bss_start)[i] = 0;
}
SystemInit();
__enable_irq();
main();
}
#endif // end H7 specific code
// Low power clock variables
static volatile uint32_t systick_ms;
safe_mode_t port_init(void) {
HAL_Init(); // Turns on SysTick
__HAL_RCC_SYSCFG_CLK_ENABLE();
#if CPY_STM32F4 || CPY_STM32L4
__HAL_RCC_PWR_CLK_ENABLE();
HAL_PWR_EnableBkUpAccess();
#if CIRCUITPY_ALARM
// TODO: don't reset RTC entirely and move this back to alarm
if (STM_ALARM_FLAG & 0x01) {
// We've woken from deep sleep. Was it the WKUP pin or the RTC?
if (RTC->ISR & RTC_FLAG_ALRBF) {
// Alarm B is the deep sleep alarm
alarm_set_wakeup_reason(STM_WAKEUP_RTC);
} else {
alarm_set_wakeup_reason(STM_WAKEUP_GPIO);
}
}
#endif
__HAL_RCC_BACKUPRESET_FORCE();
__HAL_RCC_BACKUPRESET_RELEASE();
#endif
stm32_peripherals_clocks_init();
stm32_peripherals_gpio_init();
stm32_peripherals_rtc_init();
__HAL_PWR_CLEAR_FLAG(PWR_FLAG_WU);
stm32_peripherals_rtc_reset_alarms();
// Turn off SysTick
SysTick->CTRL = 0;
return NO_SAFE_MODE;
}
void HAL_Delay(uint32_t delay_ms) {
if (SysTick->CTRL != 0) {
// SysTick is on, so use it
uint32_t tickstart = systick_ms;
while (systick_ms - tickstart < delay_ms) {
}
} else {
mp_hal_delay_ms(delay_ms);
}
}
uint32_t HAL_GetTick() {
if (SysTick->CTRL != 0) {
return systick_ms;
} else {
uint8_t subticks;
uint32_t result = (uint32_t)port_get_raw_ticks(&subticks);
return result;
}
}
void SysTick_Handler(void) {
systick_ms += 1;
// Read the CTRL register to clear the SysTick interrupt.
SysTick->CTRL;
}
void reset_port(void) {
reset_all_pins();
#if CIRCUITPY_RTC
rtc_reset();
#endif
#if CIRCUITPY_AUDIOPWMIO
audiopwmout_reset();
#endif
#if CIRCUITPY_BUSIO
i2c_reset();
spi_reset();
uart_reset();
#endif
#if CIRCUITPY_SDIOIO
sdioio_reset();
#endif
#if CIRCUITPY_PULSEIO || CIRCUITPY_PWMIO
timers_reset();
#endif
#if CIRCUITPY_PULSEIO
pulseout_reset();
pulsein_reset();
#endif
#if CIRCUITPY_PWMIO
pwmout_reset();
#endif
#if CIRCUITPY_PULSEIO || CIRCUITPY_ALARM
exti_reset();
#endif
}
void reset_to_bootloader(void) {
/*
From STM AN2606:
Before jumping to bootloader user must:
• Disable all peripheral clocks
• Disable used PLL
• Disable interrupts
• Clear pending interrupts
System memory boot mode can be exited by getting out from bootloader activation
condition and generating hardware reset or using Go command to execute user code
*/
HAL_RCC_DeInit();
HAL_DeInit();
// Disable all pending interrupts using NVIC
for (uint8_t i = 0; i < MP_ARRAY_SIZE(NVIC->ICER); ++i) {
NVIC->ICER[i] = 0xFFFFFFFF;
}
// if it is necessary to ensure an interrupt will not be triggered after disabling it in the NVIC,
// add a DSB instruction and then an ISB instruction. (ARM Cortex™-M Programming Guide to
// Memory Barrier Instructions, 4.6 Disabling Interrupts using NVIC)
__DSB();
__ISB();
// Clear all pending interrupts using NVIC
for (uint8_t i = 0; i < MP_ARRAY_SIZE(NVIC->ICPR); ++i) {
NVIC->ICPR[i] = 0xFFFFFFFF;
}
// information about jump addresses has been taken from STM AN2606.
#if defined(STM32F4)
__set_MSP(*((uint32_t *)0x1FFF0000));
((void (*)(void)) * ((uint32_t *)0x1FFF0004))();
#else
// DFU mode for STM32 variant note implemented.
NVIC_SystemReset();
#endif
while (true) {
asm ("nop;");
}
}
void reset_cpu(void) {
NVIC_SystemReset();
}
extern uint32_t _ld_heap_start, _ld_heap_end, _ld_stack_top, _ld_stack_bottom;
uint32_t *port_heap_get_bottom(void) {
return &_ld_heap_start;
}
uint32_t *port_heap_get_top(void) {
return &_ld_heap_end;
}
bool port_has_fixed_stack(void) {
return false;
}
uint32_t *port_stack_get_limit(void) {
return &_ld_stack_bottom;
}
uint32_t *port_stack_get_top(void) {
return &_ld_stack_top;
}
extern uint32_t _ebss;
// Place the word to save just after our BSS section that gets blanked.
void port_set_saved_word(uint32_t value) {
_ebss = value;
}
uint32_t port_get_saved_word(void) {
return _ebss;
}
__attribute__((used)) void MemManage_Handler(void) {
reset_into_safe_mode(MEM_MANAGE);
while (true) {
asm ("nop;");
}
}
__attribute__((used)) void BusFault_Handler(void) {
reset_into_safe_mode(MEM_MANAGE);
while (true) {
asm ("nop;");
}
}
__attribute__((used)) void UsageFault_Handler(void) {
reset_into_safe_mode(MEM_MANAGE);
while (true) {
asm ("nop;");
}
}
__attribute__((used)) void HardFault_Handler(void) {
reset_into_safe_mode(HARD_CRASH);
while (true) {
asm ("nop;");
}
}
uint64_t port_get_raw_ticks(uint8_t *subticks) {
return stm32_peripherals_rtc_raw_ticks(subticks);
}
// Enable 1/1024 second tick.
void port_enable_tick(void) {
stm32_peripherals_rtc_set_wakeup_mode_tick();
stm32_peripherals_rtc_assign_wkup_callback(supervisor_tick);
stm32_peripherals_rtc_enable_wakeup_timer();
}
// Disable 1/1024 second tick.
void port_disable_tick(void) {
stm32_peripherals_rtc_disable_wakeup_timer();
}
void port_interrupt_after_ticks(uint32_t ticks) {
stm32_peripherals_rtc_set_alarm(PERIPHERALS_ALARM_A, ticks);
}
void port_idle_until_interrupt(void) {
// Clear the FPU interrupt because it can prevent us from sleeping.
if (__get_FPSCR() & ~(0x9f)) {
__set_FPSCR(__get_FPSCR() & ~(0x9f));
(void)__get_FPSCR();
}
// The alarm might have triggered before we even reach the WFI
if (stm32_peripherals_rtc_alarm_triggered(PERIPHERALS_ALARM_A)) {
return;
}
common_hal_mcu_disable_interrupts();
if (!background_callback_pending()) {
__WFI();
}
common_hal_mcu_enable_interrupts();
}
// Required by __libc_init_array in startup code if we are compiling using
// -nostdlib/-nostartfiles.
void _init(void) {
}
#if CIRCUITPY_ALARM
// in case boards/xxx/board.c does not provide board_deinit()
MP_WEAK void board_deinit(void) {
}
#endif
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