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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
149 lines
4.4 KiB
C
149 lines
4.4 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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*
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* @file startup.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief C based startup of F4
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <string.h>
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#include <stm32f4xx.h>
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/* prototype for main() that tells us not to worry about it possibly returning */
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extern int main(void) __attribute__((noreturn));
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/* prototype our _main() to avoid prolog/epilog insertion and other related junk */
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void _main(void) __attribute__((noreturn, naked, no_instrument_function));
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/** default handler for CPU exceptions */
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static void default_cpu_handler(void) __attribute__((noreturn, naked, no_instrument_function));
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/** BSS symbols XXX should have a header that defines all of these */
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extern char _sbss, _ebss;
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/** DATA symbols XXX should have a header that defines all of these */
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extern char _sidata, _sdata, _edata, _sfast, _efast;
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/** The bootstrap/IRQ stack XXX should define size somewhere else */
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char irq_stack[1024] __attribute__((section(".irqstack")));
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/** exception handler */
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typedef void (vector)(void);
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/** CortexM3 CPU vectors */
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struct cm3_vectors {
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void *initial_stack;
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vector *entry;
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vector *vectors[14];
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};
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/**
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* Initial startup code.
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*/
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void
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_main(void)
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{
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// load the stack base for the current stack before we attempt to branch to any function
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// that might bounds-check the stack
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asm volatile ("mov r10, %0" : : "r" (&irq_stack[0]) : );
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/* enable usage, bus and memory faults */
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SCB->SHCSR |= SCB_SHCSR_USGFAULTENA_Msk | SCB_SHCSR_BUSFAULTENA_Msk | SCB_SHCSR_MEMFAULTENA_Msk;
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/* configure FP state save behaviour - automatic, lazy save */
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FPU->FPCCR |= FPU_FPCCR_ASPEN_Msk | FPU_FPCCR_LSPEN_Msk;
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/* configure default FPU state */
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FPU->FPDSCR |= FPU_FPDSCR_DN_Msk; /* enable Default NaN */
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/* enable the FPU */
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SCB->CPACR |= (0xf << 20); // turn on CP10/11 for FP support on cores that implement it
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/* copy initialised data from flash to RAM */
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memcpy(&_sdata, &_sidata, &_edata - &_sdata);
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/* zero the BSS */
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memset(&_sbss, 0, &_ebss - &_sbss);
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/* zero any 'fast' RAM that's been used */
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memset(&_sfast, 0, &_efast - &_sfast);
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/* fill most of the IRQ/bootstrap stack with a watermark pattern so we can measure how much is used */
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/* leave a little space at the top in case memset() isn't a leaf with no locals */
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memset(&irq_stack, 0xa5, sizeof(irq_stack) - 64);
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/* call main */
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(void)main();
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}
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/**
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* Default handler for CPU exceptions.
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*/
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static void
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default_cpu_handler(void)
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{
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for (;;) ;
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}
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/** Prototype for optional exception vector handlers */
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#define HANDLER(_name) extern vector _name __attribute__((weak, alias("default_cpu_handler")))
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/* standard CMSIS vector names */
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HANDLER(NMI_Handler);
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HANDLER(HardFault_Handler);
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HANDLER(MemManage_Handler);
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HANDLER(BusFault_Handler);
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HANDLER(UsageFault_Handler);
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HANDLER(DebugMon_Handler);
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/* these vectors point directly to the relevant FreeRTOS functions if they are defined */
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HANDLER(vPortSVCHandler);
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HANDLER(xPortPendSVHandler);
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HANDLER(xPortSysTickHandler);
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/** CortexM3 vector table */
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struct cm3_vectors cpu_vectors __attribute((section(".cpu_vectors"))) = {
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.initial_stack = &irq_stack[sizeof(irq_stack)],
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.entry = (vector *)_main,
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.vectors = {
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NMI_Handler,
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HardFault_Handler,
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MemManage_Handler,
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BusFault_Handler,
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UsageFault_Handler,
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0,
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0,
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0,
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0,
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vPortSVCHandler,
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DebugMon_Handler,
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0,
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xPortPendSVHandler,
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xPortSysTickHandler,
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}
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};
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/**
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* @}
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*/
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