[Armadeus-commitlog] armadeus branch, master, updated. armadeus-6.0-89-gff5c0ef
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[Armadeus-commitlog] armadeus branch, master, updated. armadeus-6.0-89-gff5c0ef
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From: Julien B a. A. <ar...@us...> - 2016-06-01 16:40:55
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The branch, master has been updated
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from 0901cbe64e727eeed08c3977300cc9b5e82ed837 (commit)
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- Log -----------------------------------------------------------------
commit ff5c0ef882bad0015d34e1bce2abc52afab63108
Author: Julien BOIBESSOT <jul...@ar...>
Date: Wed Jun 1 18:36:16 2016 +0200
[TARGET] Add some examples to do bare-metal programming on APF6
-----------------------------------------------------------------------
Summary of changes:
target/baremetal/Makefile | 30 +++++++++++
target/baremetal/README | 11 ++++
target/baremetal/apf6dev_led.c | 36 +++++++++++++
target/baremetal/apf6dev_led.h | 3 +
target/baremetal/imx6.ld | 21 ++++++++
target/baremetal/imx6_epit.c | 86 +++++++++++++++++++++++++++++++
target/baremetal/imx6_epit.h | 4 ++
target/baremetal/imx6_led_blink.c | 49 +++++++++++++++++
target/baremetal/imx6_uart.c | 103 +++++++++++++++++++++++++++++++++++++
target/baremetal/imx6_uart.h | 4 ++
target/baremetal/start.s | 15 +++++
11 files changed, 362 insertions(+), 0 deletions(-)
create mode 100644 target/baremetal/Makefile
create mode 100644 target/baremetal/README
create mode 100644 target/baremetal/apf6dev_led.c
create mode 100644 target/baremetal/apf6dev_led.h
create mode 100644 target/baremetal/imx6.ld
create mode 100644 target/baremetal/imx6_epit.c
create mode 100644 target/baremetal/imx6_epit.h
create mode 100644 target/baremetal/imx6_led_blink.c
create mode 100644 target/baremetal/imx6_uart.c
create mode 100644 target/baremetal/imx6_uart.h
create mode 100644 target/baremetal/start.s
diff --git a/target/baremetal/Makefile b/target/baremetal/Makefile
new file mode 100644
index 0000000..bb5c34c
--- /dev/null
+++ b/target/baremetal/Makefile
@@ -0,0 +1,30 @@
+CROSS = arm-none-eabi
+CFLAGS = -g3 -Wall -Os
+CFLAGS += -DIMX6Q -mcpu=cortex-a9
+
+Q=@
+EXEC=led_blink
+
+default: all
+
+# start.s should be first !
+$(EXEC).elf: start.s imx6_led_blink.c imx6_uart.c imx6_epit.c apf6dev_led.c
+ @echo " CC/LD $@"
+ $(Q)$(CROSS)-gcc $(CFLAGS) -l gcc -ffreestanding -nostartfiles -o $@ $^ -T imx6.ld
+
+$(EXEC): $(EXEC).elf
+ @echo " BIN $@"
+ $(Q)$(CROSS)-objcopy -O binary $^ $@
+
+# Readable assembly code:
+$(EXEC).txt: $(EXEC).elf
+ @echo " TXT $@"
+ $(Q)$(CROSS)-objdump -D $^ > $@
+
+all: $(EXEC) $(EXEC).txt
+ cp $(EXEC) /tftpboot/
+
+clean:
+ rm -f *.elf
+ rm -f $(EXEC).txt
+ rm -f $(EXEC)
diff --git a/target/baremetal/README b/target/baremetal/README
new file mode 100644
index 0000000..49035ad
--- /dev/null
+++ b/target/baremetal/README
@@ -0,0 +1,11 @@
+Bare-metal examples inspired from http://atose.org/?p=141
+
+Initial purpose is to create small bare-metal programs to test AMP on i.MX6
+but these examples can also be used as a start base for the ones who don't want
+to run an OS on their APF6 modules...
+
+imx6.ld linker script is configured to build a program launchable from i.MX6
+internal SRAM (0x910080).
+
+For more infos:
+http://www.armadeus.com/wiki/index.php?title=APF6_Bare-metal_programming
diff --git a/target/baremetal/apf6dev_led.c b/target/baremetal/apf6dev_led.c
new file mode 100644
index 0000000..5a845f5
--- /dev/null
+++ b/target/baremetal/apf6dev_led.c
@@ -0,0 +1,36 @@
+#include <stdint.h>
+
+#ifdef DEBUG
+#include "imx6_uart.h"
+#endif
+
+#define GPIO7_DR (*(volatile uint32_t *)0x020b4000)
+#define GPIO7_GDIR (*(volatile uint32_t *)0x020b4004)
+#define GPIO_PIN12 (1 << 12)
+
+void apf6dev_userled_init(void)
+{
+ uint32_t reg;
+
+#ifdef DEBUG
+ debug_puts("led init\r\n");
+#endif
+ reg = GPIO7_GDIR;
+ reg |= GPIO_PIN12;
+ GPIO7_GDIR = reg;
+}
+
+void apf6dev_userled_set(int state)
+{
+ uint32_t reg;
+
+ if (state) {
+ reg = GPIO7_DR;
+ reg |= GPIO_PIN12;
+ GPIO7_DR = reg;
+ } else {
+ reg = GPIO7_DR;
+ reg &= ~GPIO_PIN12;
+ GPIO7_DR = reg;
+ }
+}
diff --git a/target/baremetal/apf6dev_led.h b/target/baremetal/apf6dev_led.h
new file mode 100644
index 0000000..8171ef7
--- /dev/null
+++ b/target/baremetal/apf6dev_led.h
@@ -0,0 +1,3 @@
+
+void apf6dev_userled_init(void);
+void apf6dev_userled_set(int state);
diff --git a/target/baremetal/imx6.ld b/target/baremetal/imx6.ld
new file mode 100644
index 0000000..b82eff0
--- /dev/null
+++ b/target/baremetal/imx6.ld
@@ -0,0 +1,21 @@
+/*
+ Inspired from imx6q.ld (http://atose.org/?p=141), which is:
+ Copyright (c) 2013 Andrew Trotman
+ Open Source under the BSD License.
+*/
+
+ENTRY(_Reset)
+
+SECTIONS
+{
+ . = 0x910080;
+ . = ALIGN(4);
+
+ .text : { *(.text) }
+ .data : { *(.data) }
+ .bss : { *(.bss) }
+
+ . = ALIGN(4);
+ . = . + 0x1000; /* 4kB of stack memory */
+ stack_top = .;
+}
diff --git a/target/baremetal/imx6_epit.c b/target/baremetal/imx6_epit.c
new file mode 100644
index 0000000..3b204f0
--- /dev/null
+++ b/target/baremetal/imx6_epit.c
@@ -0,0 +1,86 @@
+/*
+ Inspired from imx6q_uart.c (http://atose.org/?p=141), which is:
+ Copyright (c) 2012-2013 Andrew Trotman
+ Licensed BSD
+*/
+
+#include <stdint.h>
+
+#ifdef DEBUG
+#include "imx6_uart.h"
+#endif
+
+#define CCM_CCGR1 (*(volatile uint32_t *)0x020c406c)
+#define CCGR1_CG6 (0x03 << 12)
+#define PRE_PERIPH_CLK_SEL (0x03 << 18)
+#define CCM_CBCDR (*(volatile uint32_t *)0x020c4014)
+#define AHB_PODF (0x7 << 10)
+#define IPG_PODF (0x3 << 8)
+#define CCM_CBCMR (*(volatile uint32_t *)0x020c4018)
+
+#define EPIT1_BASE (0x020d0000)
+#define EPIT1(REG) (*(volatile uint32_t *)(EPIT1_BASE + REG))
+#define EPIT1_WR(REG, VAL) (*(volatile uint32_t *)(EPIT1_BASE + REG) = VAL)
+#define CR (0x00)
+#define CR_SWR (1 << 16)
+#define CR_CLKSRC(x) (((x) & 0x3) << 24)
+#define CR_PRESCALAR(x) (((x) & 0xfff) << 4)
+#define CR_IOVW (1 << 17)
+#define CR_RLD (1 << 3)
+#define CR_ENMOD (1 << 1)
+#define CR_EN (1 << 0)
+#define SR (0x04)
+#define SR_OCIF (1 << 0)
+#define LR (0x08)
+
+void epit_init(void)
+{
+ uint32_t speed_in_Hz[] = {528000000, 396000000, 307000000 /*352000000*/, 198000000, 594000000};
+ uint32_t frequency;
+
+#ifdef DEBUG
+ debug_puts("epit_init \r\n");
+#endif
+ //CCM_CCGR1 = (CCM_CCGR1 | CCGR1_CG6); // turn on the clock
+
+ /* Software reset the subsystem */
+ EPIT1_WR(CR, CR_SWR);
+ while ((EPIT1(CR) & CR_SWR) != 0)
+ ; /* Wait end of reset */
+
+ /*
+ Configure the timer:
+ Use the peripheral clock
+ Set and forget mode
+ Immediate load starting with the value in the load register
+ */
+ /*frequency = 528000000 */
+ frequency = speed_in_Hz[((CCM_CBCMR & PRE_PERIPH_CLK_SEL) >> 18) & 0x3] /
+ (((CCM_CBCDR & AHB_PODF) >> 10) + 1) / (((CCM_CBCDR & IPG_PODF) >> 8) + 1);
+ EPIT1_WR(CR, CR_CLKSRC(1) | CR_PRESCALAR((frequency / 1000000) - 1) | CR_RLD | CR_IOVW | CR_ENMOD);
+}
+
+static void epit_start(uint32_t time_in_us)
+{
+ /* Store the count value in the load register (which then gets immediately loaded into the timer */
+ EPIT1_WR(LR, time_in_us);
+
+ /* Clear the status register so that we can watch it clock over */
+ EPIT1_WR(SR, /*EPIT1(SR) &*/ SR_OCIF);
+
+ /* Start the timer */
+ EPIT1_WR(CR, 0x0102041b /*EPIT1(CR) & CR_EN*/); // SET macro ?
+}
+
+static void epit_stop(void)
+{
+ EPIT1_WR(CR, 0x0102041a /*EPIT1(CR) | ~CR_EN*/); // CLR macro ?
+}
+
+void epit_delay_us(uint32_t usecs)
+{
+ epit_start(usecs);
+ while (EPIT1(SR) == 0)
+ ;
+ epit_stop();
+}
diff --git a/target/baremetal/imx6_epit.h b/target/baremetal/imx6_epit.h
new file mode 100644
index 0000000..38e3c9a
--- /dev/null
+++ b/target/baremetal/imx6_epit.h
@@ -0,0 +1,4 @@
+
+void epit_init(void);
+void epit_delay_us(uint32_t usecs);
+
diff --git a/target/baremetal/imx6_led_blink.c b/target/baremetal/imx6_led_blink.c
new file mode 100644
index 0000000..0ee8e1b
--- /dev/null
+++ b/target/baremetal/imx6_led_blink.c
@@ -0,0 +1,49 @@
+/*
+ Inspired from imx6q_uart.c (http://atose.org/?p=141) which is:
+ Copyright (c) 2012-2013 Andrew Trotman
+ Licensed BSD
+*/
+
+#include <stdint.h>
+
+#include "imx6_uart.h"
+#include "imx6_epit.h"
+#include "apf6dev_led.h"
+
+void enable_pins(void)
+{
+ /* If not launched from U-Boot, here should be defined the IOMUX
+ configuration for used GPIOs and UART */
+}
+
+void enable_clocks(void)
+{
+ /* If not launched from U-Boot, here should be defined the clock
+ configuration for UART and EPIT */
+}
+
+#define DELAY_US 500000 /* 0.5 secs */
+
+int main(void)
+{
+ int i = 20;
+
+ enable_clocks();
+ enable_pins();
+ serial_init();
+ epit_init();
+ apf6dev_userled_init();
+
+ epit_delay_us(DELAY_US);
+ debug_puts("\r\nExample led_blink compiled on " __DATE__ " at " __TIME__ "\r\n");
+
+ /* Infinite loop */
+ while (i != 0) {
+ apf6dev_userled_set(1);
+ epit_delay_us(DELAY_US);
+ apf6dev_userled_set(0);
+ epit_delay_us(DELAY_US);
+ }
+
+ return 0;
+}
diff --git a/target/baremetal/imx6_uart.c b/target/baremetal/imx6_uart.c
new file mode 100644
index 0000000..d5a478f
--- /dev/null
+++ b/target/baremetal/imx6_uart.c
@@ -0,0 +1,103 @@
+/*
+ Inspired from imx6q_uart.c (http://atose.org/?p=141), which is:
+ Copyright (c) 2012-2013 Andrew Trotman
+ Licensed BSD
+*/
+
+#include <stdint.h>
+
+#define BAUD_RATE 115200
+#define DEFAULT_UART 4 /* Console on APF6Dev */
+
+static volatile unsigned long *uart4_utxd = (unsigned long *)0x021f0040;
+static volatile unsigned long *uart4_usr2 = (unsigned long *)0x021f0098;
+#define B_USR2_TXFE (1 << 14)
+
+void debug_putc(char value)
+{
+ /* Write to the serial port */
+ *uart4_utxd = value;
+
+ /* Make sure it was sent */
+ while ((*uart4_usr2 & B_USR2_TXFE) == 0)
+ ; /* do nothing */
+}
+
+void debug_puts(char *string)
+{
+ while (*string != 0)
+ debug_putc(*string++);
+}
+
+#if 0
+char debug_getc(void)
+{
+/*
+ Wait for a character to arrive
+*/
+ while ((HW_UART_USR2(DEFAULT_UART).B.RDR) == 0)
+ ; // do nothing
+
+/*
+ Get it and put it into the array
+*/
+ return HW_UART_URXD_RD(DEFAULT_UART) & 0xFF;
+}
+#endif
+
+#define PLL3_FREQUENCY 80000000
+
+void serial_init(void)
+{
+#if 0
+TBDL !!!
+/*
+ Disable and soft reset the UART then wait for it to come up
+*/
+HW_UART_UCR1(DEFAULT_UART).U = 0; // disable the UART
+HW_UART_UCR2(DEFAULT_UART).U = 0; // software reset (SRST)
+while (HW_UART_UCR2(DEFAULT_UART).B.SRST == 0)
+ ; // nothing
+
+/*
+ Enable the UART
+ Enable RXDMUXSEL (must be on)
+*/
+HW_UART_UCR1(DEFAULT_UART).B.UARTEN = 1;
+HW_UART_UCR3(DEFAULT_UART).B.RXDMUXSEL = 1;
+
+/*
+ 8 bits, 1 stop bit, no parity,software flow control
+*/
+/* 8-bits ignore RTS enable RX enable TX don't reset */
+HW_UART_UCR2_WR(DEFAULT_UART, BM_UART_UCR2_WS | BM_UART_UCR2_IRTS | BM_UART_UCR2_RXEN | BM_UART_UCR2_TXEN | BM_UART_UCR2_SRST);
+
+/*
+ Set the board rate
+
+ The "Module Clock" is the UART_CLK which comes from CCM.
+ The "Peripheral Clock" is the IPG_CLK which comes from CCM.
+
+ PLL3 runs at 80MHz by default
+ PLL3 -> CDCDR1:uart_clk_podf (6 bit divider) -> UART_CLK_ROOT
+*/
+
+/*
+ Divide the clock by 2
+*/
+HW_UART_UFCR(DEFAULT_UART).B.RFDIV = 0x04; /* divide input clock by 2 */
+HW_UART_UFCR(DEFAULT_UART).B.DCEDTE = 0; /* DCE mode */
+
+
+/*
+ Binary Rate Multiplier Numerator = 0x0F
+*/
+HW_UART_UBIR(DEFAULT_UART).U = 0x0F;
+
+/*
+ Binary Rate Multipier Denominator set based on the baud rate
+*/
+HW_UART_UBMR(DEFAULT_UART).U = (PLL3_FREQUENCY / (HW_CCM_CSCDR1.B.UART_CLK_PODF + 1)) / (2 * BAUD_RATE); // UBMR should be 0x015B once set
+#endif
+}
+
diff --git a/target/baremetal/imx6_uart.h b/target/baremetal/imx6_uart.h
new file mode 100644
index 0000000..bb320f5
--- /dev/null
+++ b/target/baremetal/imx6_uart.h
@@ -0,0 +1,4 @@
+void debug_putc(char value);
+void debug_puts(char *string);
+char debug_getc(void);
+void serial_init(void);
diff --git a/target/baremetal/start.s b/target/baremetal/start.s
new file mode 100644
index 0000000..3947578
--- /dev/null
+++ b/target/baremetal/start.s
@@ -0,0 +1,15 @@
+/*
+ Inspired from imx6q.s (http://atose.org/?p=141), which is:
+ Copyright (c) 2013 Andrew Trotman
+ Open Source under the BSD License.
+*/
+
+.global _Reset
+
+/*
+ RESET_HANDLER
+ -------------
+*/
+_Reset:
+ ldr sp, =stack_top
+ b main
hooks/post-receive
--
armadeus
|