Aditya Mehrotra / mbed-dev

Biomimetics MBED Library w/ Added Support for CAN3

Dependents:   CAN_TEST SPIne_Plus_DYNO_SENSORS SPIne_Plus_v2 SPIne_Plus_Dyno_v2

platform/mbed_application.c@3:993b4d6ff61e, 2021-03-09 (annotated)

Committer:
adimmit
Date:
Tue Mar 09 20:33:24 2021 +0000
Revision:
3:993b4d6ff61e
Parent:
0:083111ae2a11 
added CAN3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
saloutos 0:083111ae2a11 1 /* mbed Microcontroller Library
saloutos 0:083111ae2a11 2 * Copyright (c) 2017-2017 ARM Limited
saloutos 0:083111ae2a11 3 *
saloutos 0:083111ae2a11 4 * Licensed under the Apache License, Version 2.0 (the "License");
saloutos 0:083111ae2a11 5 * you may not use this file except in compliance with the License.
saloutos 0:083111ae2a11 6 * You may obtain a copy of the License at
saloutos 0:083111ae2a11 7 *
saloutos 0:083111ae2a11 8 * http://www.apache.org/licenses/LICENSE-2.0
saloutos 0:083111ae2a11 9 *
saloutos 0:083111ae2a11 10 * Unless required by applicable law or agreed to in writing, software
saloutos 0:083111ae2a11 11 * distributed under the License is distributed on an "AS IS" BASIS,
saloutos 0:083111ae2a11 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
saloutos 0:083111ae2a11 13 * See the License for the specific language governing permissions and
saloutos 0:083111ae2a11 14 * limitations under the License.
saloutos 0:083111ae2a11 15 */
saloutos 0:083111ae2a11 16
saloutos 0:083111ae2a11 17 #include <stdlib.h>
saloutos 0:083111ae2a11 18 #include <stdarg.h>
saloutos 0:083111ae2a11 19 #include "device.h"
saloutos 0:083111ae2a11 20 #include "platform/mbed_application.h"
saloutos 0:083111ae2a11 21
saloutos 0:083111ae2a11 22 #if MBED_APPLICATION_SUPPORT
saloutos 0:083111ae2a11 23
saloutos 0:083111ae2a11 24 static void powerdown_nvic(void);
saloutos 0:083111ae2a11 25 static void powerdown_scb(uint32_t vtor);
saloutos 0:083111ae2a11 26 static void start_new_application(void *sp, void *pc);
saloutos 0:083111ae2a11 27
saloutos 0:083111ae2a11 28 void mbed_start_application(uintptr_t address)
saloutos 0:083111ae2a11 29 {
saloutos 0:083111ae2a11 30 void *sp;
saloutos 0:083111ae2a11 31 void *pc;
saloutos 0:083111ae2a11 32
saloutos 0:083111ae2a11 33 // Interrupts are re-enabled in start_new_application
saloutos 0:083111ae2a11 34 __disable_irq();
saloutos 0:083111ae2a11 35
saloutos 0:083111ae2a11 36 SysTick->CTRL = 0x00000000;
saloutos 0:083111ae2a11 37 powerdown_nvic();
saloutos 0:083111ae2a11 38 powerdown_scb(address);
saloutos 0:083111ae2a11 39
saloutos 0:083111ae2a11 40 sp = *((void**)address + 0);
saloutos 0:083111ae2a11 41 pc = *((void**)address + 1);
saloutos 0:083111ae2a11 42 start_new_application(sp, pc);
saloutos 0:083111ae2a11 43 }
saloutos 0:083111ae2a11 44
saloutos 0:083111ae2a11 45 static void powerdown_nvic()
saloutos 0:083111ae2a11 46 {
saloutos 0:083111ae2a11 47 int isr_groups_32;
saloutos 0:083111ae2a11 48 int i;
saloutos 0:083111ae2a11 49 int j;
saloutos 0:083111ae2a11 50
saloutos 0:083111ae2a11 51 isr_groups_32 = ((SCnSCB->ICTR & SCnSCB_ICTR_INTLINESNUM_Msk) >> SCnSCB_ICTR_INTLINESNUM_Pos) + 1;
saloutos 0:083111ae2a11 52 for (i = 0; i < isr_groups_32; i++) {
saloutos 0:083111ae2a11 53 NVIC->ICER[i] = 0xFFFFFFFF;
saloutos 0:083111ae2a11 54 NVIC->ICPR[i] = 0xFFFFFFFF;
saloutos 0:083111ae2a11 55 for (j = 0; j < 8; j++) {
saloutos 0:083111ae2a11 56 NVIC->IP[i * 8 + j] = 0x00000000;
saloutos 0:083111ae2a11 57 }
saloutos 0:083111ae2a11 58 }
saloutos 0:083111ae2a11 59 }
saloutos 0:083111ae2a11 60
saloutos 0:083111ae2a11 61 static void powerdown_scb(uint32_t vtor)
saloutos 0:083111ae2a11 62 {
saloutos 0:083111ae2a11 63 int i;
saloutos 0:083111ae2a11 64
saloutos 0:083111ae2a11 65 // SCB->CPUID - Read only CPU ID register
saloutos 0:083111ae2a11 66 SCB->ICSR = SCB_ICSR_PENDSVCLR_Msk | SCB_ICSR_PENDSTCLR_Msk;
saloutos 0:083111ae2a11 67 SCB->VTOR = vtor;
saloutos 0:083111ae2a11 68 SCB->AIRCR = 0x05FA | 0x0000;
saloutos 0:083111ae2a11 69 SCB->SCR = 0x00000000;
saloutos 0:083111ae2a11 70 // SCB->CCR - Implementation defined value
saloutos 0:083111ae2a11 71 for (i = 0; i < 12; i++) {
saloutos 0:083111ae2a11 72 #if defined(__CORTEX_M7)
saloutos 0:083111ae2a11 73 SCB->SHPR[i] = 0x00;
saloutos 0:083111ae2a11 74 #else
saloutos 0:083111ae2a11 75 SCB->SHP[i] = 0x00;
saloutos 0:083111ae2a11 76 #endif
saloutos 0:083111ae2a11 77 }
saloutos 0:083111ae2a11 78 SCB->SHCSR = 0x00000000;
saloutos 0:083111ae2a11 79 SCB->CFSR = 0xFFFFFFFF;
saloutos 0:083111ae2a11 80 SCB->HFSR = SCB_HFSR_DEBUGEVT_Msk | SCB_HFSR_FORCED_Msk | SCB_HFSR_VECTTBL_Msk;
saloutos 0:083111ae2a11 81 SCB->DFSR = SCB_DFSR_EXTERNAL_Msk | SCB_DFSR_VCATCH_Msk |
saloutos 0:083111ae2a11 82 SCB_DFSR_DWTTRAP_Msk | SCB_DFSR_BKPT_Msk | SCB_DFSR_HALTED_Msk;
saloutos 0:083111ae2a11 83 // SCB->MMFAR - Implementation defined value
saloutos 0:083111ae2a11 84 // SCB->BFAR - Implementation defined value
saloutos 0:083111ae2a11 85 // SCB->AFSR - Implementation defined value
saloutos 0:083111ae2a11 86 // SCB->PFR - Read only processor feature register
saloutos 0:083111ae2a11 87 // SCB->DFR - Read only debug feature registers
saloutos 0:083111ae2a11 88 // SCB->ADR - Read only auxiliary feature registers
saloutos 0:083111ae2a11 89 // SCB->MMFR - Read only memory model feature registers
saloutos 0:083111ae2a11 90 // SCB->ISAR - Read only instruction set attribute registers
saloutos 0:083111ae2a11 91 // SCB->CPACR - Implementation defined value
saloutos 0:083111ae2a11 92 }
saloutos 0:083111ae2a11 93
saloutos 0:083111ae2a11 94 #if defined (__CC_ARM)
saloutos 0:083111ae2a11 95
saloutos 0:083111ae2a11 96 __asm static void start_new_application(void *sp, void *pc)
saloutos 0:083111ae2a11 97 {
saloutos 0:083111ae2a11 98 MOV R2, #0
saloutos 0:083111ae2a11 99 MSR CONTROL, R2 // Switch to main stack
saloutos 0:083111ae2a11 100 MOV SP, R0
saloutos 0:083111ae2a11 101 MSR PRIMASK, R2 // Enable interrupts
saloutos 0:083111ae2a11 102 BX R1
saloutos 0:083111ae2a11 103 }
saloutos 0:083111ae2a11 104
saloutos 0:083111ae2a11 105 #elif defined (__GNUC__) || defined (__ICCARM__)
saloutos 0:083111ae2a11 106
saloutos 0:083111ae2a11 107 void start_new_application(void *sp, void *pc)
saloutos 0:083111ae2a11 108 {
saloutos 0:083111ae2a11 109 __asm volatile (
saloutos 0:083111ae2a11 110 "mov r2, #0 \n"
saloutos 0:083111ae2a11 111 "msr control, r2 \n" // Switch to main stack
saloutos 0:083111ae2a11 112 "mov sp, %0 \n"
saloutos 0:083111ae2a11 113 "msr primask, r2 \n" // Enable interrupts
saloutos 0:083111ae2a11 114 "bx %1 \n"
saloutos 0:083111ae2a11 115 :
saloutos 0:083111ae2a11 116 : "l" (sp), "l" (pc)
saloutos 0:083111ae2a11 117 : "r2", "cc", "memory"
saloutos 0:083111ae2a11 118 );
saloutos 0:083111ae2a11 119 }
saloutos 0:083111ae2a11 120
saloutos 0:083111ae2a11 121 #else
saloutos 0:083111ae2a11 122
saloutos 0:083111ae2a11 123 #error "Unsupported toolchain"
saloutos 0:083111ae2a11 124
saloutos 0:083111ae2a11 125 #endif
saloutos 0:083111ae2a11 126
saloutos 0:083111ae2a11 127 #endif /* MBED_APPLICATION_SUPPORT */