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// Startup code on rp2040
//
// Copyright (C) 2021 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <stdint.h> // uint32_t
#include "board/misc.h" // bootloader_request
#include "generic/armcm_reset.h" // try_request_canboot
#include "hardware/structs/clocks.h" // clock_hw_t
#include "hardware/structs/pll.h" // pll_hw_t
#include "hardware/structs/resets.h" // sio_hw
#include "hardware/structs/watchdog.h" // watchdog_hw
#include "hardware/structs/xosc.h" // xosc_hw
#include "internal.h" // enable_pclock
#include "sched.h" // sched_main
#if CONFIG_MACH_RP2040
#include "hardware/structs/vreg_and_chip_reset.h" // vreg_and_chip_reset_hw
#else
#include "hardware/structs/ticks.h" // ticks_hw
#endif
/****************************************************************
* Ram IRQ vector table
****************************************************************/
// Copy vector table to ram and activate it
static void
enable_ram_vectortable(void)
{
// Symbols created by rpxxxx_link.lds.S linker script
extern uint32_t _ram_vectortable_start, _ram_vectortable_end;
extern uint32_t _text_vectortable_start;
uint32_t count = (&_ram_vectortable_end - &_ram_vectortable_start) * 4;
__builtin_memcpy(&_ram_vectortable_start, &_text_vectortable_start, count);
barrier();
SCB->VTOR = (uint32_t)&_ram_vectortable_start;
}
/****************************************************************
* Bootloader
****************************************************************/
void
bootloader_request(void)
{
watchdog_hw->ctrl = 0;
try_request_canboot();
bootrom_reboot_usb_bootloader();
}
/****************************************************************
* Clock setup
****************************************************************/
#define FREQ_XOSC 12000000
#define FREQ_SYS (CONFIG_MACH_RP2040 ? 200000000 : CONFIG_CLOCK_FREQ)
#define FBDIV (FREQ_SYS == 200000000 ? 100 : 125)
#define FREQ_USB 48000000
void set_vsel(void)
{
// Set internal voltage regulator output to 1.15V on rp2040
#if CONFIG_MACH_RP2040
uint32_t cval = vreg_and_chip_reset_hw->vreg;
uint32_t vref = VREG_AND_CHIP_RESET_VREG_VSEL_RESET + 1;
cval &= ~VREG_AND_CHIP_RESET_VREG_VSEL_BITS;
cval |= vref << VREG_AND_CHIP_RESET_VREG_VSEL_LSB;
vreg_and_chip_reset_hw->vreg = cval;
#endif
}
void
enable_pclock(uint32_t reset_bit)
{
resets_hw->reset |= reset_bit;
resets_hw->reset &= ~reset_bit;
while (!(resets_hw->reset_done & reset_bit))
;
}
int
is_enabled_pclock(uint32_t reset_bit)
{
return !(resets_hw->reset & reset_bit);
}
uint32_t
get_pclock_frequency(uint32_t reset_bit)
{
return FREQ_SYS;
}
static void
xosc_setup(void)
{
xosc_hw->startup = DIV_ROUND_UP(FREQ_XOSC, 1000 * 256); // 1ms
xosc_hw->ctrl = (XOSC_CTRL_FREQ_RANGE_VALUE_1_15MHZ
| (XOSC_CTRL_ENABLE_VALUE_ENABLE << XOSC_CTRL_ENABLE_LSB));
while (!(xosc_hw->status & XOSC_STATUS_STABLE_BITS))
;
}
static void
pll_setup(pll_hw_t *pll, uint32_t mul, uint32_t postdiv)
{
// Setup pll
uint32_t refdiv = 1, fbdiv = mul, postdiv2 = 2, postdiv1 = postdiv/postdiv2;
if (postdiv1 > 0x07) {
postdiv1 >>= 1;
postdiv2 <<= 1;
}
pll->cs = refdiv;
pll->fbdiv_int = fbdiv;
pll->pwr = PLL_PWR_DSMPD_BITS | PLL_PWR_POSTDIVPD_BITS;
while (!(pll->cs & PLL_CS_LOCK_BITS))
;
// Setup post divider
pll->prim = ((postdiv1 << PLL_PRIM_POSTDIV1_LSB)
| (postdiv2 << PLL_PRIM_POSTDIV2_LSB));
pll->pwr = PLL_PWR_DSMPD_BITS;
}
static void
clk_aux_setup(uint32_t clk_id, uint32_t aux_id)
{
clock_hw_t *clk = &clocks_hw->clk[clk_id];
clk->ctrl = 0;
clk->ctrl = aux_id | CLOCKS_CLK_PERI_CTRL_ENABLE_BITS;
}
static void
clock_setup(void)
{
// Set clk_sys and clk_ref to use internal clock
clock_hw_t *csys = &clocks_hw->clk[clk_sys];
csys->ctrl &= ~CLOCKS_CLK_SYS_CTRL_SRC_BITS;
while (csys->selected != 0x1)
;
clock_hw_t *cref = &clocks_hw->clk[clk_ref];
cref->ctrl &= ~CLOCKS_CLK_REF_CTRL_SRC_BITS;
while (cref->selected != 0x1)
;
// Reset peripherals (that can be)
resets_hw->reset = ~(RESETS_RESET_IO_QSPI_BITS
| RESETS_RESET_PADS_QSPI_BITS);
// Setup xosc, pll_sys, and switch clk_sys
xosc_setup();
enable_pclock(RESETS_RESET_PLL_SYS_BITS);
set_vsel();
pll_setup(pll_sys_hw, FBDIV, FBDIV * FREQ_XOSC / FREQ_SYS);
csys->ctrl = 0;
csys->div = 1<<CLOCKS_CLK_SYS_DIV_INT_LSB;
csys->ctrl = CLOCKS_CLK_SYS_CTRL_SRC_VALUE_CLKSRC_CLK_SYS_AUX;
while (!(csys->selected & (1 << 1)))
;
// Setup pll_usb
enable_pclock(RESETS_RESET_PLL_USB_BITS);
pll_setup(pll_usb_hw, 80, 80*FREQ_XOSC/FREQ_USB);
// Setup peripheral clocks
clk_aux_setup(clk_peri, CLOCKS_CLK_PERI_CTRL_AUXSRC_VALUE_CLK_SYS);
clk_aux_setup(clk_adc, CLOCKS_CLK_ADC_CTRL_AUXSRC_VALUE_CLKSRC_PLL_USB);
clk_aux_setup(clk_usb, CLOCKS_CLK_USB_CTRL_AUXSRC_VALUE_CLKSRC_PLL_USB);
// Enable watchdog tick (at 12Mhz)
cref->div = 1<<CLOCKS_CLK_REF_DIV_INT_LSB;
cref->ctrl = CLOCKS_CLK_REF_CTRL_SRC_VALUE_XOSC_CLKSRC;
while (!(cref->selected & (1 << 2)))
;
#if CONFIG_MACH_RP2040
watchdog_hw->tick = 1 | WATCHDOG_TICK_ENABLE_BITS;
#else
ticks_hw->ticks[TICK_WATCHDOG].cycles = 1;
ticks_hw->ticks[TICK_WATCHDOG].ctrl = TICKS_WATCHDOG_CTRL_ENABLE_BITS;
#endif
// Enable GPIO control
enable_pclock(RESETS_RESET_IO_BANK0_BITS | RESETS_RESET_PADS_BANK0_BITS);
}
// Main entry point - called from armcm_boot.c:ResetHandler()
void
armcm_main(void)
{
enable_ram_vectortable();
clock_setup();
sched_main();
}
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