init.c

FreeRTOS is a portable, open source, mini Real Time Kernel - a free to download and royalty free RTO

/*
    FreeRTOS MCF5235 port - Copyright (C) 2006 Christian Walter.

    This file is part of the FreeRTOS distribution.

    FreeRTOS is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License** as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    FreeRTOS is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with FreeRTOS; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    A special exception to the GPL can be applied should you wish to distribute
    a combined work that includes FreeRTOS, without being obliged to provide
    the source code for any proprietary components.  See the licensing section
    of http://www.FreeRTOS.org for full details of how and when the exception
    can be applied.

    ***************************************************************************
    ***************************************************************************
    *                                                                         *
    * Get the FreeRTOS eBook!  See http://www.FreeRTOS.org/Documentation      *
	*                                                                         *
	* This is a concise, step by step, 'hands on' guide that describes both   *
	* general multitasking concepts and FreeRTOS specifics. It presents and   *
	* explains numerous examples that are written using the FreeRTOS API.     *
	* Full source code for all the examples is provided in an accompanying    *
	* .zip file.                                                              *
    *                                                                         *
    ***************************************************************************
    ***************************************************************************

	Please ensure to read the configuration and relevant port sections of the
	online documentation.

	http://www.FreeRTOS.org - Documentation, latest information, license and 
	contact details.

	http://www.SafeRTOS.com - A version that is certified for use in safety 
	critical systems.

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	licensing and training services.
*/

#include "mcf5xxx.h"
#include "mcf523x.h"

/* Function prototypes */
void            init_main( void );
static void     disable_interrupts( void );
static void     disable_watchdog_timer( void );
static void     disable_cache( void );
static void     init_ipsbar( void );
static void     init_basics( void );
static void     init_clock_config( void );
static void     init_chip_selects( void );
static void     init_bus_config( void );
static void     init_cache( void );
static void     init_eport( void );
static void     init_flexcan( void );
static void     init_power_management( void );
static void     init_dma_timers( void );
static void     init_interrupt_timers( void );
static void     init_watchdog_timers( void );
static void     init_pin_assignments( void );
static void     init_sdram_controller( void );
static void     init_interrupt_controller( void );


/*********************************************************************
* init_main - Main entry point for initialisation code               *
**********************************************************************/
void
init_main( void )
{

    /* Initialise base address of peripherals, VBR, etc */
    init_ipsbar(  );
    init_basics(  );
    init_clock_config(  );

    /* Disable interrupts, watchdog timer, cache */
    disable_interrupts(  );
    disable_watchdog_timer(  );
    disable_cache(  );

    /* Initialise individual modules */
    init_chip_selects(  );
    init_bus_config(  );
    init_cache(  );
    init_eport(  );
    init_flexcan(  );
    init_power_management(  );
    init_dma_timers(  );
    init_interrupt_timers(  );
    init_watchdog_timers(  );
    init_pin_assignments(  );
    init_sdram_controller(  );

    /* Initialise interrupt controller */
    init_interrupt_controller(  );
}

/*********************************************************************
* disable_interrupts - Disable all interrupt sources                 *
**********************************************************************/
static void
disable_interrupts( void )
{
    vuint8         *p;
    int             i;


    /* Set ICR008-ICR063 to 0x0 */
    p = ( vuint8 * ) & MCF_INTC0_ICR8;
    for( i = 8; i <= 63; i++ )
        *p++ = 0x0;

    /* Set ICR108-ICR163 to 0x0 */
    p = ( vuint8 * ) & MCF_INTC1_ICR8;
    for( i = 108; i <= 163; i++ )
        *p++ = 0x0;
}


/*********************************************************************
* disable_watchdog_timer - Disable system watchdog timer             *
**********************************************************************/
static void
disable_watchdog_timer( void )
{

    /* Disable Core Watchdog Timer */
    MCF_SCM_CWCR = 0;
}

/*********************************************************************
* disable_cache - Disable and invalidate cache                       *
**********************************************************************/
static void
disable_cache( void )
{
    asm ( "move.l   #0x01000000, %d0" );
    asm ( "movec    %d0, %CACR" );
}

/*********************************************************************
* init_basics - Configuration Information & VBR                      *
**********************************************************************/
static void
init_basics( void )
{
    int             i;
    extern uint32   __RAMVEC[];
    extern uint32   __ROMVEC[];

    /* Transfer size not driven on SIZ[1:0] pins during external cycles
       Processor Status (PST) and Debug Data (DDATA) functions disabled
       Bus monitor disabled
       Output pads configured for full strength
     */
    MCF_CCM_CCR = ( 0x1 << 15 ) | MCF_CCM_CCR_BME;

    /* Set up RAM vectors */
    for( i = 0; i < 256; i++ )

    {
        __RAMVEC[i] = __ROMVEC[i];
    }
    asm( "move.l   %0,%%d0": :"i"( __RAMVEC ) );
    asm( "movec    %d0,%vbr" );
}


/*********************************************************************
* init_clock_config - Clock Module                                   *
**********************************************************************/
static void
init_clock_config( void )
{
    /* Clock module uses normal PLL mode with 25.0000 MHz external reference (Fref)
       MFD = 0, RFD = 1
       Bus clock frequency = 25.00 MHz
       Processor clock frequency = 2 x bus clock = 50.00 MHz
       Frequency Modulation disabled
       Loss of clock detection disabled
       Reset/Interrupt on loss of lock disabled
     */
    MCF_FMPLL_SYNCR = 0x00100000;       /* Set RFD=RFD+1 to avoid frequency overshoot */
    while( ( MCF_FMPLL_SYNSR & 0x08 ) == 0 )    /* Wait for PLL to lock */
        ;
    MCF_FMPLL_SYNCR = 0x00080000;       /* Set desired RFD */
    while( ( MCF_FMPLL_SYNSR & 0x08 ) == 0 )    /* Wait for PLL to lock */
        ;
}


/*********************************************************************
* init_ipsbar - Internal Peripheral System Base Address (IPSBAR)     *
**********************************************************************/
static void
init_ipsbar( void )
{
    extern int  __SRAM;

    /* Base address of internal peripherals (IPSBAR) = 0x40000000

       Note: Processor powers up with IPS base address = 0x40000000
       Write to IPS base + 0x00000000 to set new value
     */
    *( vuint32 * ) 0x40000000 = ( vuint32 ) __IPSBAR + 1;

    /* Configure RAMBAR in SCM module and allow dual-ported access. */
    MCF_SCM_RAMBAR = ( uint32 ) &__SRAM | MCF_SCM_RAMBAR_BDE;
}

/*********************************************************************
* init_chip_selects - Chip Select Module                             *
**********************************************************************/
static void
init_chip_selects( void )
{
    extern void __FLASH;
    uint32 FLASH_ADDR = (uint32)&__FLASH;

    /* Chip Select 0 - External Flash */
    MCF_CS_CSAR0 = MCF_CS_CSAR_BA( FLASH_ADDR );
    MCF_CS_CSCR0 = ( 0
                     | MCF_CS_CSCR_IWS( 6 )
                     | MCF_CS_CSCR_AA | MCF_CS_CSCR_PS_16 );
    MCF_CS_CSMR0 = MCF_CS_CSMR_BAM_2M | MCF_CS_CSMR_V;

    /* Chip Select 1 disabled (CSMR1[V] = 0) */
    MCF_CS_CSAR1 = 0;
    MCF_CS_CSMR1 = 0;
    MCF_CS_CSCR1 = 0;

    /* Chip Select 2 disabled (CSMR2[V] = 0) */
    MCF_CS_CSAR2 = 0;
    MCF_CS_CSMR2 = 0;
    MCF_CS_CSCR2 = 0;

    /* Chip Select 3 disabled (CSMR3[V] = 0) */
    MCF_CS_CSAR3 = 0;
    MCF_CS_CSMR3 = 0;
    MCF_CS_CSCR3 = 0;

    /* Chip Select 4 disabled (CSMR4[V] = 0) */
    MCF_CS_CSAR4 = 0;
    MCF_CS_CSMR4 = 0;
    MCF_CS_CSCR4 = 0;

    /* Chip Select 5 disabled (CSMR5[V] = 0) */
    MCF_CS_CSAR5 = 0;
    MCF_CS_CSMR5 = 0;
    MCF_CS_CSCR5 = 0;

    /* Chip Select 6 disabled (CSMR6[V] = 0) */
    MCF_CS_CSAR6 = 0;
    MCF_CS_CSMR6 = 0;
    MCF_CS_CSCR6 = 0;

    /* Chip Select 7 disabled (CSMR7[V] = 0) */
    MCF_CS_CSAR7 = 0;
    MCF_CS_CSMR7 = 0;
    MCF_CS_CSCR7 = 0;
}

/*********************************************************************
* init_bus_config - Internal Bus Arbitration                         *
**********************************************************************/
static void
init_bus_config( void )
{

    /* Use round robin arbitration scheme
       Assigned priorities (highest first):
       Ethernet
       DMA Controller
       ColdFire Core
       DMA bandwidth control disabled
       Park on last active bus master
     */
    MCF_SCM_MPARK =
        MCF_SCM_MPARK_M3_PRTY( 0x3 ) | MCF_SCM_MPARK_M2_PRTY( 0x2 ) |
        MCF_SCM_MPARK_M1_PRTY( 0x1 );
}

/*********************************************************************
* init_cache - Instruction/Data Cache                                *
**********************************************************************/
static void
init_cache( void )
{
    /* Configured as split cache: 4 KByte instruction cache and 4 Kbyte data cache
       ACR0: Don't cache accesses to 16 MB memory region at address $20000000
       ACR1: Don't cache accesses to 1 GB memory region at address $40000000
       CACR: Cache accesses to the rest of memory
    */
    asm("move.l   #0x80000000,%d0");
    asm("movec    %d0,%CACR");
    asm("move.l   #0x2000c040,%d0");
    asm("movec    %d0,%ACR0");
    asm("move.l   #0x403fc040,%d0");
    asm("movec    %d0,%ACR1");

    /* Instruction/Data cache disabled. */
    //asm( "move.l   #0x00000000, %d0" );
    //asm( "movec    %d0,%cacr" );
}

/*********************************************************************
* init_eport - Edge Port Module (EPORT)                              *
**********************************************************************/
static void
init_eport( void )
{

    /* Pins 1-7 configured as GPIO inputs */
    MCF_EPORT_EPPAR = 0;
    MCF_EPORT_EPDDR = 0;
    MCF_EPORT_EPIER = 0;
}

/*********************************************************************
* init_flexcan - FlexCAN Module                                      *
**********************************************************************/
static void
init_flexcan( void )
{

    /* FlexCAN controller 0 disabled (CANMCR0[MDIS]=1) */
    MCF_CAN_IMASK0 = 0;
    MCF_CAN_RXGMASK0 = MCF_CAN_RXGMASK_MI( 0x1fffffff );
    MCF_CAN_RX14MASK0 = MCF_CAN_RX14MASK_MI( 0x1fffffff );
    MCF_CAN_RX15MASK0 = MCF_CAN_RX15MASK_MI( 0x1fffffff );
    MCF_CAN_CANCTRL0 = 0;
    MCF_CAN_CANMCR0 =
        MCF_CAN_CANMCR_MDIS | MCF_CAN_CANMCR_FRZ | MCF_CAN_CANMCR_HALT |
        MCF_CAN_CANMCR_SUPV | MCF_CAN_CANMCR_MAXMB( 0xf );

    /* FlexCAN controller 1 disabled (CANMCR1[MDIS]=1) */
    MCF_CAN_IMASK1 = 0;
    MCF_CAN_RXGMASK1 = MCF_CAN_RXGMASK_MI( 0x1fffffff );
    MCF_CAN_RX14MASK1 = MCF_CAN_RX14MASK_MI( 0x1fffffff );
    MCF_CAN_RX15MASK1 = MCF_CAN_RX15MASK_MI( 0x1fffffff );
    MCF_CAN_CANCTRL1 = 0;
    MCF_CAN_CANMCR1 =
        MCF_CAN_CANMCR_MDIS | MCF_CAN_CANMCR_FRZ | MCF_CAN_CANMCR_HALT |
        MCF_CAN_CANMCR_SUPV | MCF_CAN_CANMCR_MAXMB( 0xf );
}

/*********************************************************************
* init_power_management - Power Management                           *
**********************************************************************/
static void
init_power_management( void )
{

    /* On executing STOP instruction, processor enters RUN mode
       Mode is exited when an interrupt of level 1 or higher is received
     */
    MCF_SCM_LPICR = MCF_SCM_LPICR_ENBSTOP;
    MCF_CCM_LPCR = 0;
}

/*********************************************************************
* init_sdram_controller - SDRAM Controller                           *
**********************************************************************/
static void
init_sdram_controller( void )
{
    extern void __SDRAM;
    uint32 SDRAM_ADDR = (uint32)&__SDRAM;