Merge "Finish pistol grip controller board layout"
diff --git a/NO_BUILD_AMD64 b/NO_BUILD_AMD64
index 69ace36..6189481 100644
--- a/NO_BUILD_AMD64
+++ b/NO_BUILD_AMD64
@@ -27,3 +27,4 @@
-//y2017:wpilib_interface
-//y2017:download_stripped
-//y2017:download
+-//motors/...
diff --git a/NO_BUILD_ROBORIO b/NO_BUILD_ROBORIO
index e7d0de1..780d909 100644
--- a/NO_BUILD_ROBORIO
+++ b/NO_BUILD_ROBORIO
@@ -15,3 +15,4 @@
-//third_party/protobuf/...
-//y2016_bot3/...
-//y2017/control_loops/python/...
+-//motors/...
diff --git a/WORKSPACE b/WORKSPACE
index 4db4ba8..dc5e2da 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -117,3 +117,9 @@
url = 'http://frc971.org/Build-Dependencies/empty.tar.gz',
sha256 = '71939a7d75585a57d2e99a33d39f391764d8f930f9a16acf32e00c5d3f432aa0',
)
+
+new_local_repository(
+ name = 'libusb',
+ path = '/usr',
+ build_file = 'debian/libusb.BUILD',
+)
diff --git a/aos/BUILD b/aos/BUILD
index 5d6831a..89948ab 100644
--- a/aos/BUILD
+++ b/aos/BUILD
@@ -34,3 +34,29 @@
'//aos/common/logging:binary_log_writer.stripped',
],
)
+
+cc_library(
+ name = 'once',
+ visibility = ['//visibility:public'],
+ hdrs = [
+ 'once.h',
+ ],
+ srcs = [
+ 'once-tmpl.h',
+ ],
+ deps = [
+ '//aos/common:gtest_prod',
+ '//aos/common:type_traits',
+ ],
+)
+cc_test(
+ name = 'once_test',
+ visibility = ['//visibility:public'],
+ srcs = [
+ 'once_test.cc',
+ ],
+ deps = [
+ '//aos/testing:googletest',
+ '//aos:once',
+ ],
+)
diff --git a/aos/build/queues.bzl b/aos/build/queues.bzl
index 91b4978..8696bac 100644
--- a/aos/build/queues.bzl
+++ b/aos/build/queues.bzl
@@ -100,7 +100,7 @@
srcs = [src + '.cc' for src in srcs],
hdrs = [src + '.h' for src in srcs],
deps = deps + [
- '//aos/common:once',
+ '//aos:once',
'//aos/common:queues',
'//aos/common:queue_types',
'//aos/common/logging:printf_formats',
diff --git a/aos/build/queues/compiler.rb b/aos/build/queues/compiler.rb
index 0b60b0e..5164670 100644
--- a/aos/build/queues/compiler.rb
+++ b/aos/build/queues/compiler.rb
@@ -106,7 +106,7 @@
cpp_tree.add_cc_include("aos/common/byteorder.h".inspect)
cpp_tree.add_cc_include("<inttypes.h>")
cpp_tree.add_cc_include("aos/common/queue_types.h".inspect)
- cpp_tree.add_cc_include("aos/common/once.h".inspect)
+ cpp_tree.add_cc_include("aos/once.h".inspect)
cpp_tree.add_cc_include("aos/common/logging/printf_formats.h".inspect)
cpp_tree.add_cc_using("::aos::to_network")
cpp_tree.add_cc_using("::aos::to_host")
diff --git a/aos/common/BUILD b/aos/common/BUILD
index f4b57d5..e3160c4 100644
--- a/aos/common/BUILD
+++ b/aos/common/BUILD
@@ -200,31 +200,6 @@
],
)
-cc_library(
- name = 'once',
- hdrs = [
- 'once.h',
- ],
- srcs = [
- 'once-tmpl.h',
- ],
- deps = [
- ':gtest_prod',
- ':type_traits',
- ],
-)
-
-cc_test(
- name = 'once_test',
- srcs = [
- 'once_test.cc',
- ],
- deps = [
- '//aos/testing:googletest',
- ':once',
- ],
-)
-
cc_test(
name = 'time_test',
srcs = [
diff --git a/aos/common/controls/control_loop_test.h b/aos/common/controls/control_loop_test.h
index 88ccfa5..6fae706 100644
--- a/aos/common/controls/control_loop_test.h
+++ b/aos/common/controls/control_loop_test.h
@@ -25,7 +25,9 @@
// Sends out all of the required queue messages.
void SendMessages(bool enabled);
// Ticks time for a single control loop cycle.
- void TickTime() { ::aos::time::SetMockTime(current_time_ += kTimeTick); }
+ void TickTime(::std::chrono::nanoseconds dt = kTimeTick) {
+ ::aos::time::SetMockTime(current_time_ += dt);
+ }
// Simulates everything that happens during 1 loop time step.
void SimulateTimestep(bool enabled) {
diff --git a/aos/common/logging/BUILD b/aos/common/logging/BUILD
index 8b28482..cc961b3 100644
--- a/aos/common/logging/BUILD
+++ b/aos/common/logging/BUILD
@@ -182,7 +182,7 @@
deps = [
'//aos/common:die',
'//aos/common:time',
- '//aos/common:once',
+ '//aos:once',
'//aos/common:queue_types',
':logging',
'//aos/common:type_traits',
diff --git a/aos/common/logging/implementations.cc b/aos/common/logging/implementations.cc
index 22cd4f4..58359f9 100644
--- a/aos/common/logging/implementations.cc
+++ b/aos/common/logging/implementations.cc
@@ -7,11 +7,11 @@
#include <chrono>
#include "aos/common/die.h"
-#include "aos/common/once.h"
-#include "aos/common/time.h"
-#include "aos/common/queue_types.h"
#include "aos/common/logging/printf_formats.h"
+#include "aos/common/queue_types.h"
+#include "aos/common/time.h"
#include "aos/linux_code/ipc_lib/queue.h"
+#include "aos/once.h"
namespace aos {
namespace logging {
diff --git a/aos/common/logging/implementations.h b/aos/common/logging/implementations.h
index 48b5f0b..142c6ba 100644
--- a/aos/common/logging/implementations.h
+++ b/aos/common/logging/implementations.h
@@ -13,14 +13,14 @@
#include <functional>
#include <atomic>
-#include "aos/common/logging/logging.h"
-#include "aos/common/type_traits.h"
-#include "aos/common/mutex.h"
-#include "aos/common/macros.h"
-#include "aos/common/logging/sizes.h"
-#include "aos/common/logging/interface.h"
#include "aos/common/logging/context.h"
-#include "aos/common/once.h"
+#include "aos/common/logging/interface.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/sizes.h"
+#include "aos/common/macros.h"
+#include "aos/common/mutex.h"
+#include "aos/common/type_traits.h"
+#include "aos/once.h"
namespace aos {
diff --git a/aos/common/network/BUILD b/aos/common/network/BUILD
index 19335ba..c5476b2 100644
--- a/aos/common/network/BUILD
+++ b/aos/common/network/BUILD
@@ -10,7 +10,7 @@
],
deps = [
'//aos/linux_code:configuration',
- '//aos/common:once',
+ '//aos:once',
'//aos/common/logging',
'//aos/common/util:string_to_num',
],
diff --git a/aos/common/network/team_number.cc b/aos/common/network/team_number.cc
index 4aa7626..0669601 100644
--- a/aos/common/network/team_number.cc
+++ b/aos/common/network/team_number.cc
@@ -7,10 +7,10 @@
#include <string>
-#include "aos/common/once.h"
-#include "aos/linux_code/configuration.h"
#include "aos/common/logging/logging.h"
#include "aos/common/util/string_to_num.h"
+#include "aos/linux_code/configuration.h"
+#include "aos/once.h"
namespace aos {
namespace network {
diff --git a/aos/linux_code/BUILD b/aos/linux_code/BUILD
index 7adb3d6..0b76e2c 100644
--- a/aos/linux_code/BUILD
+++ b/aos/linux_code/BUILD
@@ -29,7 +29,7 @@
'complex_thread_local.h',
],
deps = [
- '//aos/common:once',
+ '//aos:once',
'//aos/common:die',
'//debian:libpthread',
],
@@ -72,7 +72,7 @@
'configuration.h',
],
deps = [
- '//aos/common:once',
+ '//aos:once',
'//aos/common/logging',
'//aos/common:unique_malloc_ptr',
],
diff --git a/aos/linux_code/complex_thread_local.cc b/aos/linux_code/complex_thread_local.cc
index d57323e..f5ddc9c 100644
--- a/aos/linux_code/complex_thread_local.cc
+++ b/aos/linux_code/complex_thread_local.cc
@@ -2,8 +2,8 @@
#include <pthread.h>
-#include "aos/common/once.h"
#include "aos/common/die.h"
+#include "aos/once.h"
#define SIMPLE_CHECK(call) \
do { \
diff --git a/aos/linux_code/configuration.cc b/aos/linux_code/configuration.cc
index e4d5d80..0536e25 100644
--- a/aos/linux_code/configuration.cc
+++ b/aos/linux_code/configuration.cc
@@ -10,7 +10,7 @@
#include "aos/common/logging/logging.h"
#include "aos/common/unique_malloc_ptr.h"
-#include "aos/common/once.h"
+#include "aos/once.h"
namespace aos {
namespace configuration {
diff --git a/aos/linux_code/ipc_lib/BUILD b/aos/linux_code/ipc_lib/BUILD
index 95b30ce..b0b58ff 100644
--- a/aos/linux_code/ipc_lib/BUILD
+++ b/aos/linux_code/ipc_lib/BUILD
@@ -13,7 +13,7 @@
],
deps = [
'//aos/common/logging',
- '//aos/common:once',
+ '//aos:once',
'//aos/common:macros',
'//aos/common/util:compiler_memory_barrier',
],
diff --git a/aos/linux_code/ipc_lib/aos_sync.cc b/aos/linux_code/ipc_lib/aos_sync.cc
index b0b560e..3c1debb 100644
--- a/aos/linux_code/ipc_lib/aos_sync.cc
+++ b/aos/linux_code/ipc_lib/aos_sync.cc
@@ -27,9 +27,9 @@
#include <type_traits>
#include "aos/common/logging/logging.h"
-#include "aos/common/once.h"
#include "aos/common/macros.h"
#include "aos/common/util/compiler_memory_barrier.h"
+#include "aos/once.h"
using ::aos::linux_code::ipc_lib::FutexAccessorObserver;
diff --git a/aos/linux_code/starter/BUILD b/aos/linux_code/starter/BUILD
index ec6ce7f..74af77d 100644
--- a/aos/linux_code/starter/BUILD
+++ b/aos/linux_code/starter/BUILD
@@ -18,7 +18,7 @@
'//third_party/libevent',
'//aos/common/logging',
'//aos/common/logging:implementations',
- '//aos/common:once',
+ '//aos:once',
'//aos/common:time',
'//aos/common/libc:aos_strsignal',
'//aos/common/util:run_command',
diff --git a/aos/linux_code/starter/starter.cc b/aos/linux_code/starter/starter.cc
index 57d90dd..62e540b 100644
--- a/aos/linux_code/starter/starter.cc
+++ b/aos/linux_code/starter/starter.cc
@@ -29,14 +29,14 @@
#include "third_party/libevent/event.h"
-#include "aos/common/logging/logging.h"
-#include "aos/common/logging/implementations.h"
-#include "aos/linux_code/init.h"
-#include "aos/common/unique_malloc_ptr.h"
-#include "aos/common/time.h"
-#include "aos/common/once.h"
#include "aos/common/libc/aos_strsignal.h"
+#include "aos/common/logging/implementations.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/time.h"
+#include "aos/common/unique_malloc_ptr.h"
#include "aos/common/util/run_command.h"
+#include "aos/linux_code/init.h"
+#include "aos/once.h"
// This is the main piece of code that starts all of the rest of the code and
// restarts it when the binaries are modified.
diff --git a/aos/common/once-tmpl.h b/aos/once-tmpl.h
similarity index 100%
rename from aos/common/once-tmpl.h
rename to aos/once-tmpl.h
diff --git a/aos/common/once.h b/aos/once.h
similarity index 94%
rename from aos/common/once.h
rename to aos/once.h
index b7fbcb1..f6954f6 100644
--- a/aos/common/once.h
+++ b/aos/once.h
@@ -1,5 +1,5 @@
-#ifndef AOS_COMMON_ONCE_H_
-#define AOS_COMMON_ONCE_H_
+#ifndef AOS_ONCE_H_
+#define AOS_ONCE_H_
#include <stdint.h>
@@ -64,6 +64,6 @@
} // namespace aos
-#include "aos/common/once-tmpl.h"
+#include "aos/once-tmpl.h"
-#endif // AOS_COMMON_ONCE_H_
+#endif // AOS_ONCE_H_
diff --git a/aos/common/once_test.cc b/aos/once_test.cc
similarity index 98%
rename from aos/common/once_test.cc
rename to aos/once_test.cc
index 3773b5b..0a36643 100644
--- a/aos/common/once_test.cc
+++ b/aos/once_test.cc
@@ -1,4 +1,4 @@
-#include "aos/common/once.h"
+#include "aos/once.h"
#include <stdlib.h>
#include <limits.h>
diff --git a/aos/testing/BUILD b/aos/testing/BUILD
index a8dce04..4f2fc83 100644
--- a/aos/testing/BUILD
+++ b/aos/testing/BUILD
@@ -22,7 +22,7 @@
deps = [
':googletest',
'//aos/common/logging:implementations',
- '//aos/common:once',
+ '//aos:once',
'//aos/common:mutex',
],
testonly = True,
diff --git a/aos/testing/test_logging.cc b/aos/testing/test_logging.cc
index cdbec94..617f02a 100644
--- a/aos/testing/test_logging.cc
+++ b/aos/testing/test_logging.cc
@@ -7,8 +7,8 @@
#include "gtest/gtest.h"
#include "aos/common/logging/implementations.h"
-#include "aos/common/once.h"
#include "aos/common/mutex.h"
+#include "aos/once.h"
using ::aos::logging::LogMessage;
diff --git a/debian/libusb.BUILD b/debian/libusb.BUILD
new file mode 100644
index 0000000..3ccffe1
--- /dev/null
+++ b/debian/libusb.BUILD
@@ -0,0 +1,13 @@
+cc_library(
+ name = 'libusb',
+ visibility = ['//visibility:public'],
+ srcs = [
+ 'lib/x86_64-linux-gnu/libusb.so',
+ ],
+ hdrs = [
+ 'include/usb.h',
+ ],
+ includes = [
+ 'include',
+ ],
+)
diff --git a/frc971/wpilib/buffered_pcm.cc b/frc971/wpilib/buffered_pcm.cc
index 54174c5..5f1dc67 100644
--- a/frc971/wpilib/buffered_pcm.cc
+++ b/frc971/wpilib/buffered_pcm.cc
@@ -12,7 +12,7 @@
new BufferedSolenoid(number, this));
}
-void BufferedPcm::Set(int number, bool value) {
+void BufferedPcm::DoSet(int number, bool value) {
if (value) {
values_ |= 1 << number;
} else {
diff --git a/frc971/wpilib/buffered_pcm.h b/frc971/wpilib/buffered_pcm.h
index 09bf95f..4ff625b 100644
--- a/frc971/wpilib/buffered_pcm.h
+++ b/frc971/wpilib/buffered_pcm.h
@@ -33,7 +33,7 @@
virtual void InitSolenoid() override {}
#endif
- void Set(int number, bool value);
+ void DoSet(int number, bool value);
uint8_t values_ = 0;
diff --git a/frc971/wpilib/buffered_solenoid.cc b/frc971/wpilib/buffered_solenoid.cc
index cd68da8..c07a7cd 100644
--- a/frc971/wpilib/buffered_solenoid.cc
+++ b/frc971/wpilib/buffered_solenoid.cc
@@ -6,7 +6,7 @@
namespace wpilib {
void BufferedSolenoid::Set(bool value) {
- pcm_->Set(number_, value);
+ pcm_->DoSet(number_, value);
}
} // namespace wpilib
diff --git a/motors/BUILD b/motors/BUILD
new file mode 100644
index 0000000..defd1f9
--- /dev/null
+++ b/motors/BUILD
@@ -0,0 +1,31 @@
+cc_binary(
+ name = 'medium_salsa.elf',
+ srcs = [
+ 'medium_salsa.cc',
+ ],
+ deps = [
+ ':util',
+ '//motors/core',
+ '//motors/usb',
+ ],
+)
+
+genrule(
+ name = 'medium_salsa',
+ srcs = [
+ 'medium_salsa.elf',
+ ],
+ outs = [
+ 'medium_salsa.hex',
+ ],
+ cmd = '$(OBJCOPY) -O ihex $< $@',
+ executable = True,
+ output_to_bindir = True,
+)
+
+cc_library(
+ name = 'util',
+ hdrs = [
+ 'util.h',
+ ],
+)
diff --git a/motors/core/BUILD b/motors/core/BUILD
new file mode 100644
index 0000000..3172461
--- /dev/null
+++ b/motors/core/BUILD
@@ -0,0 +1,20 @@
+filegroup(
+ name = 'linkerscript',
+ visibility = ['//tools/cpp:__pkg__'],
+ srcs = [ 'mk64fx512.ld' ],
+)
+
+cc_library(
+ name = 'core',
+ visibility = ['//visibility:public'],
+ hdrs = [
+ 'kinetis.h',
+ 'nonstd.h',
+ 'time.h',
+ ],
+ srcs = [
+ 'mk20dx128.c',
+ 'nonstd.c',
+ 'time.c',
+ ],
+)
diff --git a/motors/core/kinetis.h b/motors/core/kinetis.h
index b89b350..36ab5f2 100644
--- a/motors/core/kinetis.h
+++ b/motors/core/kinetis.h
@@ -762,100 +762,6 @@
#endif // end of board-specific definitions
-#if (F_CPU == 240000000)
- #define F_PLL 240000000
- #ifndef F_BUS
- #define F_BUS 60000000
- //#define F_BUS 80000000 // uncomment these to try peripheral overclocking
- //#define F_BUS 120000000 // all the usual overclocking caveats apply...
- #endif
- #define F_MEM 30000000
-#elif (F_CPU == 216000000)
- #define F_PLL 216000000
- #ifndef F_BUS
- #define F_BUS 54000000
- //#define F_BUS 72000000
- //#define F_BUS 108000000
- #endif
- #define F_MEM 27000000
-#elif (F_CPU == 192000000)
- #define F_PLL 192000000
- #ifndef F_BUS
- #define F_BUS 48000000
- //#define F_BUS 64000000
- //#define F_BUS 96000000
- #endif
- #define F_MEM 27428571
-#elif (F_CPU == 180000000)
- #define F_PLL 180000000
- #ifndef F_BUS
- #define F_BUS 60000000
- //#define F_BUS 90000000
- #endif
- #define F_MEM 25714286
-#elif (F_CPU == 168000000)
- #define F_PLL 168000000
- #define F_BUS 56000000
- #define F_MEM 28000000
-#elif (F_CPU == 144000000)
- #define F_PLL 144000000
- #ifndef F_BUS
- #define F_BUS 48000000
- //#define F_BUS 72000000
- #endif
- #define F_MEM 28800000
-#elif (F_CPU == 120000000)
- #define F_PLL 120000000
- #ifndef F_BUS
- #define F_BUS 60000000
- //#define F_BUS 120000000
- #endif
- #define F_MEM 24000000
-#elif (F_CPU == 96000000)
- #define F_PLL 96000000
- #ifndef F_BUS
- #define F_BUS 48000000
- //#define F_BUS 96000000
- #endif
- #define F_MEM 24000000
-#elif (F_CPU == 72000000)
- #define F_PLL 72000000
- #ifndef F_BUS
- #define F_BUS 36000000
- //#define F_BUS 72000000
- #endif
- #define F_MEM 24000000
-#elif (F_CPU == 48000000)
- #define F_PLL 96000000
- #if defined(KINETISK)
- #define F_BUS 48000000
- #elif defined(KINETISL)
- #define F_BUS 24000000
- #endif
- #define F_MEM 24000000
-#elif (F_CPU == 24000000)
- #define F_PLL 96000000
- #define F_BUS 24000000
- #define F_MEM 24000000
-#elif (F_CPU == 16000000)
- #define F_PLL 16000000
- #define F_BUS 16000000
- #define F_MEM 16000000
-#elif (F_CPU == 8000000)
- #define F_PLL 8000000
- #define F_BUS 8000000
- #define F_MEM 8000000
-#elif (F_CPU == 4000000)
- #define F_PLL 4000000
- #define F_BUS 4000000
- #define F_MEM 4000000
-#elif (F_CPU == 2000000)
- #define F_PLL 2000000
- #define F_BUS 2000000
- #define F_MEM 1000000
-#endif
-
-
#ifndef NULL
#define NULL (0)
#endif
@@ -5650,7 +5556,7 @@
// Cortex-M0: 0,64,128,192
#ifdef KINETISK
#define NVIC_SET_PRIORITY(irqnum, priority) (*((volatile uint8_t *)0xE000E400 + (irqnum)) = (uint8_t)(priority))
-#define NVIC_GET_PRIORITY(irqnum) (*((uint8_t *)0xE000E400 + (irqnum)))
+#define NVIC_GET_PRIORITY(irqnum) (*((volatile uint8_t *)0xE000E400 + (irqnum)))
#else
#define NVIC_SET_PRIORITY(irqnum, priority) (*((uint32_t *)0xE000E400 + ((irqnum) >> 2)) = (*((uint32_t *)0xE000E400 + ((irqnum) >> 2)) & (~(0xFF << (8 * ((irqnum) & 3))))) | (((priority) & 0xFF) << (8 * ((irqnum) & 3))))
#define NVIC_GET_PRIORITY(irqnum) (*((uint32_t *)0xE000E400 + ((irqnum) >> 2)) >> (8 * ((irqnum) & 3)) & 255)
@@ -5711,7 +5617,6 @@
#ifdef __cplusplus
extern "C" {
#endif
-extern int nvic_execution_priority(void);
#if defined(HAS_KINETIS_HSRUN) && F_CPU > 120000000
extern int kinetis_hsrun_disable(void);
diff --git a/motors/core/mk20dx128.c b/motors/core/mk20dx128.c
index 5408f87..9709a11 100644
--- a/motors/core/mk20dx128.c
+++ b/motors/core/mk20dx128.c
@@ -28,11 +28,9 @@
* SOFTWARE.
*/
-#include "kinetis.h"
-#include "core_pins.h" // testing only
-#include "ser_print.h" // testing only
-#include <errno.h>
+#include "motors/core/kinetis.h"
+#include <errno.h>
// Flash Security Setting. On Teensy 3.2, you can lock the MK20 chip to prevent
// anyone from reading your code. You CAN still reprogram your Teensy while
@@ -45,13 +43,13 @@
// Special care must be used with the Program button, because it must be made
// accessible to initiate reprogramming, but it must not be accidentally
// pressed when Teensy Loader is not being used to reprogram. To set lock the
-// security change this to 0xDC. Teensy 3.0 and 3.1 do not support security lock.
+// security change this to 0xDC. Teensy 3.0 and 3.1 do not support security
+// lock.
#define FSEC 0xDE
// Flash Options
#define FOPT 0xF9
-
extern unsigned long _stext;
extern unsigned long _etext;
extern unsigned long _sdata;
@@ -59,1285 +57,671 @@
extern unsigned long _sbss;
extern unsigned long _ebss;
extern unsigned long _estack;
-//extern void __init_array_start(void);
-//extern void __init_array_end(void);
-
-
-extern int main (void);
+extern int main(void);
void ResetHandler(void);
-void _init_Teensyduino_internal_(void) __attribute__((noinline));
void __libc_init_array(void);
-
-void fault_isr(void)
-{
-#if 0
- uint32_t addr;
-
- SIM_SCGC4 |= 0x00000400;
- UART0_BDH = 0;
- UART0_BDL = 26; // 115200 at 48 MHz
- UART0_C2 = UART_C2_TE;
- PORTB_PCR17 = PORT_PCR_MUX(3);
- ser_print("\nfault: \n??: ");
- asm("ldr %0, [sp, #52]" : "=r" (addr) ::);
- ser_print_hex32(addr);
- ser_print("\n??: ");
- asm("ldr %0, [sp, #48]" : "=r" (addr) ::);
- ser_print_hex32(addr);
- ser_print("\n??: ");
- asm("ldr %0, [sp, #44]" : "=r" (addr) ::);
- ser_print_hex32(addr);
- ser_print("\npsr:");
- asm("ldr %0, [sp, #40]" : "=r" (addr) ::);
- ser_print_hex32(addr);
- ser_print("\nadr:");
- asm("ldr %0, [sp, #36]" : "=r" (addr) ::);
- ser_print_hex32(addr);
- ser_print("\nlr: ");
- asm("ldr %0, [sp, #32]" : "=r" (addr) ::);
- ser_print_hex32(addr);
- ser_print("\nr12:");
- asm("ldr %0, [sp, #28]" : "=r" (addr) ::);
- ser_print_hex32(addr);
- ser_print("\nr3: ");
- asm("ldr %0, [sp, #24]" : "=r" (addr) ::);
- ser_print_hex32(addr);
- ser_print("\nr2: ");
- asm("ldr %0, [sp, #20]" : "=r" (addr) ::);
- ser_print_hex32(addr);
- ser_print("\nr1: ");
- asm("ldr %0, [sp, #16]" : "=r" (addr) ::);
- ser_print_hex32(addr);
- ser_print("\nr0: ");
- asm("ldr %0, [sp, #12]" : "=r" (addr) ::);
- ser_print_hex32(addr);
- ser_print("\nr4: ");
- asm("ldr %0, [sp, #8]" : "=r" (addr) ::);
- ser_print_hex32(addr);
- ser_print("\nlr: ");
- asm("ldr %0, [sp, #4]" : "=r" (addr) ::);
- ser_print_hex32(addr);
- ser_print("\n");
- asm("ldr %0, [sp, #0]" : "=r" (addr) ::);
-#endif
- while (1) {
- // keep polling some communication while in fault
- // mode, so we don't completely die.
- if (SIM_SCGC4 & SIM_SCGC4_USBOTG) usb_isr();
- if (SIM_SCGC4 & SIM_SCGC4_UART0) uart0_status_isr();
- if (SIM_SCGC4 & SIM_SCGC4_UART1) uart1_status_isr();
- if (SIM_SCGC4 & SIM_SCGC4_UART2) uart2_status_isr();
- }
+void fault_isr(void) {
+ while (1) {
+ // keep polling some communication while in fault
+ // mode, so we don't completely die.
+ if (SIM_SCGC4 & SIM_SCGC4_USBOTG) usb_isr();
+ if (SIM_SCGC4 & SIM_SCGC4_UART0) uart0_status_isr();
+ if (SIM_SCGC4 & SIM_SCGC4_UART1) uart1_status_isr();
+ if (SIM_SCGC4 & SIM_SCGC4_UART2) uart2_status_isr();
+ }
}
-void unused_isr(void)
-{
- fault_isr();
-}
+void unused_isr(void) { fault_isr(); }
extern volatile uint32_t systick_millis_count;
-void systick_default_isr(void)
-{
- systick_millis_count++;
-}
-void nmi_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void hard_fault_isr(void) __attribute__ ((weak, alias("fault_isr")));
-void memmanage_fault_isr(void) __attribute__ ((weak, alias("fault_isr")));
-void bus_fault_isr(void) __attribute__ ((weak, alias("fault_isr")));
-void usage_fault_isr(void) __attribute__ ((weak, alias("fault_isr")));
-void svcall_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void debugmonitor_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void pendablesrvreq_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void systick_isr(void) __attribute__ ((weak, alias("systick_default_isr")));
+void nmi_isr(void) __attribute__((weak, alias("unused_isr")));
+void hard_fault_isr(void) __attribute__((weak, alias("fault_isr")));
+void memmanage_fault_isr(void) __attribute__((weak, alias("fault_isr")));
+void bus_fault_isr(void) __attribute__((weak, alias("fault_isr")));
+void usage_fault_isr(void) __attribute__((weak, alias("fault_isr")));
+void svcall_isr(void) __attribute__((weak, alias("unused_isr")));
+void debugmonitor_isr(void) __attribute__((weak, alias("unused_isr")));
+void pendablesrvreq_isr(void) __attribute__((weak, alias("unused_isr")));
+void systick_isr(void) { systick_millis_count++; }
-void dma_ch0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch2_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch3_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch4_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch5_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch6_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch7_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch8_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch9_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch10_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch11_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch12_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch13_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch14_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_ch15_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dma_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void mcm_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void randnum_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void flash_cmd_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void flash_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void low_voltage_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void wakeup_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void watchdog_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void i2c0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void i2c1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void i2c2_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void i2c3_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void spi0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void spi1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void spi2_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void sdhc_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void enet_timer_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void enet_tx_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void enet_rx_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void enet_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can0_message_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can0_bus_off_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can0_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can0_tx_warn_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can0_rx_warn_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can0_wakeup_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can1_message_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can1_bus_off_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can1_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can1_tx_warn_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can1_rx_warn_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void can1_wakeup_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void i2s0_tx_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void i2s0_rx_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void i2s0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart0_lon_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart0_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart0_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart1_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart1_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart2_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart2_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart3_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart3_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart4_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart4_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart5_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void uart5_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void lpuart0_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void adc0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void adc1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void cmp0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void cmp1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void cmp2_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void cmp3_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void ftm0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void ftm1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void ftm2_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void ftm3_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void tpm0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void tpm1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void tpm2_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void cmt_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void rtc_alarm_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void rtc_seconds_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void pit_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void pit0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void pit1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void pit2_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void pit3_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void pdb_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void usb_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void usb_charge_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void usbhs_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void usbhs_phy_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dac0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void dac1_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void tsi0_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void mcg_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void lptmr_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void porta_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void portb_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void portc_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void portd_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void porte_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void portcd_isr(void) __attribute__ ((weak, alias("unused_isr")));
-void software_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch0_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch1_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch2_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch3_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch4_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch5_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch6_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch7_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch8_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch9_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch10_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch11_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch12_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch13_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch14_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_ch15_isr(void) __attribute__((weak, alias("unused_isr")));
+void dma_error_isr(void) __attribute__((weak, alias("unused_isr")));
+void mcm_isr(void) __attribute__((weak, alias("unused_isr")));
+void randnum_isr(void) __attribute__((weak, alias("unused_isr")));
+void flash_cmd_isr(void) __attribute__((weak, alias("unused_isr")));
+void flash_error_isr(void) __attribute__((weak, alias("unused_isr")));
+void low_voltage_isr(void) __attribute__((weak, alias("unused_isr")));
+void wakeup_isr(void) __attribute__((weak, alias("unused_isr")));
+void watchdog_isr(void) __attribute__((weak, alias("unused_isr")));
+void i2c0_isr(void) __attribute__((weak, alias("unused_isr")));
+void i2c1_isr(void) __attribute__((weak, alias("unused_isr")));
+void i2c2_isr(void) __attribute__((weak, alias("unused_isr")));
+void i2c3_isr(void) __attribute__((weak, alias("unused_isr")));
+void spi0_isr(void) __attribute__((weak, alias("unused_isr")));
+void spi1_isr(void) __attribute__((weak, alias("unused_isr")));
+void spi2_isr(void) __attribute__((weak, alias("unused_isr")));
+void sdhc_isr(void) __attribute__((weak, alias("unused_isr")));
+void enet_timer_isr(void) __attribute__((weak, alias("unused_isr")));
+void enet_tx_isr(void) __attribute__((weak, alias("unused_isr")));
+void enet_rx_isr(void) __attribute__((weak, alias("unused_isr")));
+void enet_error_isr(void) __attribute__((weak, alias("unused_isr")));
+void can0_message_isr(void) __attribute__((weak, alias("unused_isr")));
+void can0_bus_off_isr(void) __attribute__((weak, alias("unused_isr")));
+void can0_error_isr(void) __attribute__((weak, alias("unused_isr")));
+void can0_tx_warn_isr(void) __attribute__((weak, alias("unused_isr")));
+void can0_rx_warn_isr(void) __attribute__((weak, alias("unused_isr")));
+void can0_wakeup_isr(void) __attribute__((weak, alias("unused_isr")));
+void can1_message_isr(void) __attribute__((weak, alias("unused_isr")));
+void can1_bus_off_isr(void) __attribute__((weak, alias("unused_isr")));
+void can1_error_isr(void) __attribute__((weak, alias("unused_isr")));
+void can1_tx_warn_isr(void) __attribute__((weak, alias("unused_isr")));
+void can1_rx_warn_isr(void) __attribute__((weak, alias("unused_isr")));
+void can1_wakeup_isr(void) __attribute__((weak, alias("unused_isr")));
+void i2s0_tx_isr(void) __attribute__((weak, alias("unused_isr")));
+void i2s0_rx_isr(void) __attribute__((weak, alias("unused_isr")));
+void i2s0_isr(void) __attribute__((weak, alias("unused_isr")));
+void uart0_lon_isr(void) __attribute__((weak, alias("unused_isr")));
+void uart0_status_isr(void) __attribute__((weak, alias("unused_isr")));
+void uart0_error_isr(void) __attribute__((weak, alias("unused_isr")));
+void uart1_status_isr(void) __attribute__((weak, alias("unused_isr")));
+void uart1_error_isr(void) __attribute__((weak, alias("unused_isr")));
+void uart2_status_isr(void) __attribute__((weak, alias("unused_isr")));
+void uart2_error_isr(void) __attribute__((weak, alias("unused_isr")));
+void uart3_status_isr(void) __attribute__((weak, alias("unused_isr")));
+void uart3_error_isr(void) __attribute__((weak, alias("unused_isr")));
+void uart4_status_isr(void) __attribute__((weak, alias("unused_isr")));
+void uart4_error_isr(void) __attribute__((weak, alias("unused_isr")));
+void uart5_status_isr(void) __attribute__((weak, alias("unused_isr")));
+void uart5_error_isr(void) __attribute__((weak, alias("unused_isr")));
+void lpuart0_status_isr(void) __attribute__((weak, alias("unused_isr")));
+void adc0_isr(void) __attribute__((weak, alias("unused_isr")));
+void adc1_isr(void) __attribute__((weak, alias("unused_isr")));
+void cmp0_isr(void) __attribute__((weak, alias("unused_isr")));
+void cmp1_isr(void) __attribute__((weak, alias("unused_isr")));
+void cmp2_isr(void) __attribute__((weak, alias("unused_isr")));
+void cmp3_isr(void) __attribute__((weak, alias("unused_isr")));
+void ftm0_isr(void) __attribute__((weak, alias("unused_isr")));
+void ftm1_isr(void) __attribute__((weak, alias("unused_isr")));
+void ftm2_isr(void) __attribute__((weak, alias("unused_isr")));
+void ftm3_isr(void) __attribute__((weak, alias("unused_isr")));
+void tpm0_isr(void) __attribute__((weak, alias("unused_isr")));
+void tpm1_isr(void) __attribute__((weak, alias("unused_isr")));
+void tpm2_isr(void) __attribute__((weak, alias("unused_isr")));
+void cmt_isr(void) __attribute__((weak, alias("unused_isr")));
+void rtc_alarm_isr(void) __attribute__((weak, alias("unused_isr")));
+void rtc_seconds_isr(void) __attribute__((weak, alias("unused_isr")));
+void pit_isr(void) __attribute__((weak, alias("unused_isr")));
+void pit0_isr(void) __attribute__((weak, alias("unused_isr")));
+void pit1_isr(void) __attribute__((weak, alias("unused_isr")));
+void pit2_isr(void) __attribute__((weak, alias("unused_isr")));
+void pit3_isr(void) __attribute__((weak, alias("unused_isr")));
+void pdb_isr(void) __attribute__((weak, alias("unused_isr")));
+void usb_isr(void) __attribute__((weak, alias("unused_isr")));
+void usb_charge_isr(void) __attribute__((weak, alias("unused_isr")));
+void usbhs_isr(void) __attribute__((weak, alias("unused_isr")));
+void usbhs_phy_isr(void) __attribute__((weak, alias("unused_isr")));
+void dac0_isr(void) __attribute__((weak, alias("unused_isr")));
+void dac1_isr(void) __attribute__((weak, alias("unused_isr")));
+void tsi0_isr(void) __attribute__((weak, alias("unused_isr")));
+void mcg_isr(void) __attribute__((weak, alias("unused_isr")));
+void lptmr_isr(void) __attribute__((weak, alias("unused_isr")));
+void porta_isr(void) __attribute__((weak, alias("unused_isr")));
+void portb_isr(void) __attribute__((weak, alias("unused_isr")));
+void portc_isr(void) __attribute__((weak, alias("unused_isr")));
+void portd_isr(void) __attribute__((weak, alias("unused_isr")));
+void porte_isr(void) __attribute__((weak, alias("unused_isr")));
+void portcd_isr(void) __attribute__((weak, alias("unused_isr")));
+void software_isr(void) __attribute__((weak, alias("unused_isr")));
-#if defined(__MK20DX128__)
-__attribute__ ((section(".dmabuffers"), used, aligned(256)))
-#elif defined(__MK20DX256__)
-__attribute__ ((section(".dmabuffers"), used, aligned(512)))
-#elif defined(__MKL26Z64__)
-__attribute__ ((section(".dmabuffers"), used, aligned(256)))
+__attribute__((section(".dmabuffers"), used, aligned(512))) void (
+ *_VectorsRam[NVIC_NUM_INTERRUPTS + 16])(void);
+
+__attribute__((section(".vectors"), used)) void (
+ *const _VectorsFlash[NVIC_NUM_INTERRUPTS + 16])(void) = {
+ (void (*)(void))((unsigned long)&_estack), // 0 ARM: Initial Stack Pointer
+ ResetHandler, // 1 ARM: Initial Program Counter
+ nmi_isr, // 2 ARM: Non-maskable Interrupt (NMI)
+ hard_fault_isr, // 3 ARM: Hard Fault
+ memmanage_fault_isr, // 4 ARM: MemManage Fault
+ bus_fault_isr, // 5 ARM: Bus Fault
+ usage_fault_isr, // 6 ARM: Usage Fault
+ fault_isr, // 7 --
+ fault_isr, // 8 --
+ fault_isr, // 9 --
+ fault_isr, // 10 --
+ svcall_isr, // 11 ARM: Supervisor call (SVCall)
+ debugmonitor_isr, // 12 ARM: Debug Monitor
+ fault_isr, // 13 --
+ pendablesrvreq_isr, // 14 ARM: Pendable req serv(PendableSrvReq)
+ systick_isr, // 15 ARM: System tick timer (SysTick)
+#if defined(__MK20DX256__)
+ dma_ch0_isr, // 16 DMA channel 0 transfer complete
+ dma_ch1_isr, // 17 DMA channel 1 transfer complete
+ dma_ch2_isr, // 18 DMA channel 2 transfer complete
+ dma_ch3_isr, // 19 DMA channel 3 transfer complete
+ dma_ch4_isr, // 20 DMA channel 4 transfer complete
+ dma_ch5_isr, // 21 DMA channel 5 transfer complete
+ dma_ch6_isr, // 22 DMA channel 6 transfer complete
+ dma_ch7_isr, // 23 DMA channel 7 transfer complete
+ dma_ch8_isr, // 24 DMA channel 8 transfer complete
+ dma_ch9_isr, // 25 DMA channel 9 transfer complete
+ dma_ch10_isr, // 26 DMA channel 10 transfer complete
+ dma_ch11_isr, // 27 DMA channel 11 transfer complete
+ dma_ch12_isr, // 28 DMA channel 12 transfer complete
+ dma_ch13_isr, // 29 DMA channel 13 transfer complete
+ dma_ch14_isr, // 30 DMA channel 14 transfer complete
+ dma_ch15_isr, // 31 DMA channel 15 transfer complete
+ dma_error_isr, // 32 DMA error interrupt channel
+ unused_isr, // 33 --
+ flash_cmd_isr, // 34 Flash Memory Command complete
+ flash_error_isr, // 35 Flash Read collision
+ low_voltage_isr, // 36 Low-voltage detect/warning
+ wakeup_isr, // 37 Low Leakage Wakeup
+ watchdog_isr, // 38 Both EWM and WDOG interrupt
+ unused_isr, // 39 --
+ i2c0_isr, // 40 I2C0
+ i2c1_isr, // 41 I2C1
+ spi0_isr, // 42 SPI0
+ spi1_isr, // 43 SPI1
+ unused_isr, // 44 --
+ can0_message_isr, // 45 CAN OR'ed Message buffer (0-15)
+ can0_bus_off_isr, // 46 CAN Bus Off
+ can0_error_isr, // 47 CAN Error
+ can0_tx_warn_isr, // 48 CAN Transmit Warning
+ can0_rx_warn_isr, // 49 CAN Receive Warning
+ can0_wakeup_isr, // 50 CAN Wake Up
+ i2s0_tx_isr, // 51 I2S0 Transmit
+ i2s0_rx_isr, // 52 I2S0 Receive
+ unused_isr, // 53 --
+ unused_isr, // 54 --
+ unused_isr, // 55 --
+ unused_isr, // 56 --
+ unused_isr, // 57 --
+ unused_isr, // 58 --
+ unused_isr, // 59 --
+ uart0_lon_isr, // 60 UART0 CEA709.1-B (LON) status
+ uart0_status_isr, // 61 UART0 status
+ uart0_error_isr, // 62 UART0 error
+ uart1_status_isr, // 63 UART1 status
+ uart1_error_isr, // 64 UART1 error
+ uart2_status_isr, // 65 UART2 status
+ uart2_error_isr, // 66 UART2 error
+ unused_isr, // 67 --
+ unused_isr, // 68 --
+ unused_isr, // 69 --
+ unused_isr, // 70 --
+ unused_isr, // 71 --
+ unused_isr, // 72 --
+ adc0_isr, // 73 ADC0
+ adc1_isr, // 74 ADC1
+ cmp0_isr, // 75 CMP0
+ cmp1_isr, // 76 CMP1
+ cmp2_isr, // 77 CMP2
+ ftm0_isr, // 78 FTM0
+ ftm1_isr, // 79 FTM1
+ ftm2_isr, // 80 FTM2
+ cmt_isr, // 81 CMT
+ rtc_alarm_isr, // 82 RTC Alarm interrupt
+ rtc_seconds_isr, // 83 RTC Seconds interrupt
+ pit0_isr, // 84 PIT Channel 0
+ pit1_isr, // 85 PIT Channel 1
+ pit2_isr, // 86 PIT Channel 2
+ pit3_isr, // 87 PIT Channel 3
+ pdb_isr, // 88 PDB Programmable Delay Block
+ usb_isr, // 89 USB OTG
+ usb_charge_isr, // 90 USB Charger Detect
+ unused_isr, // 91 --
+ unused_isr, // 92 --
+ unused_isr, // 93 --
+ unused_isr, // 94 --
+ unused_isr, // 95 --
+ unused_isr, // 96 --
+ dac0_isr, // 97 DAC0
+ unused_isr, // 98 --
+ tsi0_isr, // 99 TSI0
+ mcg_isr, // 100 MCG
+ lptmr_isr, // 101 Low Power Timer
+ unused_isr, // 102 --
+ porta_isr, // 103 Pin detect (Port A)
+ portb_isr, // 104 Pin detect (Port B)
+ portc_isr, // 105 Pin detect (Port C)
+ portd_isr, // 106 Pin detect (Port D)
+ porte_isr, // 107 Pin detect (Port E)
+ unused_isr, // 108 --
+ unused_isr, // 109 --
+ software_isr, // 110 Software interrupt
#elif defined(__MK64FX512__)
-__attribute__ ((section(".dmabuffers"), used, aligned(512)))
-#elif defined(__MK66FX1M0__)
-__attribute__ ((section(".dmabuffers"), used, aligned(512)))
-#endif
-void (* _VectorsRam[NVIC_NUM_INTERRUPTS+16])(void);
-
-__attribute__ ((section(".vectors"), used))
-void (* const _VectorsFlash[NVIC_NUM_INTERRUPTS+16])(void) =
-{
- (void (*)(void))((unsigned long)&_estack), // 0 ARM: Initial Stack Pointer
- ResetHandler, // 1 ARM: Initial Program Counter
- nmi_isr, // 2 ARM: Non-maskable Interrupt (NMI)
- hard_fault_isr, // 3 ARM: Hard Fault
- memmanage_fault_isr, // 4 ARM: MemManage Fault
- bus_fault_isr, // 5 ARM: Bus Fault
- usage_fault_isr, // 6 ARM: Usage Fault
- fault_isr, // 7 --
- fault_isr, // 8 --
- fault_isr, // 9 --
- fault_isr, // 10 --
- svcall_isr, // 11 ARM: Supervisor call (SVCall)
- debugmonitor_isr, // 12 ARM: Debug Monitor
- fault_isr, // 13 --
- pendablesrvreq_isr, // 14 ARM: Pendable req serv(PendableSrvReq)
- systick_isr, // 15 ARM: System tick timer (SysTick)
-#if defined(__MK20DX128__)
- dma_ch0_isr, // 16 DMA channel 0 transfer complete
- dma_ch1_isr, // 17 DMA channel 1 transfer complete
- dma_ch2_isr, // 18 DMA channel 2 transfer complete
- dma_ch3_isr, // 19 DMA channel 3 transfer complete
- dma_error_isr, // 20 DMA error interrupt channel
- unused_isr, // 21 DMA --
- flash_cmd_isr, // 22 Flash Memory Command complete
- flash_error_isr, // 23 Flash Read collision
- low_voltage_isr, // 24 Low-voltage detect/warning
- wakeup_isr, // 25 Low Leakage Wakeup
- watchdog_isr, // 26 Both EWM and WDOG interrupt
- i2c0_isr, // 27 I2C0
- spi0_isr, // 28 SPI0
- i2s0_tx_isr, // 29 I2S0 Transmit
- i2s0_rx_isr, // 30 I2S0 Receive
- uart0_lon_isr, // 31 UART0 CEA709.1-B (LON) status
- uart0_status_isr, // 32 UART0 status
- uart0_error_isr, // 33 UART0 error
- uart1_status_isr, // 34 UART1 status
- uart1_error_isr, // 35 UART1 error
- uart2_status_isr, // 36 UART2 status
- uart2_error_isr, // 37 UART2 error
- adc0_isr, // 38 ADC0
- cmp0_isr, // 39 CMP0
- cmp1_isr, // 40 CMP1
- ftm0_isr, // 41 FTM0
- ftm1_isr, // 42 FTM1
- cmt_isr, // 43 CMT
- rtc_alarm_isr, // 44 RTC Alarm interrupt
- rtc_seconds_isr, // 45 RTC Seconds interrupt
- pit0_isr, // 46 PIT Channel 0
- pit1_isr, // 47 PIT Channel 1
- pit2_isr, // 48 PIT Channel 2
- pit3_isr, // 49 PIT Channel 3
- pdb_isr, // 50 PDB Programmable Delay Block
- usb_isr, // 51 USB OTG
- usb_charge_isr, // 52 USB Charger Detect
- tsi0_isr, // 53 TSI0
- mcg_isr, // 54 MCG
- lptmr_isr, // 55 Low Power Timer
- porta_isr, // 56 Pin detect (Port A)
- portb_isr, // 57 Pin detect (Port B)
- portc_isr, // 58 Pin detect (Port C)
- portd_isr, // 59 Pin detect (Port D)
- porte_isr, // 60 Pin detect (Port E)
- software_isr, // 61 Software interrupt
-#elif defined(__MK20DX256__)
- dma_ch0_isr, // 16 DMA channel 0 transfer complete
- dma_ch1_isr, // 17 DMA channel 1 transfer complete
- dma_ch2_isr, // 18 DMA channel 2 transfer complete
- dma_ch3_isr, // 19 DMA channel 3 transfer complete
- dma_ch4_isr, // 20 DMA channel 4 transfer complete
- dma_ch5_isr, // 21 DMA channel 5 transfer complete
- dma_ch6_isr, // 22 DMA channel 6 transfer complete
- dma_ch7_isr, // 23 DMA channel 7 transfer complete
- dma_ch8_isr, // 24 DMA channel 8 transfer complete
- dma_ch9_isr, // 25 DMA channel 9 transfer complete
- dma_ch10_isr, // 26 DMA channel 10 transfer complete
- dma_ch11_isr, // 27 DMA channel 11 transfer complete
- dma_ch12_isr, // 28 DMA channel 12 transfer complete
- dma_ch13_isr, // 29 DMA channel 13 transfer complete
- dma_ch14_isr, // 30 DMA channel 14 transfer complete
- dma_ch15_isr, // 31 DMA channel 15 transfer complete
- dma_error_isr, // 32 DMA error interrupt channel
- unused_isr, // 33 --
- flash_cmd_isr, // 34 Flash Memory Command complete
- flash_error_isr, // 35 Flash Read collision
- low_voltage_isr, // 36 Low-voltage detect/warning
- wakeup_isr, // 37 Low Leakage Wakeup
- watchdog_isr, // 38 Both EWM and WDOG interrupt
- unused_isr, // 39 --
- i2c0_isr, // 40 I2C0
- i2c1_isr, // 41 I2C1
- spi0_isr, // 42 SPI0
- spi1_isr, // 43 SPI1
- unused_isr, // 44 --
- can0_message_isr, // 45 CAN OR'ed Message buffer (0-15)
- can0_bus_off_isr, // 46 CAN Bus Off
- can0_error_isr, // 47 CAN Error
- can0_tx_warn_isr, // 48 CAN Transmit Warning
- can0_rx_warn_isr, // 49 CAN Receive Warning
- can0_wakeup_isr, // 50 CAN Wake Up
- i2s0_tx_isr, // 51 I2S0 Transmit
- i2s0_rx_isr, // 52 I2S0 Receive
- unused_isr, // 53 --
- unused_isr, // 54 --
- unused_isr, // 55 --
- unused_isr, // 56 --
- unused_isr, // 57 --
- unused_isr, // 58 --
- unused_isr, // 59 --
- uart0_lon_isr, // 60 UART0 CEA709.1-B (LON) status
- uart0_status_isr, // 61 UART0 status
- uart0_error_isr, // 62 UART0 error
- uart1_status_isr, // 63 UART1 status
- uart1_error_isr, // 64 UART1 error
- uart2_status_isr, // 65 UART2 status
- uart2_error_isr, // 66 UART2 error
- unused_isr, // 67 --
- unused_isr, // 68 --
- unused_isr, // 69 --
- unused_isr, // 70 --
- unused_isr, // 71 --
- unused_isr, // 72 --
- adc0_isr, // 73 ADC0
- adc1_isr, // 74 ADC1
- cmp0_isr, // 75 CMP0
- cmp1_isr, // 76 CMP1
- cmp2_isr, // 77 CMP2
- ftm0_isr, // 78 FTM0
- ftm1_isr, // 79 FTM1
- ftm2_isr, // 80 FTM2
- cmt_isr, // 81 CMT
- rtc_alarm_isr, // 82 RTC Alarm interrupt
- rtc_seconds_isr, // 83 RTC Seconds interrupt
- pit0_isr, // 84 PIT Channel 0
- pit1_isr, // 85 PIT Channel 1
- pit2_isr, // 86 PIT Channel 2
- pit3_isr, // 87 PIT Channel 3
- pdb_isr, // 88 PDB Programmable Delay Block
- usb_isr, // 89 USB OTG
- usb_charge_isr, // 90 USB Charger Detect
- unused_isr, // 91 --
- unused_isr, // 92 --
- unused_isr, // 93 --
- unused_isr, // 94 --
- unused_isr, // 95 --
- unused_isr, // 96 --
- dac0_isr, // 97 DAC0
- unused_isr, // 98 --
- tsi0_isr, // 99 TSI0
- mcg_isr, // 100 MCG
- lptmr_isr, // 101 Low Power Timer
- unused_isr, // 102 --
- porta_isr, // 103 Pin detect (Port A)
- portb_isr, // 104 Pin detect (Port B)
- portc_isr, // 105 Pin detect (Port C)
- portd_isr, // 106 Pin detect (Port D)
- porte_isr, // 107 Pin detect (Port E)
- unused_isr, // 108 --
- unused_isr, // 109 --
- software_isr, // 110 Software interrupt
-#elif defined(__MKL26Z64__)
- dma_ch0_isr, // 16 DMA channel 0 transfer complete
- dma_ch1_isr, // 17 DMA channel 1 transfer complete
- dma_ch2_isr, // 18 DMA channel 2 transfer complete
- dma_ch3_isr, // 19 DMA channel 3 transfer complete
- unused_isr, // 20 --
- flash_cmd_isr, // 21 Flash Memory Command complete
- low_voltage_isr, // 22 Low-voltage detect/warning
- wakeup_isr, // 23 Low Leakage Wakeup
- i2c0_isr, // 24 I2C0
- i2c1_isr, // 25 I2C1
- spi0_isr, // 26 SPI0
- spi1_isr, // 27 SPI1
- uart0_status_isr, // 28 UART0 status & error
- uart1_status_isr, // 29 UART1 status & error
- uart2_status_isr, // 30 UART2 status & error
- adc0_isr, // 31 ADC0
- cmp0_isr, // 32 CMP0
- ftm0_isr, // 33 FTM0
- ftm1_isr, // 34 FTM1
- ftm2_isr, // 35 FTM2
- rtc_alarm_isr, // 36 RTC Alarm interrupt
- rtc_seconds_isr, // 37 RTC Seconds interrupt
- pit_isr, // 38 PIT Both Channels
- i2s0_isr, // 39 I2S0 Transmit & Receive
- usb_isr, // 40 USB OTG
- dac0_isr, // 41 DAC0
- tsi0_isr, // 42 TSI0
- mcg_isr, // 43 MCG
- lptmr_isr, // 44 Low Power Timer
- software_isr, // 45 Software interrupt
- porta_isr, // 46 Pin detect (Port A)
- portcd_isr, // 47 Pin detect (Port C and D)
-#elif defined(__MK64FX512__)
- dma_ch0_isr, // 16 DMA channel 0 transfer complete
- dma_ch1_isr, // 17 DMA channel 1 transfer complete
- dma_ch2_isr, // 18 DMA channel 2 transfer complete
- dma_ch3_isr, // 19 DMA channel 3 transfer complete
- dma_ch4_isr, // 20 DMA channel 4 transfer complete
- dma_ch5_isr, // 21 DMA channel 5 transfer complete
- dma_ch6_isr, // 22 DMA channel 6 transfer complete
- dma_ch7_isr, // 23 DMA channel 7 transfer complete
- dma_ch8_isr, // 24 DMA channel 8 transfer complete
- dma_ch9_isr, // 25 DMA channel 9 transfer complete
- dma_ch10_isr, // 26 DMA channel 10 transfer complete
- dma_ch11_isr, // 27 DMA channel 11 transfer complete
- dma_ch12_isr, // 28 DMA channel 12 transfer complete
- dma_ch13_isr, // 29 DMA channel 13 transfer complete
- dma_ch14_isr, // 30 DMA channel 14 transfer complete
- dma_ch15_isr, // 31 DMA channel 15 transfer complete
- dma_error_isr, // 32 DMA error interrupt channel
- mcm_isr, // 33 MCM
- flash_cmd_isr, // 34 Flash Memory Command complete
- flash_error_isr, // 35 Flash Read collision
- low_voltage_isr, // 36 Low-voltage detect/warning
- wakeup_isr, // 37 Low Leakage Wakeup
- watchdog_isr, // 38 Both EWM and WDOG interrupt
- randnum_isr, // 39 Random Number Generator
- i2c0_isr, // 40 I2C0
- i2c1_isr, // 41 I2C1
- spi0_isr, // 42 SPI0
- spi1_isr, // 43 SPI1
- i2s0_tx_isr, // 44 I2S0 Transmit
- i2s0_rx_isr, // 45 I2S0 Receive
- unused_isr, // 46 --
- uart0_status_isr, // 47 UART0 status
- uart0_error_isr, // 48 UART0 error
- uart1_status_isr, // 49 UART1 status
- uart1_error_isr, // 50 UART1 error
- uart2_status_isr, // 51 UART2 status
- uart2_error_isr, // 52 UART2 error
- uart3_status_isr, // 53 UART3 status
- uart3_error_isr, // 54 UART3 error
- adc0_isr, // 55 ADC0
- cmp0_isr, // 56 CMP0
- cmp1_isr, // 57 CMP1
- ftm0_isr, // 58 FTM0
- ftm1_isr, // 59 FTM1
- ftm2_isr, // 60 FTM2
- cmt_isr, // 61 CMT
- rtc_alarm_isr, // 62 RTC Alarm interrupt
- rtc_seconds_isr, // 63 RTC Seconds interrupt
- pit0_isr, // 64 PIT Channel 0
- pit1_isr, // 65 PIT Channel 1
- pit2_isr, // 66 PIT Channel 2
- pit3_isr, // 67 PIT Channel 3
- pdb_isr, // 68 PDB Programmable Delay Block
- usb_isr, // 69 USB OTG
- usb_charge_isr, // 70 USB Charger Detect
- unused_isr, // 71 --
- dac0_isr, // 72 DAC0
- mcg_isr, // 73 MCG
- lptmr_isr, // 74 Low Power Timer
- porta_isr, // 75 Pin detect (Port A)
- portb_isr, // 76 Pin detect (Port B)
- portc_isr, // 77 Pin detect (Port C)
- portd_isr, // 78 Pin detect (Port D)
- porte_isr, // 79 Pin detect (Port E)
- software_isr, // 80 Software interrupt
- spi2_isr, // 81 SPI2
- uart4_status_isr, // 82 UART4 status
- uart4_error_isr, // 83 UART4 error
- uart5_status_isr, // 84 UART4 status
- uart5_error_isr, // 85 UART4 error
- cmp2_isr, // 86 CMP2
- ftm3_isr, // 87 FTM3
- dac1_isr, // 88 DAC1
- adc1_isr, // 89 ADC1
- i2c2_isr, // 90 I2C2
- can0_message_isr, // 91 CAN OR'ed Message buffer (0-15)
- can0_bus_off_isr, // 92 CAN Bus Off
- can0_error_isr, // 93 CAN Error
- can0_tx_warn_isr, // 94 CAN Transmit Warning
- can0_rx_warn_isr, // 95 CAN Receive Warning
- can0_wakeup_isr, // 96 CAN Wake Up
- sdhc_isr, // 97 SDHC
- enet_timer_isr, // 98 Ethernet IEEE1588 Timers
- enet_tx_isr, // 99 Ethernet Transmit
- enet_rx_isr, // 100 Ethernet Receive
- enet_error_isr, // 101 Ethernet Error
-#elif defined(__MK66FX1M0__)
- dma_ch0_isr, // 16 DMA channel 0 transfer complete
- dma_ch1_isr, // 17 DMA channel 1 transfer complete
- dma_ch2_isr, // 18 DMA channel 2 transfer complete
- dma_ch3_isr, // 19 DMA channel 3 transfer complete
- dma_ch4_isr, // 20 DMA channel 4 transfer complete
- dma_ch5_isr, // 21 DMA channel 5 transfer complete
- dma_ch6_isr, // 22 DMA channel 6 transfer complete
- dma_ch7_isr, // 23 DMA channel 7 transfer complete
- dma_ch8_isr, // 24 DMA channel 8 transfer complete
- dma_ch9_isr, // 25 DMA channel 9 transfer complete
- dma_ch10_isr, // 26 DMA channel 10 transfer complete
- dma_ch11_isr, // 27 DMA channel 11 transfer complete
- dma_ch12_isr, // 28 DMA channel 12 transfer complete
- dma_ch13_isr, // 29 DMA channel 13 transfer complete
- dma_ch14_isr, // 30 DMA channel 14 transfer complete
- dma_ch15_isr, // 31 DMA channel 15 transfer complete
- dma_error_isr, // 32 DMA error interrupt channel
- mcm_isr, // 33 MCM
- flash_cmd_isr, // 34 Flash Memory Command complete
- flash_error_isr, // 35 Flash Read collision
- low_voltage_isr, // 36 Low-voltage detect/warning
- wakeup_isr, // 37 Low Leakage Wakeup
- watchdog_isr, // 38 Both EWM and WDOG interrupt
- randnum_isr, // 39 Random Number Generator
- i2c0_isr, // 40 I2C0
- i2c1_isr, // 41 I2C1
- spi0_isr, // 42 SPI0
- spi1_isr, // 43 SPI1
- i2s0_tx_isr, // 44 I2S0 Transmit
- i2s0_rx_isr, // 45 I2S0 Receive
- unused_isr, // 46 --
- uart0_status_isr, // 47 UART0 status
- uart0_error_isr, // 48 UART0 error
- uart1_status_isr, // 49 UART1 status
- uart1_error_isr, // 50 UART1 error
- uart2_status_isr, // 51 UART2 status
- uart2_error_isr, // 52 UART2 error
- uart3_status_isr, // 53 UART3 status
- uart3_error_isr, // 54 UART3 error
- adc0_isr, // 55 ADC0
- cmp0_isr, // 56 CMP0
- cmp1_isr, // 57 CMP1
- ftm0_isr, // 58 FTM0
- ftm1_isr, // 59 FTM1
- ftm2_isr, // 60 FTM2
- cmt_isr, // 61 CMT
- rtc_alarm_isr, // 62 RTC Alarm interrupt
- rtc_seconds_isr, // 63 RTC Seconds interrupt
- pit0_isr, // 64 PIT Channel 0
- pit1_isr, // 65 PIT Channel 1
- pit2_isr, // 66 PIT Channel 2
- pit3_isr, // 67 PIT Channel 3
- pdb_isr, // 68 PDB Programmable Delay Block
- usb_isr, // 69 USB OTG
- usb_charge_isr, // 70 USB Charger Detect
- unused_isr, // 71 --
- dac0_isr, // 72 DAC0
- mcg_isr, // 73 MCG
- lptmr_isr, // 74 Low Power Timer
- porta_isr, // 75 Pin detect (Port A)
- portb_isr, // 76 Pin detect (Port B)
- portc_isr, // 77 Pin detect (Port C)
- portd_isr, // 78 Pin detect (Port D)
- porte_isr, // 79 Pin detect (Port E)
- software_isr, // 80 Software interrupt
- spi2_isr, // 81 SPI2
- uart4_status_isr, // 82 UART4 status
- uart4_error_isr, // 83 UART4 error
- unused_isr, // 84 --
- unused_isr, // 85 --
- cmp2_isr, // 86 CMP2
- ftm3_isr, // 87 FTM3
- dac1_isr, // 88 DAC1
- adc1_isr, // 89 ADC1
- i2c2_isr, // 90 I2C2
- can0_message_isr, // 91 CAN OR'ed Message buffer (0-15)
- can0_bus_off_isr, // 92 CAN Bus Off
- can0_error_isr, // 93 CAN Error
- can0_tx_warn_isr, // 94 CAN Transmit Warning
- can0_rx_warn_isr, // 95 CAN Receive Warning
- can0_wakeup_isr, // 96 CAN Wake Up
- sdhc_isr, // 97 SDHC
- enet_timer_isr, // 98 Ethernet IEEE1588 Timers
- enet_tx_isr, // 99 Ethernet Transmit
- enet_rx_isr, // 100 Ethernet Receive
- enet_error_isr, // 101 Ethernet Error
- lpuart0_status_isr, // 102 LPUART
- tsi0_isr, // 103 TSI0
- tpm1_isr, // 104 FTM1
- tpm2_isr, // 105 FTM2
- usbhs_phy_isr, // 106 USB-HS Phy
- i2c3_isr, // 107 I2C3
- cmp3_isr, // 108 CMP3
- usbhs_isr, // 109 USB-HS
- can1_message_isr, // 110 CAN OR'ed Message buffer (0-15)
- can1_bus_off_isr, // 111 CAN Bus Off
- can1_error_isr, // 112 CAN Error
- can1_tx_warn_isr, // 113 CAN Transmit Warning
- can1_rx_warn_isr, // 114 CAN Receive Warning
- can1_wakeup_isr, // 115 CAN Wake Up
+ dma_ch0_isr, // 16 DMA channel 0 transfer complete
+ dma_ch1_isr, // 17 DMA channel 1 transfer complete
+ dma_ch2_isr, // 18 DMA channel 2 transfer complete
+ dma_ch3_isr, // 19 DMA channel 3 transfer complete
+ dma_ch4_isr, // 20 DMA channel 4 transfer complete
+ dma_ch5_isr, // 21 DMA channel 5 transfer complete
+ dma_ch6_isr, // 22 DMA channel 6 transfer complete
+ dma_ch7_isr, // 23 DMA channel 7 transfer complete
+ dma_ch8_isr, // 24 DMA channel 8 transfer complete
+ dma_ch9_isr, // 25 DMA channel 9 transfer complete
+ dma_ch10_isr, // 26 DMA channel 10 transfer complete
+ dma_ch11_isr, // 27 DMA channel 11 transfer complete
+ dma_ch12_isr, // 28 DMA channel 12 transfer complete
+ dma_ch13_isr, // 29 DMA channel 13 transfer complete
+ dma_ch14_isr, // 30 DMA channel 14 transfer complete
+ dma_ch15_isr, // 31 DMA channel 15 transfer complete
+ dma_error_isr, // 32 DMA error interrupt channel
+ mcm_isr, // 33 MCM
+ flash_cmd_isr, // 34 Flash Memory Command complete
+ flash_error_isr, // 35 Flash Read collision
+ low_voltage_isr, // 36 Low-voltage detect/warning
+ wakeup_isr, // 37 Low Leakage Wakeup
+ watchdog_isr, // 38 Both EWM and WDOG interrupt
+ randnum_isr, // 39 Random Number Generator
+ i2c0_isr, // 40 I2C0
+ i2c1_isr, // 41 I2C1
+ spi0_isr, // 42 SPI0
+ spi1_isr, // 43 SPI1
+ i2s0_tx_isr, // 44 I2S0 Transmit
+ i2s0_rx_isr, // 45 I2S0 Receive
+ unused_isr, // 46 --
+ uart0_status_isr, // 47 UART0 status
+ uart0_error_isr, // 48 UART0 error
+ uart1_status_isr, // 49 UART1 status
+ uart1_error_isr, // 50 UART1 error
+ uart2_status_isr, // 51 UART2 status
+ uart2_error_isr, // 52 UART2 error
+ uart3_status_isr, // 53 UART3 status
+ uart3_error_isr, // 54 UART3 error
+ adc0_isr, // 55 ADC0
+ cmp0_isr, // 56 CMP0
+ cmp1_isr, // 57 CMP1
+ ftm0_isr, // 58 FTM0
+ ftm1_isr, // 59 FTM1
+ ftm2_isr, // 60 FTM2
+ cmt_isr, // 61 CMT
+ rtc_alarm_isr, // 62 RTC Alarm interrupt
+ rtc_seconds_isr, // 63 RTC Seconds interrupt
+ pit0_isr, // 64 PIT Channel 0
+ pit1_isr, // 65 PIT Channel 1
+ pit2_isr, // 66 PIT Channel 2
+ pit3_isr, // 67 PIT Channel 3
+ pdb_isr, // 68 PDB Programmable Delay Block
+ usb_isr, // 69 USB OTG
+ usb_charge_isr, // 70 USB Charger Detect
+ unused_isr, // 71 --
+ dac0_isr, // 72 DAC0
+ mcg_isr, // 73 MCG
+ lptmr_isr, // 74 Low Power Timer
+ porta_isr, // 75 Pin detect (Port A)
+ portb_isr, // 76 Pin detect (Port B)
+ portc_isr, // 77 Pin detect (Port C)
+ portd_isr, // 78 Pin detect (Port D)
+ porte_isr, // 79 Pin detect (Port E)
+ software_isr, // 80 Software interrupt
+ spi2_isr, // 81 SPI2
+ uart4_status_isr, // 82 UART4 status
+ uart4_error_isr, // 83 UART4 error
+ uart5_status_isr, // 84 UART4 status
+ uart5_error_isr, // 85 UART4 error
+ cmp2_isr, // 86 CMP2
+ ftm3_isr, // 87 FTM3
+ dac1_isr, // 88 DAC1
+ adc1_isr, // 89 ADC1
+ i2c2_isr, // 90 I2C2
+ can0_message_isr, // 91 CAN OR'ed Message buffer (0-15)
+ can0_bus_off_isr, // 92 CAN Bus Off
+ can0_error_isr, // 93 CAN Error
+ can0_tx_warn_isr, // 94 CAN Transmit Warning
+ can0_rx_warn_isr, // 95 CAN Receive Warning
+ can0_wakeup_isr, // 96 CAN Wake Up
+ sdhc_isr, // 97 SDHC
+ enet_timer_isr, // 98 Ethernet IEEE1588 Timers
+ enet_tx_isr, // 99 Ethernet Transmit
+ enet_rx_isr, // 100 Ethernet Receive
+ enet_error_isr, // 101 Ethernet Error
#endif
};
-
-__attribute__ ((section(".flashconfig"), used))
-const uint8_t flashconfigbytes[16] = {
- 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
- 0xFF, 0xFF, 0xFF, 0xFF, FSEC, FOPT, 0xFF, 0xFF
-};
-
-
-// Automatically initialize the RTC. When the build defines the compile
-// time, and the user has added a crystal, the RTC will automatically
-// begin at the time of the first upload.
-#ifndef TIME_T
-#define TIME_T 1349049600 // default 1 Oct 2012 (never used, Arduino sets this)
-#endif
-extern void *__rtc_localtime; // Arduino build process sets this
-extern void rtc_set(unsigned long t);
-
-
-static void startup_default_early_hook(void) {
-#if defined(KINETISK)
- WDOG_STCTRLH = WDOG_STCTRLH_ALLOWUPDATE;
-#elif defined(KINETISL)
- SIM_COPC = 0; // disable the watchdog
-#endif
-}
-static void startup_default_late_hook(void) {}
-void startup_early_hook(void) __attribute__ ((weak, alias("startup_default_early_hook")));
-void startup_late_hook(void) __attribute__ ((weak, alias("startup_default_late_hook")));
-
+__attribute__((section(".flashconfig"),
+ used)) const uint8_t flashconfigbytes[16] = {
+ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+ 0xFF, 0xFF, 0xFF, 0xFF, FSEC, FOPT, 0xFF, 0xFF};
#ifdef __clang__
// Clang seems to generate slightly larger code with Os than gcc
-__attribute__ ((optimize("-Os")))
+__attribute__((optimize("-Os")))
#else
-__attribute__ ((section(".startup"),optimize("-Os")))
+__attribute__((section(".startup"), optimize("-Os")))
#endif
-void ResetHandler(void)
-{
- uint32_t *src = &_etext;
- uint32_t *dest = &_sdata;
- unsigned int i;
-#if F_CPU <= 2000000
- volatile int n;
-#endif
- //volatile int count;
+void ResetHandler(void) {
+ uint32_t *src = &_etext;
+ uint32_t *dest = &_sdata;
+ unsigned int i;
-#ifdef KINETISK
- WDOG_UNLOCK = WDOG_UNLOCK_SEQ1;
- WDOG_UNLOCK = WDOG_UNLOCK_SEQ2;
- __asm__ volatile ("nop");
- __asm__ volatile ("nop");
-#endif
- // programs using the watchdog timer or needing to initialize hardware as
- // early as possible can implement startup_early_hook()
- startup_early_hook();
+ WDOG_UNLOCK = WDOG_UNLOCK_SEQ1;
+ WDOG_UNLOCK = WDOG_UNLOCK_SEQ2;
+ __asm__ volatile("nop");
+ __asm__ volatile("nop");
- // enable clocks to always-used peripherals
-#if defined(__MK20DX128__)
- SIM_SCGC5 = 0x00043F82; // clocks active to all GPIO
- SIM_SCGC6 = SIM_SCGC6_RTC | SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 | SIM_SCGC6_FTFL;
-#elif defined(__MK20DX256__)
- SIM_SCGC3 = SIM_SCGC3_ADC1 | SIM_SCGC3_FTM2;
- SIM_SCGC5 = 0x00043F82; // clocks active to all GPIO
- SIM_SCGC6 = SIM_SCGC6_RTC | SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 | SIM_SCGC6_FTFL;
+ WDOG_STCTRLH = WDOG_STCTRLH_ALLOWUPDATE;
+
+ // enable clocks to always-used peripherals
+#if defined(__MK20DX256__)
+ SIM_SCGC3 = SIM_SCGC3_ADC1 | SIM_SCGC3_FTM2;
+ SIM_SCGC5 = 0x00043F82; // clocks active to all GPIO
+ SIM_SCGC6 = SIM_SCGC6_RTC | SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 |
+ SIM_SCGC6_FTFL;
#elif defined(__MK64FX512__) || defined(__MK66FX1M0__)
- SIM_SCGC3 = SIM_SCGC3_ADC1 | SIM_SCGC3_FTM2 | SIM_SCGC3_FTM3;
- SIM_SCGC5 = 0x00043F82; // clocks active to all GPIO
- SIM_SCGC6 = SIM_SCGC6_RTC | SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 | SIM_SCGC6_FTFL;
- //PORTC_PCR5 = PORT_PCR_MUX(1) | PORT_PCR_DSE | PORT_PCR_SRE;
- //GPIOC_PDDR |= (1<<5);
- //GPIOC_PSOR = (1<<5);
- //while (1);
-#elif defined(__MKL26Z64__)
- SIM_SCGC4 = SIM_SCGC4_USBOTG | 0xF0000030;
- SIM_SCGC5 = 0x00003F82; // clocks active to all GPIO
- SIM_SCGC6 = SIM_SCGC6_ADC0 | SIM_SCGC6_TPM0 | SIM_SCGC6_TPM1 | SIM_SCGC6_TPM2 | SIM_SCGC6_FTFL;
+ SIM_SCGC3 = SIM_SCGC3_ADC1 | SIM_SCGC3_FTM2 | SIM_SCGC3_FTM3;
+ SIM_SCGC5 = 0x00043F82; // clocks active to all GPIO
+ SIM_SCGC6 = SIM_SCGC6_RTC | SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 |
+ SIM_SCGC6_FTFL;
+ SCB_CPACR = 0x00F00000;
#endif
-#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
- SCB_CPACR = 0x00F00000;
-#endif
-#if defined(__MK66FX1M0__)
- LMEM_PCCCR = 0x85000003;
-#endif
-#if 0
- // testing only, enable ser_print
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV4(1);
- MCG_C4 |= MCG_C4_DMX32 | MCG_C4_DRST_DRS(1);
- SIM_SOPT2 = SIM_SOPT2_UART0SRC(1) | SIM_SOPT2_TPMSRC(1);
- SIM_SCGC4 |= 0x00000400;
- UART0_BDH = 0;
- UART0_BDL = 26; // 115200 at 48 MHz
- UART0_C2 = UART_C2_TE;
- PORTB_PCR17 = PORT_PCR_MUX(3);
-#endif
-#ifdef KINETISK
- // if the RTC oscillator isn't enabled, get it started early
- if (!(RTC_CR & RTC_CR_OSCE)) {
- RTC_SR = 0;
- RTC_CR = RTC_CR_SC16P | RTC_CR_SC4P | RTC_CR_OSCE;
- }
-#endif
- // release I/O pins hold, if we woke up from VLLS mode
- if (PMC_REGSC & PMC_REGSC_ACKISO) PMC_REGSC |= PMC_REGSC_ACKISO;
+ // if the RTC oscillator isn't enabled, get it started early
+ if (!(RTC_CR & RTC_CR_OSCE)) {
+ RTC_SR = 0;
+ RTC_CR = RTC_CR_SC16P | RTC_CR_SC4P | RTC_CR_OSCE;
+ }
+ // release I/O pins hold, if we woke up from VLLS mode
+ if (PMC_REGSC & PMC_REGSC_ACKISO) PMC_REGSC |= PMC_REGSC_ACKISO;
- // since this is a write once register, make it visible to all F_CPU's
- // so we can into other sleep modes in the future at any speed
-#if defined(__MK66FX1M0__)
- SMC_PMPROT = SMC_PMPROT_AHSRUN | SMC_PMPROT_AVLP | SMC_PMPROT_ALLS | SMC_PMPROT_AVLLS;
+ // since this is a write once register, make it visible to all F_CPU's
+ // so we can into other sleep modes in the future at any speed
+ SMC_PMPROT = SMC_PMPROT_AVLP | SMC_PMPROT_ALLS | SMC_PMPROT_AVLLS;
+
+ // TODO: do this while the PLL is waiting to lock....
+ while (dest < &_edata) *dest++ = *src++;
+ dest = &_sbss;
+ while (dest < &_ebss) *dest++ = 0;
+
+ // default all interrupts to medium priority level
+ for (i = 0; i < NVIC_NUM_INTERRUPTS + 16; i++)
+ _VectorsRam[i] = _VectorsFlash[i];
+ for (i = 0; i < NVIC_NUM_INTERRUPTS; i++) NVIC_SET_PRIORITY(i, 128);
+ SCB_VTOR = (uint32_t)_VectorsRam; // use vector table in RAM
+
+ // hardware always starts in FEI mode
+ // C1[CLKS] bits are written to 00
+ // C1[IREFS] bit is written to 1
+ // C6[PLLS] bit is written to 0
+ // MCG_SC[FCDIV] defaults to divide by two for internal ref clock
+ // I tried changing MSG_SC to divide by 1, it didn't work for me
+ // enable capacitors for crystal
+ OSC0_CR = OSC_SC8P | OSC_SC2P | OSC_ERCLKEN;
+ // enable osc, 8-32 MHz range, low power mode
+ MCG_C2 = MCG_C2_RANGE0(2) | MCG_C2_EREFS;
+ // switch to crystal as clock source, FLL input = 16 MHz / 512
+ MCG_C1 = MCG_C1_CLKS(2) | MCG_C1_FRDIV(4);
+ // wait for crystal oscillator to begin
+ while ((MCG_S & MCG_S_OSCINIT0) == 0) {
+ }
+ // wait for FLL to use oscillator
+ while ((MCG_S & MCG_S_IREFST) != 0) {
+ }
+ // wait for MCGOUT to use oscillator
+ while ((MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST(2)) {
+ }
+
+ // now in FBE mode
+ // C1[CLKS] bits are written to 10
+ // C1[IREFS] bit is written to 0
+ // C1[FRDIV] must be written to divide xtal to 31.25-39 kHz
+ // C6[PLLS] bit is written to 0
+ // C2[LP] is written to 0
+ // if we need faster than the crystal, turn on the PLL
+#if F_CPU == 72000000
+ MCG_C5 =
+ MCG_C5_PRDIV0(5); // config PLL input for 16 MHz Crystal / 6 = 2.667 Hz
#else
- SMC_PMPROT = SMC_PMPROT_AVLP | SMC_PMPROT_ALLS | SMC_PMPROT_AVLLS;
+ MCG_C5 = MCG_C5_PRDIV0(3); // config PLL input for 16 MHz Crystal / 4 = 4 MHz
#endif
-
- // TODO: do this while the PLL is waiting to lock....
- while (dest < &_edata) *dest++ = *src++;
- dest = &_sbss;
- while (dest < &_ebss) *dest++ = 0;
-
- // default all interrupts to medium priority level
- for (i=0; i < NVIC_NUM_INTERRUPTS + 16; i++) _VectorsRam[i] = _VectorsFlash[i];
- for (i=0; i < NVIC_NUM_INTERRUPTS; i++) NVIC_SET_PRIORITY(i, 128);
- SCB_VTOR = (uint32_t)_VectorsRam; // use vector table in RAM
-
- // hardware always starts in FEI mode
- // C1[CLKS] bits are written to 00
- // C1[IREFS] bit is written to 1
- // C6[PLLS] bit is written to 0
-// MCG_SC[FCDIV] defaults to divide by two for internal ref clock
-// I tried changing MSG_SC to divide by 1, it didn't work for me
-#if F_CPU <= 2000000
- #if defined(KINETISK)
- MCG_C1 = MCG_C1_CLKS(1) | MCG_C1_IREFS;
- #elif defined(KINETISL)
- // use the internal oscillator
- MCG_C1 = MCG_C1_CLKS(1) | MCG_C1_IREFS | MCG_C1_IRCLKEN;
- #endif
- // wait for MCGOUT to use oscillator
- while ((MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST(1)) ;
- for (n=0; n<10; n++) ; // TODO: why do we get 2 mA extra without this delay?
- MCG_C2 = MCG_C2_IRCS;
- while (!(MCG_S & MCG_S_IRCST)) ;
- // now in FBI mode:
- // C1[CLKS] bits are written to 01
- // C1[IREFS] bit is written to 1
- // C6[PLLS] is written to 0
- // C2[LP] is written to 0
- MCG_C2 = MCG_C2_IRCS | MCG_C2_LP;
- // now in BLPI mode:
- // C1[CLKS] bits are written to 01
- // C1[IREFS] bit is written to 1
- // C6[PLLS] bit is written to 0
- // C2[LP] bit is written to 1
-#else
- #if defined(KINETISK)
- // enable capacitors for crystal
- OSC0_CR = OSC_SC8P | OSC_SC2P | OSC_ERCLKEN;
- #elif defined(KINETISL)
- // enable capacitors for crystal
- OSC0_CR = OSC_SC8P | OSC_SC2P | OSC_ERCLKEN;
- #endif
- // enable osc, 8-32 MHz range, low power mode
- MCG_C2 = MCG_C2_RANGE0(2) | MCG_C2_EREFS;
- // switch to crystal as clock source, FLL input = 16 MHz / 512
- MCG_C1 = MCG_C1_CLKS(2) | MCG_C1_FRDIV(4);
- // wait for crystal oscillator to begin
- while ((MCG_S & MCG_S_OSCINIT0) == 0) ;
- // wait for FLL to use oscillator
- while ((MCG_S & MCG_S_IREFST) != 0) ;
- // wait for MCGOUT to use oscillator
- while ((MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST(2)) ;
-
- // now in FBE mode
- // C1[CLKS] bits are written to 10
- // C1[IREFS] bit is written to 0
- // C1[FRDIV] must be written to divide xtal to 31.25-39 kHz
- // C6[PLLS] bit is written to 0
- // C2[LP] is written to 0
- #if F_CPU <= 16000000
- // if the crystal is fast enough, use it directly (no FLL or PLL)
- MCG_C2 = MCG_C2_RANGE0(2) | MCG_C2_EREFS | MCG_C2_LP;
- // BLPE mode:
- // C1[CLKS] bits are written to 10
- // C1[IREFS] bit is written to 0
- // C2[LP] bit is written to 1
- #else
- // if we need faster than the crystal, turn on the PLL
- #if defined(__MK66FX1M0__)
- #if F_CPU > 120000000
- SMC_PMCTRL = SMC_PMCTRL_RUNM(3); // enter HSRUN mode
- while (SMC_PMSTAT != SMC_PMSTAT_HSRUN) ; // wait for HSRUN
- #endif
- #if F_CPU == 240000000
- MCG_C5 = MCG_C5_PRDIV0(0);
- MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(14);
- #elif F_CPU == 216000000
- MCG_C5 = MCG_C5_PRDIV0(0);
- MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(11);
- #elif F_CPU == 192000000
- MCG_C5 = MCG_C5_PRDIV0(0);
- MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(8);
- #elif F_CPU == 180000000
- MCG_C5 = MCG_C5_PRDIV0(1);
- MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(29);
- #elif F_CPU == 168000000
- MCG_C5 = MCG_C5_PRDIV0(0);
- MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(5);
- #elif F_CPU == 144000000
- MCG_C5 = MCG_C5_PRDIV0(0);
- MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(2);
- #elif F_CPU == 120000000
- MCG_C5 = MCG_C5_PRDIV0(1);
- MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(14);
- #elif F_CPU == 96000000 || F_CPU == 48000000 || F_CPU == 24000000
- MCG_C5 = MCG_C5_PRDIV0(1);
- MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(8);
- #elif F_CPU == 72000000
- MCG_C5 = MCG_C5_PRDIV0(1);
- MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(2);
- #elif F_CPU > 16000000
- #error "MK66FX1M0 does not support this clock speed yet...."
- #endif
- #else
- #if F_CPU == 72000000
- MCG_C5 = MCG_C5_PRDIV0(5); // config PLL input for 16 MHz Crystal / 6 = 2.667 Hz
- #else
- MCG_C5 = MCG_C5_PRDIV0(3); // config PLL input for 16 MHz Crystal / 4 = 4 MHz
- #endif
- #if F_CPU == 168000000
- MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(18); // config PLL for 168 MHz output
- #elif F_CPU == 144000000
- MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(12); // config PLL for 144 MHz output
- #elif F_CPU == 120000000
- MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(6); // config PLL for 120 MHz output
- #elif F_CPU == 72000000
- MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(3); // config PLL for 72 MHz output
- #elif F_CPU == 96000000 || F_CPU == 48000000 || F_CPU == 24000000
- MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(0); // config PLL for 96 MHz output
- #elif F_CPU > 16000000
- #error "This clock speed isn't supported..."
- #endif
- #endif
-
- // wait for PLL to start using xtal as its input
- while (!(MCG_S & MCG_S_PLLST)) ;
- // wait for PLL to lock
- while (!(MCG_S & MCG_S_LOCK0)) ;
- // now we're in PBE mode
- #endif
-#endif
- // now program the clock dividers
-#if F_CPU == 240000000
- // config divisors: 240 MHz core, 60 MHz bus, 30 MHz flash, USB = 240 / 5
- // TODO: gradual ramp-up for HSRUN mode
- #if F_BUS == 60000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(3) | SIM_CLKDIV1_OUTDIV4(7);
- #elif F_BUS == 80000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(2) | SIM_CLKDIV1_OUTDIV4(7);
- #elif F_BUS == 120000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(7);
- #else
- #error "This F_CPU & F_BUS combination is not supported"
- #endif
- SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(4);
-#elif F_CPU == 216000000
- // config divisors: 216 MHz core, 54 MHz bus, 27 MHz flash, USB = IRC48M
- // TODO: gradual ramp-up for HSRUN mode
- #if F_BUS == 54000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(3) | SIM_CLKDIV1_OUTDIV4(7);
- #elif F_BUS == 72000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(2) | SIM_CLKDIV1_OUTDIV4(7);
- #elif F_BUS == 108000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(7);
- #else
- #error "This F_CPU & F_BUS combination is not supported"
- #endif
- SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(0);
-#elif F_CPU == 192000000
- // config divisors: 192 MHz core, 48 MHz bus, 27.4 MHz flash, USB = 192 / 4
- // TODO: gradual ramp-up for HSRUN mode
- #if F_BUS == 48000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(3) | SIM_CLKDIV1_OUTDIV4(6);
- #elif F_BUS == 64000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(2) | SIM_CLKDIV1_OUTDIV4(6);
- #elif F_BUS == 96000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(6);
- #else
- #error "This F_CPU & F_BUS combination is not supported"
- #endif
- SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(3);
-#elif F_CPU == 180000000
- // config divisors: 180 MHz core, 60 MHz bus, 25.7 MHz flash, USB = IRC48M
- #if F_BUS == 60000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(2) | SIM_CLKDIV1_OUTDIV4(6);
- #elif F_BUS == 90000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(6);
- #else
- #error "This F_CPU & F_BUS combination is not supported"
- #endif
- SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(0);
-#elif F_CPU == 168000000
- // config divisors: 168 MHz core, 56 MHz bus, 28 MHz flash, USB = 168 * 2 / 7
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(2) | SIM_CLKDIV1_OUTDIV4(5);
- SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(6) | SIM_CLKDIV2_USBFRAC;
-#elif F_CPU == 144000000
- // config divisors: 144 MHz core, 48 MHz bus, 28.8 MHz flash, USB = 144 / 3
- #if F_BUS == 48000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(2) | SIM_CLKDIV1_OUTDIV4(4);
- #elif F_BUS == 72000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(4);
- #else
- #error "This F_CPU & F_BUS combination is not supported"
- #endif
- SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(2);
-#elif F_CPU == 120000000
- // config divisors: 120 MHz core, 60 MHz bus, 24 MHz flash, USB = 128 * 2 / 5
- #if F_BUS == 60000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(4);
- #elif F_BUS == 120000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(0) | SIM_CLKDIV1_OUTDIV4(4);
- #else
- #error "This F_CPU & F_BUS combination is not supported"
- #endif
- SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(4) | SIM_CLKDIV2_USBFRAC;
-#elif F_CPU == 96000000
- // config divisors: 96 MHz core, 48 MHz bus, 24 MHz flash, USB = 96 / 2
- #if F_BUS == 48000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(3);
- #elif F_BUS == 96000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(0) | SIM_CLKDIV1_OUTDIV4(3);
- #else
- #error "This F_CPU & F_BUS combination is not supported"
- #endif
- SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(1);
+#if F_CPU == 120000000
+ MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(6); // config PLL for 120 MHz output
#elif F_CPU == 72000000
- // config divisors: 72 MHz core, 36 MHz bus, 24 MHz flash, USB = 72 * 2 / 3
- #if F_BUS == 36000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(2);
- #elif F_BUS == 72000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(0) | SIM_CLKDIV1_OUTDIV4(2);
- #else
- #error "This F_CPU & F_BUS combination is not supported"
- #endif
- SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(2) | SIM_CLKDIV2_USBFRAC;
-#elif F_CPU == 48000000
- // config divisors: 48 MHz core, 48 MHz bus, 24 MHz flash, USB = 96 / 2
- #if defined(KINETISK)
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(1) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV3(1) | SIM_CLKDIV1_OUTDIV4(3);
- SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(1);
- #elif defined(KINETISL)
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(1) | SIM_CLKDIV1_OUTDIV4(1);
- #endif
-#elif F_CPU == 24000000
- // config divisors: 24 MHz core, 24 MHz bus, 24 MHz flash, USB = 96 / 2
- #if defined(KINETISK)
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(3) | SIM_CLKDIV1_OUTDIV2(3) | SIM_CLKDIV1_OUTDIV3(3) | SIM_CLKDIV1_OUTDIV4(3);
- SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(1);
- #elif defined(KINETISL)
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(3) | SIM_CLKDIV1_OUTDIV4(0);
- #endif
-#elif F_CPU == 16000000
- // config divisors: 16 MHz core, 16 MHz bus, 16 MHz flash
- #if defined(KINETISK)
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(0) | SIM_CLKDIV1_OUTDIV3(0) | SIM_CLKDIV1_OUTDIV4(0);
- #elif defined(KINETISL)
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV4(0);
- #endif
-#elif F_CPU == 8000000
- // config divisors: 8 MHz core, 8 MHz bus, 8 MHz flash
- #if defined(KINETISK)
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(1) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV3(1) | SIM_CLKDIV1_OUTDIV4(1);
- #elif defined(KINETISL)
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(1) | SIM_CLKDIV1_OUTDIV4(0);
- #endif
-#elif F_CPU == 4000000
- // config divisors: 4 MHz core, 4 MHz bus, 2 MHz flash
- // since we are running from external clock 16MHz
- // fix outdiv too -> cpu 16/4, bus 16/4, flash 16/4
- // here we can go into vlpr?
- // config divisors: 4 MHz core, 4 MHz bus, 4 MHz flash
- #if defined(KINETISK)
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(3) | SIM_CLKDIV1_OUTDIV2(3) | SIM_CLKDIV1_OUTDIV3(3) | SIM_CLKDIV1_OUTDIV4(3);
- #elif defined(KINETISL)
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(3) | SIM_CLKDIV1_OUTDIV4(0);
- #endif
-#elif F_CPU == 2000000
- // since we are running from the fast internal reference clock 4MHz
- // but is divided down by 2 so we actually have a 2MHz, MCG_SC[FCDIV] default is 2
- // fix outdiv -> cpu 2/1, bus 2/1, flash 2/2
- // config divisors: 2 MHz core, 2 MHz bus, 1 MHz flash
- #if defined(KINETISK)
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(0) | SIM_CLKDIV1_OUTDIV4(1);
- #elif defined(KINETISL)
- // config divisors: 2 MHz core, 1 MHz bus, 1 MHz flash
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV4(1);
- #endif
+ MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(3); // config PLL for 72 MHz output
#else
-#error "Error, F_CPU must be 192, 180, 168, 144, 120, 96, 72, 48, 24, 16, 8, 4, or 2 MHz"
+#error "Unsupported F_CPU"
#endif
-#if F_CPU > 16000000
- // switch to PLL as clock source, FLL input = 16 MHz / 512
- MCG_C1 = MCG_C1_CLKS(0) | MCG_C1_FRDIV(4);
- // wait for PLL clock to be used
- while ((MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST(3)) ;
- // now we're in PEE mode
- // USB uses PLL clock, trace is CPU clock, CLKOUT=OSCERCLK0
- #if defined(KINETISK)
- #if F_CPU == 216000000 || F_CPU == 180000000
- SIM_SOPT2 = SIM_SOPT2_USBSRC | SIM_SOPT2_IRC48SEL | SIM_SOPT2_TRACECLKSEL | SIM_SOPT2_CLKOUTSEL(6);
- #else
- SIM_SOPT2 = SIM_SOPT2_USBSRC | SIM_SOPT2_PLLFLLSEL | SIM_SOPT2_TRACECLKSEL | SIM_SOPT2_CLKOUTSEL(6);
- #endif
- #elif defined(KINETISL)
- SIM_SOPT2 = SIM_SOPT2_USBSRC | SIM_SOPT2_PLLFLLSEL | SIM_SOPT2_CLKOUTSEL(6)
- | SIM_SOPT2_UART0SRC(1) | SIM_SOPT2_TPMSRC(1);
- #endif
+ // wait for PLL to start using xtal as its input
+ while (!(MCG_S & MCG_S_PLLST)) {
+ }
+ // wait for PLL to lock
+ while (!(MCG_S & MCG_S_LOCK0)) {
+ }
+ // now we're in PBE mode
+ // now program the clock dividers
+#if F_CPU == 120000000
+ // config divisors: 120 MHz core, 60 MHz bus, 24 MHz flash, USB = 128 * 2 / 5
+ SIM_CLKDIV1 =
+ SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(4);
+ SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(4) | SIM_CLKDIV2_USBFRAC;
+#elif F_CPU == 72000000
+ // config divisors: 72 MHz core, 36 MHz bus, 24 MHz flash, USB = 72 * 2 / 3
+ SIM_CLKDIV1 =
+ SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(2);
+ SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(2) | SIM_CLKDIV2_USBFRAC;
#else
-
-#if F_CPU == 2000000
- SIM_SOPT2 = SIM_SOPT2_TRACECLKSEL | SIM_SOPT2_CLKOUTSEL(4) | SIM_SOPT2_UART0SRC(3);
-#else
- SIM_SOPT2 = SIM_SOPT2_TRACECLKSEL | SIM_SOPT2_CLKOUTSEL(6) | SIM_SOPT2_UART0SRC(2);
-#endif
-
+#error "Unsupported F_CPU"
#endif
-#if F_CPU <= 2000000
- // since we are not going into "stop mode" i removed it
- SMC_PMCTRL = SMC_PMCTRL_RUNM(2); // VLPR mode :-)
-#endif
+ // switch to PLL as clock source, FLL input = 16 MHz / 512
+ MCG_C1 = MCG_C1_CLKS(0) | MCG_C1_FRDIV(4);
+ // wait for PLL clock to be used
+ while ((MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST(3)) {
+ }
+ // now we're in PEE mode
+ // USB uses PLL clock, trace is CPU clock, CLKOUT=OSCERCLK0
+ SIM_SOPT2 = SIM_SOPT2_USBSRC | SIM_SOPT2_PLLFLLSEL | SIM_SOPT2_TRACECLKSEL |
+ SIM_SOPT2_CLKOUTSEL(6);
- // initialize the SysTick counter
- SYST_RVR = (F_CPU / 1000) - 1;
- SYST_CVR = 0;
- SYST_CSR = SYST_CSR_CLKSOURCE | SYST_CSR_TICKINT | SYST_CSR_ENABLE;
- SCB_SHPR3 = 0x20200000; // Systick = priority 32
+ // initialize the SysTick counter
+ SYST_RVR = (F_CPU / 1000) - 1;
+ SYST_CVR = 0;
+ SYST_CSR = SYST_CSR_CLKSOURCE | SYST_CSR_TICKINT | SYST_CSR_ENABLE;
+ SCB_SHPR3 = 0x20200000; // Systick = priority 32
- //init_pins();
- __enable_irq();
+ __enable_irq();
- _init_Teensyduino_internal_();
+ __libc_init_array();
-#if defined(KINETISK)
- // RTC initialization
- if (RTC_SR & RTC_SR_TIF) {
- // this code will normally run on a power-up reset
- // when VBAT has detected a power-up. Normally our
- // compiled-in time will be stale. Write a special
- // flag into the VBAT register file indicating the
- // RTC is set with known-stale time and should be
- // updated when fresh time is known.
- #if ARDUINO >= 10600
- rtc_set((uint32_t)&__rtc_localtime);
- #else
- rtc_set(TIME_T);
- #endif
- *(uint32_t *)0x4003E01C = 0x5A94C3A5;
- }
- if ((RCM_SRS0 & RCM_SRS0_PIN) && (*(uint32_t *)0x4003E01C == 0x5A94C3A5)) {
- // this code should run immediately after an upload
- // where the Teensy Loader causes the Mini54 to reset.
- // Our compiled-in time will be very fresh, so set
- // the RTC with this, and clear the VBAT resister file
- // data so we don't mess with the time after it's been
- // set well.
- #if ARDUINO >= 10600
- rtc_set((uint32_t)&__rtc_localtime);
- #else
- rtc_set(TIME_T);
- #endif
- *(uint32_t *)0x4003E01C = 0;
- }
-#endif
-
- __libc_init_array();
-
- startup_late_hook();
- main();
- while (1) ;
+ main();
+ while (1) {
+ }
}
char *__brkval = (char *)&_ebss;
#ifndef STACK_MARGIN
#if defined(__MKL26Z64__)
-#define STACK_MARGIN 512
+#define STACK_MARGIN 512
#elif defined(__MK20DX128__)
-#define STACK_MARGIN 1024
+#define STACK_MARGIN 1024
#elif defined(__MK20DX256__)
-#define STACK_MARGIN 4096
+#define STACK_MARGIN 4096
#elif defined(__MK64FX512__) || defined(__MK66FX1M0__)
-#define STACK_MARGIN 8192
+#define STACK_MARGIN 8192
#endif
#endif
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-parameter"
+void *_sbrk(int incr) {
+ char *prev, *stack;
-void * _sbrk(int incr)
-{
- char *prev, *stack;
-
- prev = __brkval;
- if (incr != 0) {
- __asm__ volatile("mov %0, sp" : "=r" (stack) ::);
- if (prev + incr >= stack - STACK_MARGIN) {
- errno = ENOMEM;
- return (void *)-1;
- }
- __brkval = prev + incr;
- }
- return prev;
+ prev = __brkval;
+ if (incr != 0) {
+ __asm__ volatile("mov %0, sp" : "=r"(stack)::);
+ if (prev + incr >= stack - STACK_MARGIN) {
+ errno = ENOMEM;
+ return (void *)-1;
+ }
+ __brkval = prev + incr;
+ }
+ return prev;
}
-__attribute__((weak))
-int _read(int file, char *ptr, int len)
-{
- return 0;
+#undef STACK_MARGIN
+
+__attribute__((weak)) int _read(int file, char *ptr, int len) {
+ (void)file;
+ (void)ptr;
+ (void)len;
+ return 0;
}
-__attribute__((weak))
-int _close(int fd)
-{
- return -1;
+__attribute__((weak)) int _close(int fd) {
+ (void)fd;
+ return -1;
}
#include <sys/stat.h>
-__attribute__((weak))
-int _fstat(int fd, struct stat *st)
-{
- st->st_mode = S_IFCHR;
- return 0;
+__attribute__((weak)) int _fstat(int fd, struct stat *st) {
+ (void)fd;
+ st->st_mode = S_IFCHR;
+ return 0;
}
-__attribute__((weak))
-int _isatty(int fd)
-{
- return 1;
+__attribute__((weak)) int _isatty(int fd) {
+ (void)fd;
+ return 1;
}
-__attribute__((weak))
-int _lseek(int fd, long long offset, int whence)
-{
- return -1;
+__attribute__((weak)) int _lseek(int fd, long long offset, int whence) {
+ (void)fd;
+ (void)offset;
+ (void)whence;
+ return -1;
}
-__attribute__((weak))
-void _exit(int status)
-{
- while (1);
+__attribute__((weak)) void _exit(int status) {
+ (void)status;
+ while (1) {
+ }
}
-__attribute__((weak))
-void __cxa_pure_virtual()
-{
- while (1);
+__attribute__((weak)) void _kill(pid_t pid, int signal) {
+ (void)pid;
+ (void)signal;
+ while (1) {
+ }
}
-__attribute__((weak))
-int __cxa_guard_acquire (char *g)
-{
- return !(*g);
+__attribute__((weak)) int _getpid() { return -1; }
+
+__attribute__((weak)) void __cxa_pure_virtual() {
+ while (1) {
+ }
}
-__attribute__((weak))
-void __cxa_guard_release(char *g)
-{
- *g = 1;
-}
+__attribute__((weak)) int __cxa_guard_acquire(char *g) { return !(*g); }
-#pragma GCC diagnostic pop
-
-int nvic_execution_priority(void)
-{
- uint32_t priority=256;
- uint32_t primask, faultmask, basepri, ipsr;
-
- // full algorithm in ARM DDI0403D, page B1-639
- // this isn't quite complete, but hopefully good enough
- __asm__ volatile("mrs %0, faultmask\n" : "=r" (faultmask)::);
- if (faultmask) return -1;
- __asm__ volatile("mrs %0, primask\n" : "=r" (primask)::);
- if (primask) return 0;
- __asm__ volatile("mrs %0, ipsr\n" : "=r" (ipsr)::);
- if (ipsr) {
- if (ipsr < 16) priority = 0; // could be non-zero
- else priority = NVIC_GET_PRIORITY(ipsr - 16);
- }
- __asm__ volatile("mrs %0, basepri\n" : "=r" (basepri)::);
- if (basepri > 0 && basepri < priority) priority = basepri;
- return priority;
-}
-
+__attribute__((weak)) void __cxa_guard_release(char *g) { *g = 1; }
#if defined(HAS_KINETIS_HSRUN) && F_CPU > 120000000
-int kinetis_hsrun_disable(void)
-{
- if (SMC_PMSTAT == SMC_PMSTAT_HSRUN) {
- // First, reduce the CPU clock speed, but do not change
- // the peripheral speed (F_BUS). Serial1 & Serial2 baud
- // rates will be impacted, but most other peripherals
- // will continue functioning at the same speed.
- #if F_CPU == 240000000 && F_BUS == 60000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 3, 1, 7); // ok
- #elif F_CPU == 240000000 && F_BUS == 80000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(2, 2, 2, 8); // ok
- #elif F_CPU == 240000000 && F_BUS == 120000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 1, 1, 7); // ok
- #elif F_CPU == 216000000 && F_BUS == 54000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 3, 1, 7); // ok
- #elif F_CPU == 216000000 && F_BUS == 72000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(2, 2, 2, 8); // ok
- #elif F_CPU == 216000000 && F_BUS == 108000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 1, 1, 7); // ok
- #elif F_CPU == 192000000 && F_BUS == 48000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 3, 1, 7); // ok
- #elif F_CPU == 192000000 && F_BUS == 64000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(2, 2, 2, 8); // ok
- #elif F_CPU == 192000000 && F_BUS == 96000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 1, 1, 7); // ok
- #elif F_CPU == 180000000 && F_BUS == 60000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(2, 2, 2, 8); // ok
- #elif F_CPU == 180000000 && F_BUS == 90000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 1, 1, 7); // ok
- #elif F_CPU == 168000000 && F_BUS == 56000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(2, 2, 2, 5); // ok
- #elif F_CPU == 144000000 && F_BUS == 48000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(2, 2, 2, 5); // ok
- #elif F_CPU == 144000000 && F_BUS == 72000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 1, 1, 5); // ok
- #else
- return 0;
- #endif
- // Then turn off HSRUN mode
- SMC_PMCTRL = SMC_PMCTRL_RUNM(0);
- while (SMC_PMSTAT == SMC_PMSTAT_HSRUN) ; // wait
- return 1;
- }
- return 0;
+int kinetis_hsrun_disable(void) {
+ if (SMC_PMSTAT == SMC_PMSTAT_HSRUN) {
+// First, reduce the CPU clock speed, but do not change
+// the peripheral speed (F_BUS). Serial1 & Serial2 baud
+// rates will be impacted, but most other peripherals
+// will continue functioning at the same speed.
+#if F_CPU == 240000000 && F_BUS == 60000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 3, 1, 7); // ok
+#elif F_CPU == 240000000 && F_BUS == 80000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(2, 2, 2, 8); // ok
+#elif F_CPU == 240000000 && F_BUS == 120000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 1, 1, 7); // ok
+#elif F_CPU == 216000000 && F_BUS == 54000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 3, 1, 7); // ok
+#elif F_CPU == 216000000 && F_BUS == 72000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(2, 2, 2, 8); // ok
+#elif F_CPU == 216000000 && F_BUS == 108000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 1, 1, 7); // ok
+#elif F_CPU == 192000000 && F_BUS == 48000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 3, 1, 7); // ok
+#elif F_CPU == 192000000 && F_BUS == 64000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(2, 2, 2, 8); // ok
+#elif F_CPU == 192000000 && F_BUS == 96000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 1, 1, 7); // ok
+#elif F_CPU == 180000000 && F_BUS == 60000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(2, 2, 2, 8); // ok
+#elif F_CPU == 180000000 && F_BUS == 90000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 1, 1, 7); // ok
+#elif F_CPU == 168000000 && F_BUS == 56000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(2, 2, 2, 5); // ok
+#elif F_CPU == 144000000 && F_BUS == 48000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(2, 2, 2, 5); // ok
+#elif F_CPU == 144000000 && F_BUS == 72000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(1, 1, 1, 5); // ok
+#else
+ return 0;
+#endif
+ // Then turn off HSRUN mode
+ SMC_PMCTRL = SMC_PMCTRL_RUNM(0);
+ while (SMC_PMSTAT == SMC_PMSTAT_HSRUN)
+ ; // wait
+ return 1;
+ }
+ return 0;
}
-int kinetis_hsrun_enable(void)
-{
- if (SMC_PMSTAT == SMC_PMSTAT_RUN) {
- // Turn HSRUN mode on
- SMC_PMCTRL = SMC_PMCTRL_RUNM(3);
- while (SMC_PMSTAT != SMC_PMSTAT_HSRUN) {;} // wait
- // Then configure clock for full speed
- #if F_CPU == 240000000 && F_BUS == 60000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 3, 0, 7);
- #elif F_CPU == 240000000 && F_BUS == 80000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 2, 0, 7);
- #elif F_CPU == 240000000 && F_BUS == 120000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 1, 0, 7);
- #elif F_CPU == 216000000 && F_BUS == 54000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 3, 0, 7);
- #elif F_CPU == 216000000 && F_BUS == 72000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 2, 0, 7);
- #elif F_CPU == 216000000 && F_BUS == 108000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 1, 0, 7);
- #elif F_CPU == 192000000 && F_BUS == 48000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 3, 0, 6);
- #elif F_CPU == 192000000 && F_BUS == 64000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 2, 0, 6);
- #elif F_CPU == 192000000 && F_BUS == 96000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 1, 0, 6);
- #elif F_CPU == 180000000 && F_BUS == 60000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 2, 0, 6);
- #elif F_CPU == 180000000 && F_BUS == 90000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 1, 0, 6);
- #elif F_CPU == 168000000 && F_BUS == 56000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 2, 0, 5);
- #elif F_CPU == 144000000 && F_BUS == 48000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 2, 0, 4);
- #elif F_CPU == 144000000 && F_BUS == 72000000
- SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 1, 0, 4);
- #else
- return 0;
- #endif
- return 1;
- }
- return 0;
+int kinetis_hsrun_enable(void) {
+ if (SMC_PMSTAT == SMC_PMSTAT_RUN) {
+ // Turn HSRUN mode on
+ SMC_PMCTRL = SMC_PMCTRL_RUNM(3);
+ while (SMC_PMSTAT != SMC_PMSTAT_HSRUN) {
+ ;
+ } // wait
+// Then configure clock for full speed
+#if F_CPU == 240000000 && F_BUS == 60000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 3, 0, 7);
+#elif F_CPU == 240000000 && F_BUS == 80000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 2, 0, 7);
+#elif F_CPU == 240000000 && F_BUS == 120000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 1, 0, 7);
+#elif F_CPU == 216000000 && F_BUS == 54000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 3, 0, 7);
+#elif F_CPU == 216000000 && F_BUS == 72000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 2, 0, 7);
+#elif F_CPU == 216000000 && F_BUS == 108000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 1, 0, 7);
+#elif F_CPU == 192000000 && F_BUS == 48000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 3, 0, 6);
+#elif F_CPU == 192000000 && F_BUS == 64000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 2, 0, 6);
+#elif F_CPU == 192000000 && F_BUS == 96000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 1, 0, 6);
+#elif F_CPU == 180000000 && F_BUS == 60000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 2, 0, 6);
+#elif F_CPU == 180000000 && F_BUS == 90000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 1, 0, 6);
+#elif F_CPU == 168000000 && F_BUS == 56000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 2, 0, 5);
+#elif F_CPU == 144000000 && F_BUS == 48000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 2, 0, 4);
+#elif F_CPU == 144000000 && F_BUS == 72000000
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIVS(0, 1, 0, 4);
+#else
+ return 0;
+#endif
+ return 1;
+ }
+ return 0;
}
-#endif // HAS_KINETIS_HSRUN && F_CPU > 120000000
-
+#endif // HAS_KINETIS_HSRUN && F_CPU > 120000000
diff --git a/motors/core/mk64fx512.ld b/motors/core/mk64fx512.ld
index 92aab68..43a63ad 100644
--- a/motors/core/mk64fx512.ld
+++ b/motors/core/mk64fx512.ld
@@ -30,83 +30,91 @@
MEMORY
{
- FLASH (rx) : ORIGIN = 0x00000000, LENGTH = 512K
- RAM (rwx) : ORIGIN = 0x1FFF0000, LENGTH = 192K
+ FLASH (rx) : ORIGIN = 0x00000000, LENGTH = 512K
+ RAM (rwx) : ORIGIN = 0x1FFF0000, LENGTH = 192K
}
SECTIONS
{
- .text : {
- . = 0;
- KEEP(*(.vectors))
- *(.startup*)
- /* TODO: does linker detect startup overflow onto flashconfig? */
- . = 0x400;
- KEEP(*(.flashconfig*))
- *(.text*)
- *(.rodata*)
- . = ALIGN(4);
- KEEP(*(.init))
- . = ALIGN(4);
- __preinit_array_start = .;
- KEEP (*(.preinit_array))
- __preinit_array_end = .;
- __init_array_start = .;
- KEEP (*(SORT(.init_array.*)))
- KEEP (*(.init_array))
- __init_array_end = .;
- } > FLASH = 0xFF
+ .text : {
+ . = 0;
+ KEEP(*(.vectors))
+ *(.startup*)
+ . = 0x400;
+ KEEP(*(.flashconfig*))
+ *(SORT_BY_ALIGNMENT(.text*))
+ *(SORT_BY_ALIGNMENT(.rodata*))
+ . = ALIGN(4);
+ KEEP(*(.init))
+ . = ALIGN(4);
+ __preinit_array_start = .;
+ KEEP (*(.preinit_array))
+ __preinit_array_end = .;
+ __init_array_start = .;
+ KEEP (*(SORT(.init_array.*)))
+ KEEP (*(.init_array))
+ __init_array_end = .;
+ } > FLASH = 0xFF
- .ARM.exidx : {
- __exidx_start = .;
- *(.ARM.exidx* .gnu.linkonce.armexidx.*)
- __exidx_end = .;
- } > FLASH
- _etext = .;
+ .ARM.exidx : {
+ __exidx_start = .;
+ *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+ __exidx_end = .;
+ } > FLASH
+ _etext = .;
- .usbdescriptortable (NOLOAD) : {
- /* . = ORIGIN(RAM); */
- . = ALIGN(512);
- *(.usbdescriptortable*)
- } > RAM
+ .usbdescriptortable (NOLOAD) : {
+ /* . = ORIGIN(RAM); */
+ _sram = .;
+ . = ALIGN(512);
+ *(.usbdescriptortable*)
+ } > RAM
- .dmabuffers (NOLOAD) : {
- . = ALIGN(4);
- *(.dmabuffers*)
- } > RAM
+ .dmabuffers (NOLOAD) : {
+ . = ALIGN(4);
+ *(.dmabuffers*)
+ } > RAM
- .usbbuffers (NOLOAD) : {
- . = ALIGN(4);
- *(.usbbuffers*)
- } > RAM
+ .usbbuffers (NOLOAD) : {
+ . = ALIGN(4);
+ *(.usbbuffers*)
+ } > RAM
- .data : AT (_etext) {
- . = ALIGN(4);
- _sdata = .;
- *(.fastrun*)
- *(.data*)
- . = ALIGN(4);
- _edata = .;
- } > RAM
+ .data : AT (_etext) {
+ . = ALIGN(4);
+ _sdata = .;
+ *(SORT_BY_ALIGNMENT(.data*))
+ . = ALIGN(4);
+ _edata = .;
+ } > RAM
- .noinit (NOLOAD) : {
- *(.noinit*)
- } > RAM
+ .noinit (NOLOAD) : {
+ *(.noinit*)
+ } > RAM
- .bss : {
- . = ALIGN(4);
- _sbss = .;
- __bss_start__ = .;
- *(.bss*)
- *(COMMON)
- . = ALIGN(4);
- _ebss = .;
- __bss_end = .;
- __bss_end__ = .;
- } > RAM
+ .bss : {
+ . = ALIGN(4);
+ _sbss = .;
+ __bss_start__ = .;
+ *(SORT_BY_ALIGNMENT(.bss*))
+ /* Stupid precompiled libc has common symbols, so stick them in. */
+ */libc_nano.a:*(COMMON)
+ . = ALIGN(4);
+ _ebss = .;
+ __bss_end = .;
+ __bss_end__ = .;
+ } > RAM
- _estack = ORIGIN(RAM) + LENGTH(RAM);
+ /* We don't want any common symbols, so just don't include them which results
+ * in linker errors if any do show up somehow.
+ * Contrary to sanity, even with --orphan-handling=error the linker will still
+ * do normal orphan section handling with COMMON... */
+ /DISCARD/ : {
+ *(COMMON);
+ }
+
+ _estack = ORIGIN(RAM) + LENGTH(RAM);
}
diff --git a/motors/core/nonstd.c b/motors/core/nonstd.c
index 286c161..88f35b3 100644
--- a/motors/core/nonstd.c
+++ b/motors/core/nonstd.c
@@ -28,7 +28,7 @@
* SOFTWARE.
*/
-#include "avr_functions.h"
+#include "motors/core/nonstd.h"
#include <string.h>
#include <stdlib.h>
#include <math.h>
@@ -163,7 +163,7 @@
// shift decimal point
while (newPrecision > 0) {
- val *= 10.0;
+ val *= 10.0f;
newPrecision--;
}
@@ -171,7 +171,7 @@
s = fcvtf(val, newPrecision, &newDecimalPoint, &sign);
// if rounded up to new digit (e.g. 0.09 to 0.1), move decimal point
- if (newDecimalPoint - decpt == precision + 1) decpt++;
+ if (newDecimalPoint - decpt == (int)precision + 1) decpt++;
}
}
diff --git a/motors/core/nonstd.h b/motors/core/nonstd.h
index 977c5e9..f968c64 100644
--- a/motors/core/nonstd.h
+++ b/motors/core/nonstd.h
@@ -28,8 +28,8 @@
* SOFTWARE.
*/
-#ifndef _avr_functions_h_
-#define _avr_functions_h_
+#ifndef CORE_NONSTD_H_
+#define CORE_NONSTD_H_
#include <inttypes.h>
@@ -37,61 +37,6 @@
extern "C" {
#endif
-void eeprom_initialize(void);
-uint8_t eeprom_read_byte(const uint8_t *addr) __attribute__ ((pure));
-uint16_t eeprom_read_word(const uint16_t *addr) __attribute__ ((pure));
-uint32_t eeprom_read_dword(const uint32_t *addr) __attribute__ ((pure));
-void eeprom_read_block(void *buf, const void *addr, uint32_t len);
-void eeprom_write_byte(uint8_t *addr, uint8_t value);
-void eeprom_write_word(uint16_t *addr, uint16_t value);
-void eeprom_write_dword(uint32_t *addr, uint32_t value);
-void eeprom_write_block(const void *buf, void *addr, uint32_t len);
-int eeprom_is_ready(void);
-#define eeprom_busy_wait() do {} while (!eeprom_is_ready())
-
-static inline float eeprom_read_float(const float *addr) __attribute__((pure, always_inline, unused));
-static inline float eeprom_read_float(const float *addr)
-{
- union {float f; uint32_t u32;} u;
- u.u32 = eeprom_read_dword((const uint32_t *)addr);
- return u.f;
-}
-static inline void eeprom_write_float(float *addr, float value) __attribute__((always_inline, unused));
-static inline void eeprom_write_float(float *addr, float value)
-{
- union {float f; uint32_t u32;} u;
- u.f = value;
- eeprom_write_dword((uint32_t *)addr, u.u32);
-}
-static inline void eeprom_update_byte(uint8_t *addr, uint8_t value) __attribute__((always_inline, unused));
-static inline void eeprom_update_byte(uint8_t *addr, uint8_t value)
-{
- eeprom_write_byte(addr, value);
-}
-static inline void eeprom_update_word(uint16_t *addr, uint16_t value) __attribute__((always_inline, unused));
-static inline void eeprom_update_word(uint16_t *addr, uint16_t value)
-{
- eeprom_write_word(addr, value);
-}
-static inline void eeprom_update_dword(uint32_t *addr, uint32_t value) __attribute__((always_inline, unused));
-static inline void eeprom_update_dword(uint32_t *addr, uint32_t value)
-{
- eeprom_write_dword(addr, value);
-}
-static inline void eeprom_update_float(float *addr, float value) __attribute__((always_inline, unused));
-static inline void eeprom_update_float(float *addr, float value)
-{
- union {float f; uint32_t u32;} u;
- u.f = value;
- eeprom_write_dword((uint32_t *)addr, u.u32);
-}
-static inline void eeprom_update_block(const void *buf, void *addr, uint32_t len) __attribute__((always_inline, unused));
-static inline void eeprom_update_block(const void *buf, void *addr, uint32_t len)
-{
- eeprom_write_block(buf, addr, len);
-}
-
-
char * ultoa(unsigned long val, char *buf, int radix);
char * ltoa(long val, char *buf, int radix);
@@ -104,8 +49,8 @@
char * dtostrf(float val, int width, unsigned int precision, char *buf);
-
#ifdef __cplusplus
}
#endif
-#endif
+
+#endif // CORE_NONSTD_H_
diff --git a/motors/core/time.c b/motors/core/time.c
new file mode 100644
index 0000000..48800a2
--- /dev/null
+++ b/motors/core/time.c
@@ -0,0 +1,34 @@
+#include "motors/core/time.h"
+
+#include "motors/core/kinetis.h"
+
+// The systick interrupt increments this every 1ms.
+volatile uint32_t systick_millis_count = 0;
+
+uint32_t micros(void) {
+ __disable_irq();
+ uint32_t current = SYST_CVR;
+ uint32_t count = systick_millis_count;
+ const uint32_t istatus = SCB_ICSR;
+ __enable_irq();
+ // If the interrupt is pending and the timer has already wrapped from 0 back
+ // up to its max, then add another ms.
+ if ((istatus & SCB_ICSR_PENDSTSET) && current > 50) count++;
+ current = ((F_CPU / 1000) - 1) - current;
+ return count * 1000 + current / (F_CPU / 1000000);
+}
+
+void delay(uint32_t ms) { delay_from(micros(), ms); }
+
+uint32_t delay_from(uint32_t start, uint32_t ms) {
+ if (ms > 0) {
+ while (1) {
+ while ((uint32_t)(micros() - start) >= 1000u) {
+ ms--;
+ start += 1000;
+ if (ms == 0) return start;
+ }
+ }
+ }
+ return start;
+}
diff --git a/motors/core/time.h b/motors/core/time.h
new file mode 100644
index 0000000..9befab6
--- /dev/null
+++ b/motors/core/time.h
@@ -0,0 +1,40 @@
+#ifndef CORE_TIME_H_
+#define CORE_TIME_H_
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// Returns the current number of microseconds. This will wrap naturally.
+uint32_t micros(void);
+
+// Delays for the specified number of milliseconds.
+void delay(uint32_t ms);
+
+// Delays for the specified number of milliseconds relative to the starting
+// microsecond value. Returns the ending microsecond value.
+//
+// This lets you hit an accurate absolute loop time with variable length
+// calculations in the loop. It will handle wrapping correctly.
+uint32_t delay_from(uint32_t start, uint32_t ms);
+
+// Ways to add and subtract times without weird promotions to make sure wrapping
+// works correctly.
+static inline uint32_t time_add(uint32_t a, uint32_t b) { return a + b; }
+static inline uint32_t time_subtract(uint32_t a, uint32_t b) { return a - b; }
+
+// Returns 1 iff a is "after" b. This will do as well as it can in the presence
+// of wrapping, but comparing times more than a half wrap apart will return the
+// "wrong" answer.
+static inline int time_after(uint32_t a, uint32_t b) {
+ return (a - b - 1) < (uint32_t)(1u << 31);
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // CORE_TIME_H_
diff --git a/motors/medium_salsa.cc b/motors/medium_salsa.cc
new file mode 100644
index 0000000..1a899b1
--- /dev/null
+++ b/motors/medium_salsa.cc
@@ -0,0 +1,76 @@
+#include "motors/core/kinetis.h"
+
+#include <stdio.h>
+
+#include "motors/core/time.h"
+#include "motors/usb/usb_serial.h"
+#include "motors/util.h"
+
+namespace frc971 {
+namespace salsa {
+
+extern "C" {
+void *__stack_chk_guard = (void *)0x67111971;
+extern void usb_init();
+int _write(int file, char *ptr, int len) {
+ (void)file;
+ return usb_serial_write(0, ptr, len);
+}
+
+void __stack_chk_fail(void);
+
+extern char *__brkval;
+extern unsigned long _ebss;
+extern unsigned long _sram;
+extern unsigned long _estack;
+
+} // extern "C"
+
+extern "C" int main(void) {
+ // for background about this startup delay, please see these conversations
+ // https://forum.pjrc.com/threads/36606-startup-time-(400ms)?p=113980&viewfull=1#post113980
+ // https://forum.pjrc.com/threads/31290-Teensey-3-2-Teensey-Loader-1-24-Issues?p=87273&viewfull=1#post87273
+ delay(400);
+
+ // Set all interrupts to the second-lowest priority to start with.
+ for (int i = 0; i < NVIC_NUM_INTERRUPTS; i++) NVIC_SET_SANE_PRIORITY(i, 0xD);
+
+ // Now set priorities for all the ones we care about. They only have meaning
+ // relative to each other, which means centralizing them here makes it a lot
+ // more manageable.
+ NVIC_SET_SANE_PRIORITY(IRQ_USBOTG, 0x7);
+
+ // Set the LED's pin to output mode.
+ GPIO_BITBAND(GPIOC_PDDR, 5) = 1;
+ PORTC_PCR5 = PORT_PCR_DSE | PORT_PCR_MUX(1);
+
+ usb_serial_init();
+ usb_descriptor_set_product_id(0x0490);
+ usb_init();
+
+ // Give everything a chance to get going.
+ delay(100);
+
+ printf("Ram start: %p\n", &_sram);
+ printf("Heap start: %p\n", &_ebss);
+ printf("Heap end: %p\n", __brkval);
+ printf("Stack start: %p\n", &_estack);
+
+ GPIOC_PSOR = 1 << 5;
+
+ while (true) {}
+ return 0;
+}
+
+void __stack_chk_fail(void) {
+ while (true) {
+ GPIOC_PSOR = (1 << 5);
+ printf("Stack corruption detected\n");
+ delay(1000);
+ GPIOC_PCOR = (1 << 5);
+ delay(1000);
+ }
+}
+
+} // namespace salsa
+} // namespace frc971
diff --git a/motors/usb/BUILD b/motors/usb/BUILD
new file mode 100644
index 0000000..801f926
--- /dev/null
+++ b/motors/usb/BUILD
@@ -0,0 +1,24 @@
+cc_library(
+ name = 'usb',
+ visibility = ['//visibility:public'],
+ hdrs = [
+ 'usb_desc.h',
+ 'usb_serial.h',
+ 'usb_dev.h',
+ ],
+ srcs = [
+ 'usb_mem.h',
+ 'usb_names.h',
+
+ 'usb_desc.c',
+ 'usb_serial.c',
+ 'usb_dev.c',
+ 'usb_mem.c',
+ ],
+ defines = [
+ 'USB_SERIAL=1',
+ ],
+ deps = [
+ '//motors/core',
+ ],
+)
diff --git a/motors/usb/usb_desc.c b/motors/usb/usb_desc.c
index efb50a8..62ed242 100644
--- a/motors/usb/usb_desc.c
+++ b/motors/usb/usb_desc.c
@@ -31,11 +31,11 @@
#if F_CPU >= 20000000
#define USB_DESC_LIST_DEFINE
-#include "usb_desc.h"
+#include "motors/usb/usb_desc.h"
#ifdef NUM_ENDPOINTS
-#include "usb_names.h"
-#include "kinetis.h"
-#include "avr_functions.h"
+#include "motors/usb/usb_names.h"
+#include "motors/core/kinetis.h"
+#include "motors/core/nonstd.h"
// USB Descriptors are binary data which the USB host reads to
// automatically detect a USB device's capabilities. The format
@@ -470,7 +470,14 @@
#define CDC_DATA_INTERFACE_DESC_SIZE 0
#endif
-#define MIDI_INTERFACE_DESC_POS CDC_DATA_INTERFACE_DESC_POS+CDC_DATA_INTERFACE_DESC_SIZE
+#define CDC2_DATA_INTERFACE_DESC_POS CDC_DATA_INTERFACE_DESC_POS+CDC_DATA_INTERFACE_DESC_SIZE
+#ifdef CDC2_DATA_INTERFACE
+#define CDC2_DATA_INTERFACE_DESC_SIZE 9+5+5+4+5+7+9+7+7
+#else
+#define CDC2_DATA_INTERFACE_DESC_SIZE 0
+#endif
+
+#define MIDI_INTERFACE_DESC_POS CDC2_DATA_INTERFACE_DESC_POS+CDC2_DATA_INTERFACE_DESC_SIZE
#ifdef MIDI_INTERFACE
#define MIDI_INTERFACE_DESC_SIZE 9+7+6+6+9+9+9+5+9+5
#else
@@ -655,6 +662,72 @@
0, // bInterval
#endif // CDC_DATA_INTERFACE
+#ifdef CDC2_DATA_INTERFACE
+ // interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
+ 9, // bLength
+ 4, // bDescriptorType
+ CDC2_STATUS_INTERFACE, // bInterfaceNumber
+ 0, // bAlternateSetting
+ 1, // bNumEndpoints
+ 0x02, // bInterfaceClass
+ 0x02, // bInterfaceSubClass
+ 0x01, // bInterfaceProtocol
+ 0, // iInterface
+ // CDC Header Functional Descriptor, CDC Spec 5.2.3.1, Table 26
+ 5, // bFunctionLength
+ 0x24, // bDescriptorType
+ 0x00, // bDescriptorSubtype
+ 0x10, 0x01, // bcdCDC
+ // Call Management Functional Descriptor, CDC Spec 5.2.3.2, Table 27
+ 5, // bFunctionLength
+ 0x24, // bDescriptorType
+ 0x01, // bDescriptorSubtype
+ 0x01, // bmCapabilities
+ 1, // bDataInterface
+ // Abstract Control Management Functional Descriptor, CDC Spec 5.2.3.3, Table 28
+ 4, // bFunctionLength
+ 0x24, // bDescriptorType
+ 0x02, // bDescriptorSubtype
+ 0x06, // bmCapabilities
+ // Union Functional Descriptor, CDC Spec 5.2.3.8, Table 33
+ 5, // bFunctionLength
+ 0x24, // bDescriptorType
+ 0x06, // bDescriptorSubtype
+ CDC2_STATUS_INTERFACE, // bMasterInterface
+ CDC2_DATA_INTERFACE, // bSlaveInterface0
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ CDC2_ACM_ENDPOINT | 0x80, // bEndpointAddress
+ 0x03, // bmAttributes (0x03=intr)
+ CDC_ACM_SIZE, 0, // wMaxPacketSize
+ 64, // bInterval
+ // interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
+ 9, // bLength
+ 4, // bDescriptorType
+ CDC2_DATA_INTERFACE, // bInterfaceNumber
+ 0, // bAlternateSetting
+ 2, // bNumEndpoints
+ 0x0A, // bInterfaceClass
+ 0x00, // bInterfaceSubClass
+ 0x00, // bInterfaceProtocol
+ 0, // iInterface
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ CDC2_RX_ENDPOINT, // bEndpointAddress
+ 0x02, // bmAttributes (0x02=bulk)
+ CDC_RX_SIZE, 0, // wMaxPacketSize
+ 0, // bInterval
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ CDC2_TX_ENDPOINT | 0x80, // bEndpointAddress
+ 0x02, // bmAttributes (0x02=bulk)
+ CDC_TX_SIZE, 0, // wMaxPacketSize
+ 0, // bInterval
+#endif // CDC_DATA_INTERFACE
+
#ifdef MIDI_INTERFACE
// Standard MS Interface Descriptor,
9, // bLength
@@ -1310,14 +1383,14 @@
FTFL_FCCOB1 = 15;
FTFL_FSTAT = FTFL_FSTAT_CCIF;
while (!(FTFL_FSTAT & FTFL_FSTAT_CCIF)) ; // wait
- num = *(uint32_t *)&FTFL_FCCOB7;
+ num = *(volatile uint32_t *)&FTFL_FCCOB7;
#elif defined(HAS_KINETIS_FLASH_FTFE)
kinetis_hsrun_disable();
FTFL_FSTAT = FTFL_FSTAT_RDCOLERR | FTFL_FSTAT_ACCERR | FTFL_FSTAT_FPVIOL;
- *(uint32_t *)&FTFL_FCCOB3 = 0x41070000;
+ *(volatile uint32_t *)&FTFL_FCCOB3 = 0x41070000;
FTFL_FSTAT = FTFL_FSTAT_CCIF;
while (!(FTFL_FSTAT & FTFL_FSTAT_CCIF)) ; // wait
- num = *(uint32_t *)&FTFL_FCCOBB;
+ num = *(volatile uint32_t *)&FTFL_FCCOBB;
kinetis_hsrun_enable();
#endif
__enable_irq();
@@ -1483,6 +1556,10 @@
#endif
};
+void usb_descriptor_set_product_id(uint16_t product_id) {
+ device_descriptor[10] = LSB(product_id);
+ device_descriptor[11] = MSB(product_id);
+}
#endif // NUM_ENDPOINTS
#endif // F_CPU >= 20 MHz
diff --git a/motors/usb/usb_desc.h b/motors/usb/usb_desc.h
index b59640d..e8459ce 100644
--- a/motors/usb/usb_desc.h
+++ b/motors/usb/usb_desc.h
@@ -39,6 +39,11 @@
#include <stdint.h>
#include <stddef.h>
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
#define ENDPOINT_UNUSED 0x00
#define ENDPOINT_TRANSIMIT_ONLY 0x15
#define ENDPOINT_RECEIVE_ONLY 0x19
@@ -120,23 +125,31 @@
#define DEVICE_CLASS 2 // 2 = Communication Class
#define MANUFACTURER_NAME {'T','e','e','n','s','y','d','u','i','n','o'}
#define MANUFACTURER_NAME_LEN 11
- #define PRODUCT_NAME {'U','S','B',' ','S','e','r','i','a','l'}
- #define PRODUCT_NAME_LEN 10
+ #define PRODUCT_NAME {'U','S','B',' ','S','e','r','i','a','l',' ','x','2'}
+ #define PRODUCT_NAME_LEN 13
#define EP0_SIZE 64
- #define NUM_ENDPOINTS 4
- #define NUM_USB_BUFFERS 12
- #define NUM_INTERFACE 2
+ #define NUM_ENDPOINTS 7
+ #define NUM_USB_BUFFERS 24
+ #define NUM_INTERFACE 4
#define CDC_STATUS_INTERFACE 0
#define CDC_DATA_INTERFACE 1
+ #define CDC2_STATUS_INTERFACE 2
+ #define CDC2_DATA_INTERFACE 3
#define CDC_ACM_ENDPOINT 2
#define CDC_RX_ENDPOINT 3
#define CDC_TX_ENDPOINT 4
+ #define CDC2_ACM_ENDPOINT 5
+ #define CDC2_RX_ENDPOINT 6
+ #define CDC2_TX_ENDPOINT 7
#define CDC_ACM_SIZE 16
#define CDC_RX_SIZE 64
#define CDC_TX_SIZE 64
#define ENDPOINT2_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT3_CONFIG ENDPOINT_RECEIVE_ONLY
#define ENDPOINT4_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT5_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT6_CONFIG ENDPOINT_RECEIVE_ONLY
+ #define ENDPOINT7_CONFIG ENDPOINT_TRANSIMIT_ONLY
#elif defined(USB_KEYBOARDONLY)
#define VENDOR_ID 0x16C0
@@ -708,4 +721,10 @@
#endif // NUM_ENDPOINTS
#endif // USB_DESC_LIST_DEFINE
+void usb_descriptor_set_product_id(uint16_t product_id);
+
+#ifdef __cplusplus
+}
+#endif
+
#endif
diff --git a/motors/usb/usb_dev.c b/motors/usb/usb_dev.c
index d57ca5d..8dc8e1f 100644
--- a/motors/usb/usb_dev.c
+++ b/motors/usb/usb_dev.c
@@ -37,19 +37,30 @@
* https://github.com/payne92/bare-metal-arm
*/
-#include "usb_dev.h"
+#include "motors/usb/usb_dev.h"
#if F_CPU >= 20000000 && defined(NUM_ENDPOINTS)
-#include "kinetis.h"
-//#include "HardwareSerial.h"
-#include "usb_mem.h"
+#include "motors/core/kinetis.h"
+#include "motors/usb/usb_mem.h"
#include <string.h> // for memset
+#ifdef CDC_DATA_INTERFACE
+extern uint32_t usb_cdc_line_coding[2];
+extern volatile uint32_t usb_cdc_line_rtsdtr_millis;
+extern volatile uint32_t systick_millis_count;
+extern volatile uint8_t usb_cdc_line_rtsdtr;
+extern volatile uint8_t *usb_cdc_transmit_flush_timer;
+extern void usb_serial_flush_callback(int);
+#endif
+#ifdef CDC2_DATA_INTERFACE
+extern volatile uint8_t *usb_cdc2_transmit_flush_timer;
+#endif
+
// buffer descriptor table
typedef struct {
uint32_t desc;
- void * addr;
+ const void * addr;
} bdt_t;
__attribute__ ((section(".usbdescriptortable"), used))
@@ -146,15 +157,7 @@
static void endpoint0_transmit(const void *data, uint32_t len)
{
-#if 0
- serial_print("tx0:");
- serial_phex32((uint32_t)data);
- serial_print(",");
- serial_phex16(len);
- serial_print(ep0_tx_bdt_bank ? ", odd" : ", even");
- serial_print(ep0_tx_data_toggle ? ", d1\n" : ", d0\n");
-#endif
- table[index(0, TX, ep0_tx_bdt_bank)].addr = (void *)data;
+ table[index(0, TX, ep0_tx_bdt_bank)].addr = (const void *)data;
table[index(0, TX, ep0_tx_bdt_bank)].desc = BDT_DESC(len, ep0_tx_data_toggle);
ep0_tx_data_toggle ^= 1;
ep0_tx_bdt_bank ^= 1;
@@ -177,14 +180,13 @@
case 0x0500: // SET_ADDRESS
break;
case 0x0900: // SET_CONFIGURATION
- //serial_print("configure\n");
usb_configuration = setup.wValue;
reg = &USB0_ENDPT1;
cfg = usb_endpoint_config_table;
// clear all BDT entries, free any allocated memory...
for (i=4; i < (NUM_ENDPOINTS+1)*4; i++) {
if (table[i].desc & BDT_OWN) {
- usb_free((usb_packet_t *)((uint8_t *)(table[i].addr) - 8));
+ usb_free((const usb_packet_t *)((const uint8_t *)(table[i].addr) - 8));
}
}
// free all queued packets
@@ -282,7 +284,9 @@
}
reply_buffer[0] = 0;
reply_buffer[1] = 0;
- if (*(uint8_t *)(&USB0_ENDPT0 + i * 4) & 0x02) reply_buffer[0] = 1;
+ if (*(volatile uint8_t *)(&USB0_ENDPT0 + i * 4) & 0x02) {
+ reply_buffer[0] = 1;
+ }
data = reply_buffer;
datalen = 2;
break;
@@ -293,7 +297,7 @@
endpoint0_stall();
return;
}
- (*(uint8_t *)(&USB0_ENDPT0 + i * 4)) &= ~0x02;
+ (*(volatile uint8_t *)(&USB0_ENDPT0 + i * 4)) &= ~0x02;
// TODO: do we need to clear the data toggle here?
break;
case 0x0302: // SET_FEATURE (endpoint)
@@ -303,18 +307,13 @@
endpoint0_stall();
return;
}
- (*(uint8_t *)(&USB0_ENDPT0 + i * 4)) |= 0x02;
+ (*(volatile uint8_t *)(&USB0_ENDPT0 + i * 4)) |= 0x02;
// TODO: do we need to clear the data toggle here?
break;
case 0x0680: // GET_DESCRIPTOR
case 0x0681:
- //serial_print("desc:");
- //serial_phex16(setup.wValue);
- //serial_print("\n");
for (list = usb_descriptor_list; 1; list++) {
if (list->addr == NULL) break;
- //if (setup.wValue == list->wValue &&
- //(setup.wIndex == list->wIndex) || ((setup.wValue >> 8) == 3)) {
if (setup.wValue == list->wValue && setup.wIndex == list->wIndex) {
data = list->addr;
if ((setup.wValue >> 8) == 3) {
@@ -325,36 +324,21 @@
} else {
datalen = list->length;
}
-#if 0
- serial_print("Desc found, ");
- serial_phex32((uint32_t)data);
- serial_print(",");
- serial_phex16(datalen);
- serial_print(",");
- serial_phex(data[0]);
- serial_phex(data[1]);
- serial_phex(data[2]);
- serial_phex(data[3]);
- serial_phex(data[4]);
- serial_phex(data[5]);
- serial_print("\n");
-#endif
goto send;
}
}
- //serial_print("desc: not found\n");
endpoint0_stall();
return;
#if defined(CDC_STATUS_INTERFACE)
case 0x2221: // CDC_SET_CONTROL_LINE_STATE
+ // TODO(Brian): wIndex is the interface number this is directed at. Pay
+ // attention to that.
usb_cdc_line_rtsdtr_millis = systick_millis_count;
usb_cdc_line_rtsdtr = setup.wValue;
- //serial_print("set control line state\n");
break;
case 0x2321: // CDC_SEND_BREAK
break;
case 0x2021: // CDC_SET_LINE_CODING
- //serial_print("set coding, waiting...\n");
return;
#endif
@@ -381,7 +365,6 @@
// TODO: this does not work... why?
#if defined(SEREMU_INTERFACE) || defined(KEYBOARD_INTERFACE)
case 0x0921: // HID SET_REPORT
- //serial_print(":)\n");
return;
case 0x0A21: // HID SET_IDLE
break;
@@ -472,11 +455,6 @@
return;
}
send:
- //serial_print("setup send ");
- //serial_phex32(data);
- //serial_print(",");
- //serial_phex16(datalen);
- //serial_print("\n");
if (datalen > setup.wLength) datalen = setup.wLength;
size = datalen;
@@ -520,60 +498,31 @@
{
bdt_t *b;
uint32_t pid, size;
- uint8_t *buf;
+ const uint8_t *buf;
const uint8_t *data;
b = stat2bufferdescriptor(stat);
pid = BDT_PID(b->desc);
- //count = b->desc >> 16;
buf = b->addr;
- //serial_print("pid:");
- //serial_phex(pid);
- //serial_print(", count:");
- //serial_phex(count);
- //serial_print("\n");
switch (pid) {
case 0x0D: // Setup received from host
- //serial_print("PID=Setup\n");
- //if (count != 8) ; // panic?
// grab the 8 byte setup info
- setup.word1 = *(uint32_t *)(buf);
- setup.word2 = *(uint32_t *)(buf + 4);
+ setup.word1 = *(const uint32_t *)(buf);
+ setup.word2 = *(const uint32_t *)(buf + 4);
// give the buffer back
b->desc = BDT_DESC(EP0_SIZE, DATA1);
- //table[index(0, RX, EVEN)].desc = BDT_DESC(EP0_SIZE, 1);
- //table[index(0, RX, ODD)].desc = BDT_DESC(EP0_SIZE, 1);
// clear any leftover pending IN transactions
ep0_tx_ptr = NULL;
if (ep0_tx_data_toggle) {
}
- //if (table[index(0, TX, EVEN)].desc & 0x80) {
- //serial_print("leftover tx even\n");
- //}
- //if (table[index(0, TX, ODD)].desc & 0x80) {
- //serial_print("leftover tx odd\n");
- //}
table[index(0, TX, EVEN)].desc = 0;
table[index(0, TX, ODD)].desc = 0;
// first IN after Setup is always DATA1
ep0_tx_data_toggle = 1;
-#if 0
- serial_print("bmRequestType:");
- serial_phex(setup.bmRequestType);
- serial_print(", bRequest:");
- serial_phex(setup.bRequest);
- serial_print(", wValue:");
- serial_phex16(setup.wValue);
- serial_print(", wIndex:");
- serial_phex16(setup.wIndex);
- serial_print(", len:");
- serial_phex16(setup.wLength);
- serial_print("\n");
-#endif
// actually "do" the setup request
usb_setup();
// unfreeze the USB, now that we're ready
@@ -581,18 +530,15 @@
break;
case 0x01: // OUT transaction received from host
case 0x02:
- //serial_print("PID=OUT\n");
#ifdef CDC_STATUS_INTERFACE
+ // TODO(Brian): wIndex is the interface number this is directed at. Pay
+ // attention to that.
if (setup.wRequestAndType == 0x2021 /*CDC_SET_LINE_CODING*/) {
int i;
uint8_t *dst = (uint8_t *)usb_cdc_line_coding;
- //serial_print("set line coding ");
for (i=0; i<7; i++) {
- //serial_phex(*buf);
*dst++ = *buf++;
}
- //serial_phex32(usb_cdc_line_coding[0]);
- //serial_print("\n");
if (usb_cdc_line_coding[0] == 134) usb_reboot_timer = 15;
endpoint0_transmit(NULL, 0);
}
@@ -620,9 +566,6 @@
break;
case 0x09: // IN transaction completed to host
- //serial_print("PID=IN:");
- //serial_phex(stat);
- //serial_print("\n");
// send remaining data, if any...
data = ep0_tx_ptr;
@@ -637,17 +580,10 @@
if (setup.bRequest == 5 && setup.bmRequestType == 0) {
setup.bRequest = 0;
- //serial_print("set address: ");
- //serial_phex16(setup.wValue);
- //serial_print("\n");
USB0_ADDR = setup.wValue;
}
break;
- //default:
- //serial_print("PID=unknown:");
- //serial_phex(pid);
- //serial_print("\n");
}
USB0_CTL = USB_CTL_USBENSOFEN; // clear TXSUSPENDTOKENBUSY bit
}
@@ -669,11 +605,6 @@
usb_rx_byte_count_data[endpoint] -= ret->len;
}
__enable_irq();
- //serial_print("rx, epidx=");
- //serial_phex(endpoint);
- //serial_print(", packet=");
- //serial_phex32(ret);
- //serial_print("\n");
return ret;
}
@@ -689,17 +620,6 @@
return count;
}
-// TODO: make this an inline function...
-/*
-uint32_t usb_rx_byte_count(uint32_t endpoint)
-{
- endpoint--;
- if (endpoint >= NUM_ENDPOINTS) return 0;
- return usb_rx_byte_count_data[endpoint];
- //return usb_queue_byte_count(rx_first[endpoint]);
-}
-*/
-
uint32_t usb_tx_byte_count(uint32_t endpoint)
{
endpoint--;
@@ -729,13 +649,12 @@
// without this prioritization. The packet buffer (input) is assigned to the
// first endpoint needing memory.
//
-void usb_rx_memory(usb_packet_t *packet)
+void usb_rx_memory(const usb_packet_t *packet)
{
unsigned int i;
const uint8_t *cfg;
cfg = usb_endpoint_config_table;
- //serial_print("rx_mem:");
__disable_irq();
for (i=1; i <= NUM_ENDPOINTS; i++) {
#ifdef AUDIO_INTERFACE
@@ -747,8 +666,6 @@
table[index(i, RX, EVEN)].desc = BDT_DESC(64, 0);
usb_rx_memory_needed--;
__enable_irq();
- //serial_phex(i);
- //serial_print(",even\n");
return;
}
if (table[index(i, RX, ODD)].desc == 0) {
@@ -756,8 +673,6 @@
table[index(i, RX, ODD)].desc = BDT_DESC(64, 1);
usb_rx_memory_needed--;
__enable_irq();
- //serial_phex(i);
- //serial_print(",odd\n");
return;
}
}
@@ -782,9 +697,6 @@
endpoint--;
if (endpoint >= NUM_ENDPOINTS) return;
__disable_irq();
- //serial_print("txstate=");
- //serial_phex(tx_state[endpoint]);
- //serial_print("\n");
switch (tx_state[endpoint]) {
case TX_STATE_BOTH_FREE_EVEN_FIRST:
next = TX_STATE_ODD_FREE;
@@ -852,10 +764,6 @@
{
uint8_t status, stat, t;
- //serial_print("isr");
- //status = USB0_ISTAT;
- //serial_phex(status);
- //serial_print("\n");
restart:
status = USB0_ISTAT;
@@ -867,10 +775,17 @@
if (!t) _reboot_Teensyduino_();
}
#ifdef CDC_DATA_INTERFACE
- t = usb_cdc_transmit_flush_timer;
+ t = *usb_cdc_transmit_flush_timer;
if (t) {
- usb_cdc_transmit_flush_timer = --t;
- if (t == 0) usb_serial_flush_callback();
+ *usb_cdc_transmit_flush_timer = --t;
+ if (t == 0) usb_serial_flush_callback(0);
+ }
+#endif
+#ifdef CDC2_DATA_INTERFACE
+ t = *usb_cdc2_transmit_flush_timer;
+ if (t) {
+ *usb_cdc2_transmit_flush_timer = --t;
+ if (t == 0) usb_serial_flush_callback(1);
}
#endif
#ifdef SEREMU_INTERFACE
@@ -896,26 +811,15 @@
if ((status & USB_ISTAT_TOKDNE /* 08 */ )) {
uint8_t endpoint;
stat = USB0_STAT;
- //serial_print("token: ep=");
- //serial_phex(stat >> 4);
- //serial_print(stat & 0x08 ? ",tx" : ",rx");
- //serial_print(stat & 0x04 ? ",odd\n" : ",even\n");
endpoint = stat >> 4;
if (endpoint == 0) {
usb_control(stat);
} else {
bdt_t *b = stat2bufferdescriptor(stat);
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wcast-qual"
usb_packet_t *packet = (usb_packet_t *)((uint8_t *)(b->addr) - 8);
-#if 0
- serial_print("ep:");
- serial_phex(endpoint);
- serial_print(", pid:");
- serial_phex(BDT_PID(b->desc));
- serial_print(((uint32_t)b & 8) ? ", odd" : ", even");
- serial_print(", count:");
- serial_phex(b->desc >> 16);
- serial_print("\n");
-#endif
+#pragma GCC diagnostic pop
endpoint--; // endpoint is index to zero-based arrays
#ifdef AUDIO_INTERFACE
@@ -943,7 +847,6 @@
usb_free(packet);
packet = tx_first[endpoint];
if (packet) {
- //serial_print("tx packet\n");
tx_first[endpoint] = packet->next;
b->addr = packet->buf;
switch (tx_state[endpoint]) {
@@ -965,7 +868,6 @@
b->desc = BDT_DESC(packet->len,
((uint32_t)b & 8) ? DATA1 : DATA0);
} else {
- //serial_print("tx no packet\n");
switch (tx_state[endpoint]) {
case TX_STATE_BOTH_FREE_EVEN_FIRST:
case TX_STATE_BOTH_FREE_ODD_FIRST:
@@ -988,18 +890,8 @@
packet->index = 0;
packet->next = NULL;
if (rx_first[endpoint] == NULL) {
- //serial_print("rx 1st, epidx=");
- //serial_phex(endpoint);
- //serial_print(", packet=");
- //serial_phex32((uint32_t)packet);
- //serial_print("\n");
rx_first[endpoint] = packet;
} else {
- //serial_print("rx Nth, epidx=");
- //serial_phex(endpoint);
- //serial_print(", packet=");
- //serial_phex32((uint32_t)packet);
- //serial_print("\n");
rx_last[endpoint]->next = packet;
}
rx_last[endpoint] = packet;
@@ -1014,8 +906,6 @@
b->desc = BDT_DESC(64,
((uint32_t)b & 8) ? DATA1 : DATA0);
} else {
- //serial_print("starving ");
- //serial_phex(endpoint + 1);
b->desc = 0;
usb_rx_memory_needed++;
}
@@ -1032,8 +922,6 @@
if (status & USB_ISTAT_USBRST /* 01 */ ) {
- //serial_print("reset\n");
-
// initialize BDT toggle bits
USB0_CTL = USB_CTL_ODDRST;
ep0_tx_bdt_bank = 0;
@@ -1072,21 +960,16 @@
if ((status & USB_ISTAT_STALL /* 80 */ )) {
- //serial_print("stall:\n");
USB0_ENDPT0 = USB_ENDPT_EPRXEN | USB_ENDPT_EPTXEN | USB_ENDPT_EPHSHK;
USB0_ISTAT = USB_ISTAT_STALL;
}
if ((status & USB_ISTAT_ERROR /* 02 */ )) {
uint8_t err = USB0_ERRSTAT;
USB0_ERRSTAT = err;
- //serial_print("err:");
- //serial_phex(err);
- //serial_print("\n");
USB0_ISTAT = USB_ISTAT_ERROR;
}
if ((status & USB_ISTAT_SLEEP /* 10 */ )) {
- //serial_print("sleep\n");
USB0_ISTAT = USB_ISTAT_SLEEP;
}
@@ -1098,9 +981,6 @@
{
int i;
- //serial_begin(BAUD2DIV(115200));
- //serial_print("usb_init\n");
-
usb_init_serialnumber();
for (i=0; i <= NUM_ENDPOINTS*4; i++) {
@@ -1147,7 +1027,7 @@
USB0_INTEN = USB_INTEN_USBRSTEN;
// enable interrupt in NVIC...
- NVIC_SET_PRIORITY(IRQ_USBOTG, 112);
+ //NVIC_SET_PRIORITY(IRQ_USBOTG, 112);
NVIC_ENABLE_IRQ(IRQ_USBOTG);
// enable d+ pullup
diff --git a/motors/usb/usb_dev.h b/motors/usb/usb_dev.h
index 1233d7f..c2e9d18 100644
--- a/motors/usb/usb_dev.h
+++ b/motors/usb/usb_dev.h
@@ -32,16 +32,14 @@
#define _usb_dev_h_
#define USB_DESC_LIST_DEFINE
-#include "usb_desc.h"
-
-#if F_CPU >= 20000000 && !defined(USB_DISABLED)
+#include "motors/usb/usb_desc.h"
// This header is NOT meant to be included when compiling
// user sketches in Arduino. The low-level functions
// provided by usb_dev.c are meant to be called only by
// code which provides higher-level interfaces to the user.
-#include "usb_mem.h"
+#include "motors/usb/usb_mem.h"
#ifdef __cplusplus
extern "C" {
@@ -67,15 +65,6 @@
return usb_rx_byte_count_data[endpoint];
}
-#ifdef CDC_DATA_INTERFACE
-extern uint32_t usb_cdc_line_coding[2];
-extern volatile uint32_t usb_cdc_line_rtsdtr_millis;
-extern volatile uint32_t systick_millis_count;
-extern volatile uint8_t usb_cdc_line_rtsdtr;
-extern volatile uint8_t usb_cdc_transmit_flush_timer;
-extern void usb_serial_flush_callback(void);
-#endif
-
#ifdef SEREMU_INTERFACE
extern volatile uint8_t usb_seremu_transmit_flush_timer;
extern void usb_seremu_flush_callback(void);
@@ -114,24 +103,8 @@
extern void usb_touchscreen_update_callback(void);
#endif
-
#ifdef __cplusplus
}
#endif
-#else // F_CPU < 20000000
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void usb_init(void);
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#endif // F_CPU
-
#endif
diff --git a/motors/usb/usb_mem.c b/motors/usb/usb_mem.c
index 41b4596..e21e5a9 100644
--- a/motors/usb/usb_mem.c
+++ b/motors/usb/usb_mem.c
@@ -28,12 +28,12 @@
* SOFTWARE.
*/
-#include "usb_dev.h"
+#include "motors/usb/usb_dev.h"
#if F_CPU >= 20000000 && defined(NUM_ENDPOINTS)
-#include "kinetis.h"
+#include "motors/core/kinetis.h"
//#include "HardwareSerial.h"
-#include "usb_mem.h"
+#include "motors/usb/usb_mem.h"
__attribute__ ((section(".usbbuffers"), used))
unsigned char usb_buffer_memory[NUM_USB_BUFFERS * sizeof(usb_packet_t)];
@@ -57,16 +57,11 @@
__enable_irq();
return NULL;
}
- //serial_print("malloc:");
- //serial_phex(n);
- //serial_print("\n");
usb_buffer_available = avail & ~(0x80000000 >> n);
__enable_irq();
p = usb_buffer_memory + (n * sizeof(usb_packet_t));
- //serial_print("malloc:");
- //serial_phex32((int)p);
- //serial_print("\n");
+
*(uint32_t *)p = 0;
*(uint32_t *)(p + 4) = 0;
return (usb_packet_t *)p;
@@ -74,24 +69,18 @@
// for the receive endpoints to request memory
extern uint8_t usb_rx_memory_needed;
-extern void usb_rx_memory(usb_packet_t *packet);
+extern void usb_rx_memory(const usb_packet_t *packet);
-void usb_free(usb_packet_t *p)
+void usb_free(const usb_packet_t *p)
{
unsigned int n, mask;
- //serial_print("free:");
- n = ((uint8_t *)p - usb_buffer_memory) / sizeof(usb_packet_t);
+ n = ((const uint8_t *)p - usb_buffer_memory) / sizeof(usb_packet_t);
if (n >= NUM_USB_BUFFERS) return;
- //serial_phex(n);
- //serial_print("\n");
// if any endpoints are starving for memory to receive
// packets, give this memory to them immediately!
if (usb_rx_memory_needed && usb_configuration) {
- //serial_print("give to rx:");
- //serial_phex32((int)p);
- //serial_print("\n");
usb_rx_memory(p);
return;
}
@@ -100,10 +89,6 @@
__disable_irq();
usb_buffer_available |= mask;
__enable_irq();
-
- //serial_print("free:");
- //serial_phex32((int)p);
- //serial_print("\n");
}
#endif // F_CPU >= 20 MHz && defined(NUM_ENDPOINTS)
diff --git a/motors/usb/usb_mem.h b/motors/usb/usb_mem.h
index 8064488..b6014b5 100644
--- a/motors/usb/usb_mem.h
+++ b/motors/usb/usb_mem.h
@@ -45,7 +45,7 @@
#endif
usb_packet_t * usb_malloc(void);
-void usb_free(usb_packet_t *p);
+void usb_free(const usb_packet_t *p);
#ifdef __cplusplus
}
diff --git a/motors/usb/usb_serial.c b/motors/usb/usb_serial.c
index a312176..e7e6115 100644
--- a/motors/usb/usb_serial.c
+++ b/motors/usb/usb_serial.c
@@ -28,114 +28,124 @@
* SOFTWARE.
*/
-#include "usb_dev.h"
-#include "usb_serial.h"
-#include "core_pins.h" // for yield()
-//#include "HardwareSerial.h"
-#include <string.h> // for memcpy()
+#include "motors/usb/usb_dev.h"
+#include "motors/usb/usb_serial.h"
+#include <string.h>
-// defined by usb_dev.h -> usb_desc.h
-#if defined(CDC_STATUS_INTERFACE) && defined(CDC_DATA_INTERFACE)
-#if F_CPU >= 20000000
-
+// These are shared between the two serial ports because they're ignored
+// anyways.
uint32_t usb_cdc_line_coding[2];
volatile uint32_t usb_cdc_line_rtsdtr_millis;
volatile uint8_t usb_cdc_line_rtsdtr=0;
-volatile uint8_t usb_cdc_transmit_flush_timer=0;
-static usb_packet_t *rx_packet=NULL;
-static usb_packet_t *tx_packet=NULL;
-static volatile uint8_t tx_noautoflush=0;
+typedef struct {
+ usb_packet_t *rx_packet;
+ usb_packet_t *tx_packet;
+
+ uint32_t rx_endpoint;
+ uint32_t tx_endpoint;
+
+ volatile uint8_t tx_noautoflush;
+ volatile uint8_t transmit_flush_timer;
+} State;
+State states[2];
+
+volatile uint8_t *usb_cdc_transmit_flush_timer =
+ &states[0].transmit_flush_timer;
+volatile uint8_t *usb_cdc2_transmit_flush_timer =
+ &states[1].transmit_flush_timer;
#define TRANSMIT_FLUSH_TIMEOUT 5 /* in milliseconds */
+void usb_serial_init(void) {
+ states[0].rx_endpoint = CDC_RX_ENDPOINT;
+ states[0].tx_endpoint = CDC_TX_ENDPOINT;
+ states[1].rx_endpoint = CDC2_RX_ENDPOINT;
+ states[1].tx_endpoint = CDC2_TX_ENDPOINT;
+}
+
// get the next character, or -1 if nothing received
-int usb_serial_getchar(void)
+int usb_serial_getchar(int port)
{
+ State *const state = &states[port];
unsigned int i;
int c;
- if (!rx_packet) {
+ if (!state->rx_packet) {
if (!usb_configuration) return -1;
- rx_packet = usb_rx(CDC_RX_ENDPOINT);
- if (!rx_packet) return -1;
+ state->rx_packet = usb_rx(state->rx_endpoint);
+ if (!state->rx_packet) return -1;
}
- i = rx_packet->index;
- c = rx_packet->buf[i++];
- if (i >= rx_packet->len) {
- usb_free(rx_packet);
- rx_packet = NULL;
+ i = state->rx_packet->index;
+ c = state->rx_packet->buf[i++];
+ if (i >= state->rx_packet->len) {
+ usb_free(state->rx_packet);
+ state->rx_packet = NULL;
} else {
- rx_packet->index = i;
+ state->rx_packet->index = i;
}
return c;
}
// peek at the next character, or -1 if nothing received
-int usb_serial_peekchar(void)
+int usb_serial_peekchar(int port)
{
- if (!rx_packet) {
+ State *const state = &states[port];
+ if (!state->rx_packet) {
if (!usb_configuration) return -1;
- rx_packet = usb_rx(CDC_RX_ENDPOINT);
- if (!rx_packet) return -1;
+ state->rx_packet = usb_rx(state->rx_endpoint);
+ if (!state->rx_packet) return -1;
}
- if (!rx_packet) return -1;
- return rx_packet->buf[rx_packet->index];
-}
-
-// number of bytes available in the receive buffer
-int usb_serial_available(void)
-{
- int count;
- count = usb_rx_byte_count(CDC_RX_ENDPOINT);
- if (rx_packet) count += rx_packet->len - rx_packet->index;
- return count;
+ if (!state->rx_packet) return -1;
+ return state->rx_packet->buf[state->rx_packet->index];
}
// read a block of bytes to a buffer
-int usb_serial_read(void *buffer, uint32_t size)
+int usb_serial_read(int port, void *buffer, uint32_t size)
{
+ State *const state = &states[port];
uint8_t *p = (uint8_t *)buffer;
uint32_t qty, count=0;
while (size) {
if (!usb_configuration) break;
- if (!rx_packet) {
+ if (!state->rx_packet) {
rx:
- rx_packet = usb_rx(CDC_RX_ENDPOINT);
- if (!rx_packet) break;
- if (rx_packet->len == 0) {
- usb_free(rx_packet);
+ state->rx_packet = usb_rx(state->rx_endpoint);
+ if (!state->rx_packet) break;
+ if (state->rx_packet->len == 0) {
+ usb_free(state->rx_packet);
goto rx;
}
}
- qty = rx_packet->len - rx_packet->index;
+ qty = state->rx_packet->len - state->rx_packet->index;
if (qty > size) qty = size;
- memcpy(p, rx_packet->buf + rx_packet->index, qty);
+ memcpy(p, state->rx_packet->buf + state->rx_packet->index, qty);
p += qty;
count += qty;
size -= qty;
- rx_packet->index += qty;
- if (rx_packet->index >= rx_packet->len) {
- usb_free(rx_packet);
- rx_packet = NULL;
+ state->rx_packet->index += qty;
+ if (state->rx_packet->index >= state->rx_packet->len) {
+ usb_free(state->rx_packet);
+ state->rx_packet = NULL;
}
}
return count;
}
// discard any buffered input
-void usb_serial_flush_input(void)
+void usb_serial_flush_input(int port)
{
+ State *const state = &states[port];
usb_packet_t *rx;
if (!usb_configuration) return;
- if (rx_packet) {
- usb_free(rx_packet);
- rx_packet = NULL;
+ if (state->rx_packet) {
+ usb_free(state->rx_packet);
+ state->rx_packet = NULL;
}
while (1) {
- rx = usb_rx(CDC_RX_ENDPOINT);
+ rx = usb_rx(state->rx_endpoint);
if (!rx) break;
usb_free(rx);
}
@@ -173,133 +183,83 @@
#define TX_TIMEOUT (TX_TIMEOUT_MSEC * 262)
#endif
-// When we've suffered the transmit timeout, don't wait again until the computer
-// begins accepting data. If no software is running to receive, we'll just discard
-// data as rapidly as Serial.print() can generate it, until there's something to
-// actually receive it.
-static uint8_t transmit_previous_timeout=0;
-
-
-// transmit a character. 0 returned on success, -1 on error
-int usb_serial_putchar(uint8_t c)
+int usb_serial_write(int port, const void *buffer, uint32_t size)
{
- return usb_serial_write(&c, 1);
-}
-
-
-int usb_serial_write(const void *buffer, uint32_t size)
-{
- uint32_t ret = size;
+ State *const state = &states[port];
uint32_t len;
- uint32_t wait_count;
const uint8_t *src = (const uint8_t *)buffer;
uint8_t *dest;
- tx_noautoflush = 1;
+ state->tx_noautoflush = 1;
while (size > 0) {
- if (!tx_packet) {
- wait_count = 0;
+ if (!state->tx_packet) {
while (1) {
if (!usb_configuration) {
- tx_noautoflush = 0;
+ state->tx_noautoflush = 0;
return -1;
}
- if (usb_tx_packet_count(CDC_TX_ENDPOINT) < TX_PACKET_LIMIT) {
- tx_noautoflush = 1;
- tx_packet = usb_malloc();
- if (tx_packet) break;
- tx_noautoflush = 0;
+ if (usb_tx_packet_count(state->tx_endpoint) < TX_PACKET_LIMIT) {
+ state->tx_noautoflush = 1;
+ state->tx_packet = usb_malloc();
+ if (state->tx_packet) break;
+ state->tx_noautoflush = 0;
}
- if (++wait_count > TX_TIMEOUT || transmit_previous_timeout) {
- transmit_previous_timeout = 1;
- return -1;
- }
- yield();
+ return -1;
}
}
- transmit_previous_timeout = 0;
- len = CDC_TX_SIZE - tx_packet->index;
+ len = CDC_TX_SIZE - state->tx_packet->index;
if (len > size) len = size;
- dest = tx_packet->buf + tx_packet->index;
- tx_packet->index += len;
+ dest = state->tx_packet->buf + state->tx_packet->index;
+ state->tx_packet->index += len;
size -= len;
while (len-- > 0) *dest++ = *src++;
- if (tx_packet->index >= CDC_TX_SIZE) {
- tx_packet->len = CDC_TX_SIZE;
- usb_tx(CDC_TX_ENDPOINT, tx_packet);
- tx_packet = NULL;
+ if (state->tx_packet->index >= CDC_TX_SIZE) {
+ state->tx_packet->len = CDC_TX_SIZE;
+ usb_tx(state->tx_endpoint, state->tx_packet);
+ state->tx_packet = NULL;
}
- usb_cdc_transmit_flush_timer = TRANSMIT_FLUSH_TIMEOUT;
+ state->transmit_flush_timer = TRANSMIT_FLUSH_TIMEOUT;
}
- tx_noautoflush = 0;
- return ret;
+ state->tx_noautoflush = 0;
+ return size;
}
-int usb_serial_write_buffer_free(void)
+void usb_serial_flush_output(int port)
{
- uint32_t len;
-
- tx_noautoflush = 1;
- if (!tx_packet) {
- if (!usb_configuration ||
- usb_tx_packet_count(CDC_TX_ENDPOINT) >= TX_PACKET_LIMIT ||
- (tx_packet = usb_malloc()) == NULL) {
- tx_noautoflush = 0;
- return 0;
- }
- }
- len = CDC_TX_SIZE - tx_packet->index;
- // TODO: Perhaps we need "usb_cdc_transmit_flush_timer = TRANSMIT_FLUSH_TIMEOUT"
- // added here, so the SOF interrupt can't take away the available buffer
- // space we just promised the user could write without blocking?
- // But does this come with other performance downsides? Could it lead to
- // buffer data never actually transmitting in some usage cases? More
- // investigation is needed.
- // https://github.com/PaulStoffregen/cores/issues/10#issuecomment-61514955
- tx_noautoflush = 0;
- return len;
-}
-
-void usb_serial_flush_output(void)
-{
+ State *const state = &states[port];
if (!usb_configuration) return;
- tx_noautoflush = 1;
- if (tx_packet) {
- usb_cdc_transmit_flush_timer = 0;
- tx_packet->len = tx_packet->index;
- usb_tx(CDC_TX_ENDPOINT, tx_packet);
- tx_packet = NULL;
+ state->tx_noautoflush = 1;
+ if (state->tx_packet) {
+ state->transmit_flush_timer = 0;
+ state->tx_packet->len = state->tx_packet->index;
+ usb_tx(state->tx_endpoint, state->tx_packet);
+ state->tx_packet = NULL;
} else {
usb_packet_t *tx = usb_malloc();
if (tx) {
- usb_cdc_transmit_flush_timer = 0;
- usb_tx(CDC_TX_ENDPOINT, tx);
+ state->transmit_flush_timer = 0;
+ usb_tx(state->tx_endpoint, tx);
} else {
- usb_cdc_transmit_flush_timer = 1;
+ state->transmit_flush_timer = 1;
}
}
- tx_noautoflush = 0;
+ state->tx_noautoflush = 0;
}
-void usb_serial_flush_callback(void)
+void usb_serial_flush_callback(int port)
{
- if (tx_noautoflush) return;
- if (tx_packet) {
- tx_packet->len = tx_packet->index;
- usb_tx(CDC_TX_ENDPOINT, tx_packet);
- tx_packet = NULL;
+ State *const state = &states[port];
+ if (state->tx_noautoflush) return;
+ if (state->tx_packet) {
+ state->tx_packet->len = state->tx_packet->index;
+ usb_tx(state->tx_endpoint, state->tx_packet);
+ state->tx_packet = NULL;
} else {
usb_packet_t *tx = usb_malloc();
if (tx) {
- usb_tx(CDC_TX_ENDPOINT, tx);
+ usb_tx(state->tx_endpoint, tx);
} else {
- usb_cdc_transmit_flush_timer = 1;
+ state->transmit_flush_timer = 1;
}
}
}
-
-
-
-
-#endif // F_CPU
-#endif // CDC_STATUS_INTERFACE && CDC_DATA_INTERFACE
diff --git a/motors/usb/usb_serial.h b/motors/usb/usb_serial.h
index 8367f05..2512adc 100644
--- a/motors/usb/usb_serial.h
+++ b/motors/usb/usb_serial.h
@@ -31,142 +31,48 @@
#ifndef USBserial_h_
#define USBserial_h_
-#include "usb_desc.h"
-
-#if (defined(CDC_STATUS_INTERFACE) && defined(CDC_DATA_INTERFACE)) || defined(USB_DISABLED)
+#include "motors/usb/usb_desc.h"
#include <inttypes.h>
-#if F_CPU >= 20000000 && !defined(USB_DISABLED)
-
// C language implementation
#ifdef __cplusplus
extern "C" {
#endif
-int usb_serial_getchar(void);
-int usb_serial_peekchar(void);
-int usb_serial_available(void);
-int usb_serial_read(void *buffer, uint32_t size);
-void usb_serial_flush_input(void);
-int usb_serial_putchar(uint8_t c);
-int usb_serial_write(const void *buffer, uint32_t size);
-int usb_serial_write_buffer_free(void);
-void usb_serial_flush_output(void);
-extern uint32_t usb_cdc_line_coding[2];
-extern volatile uint32_t usb_cdc_line_rtsdtr_millis;
-extern volatile uint32_t systick_millis_count;
-extern volatile uint8_t usb_cdc_line_rtsdtr;
-extern volatile uint8_t usb_cdc_transmit_flush_timer;
-extern volatile uint8_t usb_configuration;
+
+void usb_serial_init(void);
+
+// Reads the next character (if any) and returns it. Returns -1 if no characters
+// are available.
+int usb_serial_getchar(int port);
+
+// Returns the next character (if any) or -1.
+int usb_serial_peekchar(int port);
+
+// Reads as many bytes (up to size) as are available now. Returns 0 immediately
+// if no bytes are available. Returns the number of bytes read.
+int usb_serial_read(int port, void *buffer, uint32_t size);
+
+// Drops any unread input until the most recent packet sent.
+void usb_serial_flush_input(int port);
+
+// Writes data. Returns -1 if it times out or size if it succeeds.
+//
+// NOTE: This does not send immediately. The data is buffered
+int usb_serial_write(int port, const void *buffer, uint32_t size);
+
+// Writes a single character. Returns -1 if it times out or 1 if it succeeds.
+static inline int usb_serial_putchar(int port, uint8_t c) {
+ return usb_serial_write(port, &c, 1);
+}
+
+// Immediately flushes all written data.
+//
+// TODO(Brian): What exactly are the semantics here?
+void usb_serial_flush_output(int port);
+
#ifdef __cplusplus
}
#endif
-#define USB_SERIAL_DTR 0x01
-#define USB_SERIAL_RTS 0x02
-
-// C++ interface
-#ifdef __cplusplus
-#include "Stream.h"
-class usb_serial_class : public Stream
-{
-public:
- constexpr usb_serial_class() {}
- void begin(long) {
- uint32_t millis_begin = systick_millis_count;
- while (!(*this)) {
- // wait up to 2.5 seconds for Arduino Serial Monitor
- // Yes, this is a long time, but some Windows systems open
- // the port very slowly. This wait allows programs for
- // Arduino Uno to "just work" (without forcing a reboot when
- // the port is opened), and when no PC is connected the user's
- // sketch still gets to run normally after this wait time.
- if ((uint32_t)(systick_millis_count - millis_begin) > 2500) break;
- }
- }
- void end() { /* TODO: flush output and shut down USB port */ };
- virtual int available() { return usb_serial_available(); }
- virtual int read() { return usb_serial_getchar(); }
- virtual int peek() { return usb_serial_peekchar(); }
- virtual void flush() { usb_serial_flush_output(); } // TODO: actually wait for data to leave USB...
- virtual void clear(void) { usb_serial_flush_input(); }
- virtual size_t write(uint8_t c) { return usb_serial_putchar(c); }
- virtual size_t write(const uint8_t *buffer, size_t size) { return usb_serial_write(buffer, size); }
- size_t write(unsigned long n) { return write((uint8_t)n); }
- size_t write(long n) { return write((uint8_t)n); }
- size_t write(unsigned int n) { return write((uint8_t)n); }
- size_t write(int n) { return write((uint8_t)n); }
- virtual int availableForWrite() { return usb_serial_write_buffer_free(); }
- using Print::write;
- void send_now(void) { usb_serial_flush_output(); }
- uint32_t baud(void) { return usb_cdc_line_coding[0]; }
- uint8_t stopbits(void) { uint8_t b = usb_cdc_line_coding[1]; if (!b) b = 1; return b; }
- uint8_t paritytype(void) { return usb_cdc_line_coding[1] >> 8; } // 0=none, 1=odd, 2=even
- uint8_t numbits(void) { return usb_cdc_line_coding[1] >> 16; }
- uint8_t dtr(void) { return (usb_cdc_line_rtsdtr & USB_SERIAL_DTR) ? 1 : 0; }
- uint8_t rts(void) { return (usb_cdc_line_rtsdtr & USB_SERIAL_RTS) ? 1 : 0; }
- operator bool() { return usb_configuration &&
- (usb_cdc_line_rtsdtr & (USB_SERIAL_DTR | USB_SERIAL_RTS)) &&
- ((uint32_t)(systick_millis_count - usb_cdc_line_rtsdtr_millis) >= 25);
- }
- size_t readBytes(char *buffer, size_t length) {
- size_t count=0;
- unsigned long startMillis = millis();
- do {
- count += usb_serial_read(buffer + count, length - count);
- if (count >= length) return count;
- } while(millis() - startMillis < _timeout);
- setReadError();
- return count;
- }
-
-};
-extern usb_serial_class Serial;
-extern void serialEvent(void);
-#endif // __cplusplus
-
-
-#else // F_CPU < 20000000
-
-// Allow Arduino programs using Serial to compile, but Serial will do nothing.
-#ifdef __cplusplus
-#include "Stream.h"
-class usb_serial_class : public Stream
-{
-public:
- constexpr usb_serial_class() {}
- void begin(long) { };
- void end() { };
- virtual int available() { return 0; }
- virtual int read() { return -1; }
- virtual int peek() { return -1; }
- virtual void flush() { }
- virtual void clear() { }
- virtual size_t write(uint8_t c) { return 1; }
- virtual size_t write(const uint8_t *buffer, size_t size) { return size; }
- size_t write(unsigned long n) { return 1; }
- size_t write(long n) { return 1; }
- size_t write(unsigned int n) { return 1; }
- size_t write(int n) { return 1; }
- int availableForWrite() { return 0; }
- using Print::write;
- void send_now(void) { }
- uint32_t baud(void) { return 0; }
- uint8_t stopbits(void) { return 1; }
- uint8_t paritytype(void) { return 0; }
- uint8_t numbits(void) { return 8; }
- uint8_t dtr(void) { return 1; }
- uint8_t rts(void) { return 1; }
- operator bool() { return true; }
-};
-
-extern usb_serial_class Serial;
-extern void serialEvent(void);
-#endif // __cplusplus
-
-
-#endif // F_CPU
-
-#endif // CDC_STATUS_INTERFACE && CDC_DATA_INTERFACE
-
#endif // USBserial_h_
diff --git a/motors/util.h b/motors/util.h
new file mode 100644
index 0000000..05edd9d
--- /dev/null
+++ b/motors/util.h
@@ -0,0 +1,154 @@
+#ifndef MOTORS_UTIL_H_
+#define MOTORS_UTIL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// The GPIO bitband register for a specific bit of a given GPIO register.
+//
+// reg really must be one of the GPIO module's addresses
+// (0x400FF000 - 0x400FFFFF).
+#define GPIO_BITBAND(reg, bit) \
+ (*(volatile uint32_t *)(((uint32_t) & (reg)-0x40000000) * 32 + (bit)*4 + \
+ 0x42000000))
+
+#define NVIC_SET_SANE_PRIORITY(irqnum, priority) \
+ NVIC_SET_PRIORITY(irqnum, ((priority)&0xF) << 4)
+#define NVIC_GET_SANE_PRIORITY(irqnum) (NVIC_GET_PRIORITY(irqnum) >> 4)
+
+// Definitions for the bits in some registers that are missing.
+#define CAN_MCR_MDIS ((uint32_t)(1 << 31))
+#define CAN_MCR_FRZ ((uint32_t)(1 << 30))
+#define CAN_MCR_RFEN ((uint32_t)(1 << 29))
+#define CAN_MCR_HALT ((uint32_t)(1 << 28))
+#define CAN_MCR_NOTRDY ((uint32_t)(1 << 27))
+#define CAN_MCR_WAKMSK ((uint32_t)(1 << 26))
+#define CAN_MCR_SOFTRST ((uint32_t)(1 << 25))
+#define CAN_MCR_FRZACK ((uint32_t)(1 << 24))
+#define CAN_MCR_SUPV ((uint32_t)(1 << 23))
+#define CAN_MCR_SLFWAK ((uint32_t)(1 << 22))
+#define CAN_MCR_WRNEN ((uint32_t)(1 << 21))
+#define CAN_MCR_LPMACK ((uint32_t)(1 << 20))
+#define CAN_MCR_WAKSRC ((uint32_t)(1 << 19))
+#define CAN_MCR_SRXDIS ((uint32_t)(1 << 17))
+#define CAN_MCR_IRMQ ((uint32_t)(1 << 16))
+#define CAN_MCR_LPRIOEN ((uint32_t)(1 << 13))
+#define CAN_MCR_AEN ((uint32_t)(1 << 12))
+#define CAN_MCR_IDAM(n) ((uint32_t)(((n) & 3) << 8))
+#define CAN_MCR_MAXMB(n) ((uint32_t)((n) & 0x7F))
+#define CAN_CTRL1_PRESDIV(n) ((uint32_t)(((n) & 0xFF) << 24))
+#define CAN_CTRL1_RJW(n) ((uint32_t)(((n) & 3) << 22))
+#define CAN_CTRL1_PSEG1(n) ((uint32_t)(((n) & 7) << 19))
+#define CAN_CTRL1_PSEG2(n) ((uint32_t)(((n) & 7) << 16))
+#define CAN_CTRL1_BOFFMSK ((uint32_t)(1 << 15))
+#define CAN_CTRL1_ERRMSK ((uint32_t)(1 << 14))
+#define CAN_CTRL1_CLKSRC ((uint32_t)(1 << 13))
+#define CAN_CTRL1_LPB ((uint32_t)(1 << 12))
+#define CAN_CTRL1_TWRNMSK ((uint32_t)((1 << 11))
+#define CAN_CTRL1_RWRNMSK ((uint32_t)((1 << 10))
+#define CAN_CTRL1_SMP ((uint32_t)(1 << 7))
+#define CAN_CTRL1_BOFFREC ((uint32_t)(1 << 6)
+#define CAN_CTRL1_TSYN ((uint32_t)(1 << 5))
+#define CAN_CTRL1_LBUF ((uint32_t)(1 << 4))
+#define CAN_CTRL1_LOM ((uint32_t)(1 << 3))
+#define CAN_CTRL1_PROPSEG(n) ((uint32_t)((n) & 7))
+#define CAN_ESR1_SYNCH ((uint32_t)(1 << 18))
+#define CAN_ESR1_TWRNINT ((uint32_t)(1 << 17))
+#define CAN_ESR1_RWRNINT ((uint32_t)(1 << 16))
+#define CAN_ESR1_BIT1ERR ((uint32_t)(1 << 15))
+#define CAN_ESR1_BIT0ERR ((uint32_t)(1 << 14))
+#define CAN_ESR1_ACKERR ((uint32_t)(1 << 13))
+#define CAN_ESR1_CRCERR ((uint32_t)(1 << 12))
+#define CAN_ESR1_FRMERR ((uint32_t)(1 << 11))
+#define CAN_ESR1_STFERR ((uint32_t)(1 << 10))
+#define CAN_ESR1_TXWRN ((uint32_t)(1 << 9))
+#define CAN_ESR1_RXWRN ((uint32_t)(1 << 8))
+#define CAN_ESR1_IDLE ((uint32_t)(1 << 7))
+#define CAN_ESR1_TX ((uint32_t)(1 << 6))
+#define CAN_ESR1_RX ((uint32_t)(1 << 3))
+#define CAN_ESR1_BOFFINT ((uint32_t)(1 << 2))
+#define CAN_ESR1_ERRINT ((uint32_t)(1 << 1))
+#define CAN_ESR1_WAKINT ((uint32_t)1)
+#define CAN_CTRL2_WRMFRZ ((uint32_t)(1 << 28))
+#define CAN_CTRL2_RFFN(n) ((uint32_t)(((n) & 0xF) << 24))
+#define CAN_CTRL2_TASD(n) ((uint32_t)(((n) & 0x1F) << 19))
+#define CAN_CTRL2_MRP ((uint32_t)(1 << 18))
+#define CAN_CTRL2_RRS ((uint32_t)(1 << 17))
+#define CAN_CTRL2_EACEN ((uint32_t)(1 << 16))
+#define CAN_ESR2_VPS ((uint32_t)(1 << 14))
+#define CAN_ESR2_IMB ((uint32_t)(1 << 13))
+
+typedef struct {
+ // Timestamp is the lower 16 bits.
+ uint32_t control_timestamp;
+ uint32_t prio_id;
+ uint32_t data[2];
+} CanMessageBuffer;
+#define CAN0_MESSAGES ((volatile CanMessageBuffer *)0x40024080)
+#define CAN0_RXIMRS ((volatile uint32_t *)0x40024880)
+#define CAN1_MESSAGES ((volatile CanMessageBuffer *)0x400A4080)
+#define CAN1_RXIMRS ((volatile uint32_t *)0x400A4880)
+#define CAN_MB_CONTROL_INSERT_DLC(dlc) ((uint32_t)(((dlc) & 0xF) << 16))
+#define CAN_MB_CONTROL_EXTRACT_DLC(control_timestamp) \
+ ((control_timestamp >> 16) & 0xF)
+#define CAN_MB_CONTROL_RTR ((uint32_t)(1 << 20))
+#define CAN_MB_CONTROL_IDE ((uint32_t)(1 << 21))
+#define CAN_MB_CONTROL_SRR ((uint32_t)(1 << 22))
+#define CAN_MB_CONTROL_INSERT_CODE(n) ((uint32_t)(((n) & 0xF) << 24))
+#define CAN_MB_CONTROL_CODE_BUSY_MASK CAN_MB_CONTROL_INSERT_CODE(1)
+#define CAN_MB_PRIO_ID_PRIORITY_MASK ((uint32_t)((1 << 29) - 1))
+#define CAN_MB_CODE_RX_INACTIVE 0
+#define CAN_MB_CODE_RX_EMPTY 4
+#define CAN_MB_CODE_RX_FULL 2
+#define CAN_MB_CODE_RX_OVERRUN 6
+#define CAN_MB_CODE_RX_RANSWER 0xA
+#define CAN_MB_CODE_TX_INACTIVE 8
+#define CAN_MB_CODE_TX_ABORT 9
+#define CAN_MB_CODE_TX_DATA 0xC
+#define CAN_MB_CODE_TX_REMOTE 0xC
+#define CAN_MB_CODE_TX_TANSWER 0xE
+#define CAN_MB_CODE_IS_BUSY(code) ((code) & 1)
+
+// We have to define these, and leave them defined, because the C preprocessor
+// is annoying...
+#define REALLY_DO_CONCATENATE(x, y, z) x ## y ## z
+#define DO_CONCATENATE(x, y, z) REALLY_DO_CONCATENATE(x, y, z)
+
+// Index-parameterized access to various registers from various peripherals.
+// This only includes ones somebody thought might be useful; add more if you
+// want them.
+#define DMA_TCDn_SADDR(n) DO_CONCATENATE(DMA_TCD, n, _SADDR)
+#define DMA_TCDn_SOFF(n) DO_CONCATENATE(DMA_TCD, n, _SOFF)
+#define DMA_TCDn_ATTR(n) DO_CONCATENATE(DMA_TCD, n, _ATTR)
+#define DMA_TCDn_NBYTES_MLNO(n) DO_CONCATENATE(DMA_TCD, n, _NBYTES_MLNO)
+#define DMA_TCDn_NBYTES_MLOFFNO(n) DO_CONCATENATE(DMA_TCD, n, _NBYTES_MLOFFNO)
+#define DMA_TCDn_NBYTES_MLOFFYES(n) DO_CONCATENATE(DMA_TCD, n, _NBYTES_MLOFFYES)
+#define DMA_TCDn_SLAST(n) DO_CONCATENATE(DMA_TCD, n, _SLAST)
+#define DMA_TCDn_DADDR(n) DO_CONCATENATE(DMA_TCD, n, _DADDR)
+#define DMA_TCDn_DOFF(n) DO_CONCATENATE(DMA_TCD, n, _DOFF)
+#define DMA_TCDn_CITER_ELINKYES(n) DO_CONCATENATE(DMA_TCD, n, _CITER_ELINKYES)
+#define DMA_TCDn_CITER_ELINKNO(n) DO_CONCATENATE(DMA_TCD, n, _CITER_ELINKNO)
+#define DMA_TCDn_DLASTSGA(n) DO_CONCATENATE(DMA_TCD, n, _DLASTSGA)
+#define DMA_TCDn_CSR(n) DO_CONCATENATE(DMA_TCD, n, _CSR)
+#define DMA_TCDn_BITER_ELINKYES(n) DO_CONCATENATE(DMA_TCD, n, _BITER_ELINKYES)
+#define DMA_TCDn_BITER_ELINKNO(n) DO_CONCATENATE(DMA_TCD, n, _BITER_ELINKNO)
+#define SPIn_MCR(n) DO_CONCATENATE(SPI, n, _MCR)
+#define SPIn_TCR(n) DO_CONCATENATE(SPI, n, _TCR)
+#define SPIn_CTAR0(n) DO_CONCATENATE(SPI, n, _CTAR0)
+#define SPIn_SR(n) DO_CONCATENATE(SPI, n, _SR)
+#define SPIn_RSER(n) DO_CONCATENATE(SPI, n, _RSER)
+#define SPIn_PUSHR(n) DO_CONCATENATE(SPI, n, _PUSHR)
+#define SPIn_POPR(n) DO_CONCATENATE(SPI, n, _POPR)
+#define DMAMUX0_CHCFGn(n) DO_CONCATENATE(DMAMUX0, _CHCFG, n)
+#define DMAMUX_SOURCE_SPIn_RX(n) DO_CONCATENATE(DMAMUX_SOURCE_SPI, n, _RX)
+#define DMAMUX_SOURCE_SPIn_TX(n) DO_CONCATENATE(DMAMUX_SOURCE_SPI, n, _TX)
+#define dma_chN_isr(n) DO_CONCATENATE(dma_ch, n, _isr)
+#define IRQ_DMA_CHn(n) DO_CONCATENATE(IRQ_DMA, _CH, n)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // MOTORS_UTIL_H_
diff --git a/third_party/gperftools/BUILD b/third_party/gperftools/BUILD
index 4fa332f..b1e1f0f 100644
--- a/third_party/gperftools/BUILD
+++ b/third_party/gperftools/BUILD
@@ -208,6 +208,8 @@
],
copts = common_copts + [
'-fno-builtin',
+ # Add this back in when we upgrade clang.
+ #'-Wno-mismatched-new-delete',
],
size = 'small',
)
diff --git a/third_party/gperftools/src/base/basictypes.h b/third_party/gperftools/src/base/basictypes.h
index 4779611..2a0fec1 100644
--- a/third_party/gperftools/src/base/basictypes.h
+++ b/third_party/gperftools/src/base/basictypes.h
@@ -78,12 +78,12 @@
const int8 kint8max = ( ( int8) 0x7F);
const int16 kint16max = ( ( int16) 0x7FFF);
const int32 kint32max = ( ( int32) 0x7FFFFFFF);
-const int64 kint64max = ( ((( int64) kint32max) << 32) | kuint32max );
+const int64 kint64max = ( ((( uint64) kint32max) << 32) | kuint32max );
const int8 kint8min = ( ( int8) 0x80);
const int16 kint16min = ( ( int16) 0x8000);
const int32 kint32min = ( ( int32) 0x80000000);
-const int64 kint64min = ( ((( int64) kint32min) << 32) | 0 );
+const int64 kint64min = ( ((( uint64) kint32min) << 32) | 0 );
// Define the "portable" printf and scanf macros, if they're not
// already there (via the inttypes.h we #included above, hopefully).
diff --git a/tools/BUILD b/tools/BUILD
index 8926d08..b8a4f1e 100644
--- a/tools/BUILD
+++ b/tools/BUILD
@@ -20,6 +20,10 @@
values = {'cpu': 'roborio'},
)
config_setting(
+ name = 'cpu_cortex_m4f',
+ values = {'cpu': 'cortex-m4f'},
+)
+config_setting(
name = 'cpu_armhf',
values = {'cpu': 'armhf-debian'},
)
diff --git a/tools/ci/run-tests.sh b/tools/ci/run-tests.sh
new file mode 100755
index 0000000..4de8e30
--- /dev/null
+++ b/tools/ci/run-tests.sh
@@ -0,0 +1,5 @@
+#!/bin/sh
+set -e
+
+bazel --batch test -c opt --curses=no --color=no --jobs=1 //... -- $(cat NO_BUILD_AMD64)
+bazel --batch build -c opt --curses=no --color=no --jobs=1 //... --cpu=roborio -- $(cat NO_BUILD_ROBORIO)
diff --git a/tools/cpp/BUILD b/tools/cpp/BUILD
index a7495d9..f5dfe10 100644
--- a/tools/cpp/BUILD
+++ b/tools/cpp/BUILD
@@ -10,6 +10,7 @@
deps = select({
'//tools:has_asan': [],
'//tools:has_tsan': [],
+ '//tools:cpu_cortex_m4f': [],
'//conditions:default': ['//third_party/gperftools:tcmalloc'],
}),
)
@@ -30,6 +31,7 @@
'k8|clang': ':cc-compiler-k8',
'roborio|gcc': ':cc-compiler-roborio',
'armhf-debian|clang': 'cc-compiler-armhf-debian',
+ 'cortex-m4f|gcc': 'cc-compiler-cortex-m4f',
},
)
@@ -150,3 +152,17 @@
strip_files = '//tools/cpp/linaro_linux_gcc:strip',
supports_param_files = 1,
)
+
+cc_toolchain(
+ name = 'cc-compiler-cortex-m4f',
+ all_files = ':empty',
+ compiler_files = ':empty',
+ cpu = 'cortex-m4',
+ dwp_files = ':empty',
+ dynamic_runtime_libs = [':empty'],
+ linker_files = '//motors/core:linkerscript',
+ objcopy_files = ':empty',
+ static_runtime_libs = [':empty'],
+ strip_files = ':empty',
+ supports_param_files = 0,
+)
diff --git a/tools/cpp/CROSSTOOL b/tools/cpp/CROSSTOOL
index 5a374af..7e6efdb 100644
--- a/tools/cpp/CROSSTOOL
+++ b/tools/cpp/CROSSTOOL
@@ -22,6 +22,11 @@
toolchain_identifier: "clang_linux_armhf"
}
+default_toolchain {
+ cpu: "cortex-m4f"
+ toolchain_identifier: "cortex-m4f"
+}
+
toolchain {
abi_version: "armeabi-v7a"
abi_libc_version: "armeabi-v7a"
@@ -781,3 +786,223 @@
linker_flag: "-Wl,--gc-sections"
}
}
+
+toolchain {
+ abi_version: "cortex-m4f"
+ abi_libc_version: "cortex-m4f"
+ builtin_sysroot: ""
+ compiler: "gcc"
+ host_system_name: "local"
+ needsPic: false
+ supports_gold_linker: false
+ supports_incremental_linker: false
+ supports_fission: false
+ supports_interface_shared_objects: false
+ supports_normalizing_ar: false
+ supports_start_end_lib: false
+ supports_thin_archives: false
+ target_libc: "cortex-m4f"
+ target_cpu: "cortex-m4f"
+ target_system_name: "cortex-m4f"
+ toolchain_identifier: "cortex-m4f"
+
+ tool_path { name: "ar" path: "/usr/bin/arm-none-eabi-ar" }
+ tool_path { name: "compat-ld" path: "/usr/bin/arm-none-eabi-ld" }
+ tool_path { name: "cpp" path: "/usr/bin/arm-none-eabi-cpp" }
+ tool_path { name: "dwp" path: "/usr/bin/arm-none-eabi-dwp" }
+ tool_path { name: "gcc" path: "/usr/bin/arm-none-eabi-gcc" }
+ tool_path { name: "gcov" path: "/usr/bin/arm-none-eabi-gcov" }
+ # C(++) compiles invoke the compiler (as that is the one knowing where
+ # to find libraries), but we provide LD so other rules can invoke the linker.
+ tool_path { name: "ld" path: "/usr/bin/arm-none-eabi-ld" }
+ tool_path { name: "nm" path: "/usr/bin/arm-none-eabi-nm" }
+ tool_path { name: "objcopy" path: "/usr/bin/arm-none-eabi-objcopy" }
+ objcopy_embed_flag: "-I"
+ objcopy_embed_flag: "binary"
+ tool_path { name: "objdump" path: "/usr/bin/arm-none-eabi-objdump" }
+ tool_path { name: "strip" path: "/usr/bin/arm-none-eabi-strip" }
+ linking_mode_flags { mode: FULLY_STATIC }
+
+ # TODO(bazel-team): In theory, the path here ought to exactly match the path
+ # used by gcc. That works because bazel currently doesn't track files at
+ # absolute locations and has no remote execution, yet. However, this will need
+ # to be fixed, maybe with auto-detection?
+ cxx_builtin_include_directory: '/usr/lib/gcc/arm-none-eabi/4.8/include'
+ cxx_builtin_include_directory: '/usr/lib/gcc/arm-none-eabi/4.8/include-fixed'
+ cxx_builtin_include_directory: '/usr/lib/arm-none-eabi/include'
+ cxx_builtin_include_directory: '/usr/include/newlib',
+
+ feature {
+ name: "dbg"
+ implies: "all_modes"
+ flag_set {
+ action: "preprocess-assemble"
+ action: "c-compile"
+ action: "c++-compile"
+ action: "c++-header-parsing"
+ action: "c++-header-preprocessing"
+ action: "c++-module-compile"
+ flag_group {
+ flag: "-fno-omit-frame-pointer"
+ }
+ }
+ }
+
+ feature {
+ name: "opt"
+ implies: "all_modes"
+ }
+ feature {
+ name: "fastbuild"
+ implies: "all_modes"
+ }
+
+ feature {
+ name: "all_modes"
+ flag_set {
+ action: "preprocess-assemble"
+ action: "assemble"
+ action: "c-compile"
+ flag_group {
+ flag: "--std=gnu99"
+ }
+ }
+ flag_set {
+ action: "c++-compile"
+ action: "c++-header-parsing"
+ action: "c++-header-preprocessing"
+ action: "c++-module-compile"
+ flag_group {
+ flag: "--std=gnu++11"
+ flag: "-fno-exceptions"
+ flag: "-fno-rtti"
+ }
+ }
+ }
+
+ # Anticipated future default.
+ # This makes GCC and Clang do what we want when called through symlinks.
+ unfiltered_cxx_flag: "-no-canonical-prefixes"
+ linker_flag: "-no-canonical-prefixes"
+
+ # Things that the code wants defined.
+ compiler_flag: "-D__STDC_FORMAT_MACROS"
+ compiler_flag: "-D__STDC_CONSTANT_MACROS"
+ compiler_flag: "-D__STDC_LIMIT_MACROS"
+ compiler_flag: "-D__MK64FX512__"
+ compiler_flag: "-DF_CPU=120000000"
+ compiler_flag: "-Wl,--gc-sections"
+
+ # Make C++ compilation deterministic. Use linkstamping instead of these
+ # compiler symbols.
+ unfiltered_cxx_flag: "-Wno-builtin-macro-redefined"
+ unfiltered_cxx_flag: "-D__DATE__=\"redacted\""
+ unfiltered_cxx_flag: "-D__TIMESTAMP__=\"redacted\""
+ unfiltered_cxx_flag: "-D__TIME__=\"redacted\""
+
+ # Security hardening on by default.
+ # Conservative choice; -D_FORTIFY_SOURCE=2 may be unsafe in some cases.
+ # We need to undef it before redefining it as some distributions now have
+ # it enabled by default.
+ compiler_flag: "-fstack-protector"
+ compiler_flag: "-mcpu=cortex-m4"
+ compiler_flag: "-mfpu=fpv4-sp-d16"
+ compiler_flag: "-mthumb"
+ compiler_flag: "-mfloat-abi=hard"
+ compiler_flag: "-fno-strict-aliasing"
+ linker_flag: "-mcpu=cortex-m4"
+ linker_flag: "-mfpu=fpv4-sp-d16"
+ linker_flag: "-mthumb"
+ linker_flag: "-mfloat-abi=hard"
+ linker_flag: "-fno-strict-aliasing"
+ linker_flag: "--specs=nano.specs"
+
+ # Pretty much everything needs this, including parts of the glibc STL...
+ linker_flag: "-lgcc"
+ linker_flag: "-lstdc++"
+ linker_flag: "-lm"
+ linker_flag: "-lc"
+ linker_flag: "-Tmotors/core/mk64fx512.ld"
+
+ compiler_flag: "-fmessage-length=80"
+
+ compiler_flag: "-Wall"
+ compiler_flag: "-Wextra"
+ compiler_flag: "-Wswitch-enum"
+ compiler_flag: "-Wpointer-arith"
+ compiler_flag: "-Wcast-qual"
+ compiler_flag: "-Wwrite-strings"
+ compiler_flag: "-Wtype-limits"
+ compiler_flag: "-Wsign-compare"
+ compiler_flag: "-Wformat=2"
+ compiler_flag: "-Werror"
+ compiler_flag: "-Wstrict-aliasing=2"
+
+ # Be annoying about using doubles places we probably didn't mean to, because
+ # the FPU only does single-precision.
+ compiler_flag: "-Wdouble-promotion"
+
+ # Don't use temp files while compiling.
+ compiler_flag: "-pipe"
+
+ # Stamp the binary with a unique identifier.
+ # TODO(austin): Put these back in.
+ #linker_flag: "-Wl,--build-id=md5"
+ #linker_flag: "-Wl,--hash-style=gnu"
+
+ # Enable debug symbols.
+ compiler_flag: "-g"
+
+ # Commons symbols are weird and not what we want, so just give multiple
+ # declaration errors instead.
+ compiler_flag: "-fno-common"
+
+ compilation_mode_flags {
+ mode: OPT
+
+ # Freescale recommends this combination for reducing cycle count.
+ # http://www.nxp.com/assets/documents/data/en/application-notes/AN4808.pdf
+ compiler_flag: "-O2"
+ compiler_flag: "-finline-functions"
+
+ # This is definitely worth it for us. It makes the FPU a lot more useful,
+ # especially with complex arithmetic, which matters a lot.
+ compiler_flag: "-ffast-math"
+
+ # It seems like this is a good idea, at least for the number crunching code.
+ # Might want to look into moving it to copts on specific rules if the code
+ # size increase becomes a problem.
+ compiler_flag: "-funroll-loops"
+
+ # Disable assertions
+ compiler_flag: "-DNDEBUG"
+
+ # Removal of unused code and data at link time (can this increase binary size in some cases?).
+ compiler_flag: "-ffunction-sections"
+ #compiler_flag: "-fdata-sections"
+ linker_flag: "-Wl,--gc-sections"
+ }
+
+ feature {
+ name: 'include_paths'
+ flag_set {
+ action: 'preprocess-assemble'
+ action: 'c-compile'
+ action: 'c++-compile'
+ action: 'c++-header-parsing'
+ action: 'c++-header-preprocessing'
+ action: 'c++-module-compile'
+ flag_group {
+ flag: '-iquote'
+ flag: '%{quote_include_paths}'
+ }
+ flag_group {
+ flag: '-I%{include_paths}'
+ }
+ flag_group {
+ flag: '-iquote'
+ flag: '%{system_include_paths}'
+ }
+ }
+ }
+}
diff --git a/y2014/BUILD b/y2014/BUILD
index 07b9169..936c0cb 100644
--- a/y2014/BUILD
+++ b/y2014/BUILD
@@ -11,7 +11,7 @@
],
deps = [
'//aos/common/logging',
- '//aos/common:once',
+ '//aos:once',
'//aos/common/network:team_number',
'//aos/common:mutex',
'//frc971/control_loops:state_feedback_loop',
diff --git a/y2014/autonomous/auto.cc b/y2014/autonomous/auto.cc
index e7f7697..e443f6b 100644
--- a/y2014/autonomous/auto.cc
+++ b/y2014/autonomous/auto.cc
@@ -212,7 +212,7 @@
distance - theta * control_loops::drivetrain::kRobotRadius;
right_initial_position +=
distance + theta * control_loops::drivetrain::kRobotRadius;
- return ::std::move(drivetrain_action);
+ return drivetrain_action;
}
void Shoot() {
diff --git a/y2014/constants.cc b/y2014/constants.cc
index 33d734e..d5a29be 100644
--- a/y2014/constants.cc
+++ b/y2014/constants.cc
@@ -11,9 +11,9 @@
#endif
#include "aos/common/logging/logging.h"
-#include "aos/common/once.h"
-#include "aos/common/network/team_number.h"
#include "aos/common/mutex.h"
+#include "aos/common/network/team_number.h"
+#include "aos/once.h"
#include "y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
diff --git a/y2015/BUILD b/y2015/BUILD
index da0db7e..1f3b8a1 100644
--- a/y2015/BUILD
+++ b/y2015/BUILD
@@ -11,7 +11,7 @@
],
deps = [
'//aos/common/logging',
- '//aos/common:once',
+ '//aos:once',
'//aos/common:time',
'//aos/common/network:team_number',
'//frc971/control_loops:state_feedback_loop',
diff --git a/y2015/autonomous/auto.cc b/y2015/autonomous/auto.cc
index 4df613d..2a1a7c2 100644
--- a/y2015/autonomous/auto.cc
+++ b/y2015/autonomous/auto.cc
@@ -166,7 +166,7 @@
distance - theta * constants::GetValues().turn_width / 2.0;
right_initial_position +=
distance + theta * constants::GetValues().turn_width / 2.0;
- return ::std::move(drivetrain_action);
+ return drivetrain_action;
}
const ProfileParams kFridgeYProfile{1.0, 4.0};
diff --git a/y2015/constants.cc b/y2015/constants.cc
index 5b02a25..ce78344 100644
--- a/y2015/constants.cc
+++ b/y2015/constants.cc
@@ -11,9 +11,9 @@
#endif
#include "aos/common/logging/logging.h"
-#include "aos/common/once.h"
-#include "aos/common/network/team_number.h"
#include "aos/common/mutex.h"
+#include "aos/common/network/team_number.h"
+#include "aos/once.h"
#include "y2015/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
#include "y2015/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
diff --git a/y2015_bot3/autonomous/auto.cc b/y2015_bot3/autonomous/auto.cc
index 35ad8d2..f7491f4 100644
--- a/y2015_bot3/autonomous/auto.cc
+++ b/y2015_bot3/autonomous/auto.cc
@@ -91,7 +91,7 @@
distance - theta * control_loops::drivetrain::kDrivetrainTurnWidth / 2.0;
right_initial_position +=
distance + theta * control_loops::drivetrain::kDrivetrainTurnWidth / 2.0;
- return ::std::move(drivetrain_action);
+ return drivetrain_action;
}
void WaitUntilDoneOrCanceled(
::std::unique_ptr<aos::common::actions::Action> action) {
diff --git a/y2016/BUILD b/y2016/BUILD
index d3c4a9e..49e864c 100644
--- a/y2016/BUILD
+++ b/y2016/BUILD
@@ -11,7 +11,7 @@
],
deps = [
'//aos/common/logging',
- '//aos/common:once',
+ '//aos:once',
'//aos/common/network:team_number',
'//aos/common:mutex',
'//frc971/control_loops:state_feedback_loop',
diff --git a/y2016/actors/autonomous_actor.cc b/y2016/actors/autonomous_actor.cc
index 4646cde..727f5de 100644
--- a/y2016/actors/autonomous_actor.cc
+++ b/y2016/actors/autonomous_actor.cc
@@ -197,7 +197,7 @@
void AutonomousActor::AlignWithVisionGoal() {
actors::VisionAlignActionParams params;
- vision_action_ = ::std::move(actors::MakeVisionAlignAction(params));
+ vision_action_ = actors::MakeVisionAlignAction(params);
vision_action_->Start();
}
diff --git a/y2016/constants.cc b/y2016/constants.cc
index 3e16b0c..8bbda56 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -11,9 +11,9 @@
#endif
#include "aos/common/logging/logging.h"
-#include "aos/common/once.h"
-#include "aos/common/network/team_number.h"
#include "aos/common/mutex.h"
+#include "aos/common/network/team_number.h"
+#include "aos/once.h"
#include "y2016/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
#include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
diff --git a/y2017/BUILD b/y2017/BUILD
index 11b965e..4163bd5 100644
--- a/y2017/BUILD
+++ b/y2017/BUILD
@@ -13,7 +13,7 @@
'//aos/common/logging',
'//aos/common/network:team_number',
'//aos/common:mutex',
- '//aos/common:once',
+ '//aos:once',
'//frc971:constants',
'//frc971/shooter_interpolation:interpolation',
'//y2017/control_loops/drivetrain:polydrivetrain_plants',
diff --git a/y2017/constants.cc b/y2017/constants.cc
index e2b743b..9530e27 100644
--- a/y2017/constants.cc
+++ b/y2017/constants.cc
@@ -13,7 +13,7 @@
#include "aos/common/logging/logging.h"
#include "aos/common/mutex.h"
#include "aos/common/network/team_number.h"
-#include "aos/common/once.h"
+#include "aos/once.h"
#include "y2017/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2017/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
diff --git a/y2017/control_loops/superstructure/shooter/shooter.cc b/y2017/control_loops/superstructure/shooter/shooter.cc
index 795a7d4..03abd99 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.cc
+++ b/y2017/control_loops/superstructure/shooter/shooter.cc
@@ -67,10 +67,7 @@
// Compute the distance moved over that time period.
average_angular_velocity_ =
(history_[oldest_history_position] - history_[history_position_]) /
- (chrono::duration_cast<chrono::duration<double>>(
- ::aos::controls::kLoopFrequency)
- .count() *
- static_cast<double>(kHistoryLength - 1));
+ (0.00505 * static_cast<double>(kHistoryLength - 1));
// Ready if average angular velocity is close to the goal.
error_ = average_angular_velocity_ - loop_->next_R(2, 0);
diff --git a/y2017/control_loops/superstructure/superstructure_lib_test.cc b/y2017/control_loops/superstructure/superstructure_lib_test.cc
index 7906af4..e4e391c 100644
--- a/y2017/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2017/control_loops/superstructure/superstructure_lib_test.cc
@@ -492,7 +492,7 @@
superstructure_.Iterate();
superstructure_plant_.Simulate();
- TickTime();
+ TickTime(::std::chrono::microseconds(5050));
}
// Runs iterations until the specified amount of simulated time has elapsed.
@@ -948,7 +948,7 @@
superstructure_plant_.set_hood_voltage_offset(2.0);
- superstructure_plant_.set_turret_voltage_offset(-1.5);
+ superstructure_plant_.set_turret_voltage_offset(-1.0);
superstructure_plant_.set_indexer_voltage_offset(2.0);
RunForTime(chrono::seconds(1), false);
@@ -1082,12 +1082,13 @@
}
}
- // Make sure it took some time, but not too much to detect us not being stuck anymore.
+ // Make sure it took some time, but not too much to detect us not being stuck
+ // anymore.
const auto unstuck_detection_time = monotonic_clock::now();
EXPECT_TRUE(unstuck_detection_time - unstuck_start_time <
- chrono::milliseconds(200));
+ chrono::milliseconds(600));
EXPECT_TRUE(unstuck_detection_time - unstuck_start_time >
- chrono::milliseconds(40));
+ chrono::milliseconds(100));
// Verify that it actually moved.
superstructure_queue_.position.FetchLatest();
@@ -1155,11 +1156,12 @@
// anymore.
const auto unstuck_detection_time = monotonic_clock::now();
EXPECT_TRUE(unstuck_detection_time - unstuck_start_time <
- chrono::milliseconds(600));
+ chrono::milliseconds(1050));
EXPECT_TRUE(unstuck_detection_time - unstuck_start_time >
chrono::milliseconds(400));
- LOG(INFO, "Unstuck time is %ldms",
- (unstuck_detection_time - unstuck_start_time).count() / 1000000);
+ LOG(INFO, "Unstuck time is %" PRId64 "ms",
+ static_cast<int64_t>(
+ (unstuck_detection_time - unstuck_start_time).count() / 1000000));
// Now, make sure it transitions to stuck again after a delay.
const auto restuck_start_time = monotonic_clock::now();