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/******************************************************************************
* Copyright 2008-2009, Freie Universitaet Berlin (FUB). All rights reserved.
* These sources were developed at the Freie Universitaet Berlin, Computer Systems
* and Telematics group (http://cst.mi.fu-berlin.de).
* This file is part of RIOT.
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*******************************************************************************/
/**
* @ingroup arm_common
* @{
*/
/**
* @file
* @internal
* @brief ARM bootloader
*
* @author Heiko Will <hwill@inf.fu-berlin.de>
* @author Michael Baar <michael.baar@fu-berlin.de>
* @version $Revision$
* @since 19.08.2008
*
* @note $Id$
*/
#include <stdio.h>
#include <stdlib.h>
#include "kernel.h"
#include "thread.h"
void FIQ_Routine(void) __attribute__((interrupt("FIQ")));
//void SWI_Routine (void) __attribute__((interrupt("SWI")));
void UNDEF_Routine(void) __attribute__((interrupt("UNDEF")));
void IRQ_Routine(void)
{
printf("Kernel Panic,\nEarly IRQ call\n");
while (1) {};
}
/*-----------------------------------------------------------------------------------*/
void FIQ_Routine(void)
{
printf("Kernel Panic,\nEarly FIQ call\n");
while (1) {};
}
/*-----------------------------------------------------------------------------------*/
void SWI_Routine(void)
{
printf("Kernel Panic,\nEarly SWI call\n");
while (1) {};
}
/*-----------------------------------------------------------------------------------*/
void DEBUG_Routine(void)
{
printf("DEBUG hit.");
while (1) {};
}
/*-----------------------------------------------------------------------------------*/
volatile int arm_abortflag = 0;
void abtorigin(const char *vector, u_long *lnk_ptr1)
{
register u_long *lnk_ptr2;
register unsigned long *sp;
register unsigned int cpsr, spsr;
__asm__ __volatile__("mrs %0, cpsr" : "=r"(cpsr)); // copy current mode
__asm__ __volatile__("mrs %0, spsr" : "=r"(spsr)); // copy dabt generating mode
__asm__ __volatile__("msr cpsr_c, %0" :: "r"(spsr)); // switch to dabt generating mode
__asm__ __volatile__("mov %0, lr" : "=r"(lnk_ptr2)); // copy lr
__asm__ __volatile__("mov %0, sp" : "=r"(sp)); // copy sp
__asm__ __volatile__("msr cpsr_c, %0" :: "r"(cpsr)); // switch back to abt mode
printf("#!%s abort at %p (0x%08lX) originating from %p (0x%08lX) in mode 0x%X\n",
vector, (void *)lnk_ptr1, *(lnk_ptr1), (void *)lnk_ptr2, *(lnk_ptr2), spsr
);
stdio_flush();
exit(1);
}
/*-----------------------------------------------------------------------------------*/
void UNDEF_Routine(void)
{
register u_long *lnk_ptr;
__asm__ __volatile__("sub %0, lr, #8" : "=r"(lnk_ptr)); // get aborting instruction
if (arm_abortflag == 0) {
arm_abortflag = 1; // remember state (if printing should fail again)
abtorigin("undef", lnk_ptr);
}
exit(1);
}
/*-----------------------------------------------------------------------------------*/
void PABT_Routine(void)
{
register u_long *lnk_ptr;
__asm__ __volatile__("sub %0, lr, #8" : "=r"(lnk_ptr)); // get aborting instruction
if (arm_abortflag == 0) {
arm_abortflag = 1; // remember state (if printing should fail again)
abtorigin("pabt", lnk_ptr);
}
exit(1);
}
/*-----------------------------------------------------------------------------------*/
void DABT_Routine(void)
{
register u_long *lnk_ptr;
__asm__ __volatile__("sub %0, lr, #8" : "=r"(lnk_ptr)); // get aborting instruction
if (arm_abortflag == 0) {
arm_abortflag = 1; // remember state (if printing should fail again)
abtorigin("data", lnk_ptr);
}
exit(1);
}
/*-----------------------------------------------------------------------------------*/
static inline void
bl_init_data(void)
{
extern unsigned int _etext;
extern unsigned int _data;
extern unsigned int _edata;
extern unsigned int __bss_start;
extern unsigned int __bss_end;
register unsigned int *p1;
register unsigned int *p2;
register unsigned int *p3;
// initialize data from flash
// (linker script ensures that data is 32-bit aligned)
p1 = &_etext;
p2 = &_data;
p3 = &_edata;
while (p2 < p3) {
*p2++ = *p1++;
}
// clear bss
// (linker script ensures that bss is 32-bit aligned)
p1 = &__bss_start;
p2 = &__bss_end;
while (p1 < p2) {
*p1++ = 0;
}
}
/*-----------------------------------------------------------------------------------*/
void bootloader(void)
{
extern void bl_uart_init(void);
extern void bl_init_ports(void);
extern void bl_init_clks(void);
extern void bl_blink(void);
extern void bl_config_init(void);
/* board specific setup of clocks */
bl_init_clks();
/* initialize bss and data */
#ifndef CPU_MC1322X
bl_init_data();
#endif
/* board specific setup of i/o pins */
bl_init_ports();
/* UART setup */
bl_uart_init();
puts("Board initialized.");
}
/** @} */