rework structure
This commit is contained in:
66
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/common.mk
vendored
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66
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/common.mk
vendored
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@ -0,0 +1,66 @@
|
||||
# See LICENSE for license details.
|
||||
|
||||
ifndef _SIFIVE_MK_COMMON
|
||||
_SIFIVE_MK_COMMON := # defined
|
||||
|
||||
.PHONY: all
|
||||
all: $(TARGET)
|
||||
|
||||
include $(BSP_BASE)/libwrap/libwrap.mk
|
||||
|
||||
ENV_DIR = $(BSP_BASE)/env
|
||||
PLATFORM_DIR = $(ENV_DIR)/$(BOARD)
|
||||
|
||||
ASM_SRCS += $(ENV_DIR)/start.S
|
||||
ASM_SRCS += $(ENV_DIR)/entry.S
|
||||
C_SRCS += $(PLATFORM_DIR)/init.c
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||||
|
||||
LINKER_SCRIPT := $(PLATFORM_DIR)/$(LINK_TARGET).lds
|
||||
|
||||
INCLUDES += -I$(BSP_BASE)/include
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||||
INCLUDES += -I$(BSP_BASE)/drivers/
|
||||
INCLUDES += -I$(ENV_DIR)
|
||||
INCLUDES += -I$(PLATFORM_DIR)
|
||||
|
||||
TOOL_DIR ?= $(BSP_BASE)/../toolchain/bin
|
||||
|
||||
LDFLAGS += -T $(LINKER_SCRIPT) -nostartfiles
|
||||
LDFLAGS += -L$(ENV_DIR) --specs=nano.specs
|
||||
|
||||
ASM_OBJS := $(ASM_SRCS:.S=.o)
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||||
C_OBJS := $(C_SRCS:.c=.o)
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||||
CXX_OBJS := $(CXX_SRCS:.cpp=.o)
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||||
|
||||
LINK_OBJS += $(ASM_OBJS) $(C_OBJS) $(CXX_OBJS)
|
||||
LINK_DEPS += $(LINKER_SCRIPT)
|
||||
|
||||
CLEAN_OBJS += $(TARGET) $(LINK_OBJS)
|
||||
|
||||
CFLAGS += -march=$(RISCV_ARCH)
|
||||
CFLAGS += -mabi=$(RISCV_ABI)
|
||||
CFLAGS += -mcmodel=medany
|
||||
|
||||
TRIPLET?=riscv64-unknown-elf
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||||
CXX=$(TOOL_DIR)/$(TRIPLET)-c++
|
||||
CC=$(TOOL_DIR)/$(TRIPLET)-gcc
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||||
LD=$(TOOL_DIR)/$(TRIPLET)-gcc
|
||||
AR=$(TOOL_DIR)/$(TRIPLET)-ar
|
||||
|
||||
|
||||
$(TARGET): $(LINK_OBJS) $(LINK_DEPS)
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||||
$(LD) $(LINK_OBJS) $(LDFLAGS) $(LIBWRAP) -o $@
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||||
|
||||
$(ASM_OBJS): %.o: %.S $(HEADERS)
|
||||
$(CC) $(CFLAGS) $(INCLUDES) -c -o $@ $<
|
||||
|
||||
$(C_OBJS): %.o: %.c $(HEADERS)
|
||||
$(CC) $(CFLAGS) $(INCLUDES) -include sys/cdefs.h -c -o $@ $<
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||||
|
||||
$(CXX_OBJS): %.o: %.cpp $(HEADERS)
|
||||
$(CXX) $(CFLAGS) $(CXXFLAGS) $(INCLUDES) -include sys/cdefs.h -c -o $@ $<
|
||||
|
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.PHONY: clean
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||||
clean:
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rm -f $(CLEAN_OBJS) $(LIBWRAP)
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||||
|
||||
endif # _SIFIVE_MK_COMMON
|
||||
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreip-e2-arty/flash.lds
vendored
Normal file
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreip-e2-arty/flash.lds
vendored
Normal file
@ -0,0 +1,161 @@
|
||||
OUTPUT_ARCH( "riscv" )
|
||||
|
||||
ENTRY( _start )
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rxai!w) : ORIGIN = 0x40400000, LENGTH = 512M
|
||||
ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = 64K
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||||
}
|
||||
|
||||
PHDRS
|
||||
{
|
||||
flash PT_LOAD;
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||||
ram_init PT_LOAD;
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||||
ram PT_NULL;
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
__stack_size = DEFINED(__stack_size) ? __stack_size : 2K;
|
||||
|
||||
.init :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.init)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.text :
|
||||
{
|
||||
*(.text.unlikely .text.unlikely.*)
|
||||
*(.text.startup .text.startup.*)
|
||||
*(.text .text.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.fini)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
PROVIDE (__etext = .);
|
||||
PROVIDE (_etext = .);
|
||||
PROVIDE (etext = .);
|
||||
|
||||
.rodata :
|
||||
{
|
||||
*(.rdata)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
} >flash AT>flash :flash
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
.preinit_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
KEEP (*(.preinit_array))
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.init_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP (*(.init_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .ctors))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.fini_array.*) SORT_BY_INIT_PRIORITY(.dtors.*)))
|
||||
KEEP (*(.fini_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .dtors))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.ctors :
|
||||
{
|
||||
/* gcc uses crtbegin.o to find the start of
|
||||
the constructors, so we make sure it is
|
||||
first. Because this is a wildcard, it
|
||||
doesn't matter if the user does not
|
||||
actually link against crtbegin.o; the
|
||||
linker won't look for a file to match a
|
||||
wildcard. The wildcard also means that it
|
||||
doesn't matter which directory crtbegin.o
|
||||
is in. */
|
||||
KEEP (*crtbegin.o(.ctors))
|
||||
KEEP (*crtbegin?.o(.ctors))
|
||||
/* We don't want to include the .ctor section from
|
||||
the crtend.o file until after the sorted ctors.
|
||||
The .ctor section from the crtend file contains the
|
||||
end of ctors marker and it must be last */
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .ctors))
|
||||
KEEP (*(SORT(.ctors.*)))
|
||||
KEEP (*(.ctors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dtors :
|
||||
{
|
||||
KEEP (*crtbegin.o(.dtors))
|
||||
KEEP (*crtbegin?.o(.dtors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .dtors))
|
||||
KEEP (*(SORT(.dtors.*)))
|
||||
KEEP (*(.dtors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.lalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data_lma = . );
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data = . );
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
.data :
|
||||
{
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
. = ALIGN(8);
|
||||
PROVIDE( __global_pointer$ = . + 0x800 );
|
||||
*(.sdata .sdata.*)
|
||||
*(.gnu.linkonce.s.*)
|
||||
. = ALIGN(8);
|
||||
*(.srodata.cst16)
|
||||
*(.srodata.cst8)
|
||||
*(.srodata.cst4)
|
||||
*(.srodata.cst2)
|
||||
*(.srodata .srodata.*)
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _edata = . );
|
||||
PROVIDE( edata = . );
|
||||
|
||||
PROVIDE( _fbss = . );
|
||||
PROVIDE( __bss_start = . );
|
||||
.bss :
|
||||
{
|
||||
*(.sbss*)
|
||||
*(.gnu.linkonce.sb.*)
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(8);
|
||||
PROVIDE( _end = . );
|
||||
PROVIDE( end = . );
|
||||
|
||||
.stack ORIGIN(ram) + LENGTH(ram) - __stack_size :
|
||||
{
|
||||
PROVIDE( _heap_end = . );
|
||||
. = __stack_size;
|
||||
PROVIDE( _sp = . );
|
||||
} >ram AT>ram :ram
|
||||
}
|
||||
98
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreip-e2-arty/init.c
vendored
Normal file
98
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreip-e2-arty/init.c
vendored
Normal file
@ -0,0 +1,98 @@
|
||||
//See LICENSE for license details.
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "platform.h"
|
||||
#include "encoding.h"
|
||||
|
||||
#define CPU_FREQ 32000000
|
||||
#define XSTR(x) #x
|
||||
#define STR(x) XSTR(x)
|
||||
|
||||
extern int main(int argc, char** argv);
|
||||
|
||||
unsigned long get_cpu_freq()
|
||||
{
|
||||
return CPU_FREQ;
|
||||
}
|
||||
|
||||
unsigned long get_timer_freq()
|
||||
{
|
||||
return get_cpu_freq();
|
||||
}
|
||||
|
||||
uint64_t get_timer_value()
|
||||
{
|
||||
#if __riscv_xlen == 32
|
||||
while (1) {
|
||||
uint32_t hi = read_csr(mcycleh);
|
||||
uint32_t lo = read_csr(mcycle);
|
||||
if (hi == read_csr(mcycleh))
|
||||
return ((uint64_t)hi << 32) | lo;
|
||||
}
|
||||
#else
|
||||
return read_csr(mcycle);
|
||||
#endif
|
||||
}
|
||||
|
||||
static void uart_init(size_t baud_rate)
|
||||
{
|
||||
UART0_REG(UART_REG_DIV) = (get_cpu_freq() ) / baud_rate - 1;
|
||||
UART0_REG(UART_REG_TXCTRL) |= UART_TXEN;
|
||||
}
|
||||
|
||||
|
||||
typedef void (*interrupt_function_ptr_t) (void);
|
||||
interrupt_function_ptr_t localISR[CLIC_NUM_INTERRUPTS] __attribute__((aligned(64)));
|
||||
|
||||
|
||||
void trap_entry(void) __attribute__((interrupt, aligned(64)));
|
||||
void trap_entry(void)
|
||||
{
|
||||
unsigned long mcause = read_csr(mcause);
|
||||
unsigned long mepc = read_csr(mepc);
|
||||
if (mcause & MCAUSE_INT) {
|
||||
localISR[mcause & MCAUSE_CAUSE] ();
|
||||
} else {
|
||||
while(1);
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef CLIC_DIRECT
|
||||
#else
|
||||
void default_handler(void)__attribute__((interrupt));;
|
||||
#endif
|
||||
void default_handler(void)
|
||||
{
|
||||
puts("default handler\n");
|
||||
while(1);
|
||||
}
|
||||
|
||||
void _init()
|
||||
{
|
||||
#ifndef NO_INIT
|
||||
uart_init(115200);
|
||||
|
||||
puts("core freq at " STR(CPU_FREQ) " Hz\n");
|
||||
|
||||
//initialize vector table
|
||||
int i=0;
|
||||
while(i<CLIC_NUM_INTERRUPTS) {
|
||||
localISR[i++] = default_handler;
|
||||
}
|
||||
|
||||
write_csr(mtvt, localISR);
|
||||
|
||||
#ifdef CLIC_DIRECT
|
||||
write_csr(mtvec, ((unsigned long)&trap_entry | MTVEC_CLIC));
|
||||
#else
|
||||
write_csr(mtvec, ((unsigned long)&trap_entry | MTVEC_CLIC_VECT));
|
||||
#endif
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
void _fini()
|
||||
{
|
||||
}
|
||||
31
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreip-e2-arty/openocd.cfg
vendored
Normal file
31
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreip-e2-arty/openocd.cfg
vendored
Normal file
@ -0,0 +1,31 @@
|
||||
# JTAG adapter setup
|
||||
adapter_khz 10000
|
||||
|
||||
interface ftdi
|
||||
ftdi_device_desc "Olimex OpenOCD JTAG ARM-USB-TINY-H"
|
||||
ftdi_vid_pid 0x15ba 0x002a
|
||||
|
||||
ftdi_layout_init 0x0808 0x0a1b
|
||||
ftdi_layout_signal nSRST -oe 0x0200
|
||||
#ftdi_layout_signal nTRST -data 0x0100 -oe 0x0100
|
||||
ftdi_layout_signal LED -data 0x0800
|
||||
|
||||
set _CHIPNAME riscv
|
||||
jtag newtap $_CHIPNAME cpu -irlen 5 -expected-id 0x20000001
|
||||
|
||||
set _TARGETNAME $_CHIPNAME.cpu
|
||||
|
||||
target create $_TARGETNAME.0 riscv -chain-position $_TARGETNAME
|
||||
$_TARGETNAME.0 configure -work-area-phys 0x80000000 -work-area-size 10000 -work-area-backup 1
|
||||
|
||||
# Un-comment these two flash lines if you have a SPI flash and want to write
|
||||
# it.
|
||||
flash bank spi0 fespi 0x40000000 0 0 0 $_TARGETNAME.0 0x20004000
|
||||
init
|
||||
if {[ info exists pulse_srst]} {
|
||||
ftdi_set_signal nSRST 0
|
||||
ftdi_set_signal nSRST z
|
||||
}
|
||||
halt
|
||||
#flash protect 0 64 last off
|
||||
echo "Ready for Remote Connections"
|
||||
98
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreip-e2-arty/platform.h
vendored
Normal file
98
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreip-e2-arty/platform.h
vendored
Normal file
@ -0,0 +1,98 @@
|
||||
// See LICENSE for license details.
|
||||
|
||||
#ifndef _SIFIVE_PLATFORM_H
|
||||
#define _SIFIVE_PLATFORM_H
|
||||
|
||||
// Some things missing from the official encoding.h
|
||||
|
||||
#if __riscv_xlen == 32
|
||||
#define MCAUSE_INT 0x80000000UL
|
||||
#define MCAUSE_CAUSE 0x000003FFUL
|
||||
#else
|
||||
#define MCAUSE_INT 0x8000000000000000UL
|
||||
#define MCAUSE_CAUSE 0x00000000000003FFUL
|
||||
#endif
|
||||
|
||||
#define MTVEC_DIRECT 0X00
|
||||
#define MTVEC_VECTORED 0x01
|
||||
#define MTVEC_CLIC 0x02
|
||||
#define MTVEC_CLIC_VECT 0X03
|
||||
|
||||
|
||||
#include "sifive/const.h"
|
||||
#include "sifive/devices/gpio.h"
|
||||
#include "sifive/devices/clint.h"
|
||||
#include "sifive/devices/clic.h"
|
||||
#include "sifive/devices/pwm.h"
|
||||
#include "sifive/devices/spi.h"
|
||||
#include "sifive/devices/uart.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Platform definitions
|
||||
*****************************************************************************/
|
||||
|
||||
// Memory map
|
||||
#define CLINT_CTRL_ADDR _AC(0x02000000,UL)
|
||||
#define CLIC_HART0_ADDR _AC(0x02800000,UL)
|
||||
#define GPIO_CTRL_ADDR _AC(0x20002000,UL)
|
||||
#define PWM0_CTRL_ADDR _AC(0x20005000,UL)
|
||||
#define RAM_MEM_ADDR _AC(0x80000000,UL)
|
||||
#define RAM_MEM_SIZE _AC(0x10000,UL)
|
||||
#define SPI0_CTRL_ADDR _AC(0x20004000,UL)
|
||||
#define SPI0_MEM_ADDR _AC(0x40000000,UL)
|
||||
#define SPI0_MEM_SIZE _AC(0x20000000,UL)
|
||||
#define TESTBENCH_MEM_ADDR _AC(0x20000000,UL)
|
||||
#define TESTBENCH_MEM_SIZE _AC(0x10000000,UL)
|
||||
//#define TRAPVEC_TABLE_CTRL_ADDR _AC(0x00001010,UL)
|
||||
#define UART0_CTRL_ADDR _AC(0x20000000,UL)
|
||||
|
||||
// IOF masks
|
||||
|
||||
// Interrupt numbers
|
||||
#define RESERVED_INT_BASE 0
|
||||
#define UART0_INT_BASE 1
|
||||
#define EXTERNAL_INT_BASE 2
|
||||
#define SPI0_INT_BASE 6
|
||||
#define GPIO_INT_BASE 7
|
||||
#define PWM0_INT_BASE 23
|
||||
|
||||
// Helper functions
|
||||
#define _REG64(p, i) (*(volatile uint64_t *)((p) + (i)))
|
||||
#define _REG32(p, i) (*(volatile uint32_t *)((p) + (i)))
|
||||
#define _REG16(p, i) (*(volatile uint16_t *)((p) + (i)))
|
||||
#define SET_BITS(reg, mask, value) if ((value) == 0) { (reg) &= ~(mask); } else { (reg) |= (mask); }
|
||||
#define CLINT_REG(offset) _REG32(CLINT_CTRL_ADDR, offset)
|
||||
#define CLIC0_REG(offset) _REG32(CLIC_HART0_ADDR, offset)
|
||||
#define CLIC0_REG8(offset) (*(volatile uint8_t *)((CLIC_HART0_ADDR) + (offset)))
|
||||
#define GPIO_REG(offset) _REG32(GPIO_CTRL_ADDR, offset)
|
||||
#define PWM0_REG(offset) _REG32(PWM0_CTRL_ADDR, offset)
|
||||
#define SPI0_REG(offset) _REG32(SPI0_CTRL_ADDR, offset)
|
||||
#define UART0_REG(offset) _REG32(UART0_CTRL_ADDR, offset)
|
||||
#define CLINT_REG(offset) _REG32(CLINT_CTRL_ADDR, offset)
|
||||
#define CLIC0_REG64(offset) _REG64(CLIC_HART0_ADDR, offset)
|
||||
#define GPIO_REG64(offset) _REG64(GPIO_CTRL_ADDR, offset)
|
||||
#define PWM0_REG64(offset) _REG64(PWM0_CTRL_ADDR, offset)
|
||||
#define SPI0_REG64(offset) _REG64(SPI0_CTRL_ADDR, offset)
|
||||
#define UART0_REG64(offset) _REG64(UART0_CTRL_ADDR, offset)
|
||||
|
||||
// Misc
|
||||
|
||||
#define NUM_GPIO 16
|
||||
|
||||
#define CLIC_NUM_INTERRUPTS 28 + 16
|
||||
|
||||
#ifdef E20
|
||||
#define CLIC_CONFIG_BITS 2
|
||||
#else
|
||||
#define CLIC_CONFIG_BITS 4
|
||||
#endif
|
||||
|
||||
#define HAS_BOARD_BUTTONS
|
||||
|
||||
#include "coreplexip-arty.h"
|
||||
|
||||
unsigned long get_cpu_freq(void);
|
||||
unsigned long get_timer_freq(void);
|
||||
uint64_t get_timer_value(void);
|
||||
|
||||
#endif /* _SIFIVE_PLATFORM_H */
|
||||
3
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreip-e2-arty/settings.mk
vendored
Normal file
3
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreip-e2-arty/settings.mk
vendored
Normal file
@ -0,0 +1,3 @@
|
||||
# Describes the CPU on this board to the rest of the SDK.
|
||||
RISCV_ARCH := rv32imac
|
||||
RISCV_ABI := ilp32
|
||||
157
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreip-e2-arty/tim-split.lds
vendored
Normal file
157
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreip-e2-arty/tim-split.lds
vendored
Normal file
@ -0,0 +1,157 @@
|
||||
OUTPUT_ARCH( "riscv" )
|
||||
|
||||
ENTRY( _start )
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rxai!w) : ORIGIN = 0x80008000, LENGTH = 32K
|
||||
ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = 32K
|
||||
}
|
||||
|
||||
PHDRS
|
||||
{
|
||||
flash PT_LOAD;
|
||||
ram_init PT_LOAD;
|
||||
ram PT_NULL;
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
__stack_size = DEFINED(__stack_size) ? __stack_size : 1K;
|
||||
|
||||
.init :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.init)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.text :
|
||||
{
|
||||
*(.text.unlikely .text.unlikely.*)
|
||||
*(.text.startup .text.startup.*)
|
||||
*(.text .text.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.fini)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
PROVIDE (__etext = .);
|
||||
PROVIDE (_etext = .);
|
||||
PROVIDE (etext = .);
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
.preinit_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
KEEP (*(.preinit_array))
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.init_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP (*(.init_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .ctors))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.fini_array.*) SORT_BY_INIT_PRIORITY(.dtors.*)))
|
||||
KEEP (*(.fini_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .dtors))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.ctors :
|
||||
{
|
||||
/* gcc uses crtbegin.o to find the start of
|
||||
the constructors, so we make sure it is
|
||||
first. Because this is a wildcard, it
|
||||
doesn't matter if the user does not
|
||||
actually link against crtbegin.o; the
|
||||
linker won't look for a file to match a
|
||||
wildcard. The wildcard also means that it
|
||||
doesn't matter which directory crtbegin.o
|
||||
is in. */
|
||||
KEEP (*crtbegin.o(.ctors))
|
||||
KEEP (*crtbegin?.o(.ctors))
|
||||
/* We don't want to include the .ctor section from
|
||||
the crtend.o file until after the sorted ctors.
|
||||
The .ctor section from the crtend file contains the
|
||||
end of ctors marker and it must be last */
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .ctors))
|
||||
KEEP (*(SORT(.ctors.*)))
|
||||
KEEP (*(.ctors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dtors :
|
||||
{
|
||||
KEEP (*crtbegin.o(.dtors))
|
||||
KEEP (*crtbegin?.o(.dtors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .dtors))
|
||||
KEEP (*(SORT(.dtors.*)))
|
||||
KEEP (*(.dtors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.lalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data_lma = . );
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data = . );
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
.data :
|
||||
{
|
||||
*(.rdata)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
. = ALIGN(8);
|
||||
PROVIDE( __global_pointer$ = . + 0x800 );
|
||||
*(.sdata .sdata.*)
|
||||
*(.gnu.linkonce.s.*)
|
||||
. = ALIGN(8);
|
||||
*(.srodata.cst16)
|
||||
*(.srodata.cst8)
|
||||
*(.srodata.cst4)
|
||||
*(.srodata.cst2)
|
||||
*(.srodata .srodata.*)
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _edata = . );
|
||||
PROVIDE( edata = . );
|
||||
|
||||
PROVIDE( _fbss = . );
|
||||
PROVIDE( __bss_start = . );
|
||||
.bss :
|
||||
{
|
||||
*(.sbss*)
|
||||
*(.gnu.linkonce.sb.*)
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(8);
|
||||
PROVIDE( _end = . );
|
||||
PROVIDE( end = . );
|
||||
|
||||
.stack ORIGIN(ram) + LENGTH(ram) - __stack_size :
|
||||
{
|
||||
PROVIDE( _heap_end = . );
|
||||
. = __stack_size;
|
||||
PROVIDE( _sp = . );
|
||||
} >ram AT>ram :ram
|
||||
}
|
||||
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreip-e2-arty/tim.lds
vendored
Normal file
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreip-e2-arty/tim.lds
vendored
Normal file
@ -0,0 +1,161 @@
|
||||
OUTPUT_ARCH( "riscv" )
|
||||
|
||||
ENTRY( _start )
|
||||
|
||||
MEMORY
|
||||
{
|
||||
ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = 64K
|
||||
}
|
||||
|
||||
PHDRS
|
||||
{
|
||||
ram PT_LOAD;
|
||||
ram_init PT_LOAD;
|
||||
ram PT_NULL;
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
__stack_size = DEFINED(__stack_size) ? __stack_size : 1K;
|
||||
|
||||
.init :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.init)))
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.text :
|
||||
{
|
||||
*(.text.unlikely .text.unlikely.*)
|
||||
*(.text.startup .text.startup.*)
|
||||
*(.text .text.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.fini :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.fini)))
|
||||
} >ram AT>ram :ram
|
||||
|
||||
PROVIDE (__etext = .);
|
||||
PROVIDE (_etext = .);
|
||||
PROVIDE (etext = .);
|
||||
|
||||
.rodata :
|
||||
{
|
||||
*(.rdata)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
.preinit_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
KEEP (*(.preinit_array))
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.init_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP (*(.init_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .ctors))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.fini_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.fini_array.*) SORT_BY_INIT_PRIORITY(.dtors.*)))
|
||||
KEEP (*(.fini_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .dtors))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.ctors :
|
||||
{
|
||||
/* gcc uses crtbegin.o to find the start of
|
||||
the constructors, so we make sure it is
|
||||
first. Because this is a wildcard, it
|
||||
doesn't matter if the user does not
|
||||
actually link against crtbegin.o; the
|
||||
linker won't look for a file to match a
|
||||
wildcard. The wildcard also means that it
|
||||
doesn't matter which directory crtbegin.o
|
||||
is in. */
|
||||
KEEP (*crtbegin.o(.ctors))
|
||||
KEEP (*crtbegin?.o(.ctors))
|
||||
/* We don't want to include the .ctor section from
|
||||
the crtend.o file until after the sorted ctors.
|
||||
The .ctor section from the crtend file contains the
|
||||
end of ctors marker and it must be last */
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .ctors))
|
||||
KEEP (*(SORT(.ctors.*)))
|
||||
KEEP (*(.ctors))
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.dtors :
|
||||
{
|
||||
KEEP (*crtbegin.o(.dtors))
|
||||
KEEP (*crtbegin?.o(.dtors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .dtors))
|
||||
KEEP (*(SORT(.dtors.*)))
|
||||
KEEP (*(.dtors))
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.lalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data_lma = . );
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.dalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data = . );
|
||||
} >ram AT>ram :ram_init
|
||||
|
||||
.data :
|
||||
{
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
. = ALIGN(8);
|
||||
PROVIDE( __global_pointer$ = . + 0x800 );
|
||||
*(.sdata .sdata.*)
|
||||
*(.gnu.linkonce.s.*)
|
||||
. = ALIGN(8);
|
||||
*(.srodata.cst16)
|
||||
*(.srodata.cst8)
|
||||
*(.srodata.cst4)
|
||||
*(.srodata.cst2)
|
||||
*(.srodata .srodata.*)
|
||||
} >ram AT>ram :ram_init
|
||||
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _edata = . );
|
||||
PROVIDE( edata = . );
|
||||
|
||||
PROVIDE( _fbss = . );
|
||||
PROVIDE( __bss_start = . );
|
||||
.bss :
|
||||
{
|
||||
*(.sbss*)
|
||||
*(.gnu.linkonce.sb.*)
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(8);
|
||||
PROVIDE( _end = . );
|
||||
PROVIDE( end = . );
|
||||
|
||||
.stack :
|
||||
{
|
||||
. = ALIGN(8);
|
||||
. += __stack_size;
|
||||
PROVIDE( _sp = . );
|
||||
PROVIDE( _heap_end = . );
|
||||
} >ram AT>ram :ram
|
||||
}
|
||||
102
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-arty.h
vendored
Normal file
102
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-arty.h
vendored
Normal file
@ -0,0 +1,102 @@
|
||||
// See LICENSE for license details.
|
||||
|
||||
#ifndef _SIFIVE_COREPLEXIP_ARTY_H
|
||||
#define _SIFIVE_COREPLEXIP_ARTY_H
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
/****************************************************************************
|
||||
* GPIO Connections
|
||||
*****************************************************************************/
|
||||
|
||||
// These are the GPIO bit offsets for the directly driven
|
||||
// RGB LEDs on the Freedom Exx Coreplex IP Evaluation Arty FPGA Dev Kit.
|
||||
// Additional RGB LEDs are driven by the 3 PWM outputs.
|
||||
|
||||
#define RED_LED_OFFSET 0
|
||||
#define GREEN_LED_OFFSET 1
|
||||
#define BLUE_LED_OFFSET 2
|
||||
|
||||
// Switch 3 is used as a GPIO input. (Switch 0 is used to set
|
||||
// the reset vector, the other switches are unused).
|
||||
|
||||
#define SW_3_OFFSET 3
|
||||
|
||||
// These are the buttons which are mapped as inputs.
|
||||
|
||||
#define HAS_BOARD_BUTTONS
|
||||
|
||||
#define BUTTON_0_OFFSET 4
|
||||
#define BUTTON_1_OFFSET 5
|
||||
#define BUTTON_2_OFFSET 6
|
||||
#define BUTTON_3_OFFSET 7
|
||||
|
||||
// These are the bit offsets for the different GPIO pins
|
||||
// mapped onto the PMOD A header.
|
||||
|
||||
#define JA_0_OFFSET 8
|
||||
#define JA_1_OFFSET 9
|
||||
#define JA_2_OFFSET 10
|
||||
#define JA_3_OFFSET 11
|
||||
#define JA_4_OFFSET 12
|
||||
#define JA_5_OFFSET 13
|
||||
#define JA_6_OFFSET 14
|
||||
#define JA_7_OFFSET 15
|
||||
|
||||
// The below gives a mapping between global interrupt
|
||||
// sources and their number. Note that on the coreplex
|
||||
// deliverable, the io_global_interrupts go directly into
|
||||
// the PLIC. The evaluation image on the FPGA mimics a
|
||||
// system with peripheral devices which are driving the
|
||||
// global interrupt lines.
|
||||
// So, on this image, in order to get an interrupt from
|
||||
// e.g. pressing BUTTON_0:
|
||||
// 1) Steps which are external to the delivery coreplex:
|
||||
// a) The corresponding GPIO pin must be configured as in input
|
||||
// b) The "interrupt on fall" bit must be set for the GPIO pin
|
||||
// 2) Steps which would also need to be performed for the delivery coreplex:
|
||||
// a) The corresponding global interrupt, priority, and threshold must be configured in the PLIC.
|
||||
// b) The external interrupt bit must be enabled in MSTATUS
|
||||
// c) Interrupts must be enabled globally in the core.
|
||||
|
||||
// Any of the above GPIO pins can be used as global interrupt
|
||||
// sources by adding their offset to the INT_GPIO_BASE.
|
||||
// For example, the buttons are shown here:
|
||||
|
||||
#define INT_DEVICE_BUTTON_0 (GPIO_INT_BASE + BUTTON_0_OFFSET)
|
||||
#define INT_DEVICE_BUTTON_1 (GPIO_INT_BASE + BUTTON_1_OFFSET)
|
||||
#define INT_DEVICE_BUTTON_2 (GPIO_INT_BASE + BUTTON_2_OFFSET)
|
||||
#define INT_DEVICE_BUTTON_3 (GPIO_INT_BASE + BUTTON_3_OFFSET)
|
||||
|
||||
// In addition, the Switches are mapped directly to
|
||||
// the PLIC (without going through the GPIO Peripheral).
|
||||
|
||||
#define INT_EXT_DEVICE_SW_0 (EXTERNAL_INT_BASE + 0)
|
||||
#define INT_EXT_DEVICE_SW_1 (EXTERNAL_INT_BASE + 1)
|
||||
#define INT_EXT_DEVICE_SW_2 (EXTERNAL_INT_BASE + 2)
|
||||
#define INT_EXT_DEVICE_SW_3 (EXTERNAL_INT_BASE + 3)
|
||||
|
||||
// This gives the mapping from inputs to LOCAL interrupts.
|
||||
|
||||
#define LOCAL_INT_SW_0 0
|
||||
#define LOCAL_INT_SW_1 1
|
||||
#define LOCAL_INT_SW_2 2
|
||||
#define LOCAL_INT_SW_3 3
|
||||
#define LOCAL_INT_BTN_0 4
|
||||
#define LOCAL_INT_BTN_1 5
|
||||
#define LOCAL_INT_BTN_2 6
|
||||
#define LOCAL_INT_BTN_3 7
|
||||
#define LOCAL_INT_JA_0 8
|
||||
#define LOCAL_INT_JA_1 9
|
||||
#define LOCAL_INT_JA_2 10
|
||||
#define LOCAL_INT_JA_3 11
|
||||
#define LOCAL_INT_JA_4 12
|
||||
#define LOCAL_INT_JA_5 13
|
||||
#define LOCAL_INT_JA_6 14
|
||||
#define LOCAL_INT_JA_7 15
|
||||
|
||||
#define RTC_FREQ 32768
|
||||
|
||||
void write_hex(int fd, unsigned long int hex);
|
||||
|
||||
#endif /* _SIFIVE_COREPLEXIP_ARTY_H */
|
||||
157
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e31-arty/dhrystone.lds
vendored
Normal file
157
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e31-arty/dhrystone.lds
vendored
Normal file
@ -0,0 +1,157 @@
|
||||
OUTPUT_ARCH( "riscv" )
|
||||
|
||||
ENTRY( _start )
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rxai!w) : ORIGIN = 0x40400000, LENGTH = 512M
|
||||
ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = 16K
|
||||
}
|
||||
|
||||
PHDRS
|
||||
{
|
||||
flash PT_LOAD;
|
||||
ram_init PT_LOAD;
|
||||
ram PT_NULL;
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
__stack_size = DEFINED(__stack_size) ? __stack_size : 1K;
|
||||
|
||||
.init :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.init)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.text :
|
||||
{
|
||||
*(.text.unlikely .text.unlikely.*)
|
||||
*(.text.startup .text.startup.*)
|
||||
*(.text .text.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.fini)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
PROVIDE (__etext = .);
|
||||
PROVIDE (_etext = .);
|
||||
PROVIDE (etext = .);
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
.preinit_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
KEEP (*(.preinit_array))
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.init_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP (*(.init_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .ctors))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.fini_array.*) SORT_BY_INIT_PRIORITY(.dtors.*)))
|
||||
KEEP (*(.fini_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .dtors))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.ctors :
|
||||
{
|
||||
/* gcc uses crtbegin.o to find the start of
|
||||
the constructors, so we make sure it is
|
||||
first. Because this is a wildcard, it
|
||||
doesn't matter if the user does not
|
||||
actually link against crtbegin.o; the
|
||||
linker won't look for a file to match a
|
||||
wildcard. The wildcard also means that it
|
||||
doesn't matter which directory crtbegin.o
|
||||
is in. */
|
||||
KEEP (*crtbegin.o(.ctors))
|
||||
KEEP (*crtbegin?.o(.ctors))
|
||||
/* We don't want to include the .ctor section from
|
||||
the crtend.o file until after the sorted ctors.
|
||||
The .ctor section from the crtend file contains the
|
||||
end of ctors marker and it must be last */
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .ctors))
|
||||
KEEP (*(SORT(.ctors.*)))
|
||||
KEEP (*(.ctors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dtors :
|
||||
{
|
||||
KEEP (*crtbegin.o(.dtors))
|
||||
KEEP (*crtbegin?.o(.dtors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .dtors))
|
||||
KEEP (*(SORT(.dtors.*)))
|
||||
KEEP (*(.dtors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.lalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data_lma = . );
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data = . );
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
.data :
|
||||
{
|
||||
*(.rdata)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
. = ALIGN(8);
|
||||
PROVIDE( __global_pointer$ = . + 0x800 );
|
||||
*(.sdata .sdata.*)
|
||||
*(.gnu.linkonce.s.*)
|
||||
. = ALIGN(8);
|
||||
*(.srodata.cst16)
|
||||
*(.srodata.cst8)
|
||||
*(.srodata.cst4)
|
||||
*(.srodata.cst2)
|
||||
*(.srodata .srodata.*)
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _edata = . );
|
||||
PROVIDE( edata = . );
|
||||
|
||||
PROVIDE( _fbss = . );
|
||||
PROVIDE( __bss_start = . );
|
||||
.bss :
|
||||
{
|
||||
*(.sbss*)
|
||||
*(.gnu.linkonce.sb.*)
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(8);
|
||||
PROVIDE( _end = . );
|
||||
PROVIDE( end = . );
|
||||
|
||||
.stack ORIGIN(ram) + LENGTH(ram) - __stack_size :
|
||||
{
|
||||
PROVIDE( _heap_end = . );
|
||||
. = __stack_size;
|
||||
PROVIDE( _sp = . );
|
||||
} >ram AT>ram :ram
|
||||
}
|
||||
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e31-arty/flash.lds
vendored
Normal file
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e31-arty/flash.lds
vendored
Normal file
@ -0,0 +1,161 @@
|
||||
OUTPUT_ARCH( "riscv" )
|
||||
|
||||
ENTRY( _start )
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rxai!w) : ORIGIN = 0x40400000, LENGTH = 512M
|
||||
ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = 16K
|
||||
}
|
||||
|
||||
PHDRS
|
||||
{
|
||||
flash PT_LOAD;
|
||||
ram_init PT_LOAD;
|
||||
ram PT_NULL;
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
__stack_size = DEFINED(__stack_size) ? __stack_size : 2K;
|
||||
|
||||
.init :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.init)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.text :
|
||||
{
|
||||
*(.text.unlikely .text.unlikely.*)
|
||||
*(.text.startup .text.startup.*)
|
||||
*(.text .text.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.fini)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
PROVIDE (__etext = .);
|
||||
PROVIDE (_etext = .);
|
||||
PROVIDE (etext = .);
|
||||
|
||||
.rodata :
|
||||
{
|
||||
*(.rdata)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
} >flash AT>flash :flash
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
.preinit_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
KEEP (*(.preinit_array))
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.init_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP (*(.init_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .ctors))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.fini_array.*) SORT_BY_INIT_PRIORITY(.dtors.*)))
|
||||
KEEP (*(.fini_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .dtors))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.ctors :
|
||||
{
|
||||
/* gcc uses crtbegin.o to find the start of
|
||||
the constructors, so we make sure it is
|
||||
first. Because this is a wildcard, it
|
||||
doesn't matter if the user does not
|
||||
actually link against crtbegin.o; the
|
||||
linker won't look for a file to match a
|
||||
wildcard. The wildcard also means that it
|
||||
doesn't matter which directory crtbegin.o
|
||||
is in. */
|
||||
KEEP (*crtbegin.o(.ctors))
|
||||
KEEP (*crtbegin?.o(.ctors))
|
||||
/* We don't want to include the .ctor section from
|
||||
the crtend.o file until after the sorted ctors.
|
||||
The .ctor section from the crtend file contains the
|
||||
end of ctors marker and it must be last */
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .ctors))
|
||||
KEEP (*(SORT(.ctors.*)))
|
||||
KEEP (*(.ctors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dtors :
|
||||
{
|
||||
KEEP (*crtbegin.o(.dtors))
|
||||
KEEP (*crtbegin?.o(.dtors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .dtors))
|
||||
KEEP (*(SORT(.dtors.*)))
|
||||
KEEP (*(.dtors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.lalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data_lma = . );
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data = . );
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
.data :
|
||||
{
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
. = ALIGN(8);
|
||||
PROVIDE( __global_pointer$ = . + 0x800 );
|
||||
*(.sdata .sdata.*)
|
||||
*(.gnu.linkonce.s.*)
|
||||
. = ALIGN(8);
|
||||
*(.srodata.cst16)
|
||||
*(.srodata.cst8)
|
||||
*(.srodata.cst4)
|
||||
*(.srodata.cst2)
|
||||
*(.srodata .srodata.*)
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _edata = . );
|
||||
PROVIDE( edata = . );
|
||||
|
||||
PROVIDE( _fbss = . );
|
||||
PROVIDE( __bss_start = . );
|
||||
.bss :
|
||||
{
|
||||
*(.sbss*)
|
||||
*(.gnu.linkonce.sb.*)
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(8);
|
||||
PROVIDE( _end = . );
|
||||
PROVIDE( end = . );
|
||||
|
||||
.stack ORIGIN(ram) + LENGTH(ram) - __stack_size :
|
||||
{
|
||||
PROVIDE( _heap_end = . );
|
||||
. = __stack_size;
|
||||
PROVIDE( _sp = . );
|
||||
} >ram AT>ram :ram
|
||||
}
|
||||
122
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e31-arty/init.c
vendored
Normal file
122
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e31-arty/init.c
vendored
Normal file
@ -0,0 +1,122 @@
|
||||
//See LICENSE for license details.
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "platform.h"
|
||||
#include "encoding.h"
|
||||
|
||||
#define CPU_FREQ 65000000
|
||||
#define XSTR(x) #x
|
||||
#define STR(x) XSTR(x)
|
||||
|
||||
#ifndef VECT_IRQ
|
||||
#define TRAP_ENTRY trap_entry
|
||||
#else
|
||||
#define TRAP_ENTRY vtrap_entry
|
||||
#endif
|
||||
|
||||
extern int main(int argc, char** argv);
|
||||
extern void TRAP_ENTRY();
|
||||
|
||||
unsigned long get_cpu_freq()
|
||||
{
|
||||
return CPU_FREQ;
|
||||
}
|
||||
|
||||
unsigned long get_timer_freq()
|
||||
{
|
||||
return get_cpu_freq();
|
||||
}
|
||||
|
||||
uint64_t get_timer_value()
|
||||
{
|
||||
#if __riscv_xlen == 32
|
||||
while (1) {
|
||||
uint32_t hi = read_csr(mcycleh);
|
||||
uint32_t lo = read_csr(mcycle);
|
||||
if (hi == read_csr(mcycleh))
|
||||
return ((uint64_t)hi << 32) | lo;
|
||||
}
|
||||
#else
|
||||
return read_csr(mcycle);
|
||||
#endif
|
||||
}
|
||||
|
||||
static void uart_init(size_t baud_rate)
|
||||
{
|
||||
UART0_REG(UART_REG_DIV) = (get_cpu_freq() / 2) / baud_rate - 1;
|
||||
UART0_REG(UART_REG_TXCTRL) |= UART_TXEN;
|
||||
}
|
||||
|
||||
|
||||
#ifdef USE_PLIC
|
||||
extern void handle_m_ext_interrupt();
|
||||
#endif
|
||||
|
||||
#ifdef USE_M_TIME
|
||||
extern void handle_m_time_interrupt();
|
||||
#endif
|
||||
|
||||
#ifdef USE_LOCAL_ISR
|
||||
typedef void (*my_interrupt_function_ptr_t) (void);
|
||||
extern my_interrupt_function_ptr_t localISR[];
|
||||
#endif
|
||||
|
||||
#ifndef VECT_IRQ
|
||||
uintptr_t handle_trap(uintptr_t mcause, uintptr_t epc) __attribute__((noinline));
|
||||
uintptr_t handle_trap(uintptr_t mcause, uintptr_t epc)
|
||||
{
|
||||
if (0){
|
||||
#ifdef USE_PLIC
|
||||
// External Machine-Level interrupt from PLIC
|
||||
} else if ((mcause & MCAUSE_INT) && ((mcause & MCAUSE_CAUSE) == IRQ_M_EXT)) {
|
||||
handle_m_ext_interrupt();
|
||||
#endif
|
||||
#ifdef USE_M_TIME
|
||||
// External Machine-Level interrupt from PLIC
|
||||
} else if ((mcause & MCAUSE_INT) && ((mcause & MCAUSE_CAUSE) == IRQ_M_TIMER)){
|
||||
handle_m_time_interrupt();
|
||||
#endif
|
||||
#ifdef USE_LOCAL_ISR
|
||||
} else if (mcause & MCAUSE_INT) {
|
||||
localISR[mcause & MCAUSE_CAUSE] ();
|
||||
#endif
|
||||
}
|
||||
else {
|
||||
write(1, "Unhandled Trap:\n", 16);
|
||||
_exit(1 + mcause);
|
||||
}
|
||||
return epc;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_CLIC
|
||||
void trap_entry(void) __attribute__((interrupt("SiFive-CLIC-preemptible"), aligned(64)));
|
||||
void trap_entry(void)
|
||||
{
|
||||
unsigned long mcause = read_csr(mcause);
|
||||
unsigned long mepc = read_csr(mepc);
|
||||
handle_trap(mcause, mepc);
|
||||
}
|
||||
#endif
|
||||
|
||||
void _init()
|
||||
{
|
||||
#ifndef NO_INIT
|
||||
uart_init(115200);
|
||||
|
||||
puts("core freq at " STR(CPU_FREQ) " Hz\n");
|
||||
|
||||
#ifdef USE_CLIC
|
||||
write_csr(mtvec, ((unsigned long)&trap_entry | MTVEC_CLIC));
|
||||
#else
|
||||
write_csr(mtvec, ((unsigned long)&TRAP_ENTRY | MTVEC_VECTORED));
|
||||
#endif
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
void _fini()
|
||||
{
|
||||
}
|
||||
31
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e31-arty/openocd.cfg
vendored
Normal file
31
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e31-arty/openocd.cfg
vendored
Normal file
@ -0,0 +1,31 @@
|
||||
# JTAG adapter setup
|
||||
adapter_khz 10000
|
||||
|
||||
interface ftdi
|
||||
ftdi_device_desc "Olimex OpenOCD JTAG ARM-USB-TINY-H"
|
||||
ftdi_vid_pid 0x15ba 0x002a
|
||||
|
||||
ftdi_layout_init 0x0808 0x0a1b
|
||||
ftdi_layout_signal nSRST -oe 0x0200
|
||||
#ftdi_layout_signal nTRST -data 0x0100 -oe 0x0100
|
||||
ftdi_layout_signal LED -data 0x0800
|
||||
|
||||
set _CHIPNAME riscv
|
||||
jtag newtap $_CHIPNAME cpu -irlen 5 -expected-id 0x20000001
|
||||
|
||||
set _TARGETNAME $_CHIPNAME.cpu
|
||||
|
||||
target create $_TARGETNAME.0 riscv -chain-position $_TARGETNAME
|
||||
$_TARGETNAME.0 configure -work-area-phys 0x80000000 -work-area-size 10000 -work-area-backup 1
|
||||
|
||||
# Un-comment these two flash lines if you have a SPI flash and want to write
|
||||
# it.
|
||||
flash bank spi0 fespi 0x40000000 0 0 0 $_TARGETNAME.0 0x20004000
|
||||
init
|
||||
if {[ info exists pulse_srst]} {
|
||||
ftdi_set_signal nSRST 0
|
||||
ftdi_set_signal nSRST z
|
||||
}
|
||||
halt
|
||||
#flash protect 0 64 last off
|
||||
echo "Ready for Remote Connections"
|
||||
100
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e31-arty/platform.h
vendored
Normal file
100
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e31-arty/platform.h
vendored
Normal file
@ -0,0 +1,100 @@
|
||||
// See LICENSE for license details.
|
||||
|
||||
#ifndef _SIFIVE_PLATFORM_H
|
||||
#define _SIFIVE_PLATFORM_H
|
||||
|
||||
// Some things missing from the official encoding.h
|
||||
|
||||
#if __riscv_xlen == 32
|
||||
#define MCAUSE_INT 0x80000000UL
|
||||
#define MCAUSE_CAUSE 0x000003FFUL
|
||||
#else
|
||||
#define MCAUSE_INT 0x8000000000000000UL
|
||||
#define MCAUSE_CAUSE 0x00000000000003FFUL
|
||||
#endif
|
||||
|
||||
#ifdef VECT_IRQ
|
||||
#define MTVEC_VECTORED 0x01
|
||||
#else
|
||||
#define MTVEC_VECTORED 0x00
|
||||
#endif
|
||||
#define MTVEC_CLIC 0x02
|
||||
#define IRQ_M_LOCAL 16
|
||||
#define MIP_MLIP(x) (1 << (IRQ_M_LOCAL + x))
|
||||
|
||||
#include "sifive/const.h"
|
||||
#include "sifive/devices/clint.h"
|
||||
#include "sifive/devices/gpio.h"
|
||||
#include "sifive/devices/plic.h"
|
||||
#include "sifive/devices/pwm.h"
|
||||
#include "sifive/devices/spi.h"
|
||||
#include "sifive/devices/uart.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Platform definitions
|
||||
*****************************************************************************/
|
||||
|
||||
// Memory map
|
||||
#define CLINT_CTRL_ADDR _AC(0x02000000,UL)
|
||||
#define GPIO_CTRL_ADDR _AC(0x20002000,UL)
|
||||
#define PLIC_CTRL_ADDR _AC(0x0C000000,UL)
|
||||
#define PWM0_CTRL_ADDR _AC(0x20005000,UL)
|
||||
#define RAM_MEM_ADDR _AC(0x80000000,UL)
|
||||
#define RAM_MEM_SIZE _AC(0x10000,UL)
|
||||
#define SPI0_CTRL_ADDR _AC(0x20004000,UL)
|
||||
#define SPI0_MEM_ADDR _AC(0x40000000,UL)
|
||||
#define SPI0_MEM_SIZE _AC(0x20000000,UL)
|
||||
#define TESTBENCH_MEM_ADDR _AC(0x20000000,UL)
|
||||
#define TESTBENCH_MEM_SIZE _AC(0x10000000,UL)
|
||||
#define TRAPVEC_TABLE_CTRL_ADDR _AC(0x00001010,UL)
|
||||
#define UART0_CTRL_ADDR _AC(0x20000000,UL)
|
||||
|
||||
// IOF masks
|
||||
|
||||
// Interrupt numbers
|
||||
#define RESERVED_INT_BASE 0
|
||||
#define UART0_INT_BASE 1
|
||||
#define EXTERNAL_INT_BASE 2
|
||||
#define SPI0_INT_BASE 6
|
||||
#define GPIO_INT_BASE 7
|
||||
#define PWM0_INT_BASE 23
|
||||
|
||||
// Helper functions
|
||||
#define _REG64(p, i) (*(volatile uint64_t *)((p) + (i)))
|
||||
#define _REG32(p, i) (*(volatile uint32_t *)((p) + (i)))
|
||||
#define _REG16(p, i) (*(volatile uint16_t *)((p) + (i)))
|
||||
// Bulk set bits in `reg` to either 0 or 1.
|
||||
// E.g. SET_BITS(MY_REG, 0x00000007, 0) would generate MY_REG &= ~0x7
|
||||
// E.g. SET_BITS(MY_REG, 0x00000007, 1) would generate MY_REG |= 0x7
|
||||
#define SET_BITS(reg, mask, value) if ((value) == 0) { (reg) &= ~(mask); } else { (reg) |= (mask); }
|
||||
#define CLINT_REG(offset) _REG32(CLINT_CTRL_ADDR, offset)
|
||||
#define GPIO_REG(offset) _REG32(GPIO_CTRL_ADDR, offset)
|
||||
#define PLIC_REG(offset) _REG32(PLIC_CTRL_ADDR, offset)
|
||||
#define PWM0_REG(offset) _REG32(PWM0_CTRL_ADDR, offset)
|
||||
#define SPI0_REG(offset) _REG32(SPI0_CTRL_ADDR, offset)
|
||||
#define TRAPVEC_TABLE_REG(offset) _REG32(TRAPVEC_TABLE_CTRL_ADDR, offset)
|
||||
#define UART0_REG(offset) _REG32(UART0_CTRL_ADDR, offset)
|
||||
#define CLINT_REG64(offset) _REG64(CLINT_CTRL_ADDR, offset)
|
||||
#define GPIO_REG64(offset) _REG64(GPIO_CTRL_ADDR, offset)
|
||||
#define PLIC_REG64(offset) _REG64(PLIC_CTRL_ADDR, offset)
|
||||
#define PWM0_REG64(offset) _REG64(PWM0_CTRL_ADDR, offset)
|
||||
#define SPI0_REG64(offset) _REG64(SPI0_CTRL_ADDR, offset)
|
||||
#define TRAPVEC_TABLE_REG64(offset) _REG64(TRAPVEC_TABLE_CTRL_ADDR, offset)
|
||||
#define UART0_REG64(offset) _REG64(UART0_CTRL_ADDR, offset)
|
||||
|
||||
// Misc
|
||||
|
||||
#define NUM_GPIO 16
|
||||
|
||||
#define PLIC_NUM_INTERRUPTS 28
|
||||
#define PLIC_NUM_PRIORITIES 7
|
||||
|
||||
#define HAS_BOARD_BUTTONS
|
||||
|
||||
#include "coreplexip-arty.h"
|
||||
|
||||
unsigned long get_cpu_freq(void);
|
||||
unsigned long get_timer_freq(void);
|
||||
uint64_t get_timer_value(void);
|
||||
|
||||
#endif /* _SIFIVE_PLATFORM_H */
|
||||
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e31-arty/scratchpad.lds
vendored
Normal file
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e31-arty/scratchpad.lds
vendored
Normal file
@ -0,0 +1,161 @@
|
||||
OUTPUT_ARCH( "riscv" )
|
||||
|
||||
ENTRY( _start )
|
||||
|
||||
MEMORY
|
||||
{
|
||||
ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = 16K
|
||||
}
|
||||
|
||||
PHDRS
|
||||
{
|
||||
ram PT_LOAD;
|
||||
ram_init PT_LOAD;
|
||||
ram PT_NULL;
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
__stack_size = DEFINED(__stack_size) ? __stack_size : 1K;
|
||||
|
||||
.init :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.init)))
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.text :
|
||||
{
|
||||
*(.text.unlikely .text.unlikely.*)
|
||||
*(.text.startup .text.startup.*)
|
||||
*(.text .text.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.fini :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.fini)))
|
||||
} >ram AT>ram :ram
|
||||
|
||||
PROVIDE (__etext = .);
|
||||
PROVIDE (_etext = .);
|
||||
PROVIDE (etext = .);
|
||||
|
||||
.rodata :
|
||||
{
|
||||
*(.rdata)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
.preinit_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
KEEP (*(.preinit_array))
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.init_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP (*(.init_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .ctors))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.fini_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.fini_array.*) SORT_BY_INIT_PRIORITY(.dtors.*)))
|
||||
KEEP (*(.fini_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .dtors))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.ctors :
|
||||
{
|
||||
/* gcc uses crtbegin.o to find the start of
|
||||
the constructors, so we make sure it is
|
||||
first. Because this is a wildcard, it
|
||||
doesn't matter if the user does not
|
||||
actually link against crtbegin.o; the
|
||||
linker won't look for a file to match a
|
||||
wildcard. The wildcard also means that it
|
||||
doesn't matter which directory crtbegin.o
|
||||
is in. */
|
||||
KEEP (*crtbegin.o(.ctors))
|
||||
KEEP (*crtbegin?.o(.ctors))
|
||||
/* We don't want to include the .ctor section from
|
||||
the crtend.o file until after the sorted ctors.
|
||||
The .ctor section from the crtend file contains the
|
||||
end of ctors marker and it must be last */
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .ctors))
|
||||
KEEP (*(SORT(.ctors.*)))
|
||||
KEEP (*(.ctors))
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.dtors :
|
||||
{
|
||||
KEEP (*crtbegin.o(.dtors))
|
||||
KEEP (*crtbegin?.o(.dtors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .dtors))
|
||||
KEEP (*(SORT(.dtors.*)))
|
||||
KEEP (*(.dtors))
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.lalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data_lma = . );
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.dalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data = . );
|
||||
} >ram AT>ram :ram_init
|
||||
|
||||
.data :
|
||||
{
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
. = ALIGN(8);
|
||||
PROVIDE( __global_pointer$ = . + 0x800 );
|
||||
*(.sdata .sdata.*)
|
||||
*(.gnu.linkonce.s.*)
|
||||
. = ALIGN(8);
|
||||
*(.srodata.cst16)
|
||||
*(.srodata.cst8)
|
||||
*(.srodata.cst4)
|
||||
*(.srodata.cst2)
|
||||
*(.srodata .srodata.*)
|
||||
} >ram AT>ram :ram_init
|
||||
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _edata = . );
|
||||
PROVIDE( edata = . );
|
||||
|
||||
PROVIDE( _fbss = . );
|
||||
PROVIDE( __bss_start = . );
|
||||
.bss :
|
||||
{
|
||||
*(.sbss*)
|
||||
*(.gnu.linkonce.sb.*)
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(8);
|
||||
PROVIDE( _end = . );
|
||||
PROVIDE( end = . );
|
||||
|
||||
.stack :
|
||||
{
|
||||
. = ALIGN(8);
|
||||
. += __stack_size;
|
||||
PROVIDE( _sp = . );
|
||||
PROVIDE( _heap_end = . );
|
||||
} >ram AT>ram :ram
|
||||
}
|
||||
3
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e31-arty/settings.mk
vendored
Normal file
3
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e31-arty/settings.mk
vendored
Normal file
@ -0,0 +1,3 @@
|
||||
# Describes the CPU on this board to the rest of the SDK.
|
||||
RISCV_ARCH := rv32imac
|
||||
RISCV_ABI := ilp32
|
||||
157
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e51-arty/dhrystone.lds
vendored
Normal file
157
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e51-arty/dhrystone.lds
vendored
Normal file
@ -0,0 +1,157 @@
|
||||
OUTPUT_ARCH( "riscv" )
|
||||
|
||||
ENTRY( _start )
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rxai!w) : ORIGIN = 0x40400000, LENGTH = 512M
|
||||
ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = 16K
|
||||
}
|
||||
|
||||
PHDRS
|
||||
{
|
||||
flash PT_LOAD;
|
||||
ram_init PT_LOAD;
|
||||
ram PT_NULL;
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
__stack_size = DEFINED(__stack_size) ? __stack_size : 1K;
|
||||
|
||||
.init :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.init)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.text :
|
||||
{
|
||||
*(.text.unlikely .text.unlikely.*)
|
||||
*(.text.startup .text.startup.*)
|
||||
*(.text .text.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.fini)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
PROVIDE (__etext = .);
|
||||
PROVIDE (_etext = .);
|
||||
PROVIDE (etext = .);
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
.preinit_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
KEEP (*(.preinit_array))
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.init_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP (*(.init_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .ctors))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.fini_array.*) SORT_BY_INIT_PRIORITY(.dtors.*)))
|
||||
KEEP (*(.fini_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .dtors))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.ctors :
|
||||
{
|
||||
/* gcc uses crtbegin.o to find the start of
|
||||
the constructors, so we make sure it is
|
||||
first. Because this is a wildcard, it
|
||||
doesn't matter if the user does not
|
||||
actually link against crtbegin.o; the
|
||||
linker won't look for a file to match a
|
||||
wildcard. The wildcard also means that it
|
||||
doesn't matter which directory crtbegin.o
|
||||
is in. */
|
||||
KEEP (*crtbegin.o(.ctors))
|
||||
KEEP (*crtbegin?.o(.ctors))
|
||||
/* We don't want to include the .ctor section from
|
||||
the crtend.o file until after the sorted ctors.
|
||||
The .ctor section from the crtend file contains the
|
||||
end of ctors marker and it must be last */
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .ctors))
|
||||
KEEP (*(SORT(.ctors.*)))
|
||||
KEEP (*(.ctors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dtors :
|
||||
{
|
||||
KEEP (*crtbegin.o(.dtors))
|
||||
KEEP (*crtbegin?.o(.dtors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .dtors))
|
||||
KEEP (*(SORT(.dtors.*)))
|
||||
KEEP (*(.dtors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.lalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data_lma = . );
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data = . );
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
.data :
|
||||
{
|
||||
*(.rdata)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
. = ALIGN(8);
|
||||
PROVIDE( __global_pointer$ = . + 0x800 );
|
||||
*(.sdata .sdata.*)
|
||||
*(.gnu.linkonce.s.*)
|
||||
. = ALIGN(8);
|
||||
*(.srodata.cst16)
|
||||
*(.srodata.cst8)
|
||||
*(.srodata.cst4)
|
||||
*(.srodata.cst2)
|
||||
*(.srodata .srodata.*)
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _edata = . );
|
||||
PROVIDE( edata = . );
|
||||
|
||||
PROVIDE( _fbss = . );
|
||||
PROVIDE( __bss_start = . );
|
||||
.bss :
|
||||
{
|
||||
*(.sbss*)
|
||||
*(.gnu.linkonce.sb.*)
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(8);
|
||||
PROVIDE( _end = . );
|
||||
PROVIDE( end = . );
|
||||
|
||||
.stack ORIGIN(ram) + LENGTH(ram) - __stack_size :
|
||||
{
|
||||
PROVIDE( _heap_end = . );
|
||||
. = __stack_size;
|
||||
PROVIDE( _sp = . );
|
||||
} >ram AT>ram :ram
|
||||
}
|
||||
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e51-arty/flash.lds
vendored
Normal file
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e51-arty/flash.lds
vendored
Normal file
@ -0,0 +1,161 @@
|
||||
OUTPUT_ARCH( "riscv" )
|
||||
|
||||
ENTRY( _start )
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rxai!w) : ORIGIN = 0x40400000, LENGTH = 512M
|
||||
ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = 16K
|
||||
}
|
||||
|
||||
PHDRS
|
||||
{
|
||||
flash PT_LOAD;
|
||||
ram_init PT_LOAD;
|
||||
ram PT_NULL;
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
__stack_size = DEFINED(__stack_size) ? __stack_size : 2K;
|
||||
|
||||
.init :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.init)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.text :
|
||||
{
|
||||
*(.text.unlikely .text.unlikely.*)
|
||||
*(.text.startup .text.startup.*)
|
||||
*(.text .text.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.fini)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
PROVIDE (__etext = .);
|
||||
PROVIDE (_etext = .);
|
||||
PROVIDE (etext = .);
|
||||
|
||||
.rodata :
|
||||
{
|
||||
*(.rdata)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
} >flash AT>flash :flash
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
.preinit_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
KEEP (*(.preinit_array))
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.init_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP (*(.init_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .ctors))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.fini_array.*) SORT_BY_INIT_PRIORITY(.dtors.*)))
|
||||
KEEP (*(.fini_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .dtors))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.ctors :
|
||||
{
|
||||
/* gcc uses crtbegin.o to find the start of
|
||||
the constructors, so we make sure it is
|
||||
first. Because this is a wildcard, it
|
||||
doesn't matter if the user does not
|
||||
actually link against crtbegin.o; the
|
||||
linker won't look for a file to match a
|
||||
wildcard. The wildcard also means that it
|
||||
doesn't matter which directory crtbegin.o
|
||||
is in. */
|
||||
KEEP (*crtbegin.o(.ctors))
|
||||
KEEP (*crtbegin?.o(.ctors))
|
||||
/* We don't want to include the .ctor section from
|
||||
the crtend.o file until after the sorted ctors.
|
||||
The .ctor section from the crtend file contains the
|
||||
end of ctors marker and it must be last */
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .ctors))
|
||||
KEEP (*(SORT(.ctors.*)))
|
||||
KEEP (*(.ctors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dtors :
|
||||
{
|
||||
KEEP (*crtbegin.o(.dtors))
|
||||
KEEP (*crtbegin?.o(.dtors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .dtors))
|
||||
KEEP (*(SORT(.dtors.*)))
|
||||
KEEP (*(.dtors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.lalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data_lma = . );
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data = . );
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
.data :
|
||||
{
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
. = ALIGN(8);
|
||||
PROVIDE( __global_pointer$ = . + 0x800 );
|
||||
*(.sdata .sdata.*)
|
||||
*(.gnu.linkonce.s.*)
|
||||
. = ALIGN(8);
|
||||
*(.srodata.cst16)
|
||||
*(.srodata.cst8)
|
||||
*(.srodata.cst4)
|
||||
*(.srodata.cst2)
|
||||
*(.srodata .srodata.*)
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _edata = . );
|
||||
PROVIDE( edata = . );
|
||||
|
||||
PROVIDE( _fbss = . );
|
||||
PROVIDE( __bss_start = . );
|
||||
.bss :
|
||||
{
|
||||
*(.sbss*)
|
||||
*(.gnu.linkonce.sb.*)
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(8);
|
||||
PROVIDE( _end = . );
|
||||
PROVIDE( end = . );
|
||||
|
||||
.stack ORIGIN(ram) + LENGTH(ram) - __stack_size :
|
||||
{
|
||||
PROVIDE( _heap_end = . );
|
||||
. = __stack_size;
|
||||
PROVIDE( _sp = . );
|
||||
} >ram AT>ram :ram
|
||||
}
|
||||
122
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e51-arty/init.c
vendored
Normal file
122
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e51-arty/init.c
vendored
Normal file
@ -0,0 +1,122 @@
|
||||
//See LICENSE for license details.
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "platform.h"
|
||||
#include "encoding.h"
|
||||
|
||||
#define CPU_FREQ 65000000
|
||||
#define XSTR(x) #x
|
||||
#define STR(x) XSTR(x)
|
||||
|
||||
#ifndef VECT_IRQ
|
||||
#define TRAP_ENTRY trap_entry
|
||||
#else
|
||||
#define TRAP_ENTRY vtrap_entry
|
||||
#endif
|
||||
|
||||
extern int main(int argc, char** argv);
|
||||
extern void TRAP_ENTRY();
|
||||
|
||||
unsigned long get_cpu_freq()
|
||||
{
|
||||
return CPU_FREQ;
|
||||
}
|
||||
|
||||
unsigned long get_timer_freq()
|
||||
{
|
||||
return get_cpu_freq();
|
||||
}
|
||||
|
||||
uint64_t get_timer_value()
|
||||
{
|
||||
#if __riscv_xlen == 32
|
||||
while (1) {
|
||||
uint32_t hi = read_csr(mcycleh);
|
||||
uint32_t lo = read_csr(mcycle);
|
||||
if (hi == read_csr(mcycleh))
|
||||
return ((uint64_t)hi << 32) | lo;
|
||||
}
|
||||
#else
|
||||
return read_csr(mcycle);
|
||||
#endif
|
||||
}
|
||||
|
||||
static void uart_init(size_t baud_rate)
|
||||
{
|
||||
UART0_REG(UART_REG_DIV) = (get_cpu_freq() / 2) / baud_rate - 1;
|
||||
UART0_REG(UART_REG_TXCTRL) |= UART_TXEN;
|
||||
}
|
||||
|
||||
|
||||
#ifdef USE_PLIC
|
||||
extern void handle_m_ext_interrupt();
|
||||
#endif
|
||||
|
||||
#ifdef USE_M_TIME
|
||||
extern void handle_m_time_interrupt();
|
||||
#endif
|
||||
|
||||
#ifdef USE_LOCAL_ISR
|
||||
typedef void (*my_interrupt_function_ptr_t) (void);
|
||||
extern my_interrupt_function_ptr_t localISR[];
|
||||
#endif
|
||||
|
||||
#ifndef VECT_IRQ
|
||||
uintptr_t handle_trap(uintptr_t mcause, uintptr_t epc) __attribute__((noinline));
|
||||
uintptr_t handle_trap(uintptr_t mcause, uintptr_t epc)
|
||||
{
|
||||
if (0){
|
||||
#ifdef USE_PLIC
|
||||
// External Machine-Level interrupt from PLIC
|
||||
} else if ((mcause & MCAUSE_INT) && ((mcause & MCAUSE_CAUSE) == IRQ_M_EXT)) {
|
||||
handle_m_ext_interrupt();
|
||||
#endif
|
||||
#ifdef USE_M_TIME
|
||||
// External Machine-Level interrupt from PLIC
|
||||
} else if ((mcause & MCAUSE_INT) && ((mcause & MCAUSE_CAUSE) == IRQ_M_TIMER)){
|
||||
handle_m_time_interrupt();
|
||||
#endif
|
||||
#ifdef USE_LOCAL_ISR
|
||||
} else if (mcause & MCAUSE_INT) {
|
||||
localISR[mcause & MCAUSE_CAUSE] ();
|
||||
#endif
|
||||
}
|
||||
else {
|
||||
write(1, "Unhandled Trap:\n", 16);
|
||||
_exit(1 + mcause);
|
||||
}
|
||||
return epc;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_CLIC
|
||||
void trap_entry(void) __attribute__((interrupt("SiFive-CLIC-preemptible"), aligned(64)));
|
||||
void trap_entry(void)
|
||||
{
|
||||
unsigned long mcause = read_csr(mcause);
|
||||
unsigned long mepc = read_csr(mepc);
|
||||
handle_trap(mcause, mepc);
|
||||
}
|
||||
#endif
|
||||
|
||||
void _init()
|
||||
{
|
||||
#ifndef NO_INIT
|
||||
uart_init(115200);
|
||||
|
||||
puts("core freq at " STR(CPU_FREQ) " Hz\n");
|
||||
|
||||
#ifdef USE_CLIC
|
||||
write_csr(mtvec, ((unsigned long)&trap_entry | MTVEC_CLIC));
|
||||
#else
|
||||
write_csr(mtvec, ((unsigned long)&TRAP_ENTRY | MTVEC_VECTORED));
|
||||
#endif
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
void _fini()
|
||||
{
|
||||
}
|
||||
31
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e51-arty/openocd.cfg
vendored
Normal file
31
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e51-arty/openocd.cfg
vendored
Normal file
@ -0,0 +1,31 @@
|
||||
# JTAG adapter setup
|
||||
adapter_khz 10000
|
||||
|
||||
interface ftdi
|
||||
ftdi_device_desc "Olimex OpenOCD JTAG ARM-USB-TINY-H"
|
||||
ftdi_vid_pid 0x15ba 0x002a
|
||||
|
||||
ftdi_layout_init 0x0808 0x0a1b
|
||||
ftdi_layout_signal nSRST -oe 0x0200
|
||||
#ftdi_layout_signal nTRST -data 0x0100 -oe 0x0100
|
||||
ftdi_layout_signal LED -data 0x0800
|
||||
|
||||
set _CHIPNAME riscv
|
||||
jtag newtap $_CHIPNAME cpu -irlen 5 -expected-id 0x20000001
|
||||
|
||||
set _TARGETNAME $_CHIPNAME.cpu
|
||||
|
||||
target create $_TARGETNAME.0 riscv -chain-position $_TARGETNAME
|
||||
$_TARGETNAME.0 configure -work-area-phys 0x80000000 -work-area-size 10000 -work-area-backup 1
|
||||
|
||||
# Un-comment these two flash lines if you have a SPI flash and want to write
|
||||
# it.
|
||||
flash bank spi0 fespi 0x40000000 0 0 0 $_TARGETNAME.0 0x20004000
|
||||
init
|
||||
if {[ info exists pulse_srst]} {
|
||||
ftdi_set_signal nSRST 0
|
||||
ftdi_set_signal nSRST z
|
||||
}
|
||||
halt
|
||||
#flash protect 0 64 last off
|
||||
echo "Ready for Remote Connections"
|
||||
100
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e51-arty/platform.h
vendored
Normal file
100
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e51-arty/platform.h
vendored
Normal file
@ -0,0 +1,100 @@
|
||||
// See LICENSE for license details.
|
||||
|
||||
#ifndef _SIFIVE_PLATFORM_H
|
||||
#define _SIFIVE_PLATFORM_H
|
||||
|
||||
// Some things missing from the official encoding.h
|
||||
|
||||
#if __riscv_xlen == 32
|
||||
#define MCAUSE_INT 0x80000000UL
|
||||
#define MCAUSE_CAUSE 0x000003FFUL
|
||||
#else
|
||||
#define MCAUSE_INT 0x8000000000000000UL
|
||||
#define MCAUSE_CAUSE 0x00000000000003FFUL
|
||||
#endif
|
||||
|
||||
#ifdef VECT_IRQ
|
||||
#define MTVEC_VECTORED 0x01
|
||||
#else
|
||||
#define MTVEC_VECTORED 0x00
|
||||
#endif
|
||||
#define MTVEC_CLIC 0x02
|
||||
#define IRQ_M_LOCAL 16
|
||||
#define MIP_MLIP(x) (1 << (IRQ_M_LOCAL + x))
|
||||
|
||||
#include "sifive/const.h"
|
||||
#include "sifive/devices/clint.h"
|
||||
#include "sifive/devices/gpio.h"
|
||||
#include "sifive/devices/plic.h"
|
||||
#include "sifive/devices/pwm.h"
|
||||
#include "sifive/devices/spi.h"
|
||||
#include "sifive/devices/uart.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Platform definitions
|
||||
*****************************************************************************/
|
||||
|
||||
// Memory map
|
||||
#define CLINT_CTRL_ADDR _AC(0x02000000,UL)
|
||||
#define GPIO_CTRL_ADDR _AC(0x20002000,UL)
|
||||
#define PLIC_CTRL_ADDR _AC(0x0C000000,UL)
|
||||
#define PWM0_CTRL_ADDR _AC(0x20005000,UL)
|
||||
#define RAM_MEM_ADDR _AC(0x80000000,UL)
|
||||
#define RAM_MEM_SIZE _AC(0x10000,UL)
|
||||
#define SPI0_CTRL_ADDR _AC(0x20004000,UL)
|
||||
#define SPI0_MEM_ADDR _AC(0x40000000,UL)
|
||||
#define SPI0_MEM_SIZE _AC(0x20000000,UL)
|
||||
#define TESTBENCH_MEM_ADDR _AC(0x20000000,UL)
|
||||
#define TESTBENCH_MEM_SIZE _AC(0x10000000,UL)
|
||||
#define TRAPVEC_TABLE_CTRL_ADDR _AC(0x00001010,UL)
|
||||
#define UART0_CTRL_ADDR _AC(0x20000000,UL)
|
||||
|
||||
// IOF masks
|
||||
|
||||
// Interrupt numbers
|
||||
#define RESERVED_INT_BASE 0
|
||||
#define UART0_INT_BASE 1
|
||||
#define EXTERNAL_INT_BASE 2
|
||||
#define SPI0_INT_BASE 6
|
||||
#define GPIO_INT_BASE 7
|
||||
#define PWM0_INT_BASE 23
|
||||
|
||||
// Helper functions
|
||||
#define _REG64(p, i) (*(volatile uint64_t *)((p) + (i)))
|
||||
#define _REG32(p, i) (*(volatile uint32_t *)((p) + (i)))
|
||||
#define _REG16(p, i) (*(volatile uint16_t *)((p) + (i)))
|
||||
// Bulk set bits in `reg` to either 0 or 1.
|
||||
// E.g. SET_BITS(MY_REG, 0x00000007, 0) would generate MY_REG &= ~0x7
|
||||
// E.g. SET_BITS(MY_REG, 0x00000007, 1) would generate MY_REG |= 0x7
|
||||
#define SET_BITS(reg, mask, value) if ((value) == 0) { (reg) &= ~(mask); } else { (reg) |= (mask); }
|
||||
#define CLINT_REG(offset) _REG32(CLINT_CTRL_ADDR, offset)
|
||||
#define GPIO_REG(offset) _REG32(GPIO_CTRL_ADDR, offset)
|
||||
#define PLIC_REG(offset) _REG32(PLIC_CTRL_ADDR, offset)
|
||||
#define PWM0_REG(offset) _REG32(PWM0_CTRL_ADDR, offset)
|
||||
#define SPI0_REG(offset) _REG32(SPI0_CTRL_ADDR, offset)
|
||||
#define TRAPVEC_TABLE_REG(offset) _REG32(TRAPVEC_TABLE_CTRL_ADDR, offset)
|
||||
#define UART0_REG(offset) _REG32(UART0_CTRL_ADDR, offset)
|
||||
#define CLINT_REG64(offset) _REG64(CLINT_CTRL_ADDR, offset)
|
||||
#define GPIO_REG64(offset) _REG64(GPIO_CTRL_ADDR, offset)
|
||||
#define PLIC_REG64(offset) _REG64(PLIC_CTRL_ADDR, offset)
|
||||
#define PWM0_REG64(offset) _REG64(PWM0_CTRL_ADDR, offset)
|
||||
#define SPI0_REG64(offset) _REG64(SPI0_CTRL_ADDR, offset)
|
||||
#define TRAPVEC_TABLE_REG64(offset) _REG64(TRAPVEC_TABLE_CTRL_ADDR, offset)
|
||||
#define UART0_REG64(offset) _REG64(UART0_CTRL_ADDR, offset)
|
||||
|
||||
// Misc
|
||||
|
||||
#define NUM_GPIO 16
|
||||
|
||||
#define PLIC_NUM_INTERRUPTS 28
|
||||
#define PLIC_NUM_PRIORITIES 7
|
||||
|
||||
#define HAS_BOARD_BUTTONS
|
||||
|
||||
#include "coreplexip-arty.h"
|
||||
|
||||
unsigned long get_cpu_freq(void);
|
||||
unsigned long get_timer_freq(void);
|
||||
uint64_t get_timer_value(void);
|
||||
|
||||
#endif /* _SIFIVE_PLATFORM_H */
|
||||
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e51-arty/scratchpad.lds
vendored
Normal file
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e51-arty/scratchpad.lds
vendored
Normal file
@ -0,0 +1,161 @@
|
||||
OUTPUT_ARCH( "riscv" )
|
||||
|
||||
ENTRY( _start )
|
||||
|
||||
MEMORY
|
||||
{
|
||||
ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = 16K
|
||||
}
|
||||
|
||||
PHDRS
|
||||
{
|
||||
ram PT_LOAD;
|
||||
ram_init PT_LOAD;
|
||||
ram PT_NULL;
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
__stack_size = DEFINED(__stack_size) ? __stack_size : 1K;
|
||||
|
||||
.init :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.init)))
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.text :
|
||||
{
|
||||
*(.text.unlikely .text.unlikely.*)
|
||||
*(.text.startup .text.startup.*)
|
||||
*(.text .text.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.fini :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.fini)))
|
||||
} >ram AT>ram :ram
|
||||
|
||||
PROVIDE (__etext = .);
|
||||
PROVIDE (_etext = .);
|
||||
PROVIDE (etext = .);
|
||||
|
||||
.rodata :
|
||||
{
|
||||
*(.rdata)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
.preinit_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
KEEP (*(.preinit_array))
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.init_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP (*(.init_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .ctors))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.fini_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.fini_array.*) SORT_BY_INIT_PRIORITY(.dtors.*)))
|
||||
KEEP (*(.fini_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .dtors))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.ctors :
|
||||
{
|
||||
/* gcc uses crtbegin.o to find the start of
|
||||
the constructors, so we make sure it is
|
||||
first. Because this is a wildcard, it
|
||||
doesn't matter if the user does not
|
||||
actually link against crtbegin.o; the
|
||||
linker won't look for a file to match a
|
||||
wildcard. The wildcard also means that it
|
||||
doesn't matter which directory crtbegin.o
|
||||
is in. */
|
||||
KEEP (*crtbegin.o(.ctors))
|
||||
KEEP (*crtbegin?.o(.ctors))
|
||||
/* We don't want to include the .ctor section from
|
||||
the crtend.o file until after the sorted ctors.
|
||||
The .ctor section from the crtend file contains the
|
||||
end of ctors marker and it must be last */
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .ctors))
|
||||
KEEP (*(SORT(.ctors.*)))
|
||||
KEEP (*(.ctors))
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.dtors :
|
||||
{
|
||||
KEEP (*crtbegin.o(.dtors))
|
||||
KEEP (*crtbegin?.o(.dtors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .dtors))
|
||||
KEEP (*(SORT(.dtors.*)))
|
||||
KEEP (*(.dtors))
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.lalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data_lma = . );
|
||||
} >ram AT>ram :ram
|
||||
|
||||
.dalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data = . );
|
||||
} >ram AT>ram :ram_init
|
||||
|
||||
.data :
|
||||
{
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
. = ALIGN(8);
|
||||
PROVIDE( __global_pointer$ = . + 0x800 );
|
||||
*(.sdata .sdata.*)
|
||||
*(.gnu.linkonce.s.*)
|
||||
. = ALIGN(8);
|
||||
*(.srodata.cst16)
|
||||
*(.srodata.cst8)
|
||||
*(.srodata.cst4)
|
||||
*(.srodata.cst2)
|
||||
*(.srodata .srodata.*)
|
||||
} >ram AT>ram :ram_init
|
||||
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _edata = . );
|
||||
PROVIDE( edata = . );
|
||||
|
||||
PROVIDE( _fbss = . );
|
||||
PROVIDE( __bss_start = . );
|
||||
.bss :
|
||||
{
|
||||
*(.sbss*)
|
||||
*(.gnu.linkonce.sb.*)
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(8);
|
||||
PROVIDE( _end = . );
|
||||
PROVIDE( end = . );
|
||||
|
||||
.stack :
|
||||
{
|
||||
. = ALIGN(8);
|
||||
. += __stack_size;
|
||||
PROVIDE( _sp = . );
|
||||
PROVIDE( _heap_end = . );
|
||||
} >ram AT>ram :ram
|
||||
}
|
||||
3
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e51-arty/settings.mk
vendored
Normal file
3
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/coreplexip-e51-arty/settings.mk
vendored
Normal file
@ -0,0 +1,3 @@
|
||||
# Describes the CPU on this board to the rest of the SDK.
|
||||
RISCV_ARCH := rv64imac
|
||||
RISCV_ABI := lp64
|
||||
1313
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/encoding.h
vendored
Normal file
1313
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/encoding.h
vendored
Normal file
File diff suppressed because it is too large
Load Diff
98
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/entry.S
vendored
Normal file
98
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/entry.S
vendored
Normal file
@ -0,0 +1,98 @@
|
||||
// See LICENSE for license details
|
||||
|
||||
#ifndef ENTRY_S
|
||||
#define ENTRY_S
|
||||
|
||||
#include "encoding.h"
|
||||
#include "sifive/bits.h"
|
||||
|
||||
.section .text.entry
|
||||
.align 2
|
||||
.weak trap_entry
|
||||
.global trap_entry
|
||||
trap_entry:
|
||||
addi sp, sp, -32*REGBYTES
|
||||
|
||||
STORE x1, 1*REGBYTES(sp)
|
||||
STORE x2, 2*REGBYTES(sp)
|
||||
STORE x3, 3*REGBYTES(sp)
|
||||
STORE x4, 4*REGBYTES(sp)
|
||||
STORE x5, 5*REGBYTES(sp)
|
||||
STORE x6, 6*REGBYTES(sp)
|
||||
STORE x7, 7*REGBYTES(sp)
|
||||
STORE x8, 8*REGBYTES(sp)
|
||||
STORE x9, 9*REGBYTES(sp)
|
||||
STORE x10, 10*REGBYTES(sp)
|
||||
STORE x11, 11*REGBYTES(sp)
|
||||
STORE x12, 12*REGBYTES(sp)
|
||||
STORE x13, 13*REGBYTES(sp)
|
||||
STORE x14, 14*REGBYTES(sp)
|
||||
STORE x15, 15*REGBYTES(sp)
|
||||
STORE x16, 16*REGBYTES(sp)
|
||||
STORE x17, 17*REGBYTES(sp)
|
||||
STORE x18, 18*REGBYTES(sp)
|
||||
STORE x19, 19*REGBYTES(sp)
|
||||
STORE x20, 20*REGBYTES(sp)
|
||||
STORE x21, 21*REGBYTES(sp)
|
||||
STORE x22, 22*REGBYTES(sp)
|
||||
STORE x23, 23*REGBYTES(sp)
|
||||
STORE x24, 24*REGBYTES(sp)
|
||||
STORE x25, 25*REGBYTES(sp)
|
||||
STORE x26, 26*REGBYTES(sp)
|
||||
STORE x27, 27*REGBYTES(sp)
|
||||
STORE x28, 28*REGBYTES(sp)
|
||||
STORE x29, 29*REGBYTES(sp)
|
||||
STORE x30, 30*REGBYTES(sp)
|
||||
STORE x31, 31*REGBYTES(sp)
|
||||
|
||||
csrr a0, mcause
|
||||
csrr a1, mepc
|
||||
mv a2, sp
|
||||
call handle_trap
|
||||
csrw mepc, a0
|
||||
|
||||
# Remain in M-mode after mret
|
||||
li t0, MSTATUS_MPP
|
||||
csrs mstatus, t0
|
||||
|
||||
LOAD x1, 1*REGBYTES(sp)
|
||||
LOAD x2, 2*REGBYTES(sp)
|
||||
LOAD x3, 3*REGBYTES(sp)
|
||||
LOAD x4, 4*REGBYTES(sp)
|
||||
LOAD x5, 5*REGBYTES(sp)
|
||||
LOAD x6, 6*REGBYTES(sp)
|
||||
LOAD x7, 7*REGBYTES(sp)
|
||||
LOAD x8, 8*REGBYTES(sp)
|
||||
LOAD x9, 9*REGBYTES(sp)
|
||||
LOAD x10, 10*REGBYTES(sp)
|
||||
LOAD x11, 11*REGBYTES(sp)
|
||||
LOAD x12, 12*REGBYTES(sp)
|
||||
LOAD x13, 13*REGBYTES(sp)
|
||||
LOAD x14, 14*REGBYTES(sp)
|
||||
LOAD x15, 15*REGBYTES(sp)
|
||||
LOAD x16, 16*REGBYTES(sp)
|
||||
LOAD x17, 17*REGBYTES(sp)
|
||||
LOAD x18, 18*REGBYTES(sp)
|
||||
LOAD x19, 19*REGBYTES(sp)
|
||||
LOAD x20, 20*REGBYTES(sp)
|
||||
LOAD x21, 21*REGBYTES(sp)
|
||||
LOAD x22, 22*REGBYTES(sp)
|
||||
LOAD x23, 23*REGBYTES(sp)
|
||||
LOAD x24, 24*REGBYTES(sp)
|
||||
LOAD x25, 25*REGBYTES(sp)
|
||||
LOAD x26, 26*REGBYTES(sp)
|
||||
LOAD x27, 27*REGBYTES(sp)
|
||||
LOAD x28, 28*REGBYTES(sp)
|
||||
LOAD x29, 29*REGBYTES(sp)
|
||||
LOAD x30, 30*REGBYTES(sp)
|
||||
LOAD x31, 31*REGBYTES(sp)
|
||||
|
||||
addi sp, sp, 32*REGBYTES
|
||||
mret
|
||||
|
||||
.weak handle_trap
|
||||
handle_trap:
|
||||
1:
|
||||
j 1b
|
||||
|
||||
#endif
|
||||
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-arty/flash.lds
vendored
Normal file
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-arty/flash.lds
vendored
Normal file
@ -0,0 +1,161 @@
|
||||
OUTPUT_ARCH( "riscv" )
|
||||
|
||||
ENTRY( _start )
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rxai!w) : ORIGIN = 0x20400000, LENGTH = 512M
|
||||
ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = 16K
|
||||
}
|
||||
|
||||
PHDRS
|
||||
{
|
||||
flash PT_LOAD;
|
||||
ram_init PT_LOAD;
|
||||
ram PT_NULL;
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
__stack_size = DEFINED(__stack_size) ? __stack_size : 2K;
|
||||
|
||||
.init :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.init)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.text :
|
||||
{
|
||||
*(.text.unlikely .text.unlikely.*)
|
||||
*(.text.startup .text.startup.*)
|
||||
*(.text .text.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.fini)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
PROVIDE (__etext = .);
|
||||
PROVIDE (_etext = .);
|
||||
PROVIDE (etext = .);
|
||||
|
||||
.rodata :
|
||||
{
|
||||
*(.rdata)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
} >flash AT>flash :flash
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
.preinit_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
KEEP (*(.preinit_array))
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.init_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP (*(.init_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .ctors))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.fini_array.*) SORT_BY_INIT_PRIORITY(.dtors.*)))
|
||||
KEEP (*(.fini_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .dtors))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.ctors :
|
||||
{
|
||||
/* gcc uses crtbegin.o to find the start of
|
||||
the constructors, so we make sure it is
|
||||
first. Because this is a wildcard, it
|
||||
doesn't matter if the user does not
|
||||
actually link against crtbegin.o; the
|
||||
linker won't look for a file to match a
|
||||
wildcard. The wildcard also means that it
|
||||
doesn't matter which directory crtbegin.o
|
||||
is in. */
|
||||
KEEP (*crtbegin.o(.ctors))
|
||||
KEEP (*crtbegin?.o(.ctors))
|
||||
/* We don't want to include the .ctor section from
|
||||
the crtend.o file until after the sorted ctors.
|
||||
The .ctor section from the crtend file contains the
|
||||
end of ctors marker and it must be last */
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .ctors))
|
||||
KEEP (*(SORT(.ctors.*)))
|
||||
KEEP (*(.ctors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dtors :
|
||||
{
|
||||
KEEP (*crtbegin.o(.dtors))
|
||||
KEEP (*crtbegin?.o(.dtors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .dtors))
|
||||
KEEP (*(SORT(.dtors.*)))
|
||||
KEEP (*(.dtors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.lalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data_lma = . );
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data = . );
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
.data :
|
||||
{
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
. = ALIGN(8);
|
||||
PROVIDE( __global_pointer$ = . + 0x800 );
|
||||
*(.sdata .sdata.*)
|
||||
*(.gnu.linkonce.s.*)
|
||||
. = ALIGN(8);
|
||||
*(.srodata.cst16)
|
||||
*(.srodata.cst8)
|
||||
*(.srodata.cst4)
|
||||
*(.srodata.cst2)
|
||||
*(.srodata .srodata.*)
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _edata = . );
|
||||
PROVIDE( edata = . );
|
||||
|
||||
PROVIDE( _fbss = . );
|
||||
PROVIDE( __bss_start = . );
|
||||
.bss :
|
||||
{
|
||||
*(.sbss*)
|
||||
*(.gnu.linkonce.sb.*)
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(8);
|
||||
PROVIDE( _end = . );
|
||||
PROVIDE( end = . );
|
||||
|
||||
.stack ORIGIN(ram) + LENGTH(ram) - __stack_size :
|
||||
{
|
||||
PROVIDE( _heap_end = . );
|
||||
. = __stack_size;
|
||||
PROVIDE( _sp = . );
|
||||
} >ram AT>ram :ram
|
||||
}
|
||||
87
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-arty/init.c
vendored
Normal file
87
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-arty/init.c
vendored
Normal file
@ -0,0 +1,87 @@
|
||||
//See LICENSE for license details.
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "platform.h"
|
||||
#include "encoding.h"
|
||||
|
||||
extern int main(int argc, char** argv);
|
||||
extern void trap_entry();
|
||||
|
||||
static unsigned long get_cpu_freq()
|
||||
{
|
||||
return 65000000;
|
||||
}
|
||||
|
||||
unsigned long get_timer_freq()
|
||||
{
|
||||
return get_cpu_freq();
|
||||
}
|
||||
|
||||
uint64_t get_timer_value()
|
||||
{
|
||||
#if __riscv_xlen == 32
|
||||
while (1) {
|
||||
uint32_t hi = read_csr(mcycleh);
|
||||
uint32_t lo = read_csr(mcycle);
|
||||
if (hi == read_csr(mcycleh))
|
||||
return ((uint64_t)hi << 32) | lo;
|
||||
}
|
||||
#else
|
||||
return read_csr(mcycle);
|
||||
#endif
|
||||
}
|
||||
|
||||
static void uart_init(size_t baud_rate)
|
||||
{
|
||||
GPIO_REG(GPIO_IOF_SEL) &= ~IOF0_UART0_MASK;
|
||||
GPIO_REG(GPIO_IOF_EN) |= IOF0_UART0_MASK;
|
||||
UART0_REG(UART_REG_DIV) = get_cpu_freq() / baud_rate - 1;
|
||||
UART0_REG(UART_REG_TXCTRL) |= UART_TXEN;
|
||||
}
|
||||
|
||||
|
||||
#ifdef USE_PLIC
|
||||
extern void handle_m_ext_interrupt();
|
||||
#endif
|
||||
|
||||
#ifdef USE_M_TIME
|
||||
extern void handle_m_time_interrupt();
|
||||
#endif
|
||||
|
||||
uintptr_t handle_trap(uintptr_t mcause, uintptr_t epc)
|
||||
{
|
||||
if (0){
|
||||
#ifdef USE_PLIC
|
||||
// External Machine-Level interrupt from PLIC
|
||||
} else if ((mcause & MCAUSE_INT) && ((mcause & MCAUSE_CAUSE) == IRQ_M_EXT)) {
|
||||
handle_m_ext_interrupt();
|
||||
#endif
|
||||
#ifdef USE_M_TIME
|
||||
// External Machine-Level interrupt from PLIC
|
||||
} else if ((mcause & MCAUSE_INT) && ((mcause & MCAUSE_CAUSE) == IRQ_M_TIMER)){
|
||||
handle_m_time_interrupt();
|
||||
#endif
|
||||
}
|
||||
else {
|
||||
write(1, "Unhandled Trap:\n", 16);
|
||||
_exit(1 + mcause);
|
||||
}
|
||||
return epc;
|
||||
}
|
||||
|
||||
void _init()
|
||||
{
|
||||
#ifndef NO_INIT
|
||||
uart_init(115200);
|
||||
|
||||
printf("core freq at %d Hz\n", get_cpu_freq());
|
||||
|
||||
write_csr(mtvec, &trap_entry);
|
||||
#endif
|
||||
}
|
||||
|
||||
void _fini()
|
||||
{
|
||||
}
|
||||
30
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-arty/openocd.cfg
vendored
Normal file
30
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-arty/openocd.cfg
vendored
Normal file
@ -0,0 +1,30 @@
|
||||
adapter_khz 10000
|
||||
|
||||
#source [find interface/ftdi/olimex-arm-usb-tiny-h.cfg]
|
||||
|
||||
interface ftdi
|
||||
ftdi_device_desc "Olimex OpenOCD JTAG ARM-USB-TINY-H"
|
||||
ftdi_vid_pid 0x15ba 0x002a
|
||||
|
||||
ftdi_layout_init 0x0808 0x0a1b
|
||||
ftdi_layout_signal nSRST -oe 0x0200
|
||||
ftdi_layout_signal nTRST -data 0x0100 -oe 0x0100
|
||||
ftdi_layout_signal LED -data 0x0800
|
||||
#
|
||||
|
||||
set _CHIPNAME riscv
|
||||
jtag newtap $_CHIPNAME cpu -irlen 5 -expected-id 0x10e31913
|
||||
|
||||
set _TARGETNAME $_CHIPNAME.cpu
|
||||
target create $_TARGETNAME riscv -chain-position $_TARGETNAME
|
||||
$_TARGETNAME configure -work-area-phys 0x80000000 -work-area-size 10000 -work-area-backup 1
|
||||
|
||||
flash bank my_first_flash fespi 0x20000000 0 0 0 $_TARGETNAME
|
||||
init
|
||||
#reset
|
||||
if {[ info exists pulse_srst]} {
|
||||
ftdi_set_signal nSRST 0
|
||||
ftdi_set_signal nSRST z
|
||||
}
|
||||
halt
|
||||
#flash protect 0 64 last off
|
||||
124
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-arty/platform.h
vendored
Normal file
124
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-arty/platform.h
vendored
Normal file
@ -0,0 +1,124 @@
|
||||
// See LICENSE for license details.
|
||||
|
||||
#ifndef _SIFIVE_PLATFORM_H
|
||||
#define _SIFIVE_PLATFORM_H
|
||||
|
||||
// Some things missing from the official encoding.h
|
||||
#define MCAUSE_INT 0x80000000
|
||||
#define MCAUSE_CAUSE 0x7FFFFFFF
|
||||
|
||||
#include "sifive/const.h"
|
||||
#include "sifive/devices/aon.h"
|
||||
#include "sifive/devices/clint.h"
|
||||
#include "sifive/devices/gpio.h"
|
||||
#include "sifive/devices/plic.h"
|
||||
#include "sifive/devices/pwm.h"
|
||||
#include "sifive/devices/spi.h"
|
||||
#include "sifive/devices/uart.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Platform definitions
|
||||
*****************************************************************************/
|
||||
|
||||
#define TRAPVEC_TABLE_CTRL_ADDR _AC(0x00001010,UL)
|
||||
#define CLINT_CTRL_ADDR _AC(0x02000000,UL)
|
||||
#define PLIC_CTRL_ADDR _AC(0x0C000000,UL)
|
||||
#define AON_CTRL_ADDR _AC(0x10000000,UL)
|
||||
#define GPIO_CTRL_ADDR _AC(0x10012000,UL)
|
||||
#define UART0_CTRL_ADDR _AC(0x10013000,UL)
|
||||
#define SPI0_CTRL_ADDR _AC(0x10014000,UL)
|
||||
#define PWM0_CTRL_ADDR _AC(0x10015000,UL)
|
||||
#define UART1_CTRL_ADDR _AC(0x10023000,UL)
|
||||
#define SPI1_CTRL_ADDR _AC(0x10024000,UL)
|
||||
#define PWM1_CTRL_ADDR _AC(0x10025000,UL)
|
||||
#define SPI2_CTRL_ADDR _AC(0x10034000,UL)
|
||||
#define PWM2_CTRL_ADDR _AC(0x10035000,UL)
|
||||
#define SPI0_MMAP_ADDR _AC(0x20000000,UL)
|
||||
#define MEM_CTRL_ADDR _AC(0x80000000,UL)
|
||||
|
||||
// IOF Mappings
|
||||
#define IOF0_SPI1_MASK _AC(0x000007FC,UL)
|
||||
#define SPI11_NUM_SS (4)
|
||||
#define IOF_SPI1_SS0 (2u)
|
||||
#define IOF_SPI1_SS1 (8u)
|
||||
#define IOF_SPI1_SS2 (9u)
|
||||
#define IOF_SPI1_SS3 (10u)
|
||||
#define IOF_SPI1_MOSI (3u)
|
||||
#define IOF_SPI1_MISO (4u)
|
||||
#define IOF_SPI1_SCK (5u)
|
||||
#define IOF_SPI1_DQ0 (3u)
|
||||
#define IOF_SPI1_DQ1 (4u)
|
||||
#define IOF_SPI1_DQ2 (6u)
|
||||
#define IOF_SPI1_DQ3 (7u)
|
||||
|
||||
#define IOF0_SPI2_MASK _AC(0xFC000000,UL)
|
||||
#define SPI2_NUM_SS (1)
|
||||
#define IOF_SPI2_SS0 (26u)
|
||||
#define IOF_SPI2_MOSI (27u)
|
||||
#define IOF_SPI2_MISO (28u)
|
||||
#define IOF_SPI2_SCK (29u)
|
||||
#define IOF_SPI2_DQ0 (27u)
|
||||
#define IOF_SPI2_DQ1 (28u)
|
||||
#define IOF_SPI2_DQ2 (30u)
|
||||
#define IOF_SPI2_DQ3 (31u)
|
||||
|
||||
#define IOF0_UART0_MASK _AC(0x00030000, UL)
|
||||
#define IOF_UART0_RX (16u)
|
||||
#define IOF_UART0_TX (17u)
|
||||
|
||||
#define IOF0_UART1_MASK _AC(0x03000000, UL)
|
||||
#define IOF_UART1_RX (24u)
|
||||
#define IOF_UART1_TX (25u)
|
||||
|
||||
#define IOF1_PWM0_MASK _AC(0x0000000F, UL)
|
||||
#define IOF1_PWM1_MASK _AC(0x00780000, UL)
|
||||
#define IOF1_PWM2_MASK _AC(0x00003C00, UL)
|
||||
|
||||
// Interrupt Numbers
|
||||
#define INT_RESERVED 0
|
||||
#define INT_WDOGCMP 1
|
||||
#define INT_RTCCMP 2
|
||||
#define INT_UART0_BASE 3
|
||||
#define INT_UART1_BASE 4
|
||||
#define INT_SPI0_BASE 5
|
||||
#define INT_SPI1_BASE 6
|
||||
#define INT_SPI2_BASE 7
|
||||
#define INT_GPIO_BASE 8
|
||||
#define INT_PWM0_BASE 40
|
||||
#define INT_PWM1_BASE 44
|
||||
#define INT_PWM2_BASE 48
|
||||
|
||||
// Helper functions
|
||||
#define _REG32(p, i) (*(volatile uint32_t *) ((p) + (i)))
|
||||
#define _REG32P(p, i) ((volatile uint32_t *) ((p) + (i)))
|
||||
#define AON_REG(offset) _REG32(AON_CTRL_ADDR, offset)
|
||||
#define CLINT_REG(offset) _REG32(CLINT_CTRL_ADDR, offset)
|
||||
#define GPIO_REG(offset) _REG32(GPIO_CTRL_ADDR, offset)
|
||||
#define OTP_REG(offset) _REG32(OTP_CTRL_ADDR, offset)
|
||||
#define PLIC_REG(offset) _REG32(PLIC_CTRL_ADDR, offset)
|
||||
#define PWM0_REG(offset) _REG32(PWM0_CTRL_ADDR, offset)
|
||||
#define PWM1_REG(offset) _REG32(PWM1_CTRL_ADDR, offset)
|
||||
#define PWM2_REG(offset) _REG32(PWM2_CTRL_ADDR, offset)
|
||||
#define SPI0_REG(offset) _REG32(SPI0_CTRL_ADDR, offset)
|
||||
#define SPI1_REG(offset) _REG32(SPI1_CTRL_ADDR, offset)
|
||||
#define SPI2_REG(offset) _REG32(SPI2_CTRL_ADDR, offset)
|
||||
#define UART0_REG(offset) _REG32(UART0_CTRL_ADDR, offset)
|
||||
#define UART1_REG(offset) _REG32(UART1_CTRL_ADDR, offset)
|
||||
|
||||
// Misc
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
|
||||
#define NUM_GPIO 32
|
||||
|
||||
#define PLIC_NUM_INTERRUPTS 52
|
||||
#define PLIC_NUM_PRIORITIES 7
|
||||
|
||||
#define HAS_BOARD_BUTTONS
|
||||
#include "hifive1.h"
|
||||
|
||||
unsigned long get_timer_freq(void);
|
||||
uint64_t get_timer_value(void);
|
||||
|
||||
#endif /* _SIFIVE_PLATFORM_H */
|
||||
3
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-arty/settings.mk
vendored
Normal file
3
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-arty/settings.mk
vendored
Normal file
@ -0,0 +1,3 @@
|
||||
# Describes the CPU on this board to the rest of the SDK.
|
||||
RISCV_ARCH := rv32imac
|
||||
RISCV_ABI := ilp32
|
||||
157
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-hifive1/dhrystone.lds
vendored
Normal file
157
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-hifive1/dhrystone.lds
vendored
Normal file
@ -0,0 +1,157 @@
|
||||
OUTPUT_ARCH( "riscv" )
|
||||
|
||||
ENTRY( _start )
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rxai!w) : ORIGIN = 0x20400000, LENGTH = 512M
|
||||
ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = 16K
|
||||
}
|
||||
|
||||
PHDRS
|
||||
{
|
||||
flash PT_LOAD;
|
||||
ram_init PT_LOAD;
|
||||
ram PT_NULL;
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
__stack_size = DEFINED(__stack_size) ? __stack_size : 2K;
|
||||
|
||||
.init :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.init)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.text :
|
||||
{
|
||||
*(.text.unlikely .text.unlikely.*)
|
||||
*(.text.startup .text.startup.*)
|
||||
*(.text .text.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.fini)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
PROVIDE (__etext = .);
|
||||
PROVIDE (_etext = .);
|
||||
PROVIDE (etext = .);
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
.preinit_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
KEEP (*(.preinit_array))
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.init_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP (*(.init_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .ctors))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.fini_array.*) SORT_BY_INIT_PRIORITY(.dtors.*)))
|
||||
KEEP (*(.fini_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .dtors))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.ctors :
|
||||
{
|
||||
/* gcc uses crtbegin.o to find the start of
|
||||
the constructors, so we make sure it is
|
||||
first. Because this is a wildcard, it
|
||||
doesn't matter if the user does not
|
||||
actually link against crtbegin.o; the
|
||||
linker won't look for a file to match a
|
||||
wildcard. The wildcard also means that it
|
||||
doesn't matter which directory crtbegin.o
|
||||
is in. */
|
||||
KEEP (*crtbegin.o(.ctors))
|
||||
KEEP (*crtbegin?.o(.ctors))
|
||||
/* We don't want to include the .ctor section from
|
||||
the crtend.o file until after the sorted ctors.
|
||||
The .ctor section from the crtend file contains the
|
||||
end of ctors marker and it must be last */
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .ctors))
|
||||
KEEP (*(SORT(.ctors.*)))
|
||||
KEEP (*(.ctors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dtors :
|
||||
{
|
||||
KEEP (*crtbegin.o(.dtors))
|
||||
KEEP (*crtbegin?.o(.dtors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .dtors))
|
||||
KEEP (*(SORT(.dtors.*)))
|
||||
KEEP (*(.dtors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.lalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data_lma = . );
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data = . );
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
.data :
|
||||
{
|
||||
*(.rdata)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
. = ALIGN(8);
|
||||
PROVIDE( __global_pointer$ = . + 0x800 );
|
||||
*(.sdata .sdata.*)
|
||||
*(.gnu.linkonce.s.*)
|
||||
. = ALIGN(8);
|
||||
*(.srodata.cst16)
|
||||
*(.srodata.cst8)
|
||||
*(.srodata.cst4)
|
||||
*(.srodata.cst2)
|
||||
*(.srodata .srodata.*)
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _edata = . );
|
||||
PROVIDE( edata = . );
|
||||
|
||||
PROVIDE( _fbss = . );
|
||||
PROVIDE( __bss_start = . );
|
||||
.bss :
|
||||
{
|
||||
*(.sbss*)
|
||||
*(.gnu.linkonce.sb.*)
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(8);
|
||||
PROVIDE( _end = . );
|
||||
PROVIDE( end = . );
|
||||
|
||||
.stack ORIGIN(ram) + LENGTH(ram) - __stack_size :
|
||||
{
|
||||
PROVIDE( _heap_end = . );
|
||||
. = __stack_size;
|
||||
PROVIDE( _sp = . );
|
||||
} >ram AT>ram :ram
|
||||
}
|
||||
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-hifive1/flash.lds
vendored
Normal file
161
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-hifive1/flash.lds
vendored
Normal file
@ -0,0 +1,161 @@
|
||||
OUTPUT_ARCH( "riscv" )
|
||||
|
||||
ENTRY( _start )
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rxai!w) : ORIGIN = 0x20400000, LENGTH = 512M
|
||||
ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = 16K
|
||||
}
|
||||
|
||||
PHDRS
|
||||
{
|
||||
flash PT_LOAD;
|
||||
ram_init PT_LOAD;
|
||||
ram PT_NULL;
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
__stack_size = DEFINED(__stack_size) ? __stack_size : 2K;
|
||||
|
||||
.init :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.init)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.text :
|
||||
{
|
||||
*(.text.unlikely .text.unlikely.*)
|
||||
*(.text.startup .text.startup.*)
|
||||
*(.text .text.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini :
|
||||
{
|
||||
KEEP (*(SORT_NONE(.fini)))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
PROVIDE (__etext = .);
|
||||
PROVIDE (_etext = .);
|
||||
PROVIDE (etext = .);
|
||||
|
||||
.rodata :
|
||||
{
|
||||
*(.rdata)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
} >flash AT>flash :flash
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
.preinit_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
KEEP (*(.preinit_array))
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.init_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP (*(.init_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .ctors))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.fini_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.fini_array.*) SORT_BY_INIT_PRIORITY(.dtors.*)))
|
||||
KEEP (*(.fini_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .dtors))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.ctors :
|
||||
{
|
||||
/* gcc uses crtbegin.o to find the start of
|
||||
the constructors, so we make sure it is
|
||||
first. Because this is a wildcard, it
|
||||
doesn't matter if the user does not
|
||||
actually link against crtbegin.o; the
|
||||
linker won't look for a file to match a
|
||||
wildcard. The wildcard also means that it
|
||||
doesn't matter which directory crtbegin.o
|
||||
is in. */
|
||||
KEEP (*crtbegin.o(.ctors))
|
||||
KEEP (*crtbegin?.o(.ctors))
|
||||
/* We don't want to include the .ctor section from
|
||||
the crtend.o file until after the sorted ctors.
|
||||
The .ctor section from the crtend file contains the
|
||||
end of ctors marker and it must be last */
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .ctors))
|
||||
KEEP (*(SORT(.ctors.*)))
|
||||
KEEP (*(.ctors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dtors :
|
||||
{
|
||||
KEEP (*crtbegin.o(.dtors))
|
||||
KEEP (*crtbegin?.o(.dtors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .dtors))
|
||||
KEEP (*(SORT(.dtors.*)))
|
||||
KEEP (*(.dtors))
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.lalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data_lma = . );
|
||||
} >flash AT>flash :flash
|
||||
|
||||
.dalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _data = . );
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
.data :
|
||||
{
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
. = ALIGN(8);
|
||||
PROVIDE( __global_pointer$ = . + 0x800 );
|
||||
*(.sdata .sdata.*)
|
||||
*(.gnu.linkonce.s.*)
|
||||
. = ALIGN(8);
|
||||
*(.srodata.cst16)
|
||||
*(.srodata.cst8)
|
||||
*(.srodata.cst4)
|
||||
*(.srodata.cst2)
|
||||
*(.srodata .srodata.*)
|
||||
} >ram AT>flash :ram_init
|
||||
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _edata = . );
|
||||
PROVIDE( edata = . );
|
||||
|
||||
PROVIDE( _fbss = . );
|
||||
PROVIDE( __bss_start = . );
|
||||
.bss :
|
||||
{
|
||||
*(.sbss*)
|
||||
*(.gnu.linkonce.sb.*)
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
} >ram AT>ram :ram
|
||||
|
||||
. = ALIGN(8);
|
||||
PROVIDE( _end = . );
|
||||
PROVIDE( end = . );
|
||||
|
||||
.stack ORIGIN(ram) + LENGTH(ram) - __stack_size :
|
||||
{
|
||||
PROVIDE( _heap_end = . );
|
||||
. = __stack_size;
|
||||
PROVIDE( _sp = . );
|
||||
} >ram AT>ram :ram
|
||||
}
|
||||
238
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-hifive1/init.c
vendored
Normal file
238
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-hifive1/init.c
vendored
Normal file
@ -0,0 +1,238 @@
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "platform.h"
|
||||
#include "encoding.h"
|
||||
|
||||
extern int main(int argc, char** argv);
|
||||
extern void trap_entry();
|
||||
|
||||
static unsigned long mtime_lo(void)
|
||||
{
|
||||
return *(volatile unsigned long *)(CLINT_CTRL_ADDR + CLINT_MTIME);
|
||||
}
|
||||
|
||||
#ifdef __riscv32
|
||||
|
||||
static uint32_t mtime_hi(void)
|
||||
{
|
||||
return *(volatile uint32_t *)(CLINT_CTRL_ADDR + CLINT_MTIME + 4);
|
||||
}
|
||||
|
||||
uint64_t get_timer_value()
|
||||
{
|
||||
while (1) {
|
||||
uint32_t hi = mtime_hi();
|
||||
uint32_t lo = mtime_lo();
|
||||
if (hi == mtime_hi())
|
||||
return ((uint64_t)hi << 32) | lo;
|
||||
}
|
||||
}
|
||||
|
||||
#else /* __riscv32 */
|
||||
|
||||
uint64_t get_timer_value()
|
||||
{
|
||||
return mtime_lo();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
unsigned long get_timer_freq()
|
||||
{
|
||||
return 32768;
|
||||
}
|
||||
|
||||
static void use_hfrosc(int div, int trim)
|
||||
{
|
||||
// Make sure the HFROSC is running at its default setting
|
||||
PRCI_REG(PRCI_HFROSCCFG) = (ROSC_DIV(div) | ROSC_TRIM(trim) | ROSC_EN(1));
|
||||
while ((PRCI_REG(PRCI_HFROSCCFG) & ROSC_RDY(1)) == 0) ;
|
||||
PRCI_REG(PRCI_PLLCFG) &= ~PLL_SEL(1);
|
||||
}
|
||||
|
||||
static void use_pll(int refsel, int bypass, int r, int f, int q)
|
||||
{
|
||||
// Ensure that we aren't running off the PLL before we mess with it.
|
||||
if (PRCI_REG(PRCI_PLLCFG) & PLL_SEL(1)) {
|
||||
// Make sure the HFROSC is running at its default setting
|
||||
use_hfrosc(4, 16);
|
||||
}
|
||||
|
||||
// Set PLL Source to be HFXOSC if available.
|
||||
uint32_t config_value = 0;
|
||||
|
||||
config_value |= PLL_REFSEL(refsel);
|
||||
|
||||
if (bypass) {
|
||||
// Bypass
|
||||
config_value |= PLL_BYPASS(1);
|
||||
|
||||
PRCI_REG(PRCI_PLLCFG) = config_value;
|
||||
|
||||
// If we don't have an HFXTAL, this doesn't really matter.
|
||||
// Set our Final output divide to divide-by-1:
|
||||
PRCI_REG(PRCI_PLLDIV) = (PLL_FINAL_DIV_BY_1(1) | PLL_FINAL_DIV(0));
|
||||
} else {
|
||||
// In case we are executing from QSPI,
|
||||
// (which is quite likely) we need to
|
||||
// set the QSPI clock divider appropriately
|
||||
// before boosting the clock frequency.
|
||||
|
||||
// Div = f_sck/2
|
||||
SPI0_REG(SPI_REG_SCKDIV) = 8;
|
||||
|
||||
// Set DIV Settings for PLL
|
||||
// Both HFROSC and HFXOSC are modeled as ideal
|
||||
// 16MHz sources (assuming dividers are set properly for
|
||||
// HFROSC).
|
||||
// (Legal values of f_REF are 6-48MHz)
|
||||
|
||||
// Set DIVR to divide-by-2 to get 8MHz frequency
|
||||
// (legal values of f_R are 6-12 MHz)
|
||||
|
||||
config_value |= PLL_BYPASS(1);
|
||||
config_value |= PLL_R(r);
|
||||
|
||||
// Set DIVF to get 512Mhz frequncy
|
||||
// There is an implied multiply-by-2, 16Mhz.
|
||||
// So need to write 32-1
|
||||
// (legal values of f_F are 384-768 MHz)
|
||||
config_value |= PLL_F(f);
|
||||
|
||||
// Set DIVQ to divide-by-2 to get 256 MHz frequency
|
||||
// (legal values of f_Q are 50-400Mhz)
|
||||
config_value |= PLL_Q(q);
|
||||
|
||||
// Set our Final output divide to divide-by-1:
|
||||
PRCI_REG(PRCI_PLLDIV) = (PLL_FINAL_DIV_BY_1(1) | PLL_FINAL_DIV(0));
|
||||
|
||||
PRCI_REG(PRCI_PLLCFG) = config_value;
|
||||
|
||||
// Un-Bypass the PLL.
|
||||
PRCI_REG(PRCI_PLLCFG) &= ~PLL_BYPASS(1);
|
||||
|
||||
// Wait for PLL Lock
|
||||
// Note that the Lock signal can be glitchy.
|
||||
// Need to wait 100 us
|
||||
// RTC is running at 32kHz.
|
||||
// So wait 4 ticks of RTC.
|
||||
uint32_t now = mtime_lo();
|
||||
while (mtime_lo() - now < 4) ;
|
||||
|
||||
// Now it is safe to check for PLL Lock
|
||||
while ((PRCI_REG(PRCI_PLLCFG) & PLL_LOCK(1)) == 0) ;
|
||||
}
|
||||
|
||||
// Switch over to PLL Clock source
|
||||
PRCI_REG(PRCI_PLLCFG) |= PLL_SEL(1);
|
||||
}
|
||||
|
||||
static void use_default_clocks()
|
||||
{
|
||||
// Turn off the LFROSC
|
||||
AON_REG(AON_LFROSC) &= ~ROSC_EN(1);
|
||||
|
||||
// Use HFROSC
|
||||
use_hfrosc(4, 16);
|
||||
}
|
||||
|
||||
static unsigned long __attribute__((noinline)) measure_cpu_freq(size_t n)
|
||||
{
|
||||
unsigned long start_mtime, delta_mtime;
|
||||
unsigned long mtime_freq = get_timer_freq();
|
||||
|
||||
// Don't start measuruing until we see an mtime tick
|
||||
unsigned long tmp = mtime_lo();
|
||||
do {
|
||||
start_mtime = mtime_lo();
|
||||
} while (start_mtime == tmp);
|
||||
|
||||
unsigned long start_mcycle = read_csr(mcycle);
|
||||
|
||||
do {
|
||||
delta_mtime = mtime_lo() - start_mtime;
|
||||
} while (delta_mtime < n);
|
||||
|
||||
unsigned long delta_mcycle = read_csr(mcycle) - start_mcycle;
|
||||
|
||||
return (delta_mcycle / delta_mtime) * mtime_freq
|
||||
+ ((delta_mcycle % delta_mtime) * mtime_freq) / delta_mtime;
|
||||
}
|
||||
|
||||
unsigned long get_cpu_freq()
|
||||
{
|
||||
static uint32_t cpu_freq;
|
||||
|
||||
if (!cpu_freq) {
|
||||
// warm up I$
|
||||
measure_cpu_freq(1);
|
||||
// measure for real
|
||||
cpu_freq = measure_cpu_freq(10);
|
||||
}
|
||||
|
||||
return cpu_freq;
|
||||
}
|
||||
|
||||
static void uart_init(size_t baud_rate)
|
||||
{
|
||||
GPIO_REG(GPIO_IOF_SEL) &= ~IOF0_UART0_MASK;
|
||||
GPIO_REG(GPIO_IOF_EN) |= IOF0_UART0_MASK;
|
||||
UART0_REG(UART_REG_DIV) = get_cpu_freq() / baud_rate - 1;
|
||||
UART0_REG(UART_REG_TXCTRL) |= UART_TXEN;
|
||||
}
|
||||
|
||||
|
||||
|
||||
#ifdef USE_PLIC
|
||||
extern void handle_m_ext_interrupt();
|
||||
#endif
|
||||
|
||||
#ifdef USE_M_TIME
|
||||
extern void handle_m_time_interrupt();
|
||||
#endif
|
||||
|
||||
uintptr_t handle_trap(uintptr_t mcause, uintptr_t epc)
|
||||
{
|
||||
if (0){
|
||||
#ifdef USE_PLIC
|
||||
// External Machine-Level interrupt from PLIC
|
||||
} else if ((mcause & MCAUSE_INT) && ((mcause & MCAUSE_CAUSE) == IRQ_M_EXT)) {
|
||||
handle_m_ext_interrupt();
|
||||
#endif
|
||||
#ifdef USE_M_TIME
|
||||
// External Machine-Level interrupt from PLIC
|
||||
} else if ((mcause & MCAUSE_INT) && ((mcause & MCAUSE_CAUSE) == IRQ_M_TIMER)){
|
||||
handle_m_time_interrupt();
|
||||
#endif
|
||||
}
|
||||
else {
|
||||
write(1, "trap\n", 5);
|
||||
_exit(1 + mcause);
|
||||
}
|
||||
return epc;
|
||||
}
|
||||
|
||||
void _init()
|
||||
{
|
||||
|
||||
#ifndef NO_INIT
|
||||
use_default_clocks();
|
||||
use_pll(0, 0, 1, 31, 1);
|
||||
uart_init(115200);
|
||||
|
||||
printf("core freq at %d Hz\n", get_cpu_freq());
|
||||
|
||||
write_csr(mtvec, &trap_entry);
|
||||
if (read_csr(misa) & (1 << ('F' - 'A'))) { // if F extension is present
|
||||
write_csr(mstatus, MSTATUS_FS); // allow FPU instructions without trapping
|
||||
write_csr(fcsr, 0); // initialize rounding mode, undefined at reset
|
||||
}
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
void _fini()
|
||||
{
|
||||
}
|
||||
34
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-hifive1/openocd.cfg
vendored
Normal file
34
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-hifive1/openocd.cfg
vendored
Normal file
@ -0,0 +1,34 @@
|
||||
adapter_khz 10000
|
||||
|
||||
interface ftdi
|
||||
ftdi_device_desc "Dual RS232-HS"
|
||||
ftdi_vid_pid 0x0403 0x6010
|
||||
|
||||
ftdi_layout_init 0x0008 0x001b
|
||||
ftdi_layout_signal nSRST -oe 0x0020 -data 0x0020
|
||||
|
||||
#Reset Stretcher logic on FE310 is ~1 second long
|
||||
#This doesn't apply if you use
|
||||
# ftdi_set_signal, but still good to document
|
||||
#adapter_nsrst_delay 1500
|
||||
|
||||
set _CHIPNAME riscv
|
||||
jtag newtap $_CHIPNAME cpu -irlen 5 -expected-id 0x10e31913
|
||||
|
||||
set _TARGETNAME $_CHIPNAME.cpu
|
||||
target create $_TARGETNAME riscv -chain-position $_TARGETNAME
|
||||
$_TARGETNAME configure -work-area-phys 0x80000000 -work-area-size 10000 -work-area-backup 1
|
||||
|
||||
flash bank onboard_spi_flash fespi 0x20000000 0 0 0 $_TARGETNAME
|
||||
init
|
||||
#reset -- This type of reset is not implemented yet
|
||||
if {[ info exists pulse_srst]} {
|
||||
ftdi_set_signal nSRST 0
|
||||
ftdi_set_signal nSRST z
|
||||
#Wait for the reset stretcher
|
||||
#It will work without this, but
|
||||
#will incur lots of delays for later commands.
|
||||
sleep 1500
|
||||
}
|
||||
halt
|
||||
#flash protect 0 64 last off
|
||||
133
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-hifive1/platform.h
vendored
Normal file
133
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-hifive1/platform.h
vendored
Normal file
@ -0,0 +1,133 @@
|
||||
// See LICENSE for license details.
|
||||
|
||||
#ifndef _SIFIVE_PLATFORM_H
|
||||
#define _SIFIVE_PLATFORM_H
|
||||
|
||||
// Some things missing from the official encoding.h
|
||||
#define MCAUSE_INT 0x80000000
|
||||
#define MCAUSE_CAUSE 0x7FFFFFFF
|
||||
|
||||
#include "sifive/const.h"
|
||||
#include "sifive/devices/aon.h"
|
||||
#include "sifive/devices/clint.h"
|
||||
#include "sifive/devices/gpio.h"
|
||||
#include "sifive/devices/otp.h"
|
||||
#include "sifive/devices/plic.h"
|
||||
#include "sifive/devices/prci.h"
|
||||
#include "sifive/devices/pwm.h"
|
||||
#include "sifive/devices/spi.h"
|
||||
#include "sifive/devices/uart.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Platform definitions
|
||||
*****************************************************************************/
|
||||
|
||||
// Memory map
|
||||
#define MASKROM_MEM_ADDR _AC(0x00001000,UL)
|
||||
#define TRAPVEC_TABLE_CTRL_ADDR _AC(0x00001010,UL)
|
||||
#define OTP_MEM_ADDR _AC(0x00020000,UL)
|
||||
#define CLINT_CTRL_ADDR _AC(0x02000000,UL)
|
||||
#define PLIC_CTRL_ADDR _AC(0x0C000000,UL)
|
||||
#define AON_CTRL_ADDR _AC(0x10000000,UL)
|
||||
#define PRCI_CTRL_ADDR _AC(0x10008000,UL)
|
||||
#define OTP_CTRL_ADDR _AC(0x10010000,UL)
|
||||
#define GPIO_CTRL_ADDR _AC(0x10012000,UL)
|
||||
#define UART0_CTRL_ADDR _AC(0x10013000,UL)
|
||||
#define SPI0_CTRL_ADDR _AC(0x10014000,UL)
|
||||
#define PWM0_CTRL_ADDR _AC(0x10015000,UL)
|
||||
#define UART1_CTRL_ADDR _AC(0x10023000,UL)
|
||||
#define SPI1_CTRL_ADDR _AC(0x10024000,UL)
|
||||
#define PWM1_CTRL_ADDR _AC(0x10025000,UL)
|
||||
#define SPI2_CTRL_ADDR _AC(0x10034000,UL)
|
||||
#define PWM2_CTRL_ADDR _AC(0x10035000,UL)
|
||||
#define SPI0_MEM_ADDR _AC(0x20000000,UL)
|
||||
#define MEM_CTRL_ADDR _AC(0x80000000,UL)
|
||||
|
||||
// IOF masks
|
||||
#define IOF0_SPI1_MASK _AC(0x000007FC,UL)
|
||||
#define SPI11_NUM_SS (4)
|
||||
#define IOF_SPI1_SS0 (2u)
|
||||
#define IOF_SPI1_SS1 (8u)
|
||||
#define IOF_SPI1_SS2 (9u)
|
||||
#define IOF_SPI1_SS3 (10u)
|
||||
#define IOF_SPI1_MOSI (3u)
|
||||
#define IOF_SPI1_MISO (4u)
|
||||
#define IOF_SPI1_SCK (5u)
|
||||
#define IOF_SPI1_DQ0 (3u)
|
||||
#define IOF_SPI1_DQ1 (4u)
|
||||
#define IOF_SPI1_DQ2 (6u)
|
||||
#define IOF_SPI1_DQ3 (7u)
|
||||
|
||||
#define IOF0_SPI2_MASK _AC(0xFC000000,UL)
|
||||
#define SPI2_NUM_SS (1)
|
||||
#define IOF_SPI2_SS0 (26u)
|
||||
#define IOF_SPI2_MOSI (27u)
|
||||
#define IOF_SPI2_MISO (28u)
|
||||
#define IOF_SPI2_SCK (29u)
|
||||
#define IOF_SPI2_DQ0 (27u)
|
||||
#define IOF_SPI2_DQ1 (28u)
|
||||
#define IOF_SPI2_DQ2 (30u)
|
||||
#define IOF_SPI2_DQ3 (31u)
|
||||
|
||||
//#define IOF0_I2C_MASK _AC(0x00003000,UL)
|
||||
|
||||
#define IOF0_UART0_MASK _AC(0x00030000, UL)
|
||||
#define IOF_UART0_RX (16u)
|
||||
#define IOF_UART0_TX (17u)
|
||||
|
||||
#define IOF0_UART1_MASK _AC(0x03000000, UL)
|
||||
#define IOF_UART1_RX (24u)
|
||||
#define IOF_UART1_TX (25u)
|
||||
|
||||
#define IOF1_PWM0_MASK _AC(0x0000000F, UL)
|
||||
#define IOF1_PWM1_MASK _AC(0x00780000, UL)
|
||||
#define IOF1_PWM2_MASK _AC(0x00003C00, UL)
|
||||
|
||||
// Interrupt numbers
|
||||
#define INT_RESERVED 0
|
||||
#define INT_WDOGCMP 1
|
||||
#define INT_RTCCMP 2
|
||||
#define INT_UART0_BASE 3
|
||||
#define INT_UART1_BASE 4
|
||||
#define INT_SPI0_BASE 5
|
||||
#define INT_SPI1_BASE 6
|
||||
#define INT_SPI2_BASE 7
|
||||
#define INT_GPIO_BASE 8
|
||||
#define INT_PWM0_BASE 40
|
||||
#define INT_PWM1_BASE 44
|
||||
#define INT_PWM2_BASE 48
|
||||
|
||||
// Helper functions
|
||||
#define _REG32(p, i) (*(volatile uint32_t *) ((p) + (i)))
|
||||
#define _REG32P(p, i) ((volatile uint32_t *) ((p) + (i)))
|
||||
#define AON_REG(offset) _REG32(AON_CTRL_ADDR, offset)
|
||||
#define CLINT_REG(offset) _REG32(CLINT_CTRL_ADDR, offset)
|
||||
#define GPIO_REG(offset) _REG32(GPIO_CTRL_ADDR, offset)
|
||||
#define OTP_REG(offset) _REG32(OTP_CTRL_ADDR, offset)
|
||||
#define PLIC_REG(offset) _REG32(PLIC_CTRL_ADDR, offset)
|
||||
#define PRCI_REG(offset) _REG32(PRCI_CTRL_ADDR, offset)
|
||||
#define PWM0_REG(offset) _REG32(PWM0_CTRL_ADDR, offset)
|
||||
#define PWM1_REG(offset) _REG32(PWM1_CTRL_ADDR, offset)
|
||||
#define PWM2_REG(offset) _REG32(PWM2_CTRL_ADDR, offset)
|
||||
#define SPI0_REG(offset) _REG32(SPI0_CTRL_ADDR, offset)
|
||||
#define SPI1_REG(offset) _REG32(SPI1_CTRL_ADDR, offset)
|
||||
#define SPI2_REG(offset) _REG32(SPI2_CTRL_ADDR, offset)
|
||||
#define UART0_REG(offset) _REG32(UART0_CTRL_ADDR, offset)
|
||||
#define UART1_REG(offset) _REG32(UART1_CTRL_ADDR, offset)
|
||||
|
||||
// Misc
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#define NUM_GPIO 32
|
||||
|
||||
#define PLIC_NUM_INTERRUPTS 52
|
||||
#define PLIC_NUM_PRIORITIES 7
|
||||
|
||||
#include "hifive1.h"
|
||||
|
||||
unsigned long get_cpu_freq(void);
|
||||
unsigned long get_timer_freq(void);
|
||||
uint64_t get_timer_value(void);
|
||||
|
||||
#endif /* _SIFIVE_PLATFORM_H */
|
||||
3
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-hifive1/settings.mk
vendored
Normal file
3
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/freedom-e300-hifive1/settings.mk
vendored
Normal file
@ -0,0 +1,3 @@
|
||||
# Describes the CPU on this board to the rest of the SDK.
|
||||
RISCV_ARCH := rv32imac
|
||||
RISCV_ABI := ilp32
|
||||
81
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/hifive1.h
vendored
Normal file
81
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/hifive1.h
vendored
Normal file
@ -0,0 +1,81 @@
|
||||
// See LICENSE for license details.
|
||||
|
||||
#ifndef _SIFIVE_HIFIVE1_H
|
||||
#define _SIFIVE_HIFIVE1_H
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
/****************************************************************************
|
||||
* GPIO Connections
|
||||
*****************************************************************************/
|
||||
|
||||
// These are the GPIO bit offsets for the RGB LED on HiFive1 Board.
|
||||
// These are also mapped to RGB LEDs on the Freedom E300 Arty
|
||||
// FPGA
|
||||
// Dev Kit.
|
||||
|
||||
#define RED_LED_OFFSET 22
|
||||
#define GREEN_LED_OFFSET 19
|
||||
#define BLUE_LED_OFFSET 21
|
||||
|
||||
// These are the GPIO bit offsets for the differen digital pins
|
||||
// on the headers for both the HiFive1 Board and the Freedom E300 Arty FPGA Dev Kit.
|
||||
#define PIN_0_OFFSET 16
|
||||
#define PIN_1_OFFSET 17
|
||||
#define PIN_2_OFFSET 18
|
||||
#define PIN_3_OFFSET 19
|
||||
#define PIN_4_OFFSET 20
|
||||
#define PIN_5_OFFSET 21
|
||||
#define PIN_6_OFFSET 22
|
||||
#define PIN_7_OFFSET 23
|
||||
#define PIN_8_OFFSET 0
|
||||
#define PIN_9_OFFSET 1
|
||||
#define PIN_10_OFFSET 2
|
||||
#define PIN_11_OFFSET 3
|
||||
#define PIN_12_OFFSET 4
|
||||
#define PIN_13_OFFSET 5
|
||||
//#define PIN_14_OFFSET 8 //This pin is not connected on either board.
|
||||
#define PIN_15_OFFSET 9
|
||||
#define PIN_16_OFFSET 10
|
||||
#define PIN_17_OFFSET 11
|
||||
#define PIN_18_OFFSET 12
|
||||
#define PIN_19_OFFSET 13
|
||||
|
||||
// These are *PIN* numbers, not
|
||||
// GPIO Offset Numbers.
|
||||
#define PIN_SPI1_SCK (13u)
|
||||
#define PIN_SPI1_MISO (12u)
|
||||
#define PIN_SPI1_MOSI (11u)
|
||||
#define PIN_SPI1_SS0 (10u)
|
||||
#define PIN_SPI1_SS1 (14u)
|
||||
#define PIN_SPI1_SS2 (15u)
|
||||
#define PIN_SPI1_SS3 (16u)
|
||||
|
||||
#define SS_PIN_TO_CS_ID(x) \
|
||||
((x==PIN_SPI1_SS0 ? 0 : \
|
||||
(x==PIN_SPI1_SS1 ? 1 : \
|
||||
(x==PIN_SPI1_SS2 ? 2 : \
|
||||
(x==PIN_SPI1_SS3 ? 3 : \
|
||||
-1)))))
|
||||
|
||||
|
||||
// These buttons are present only on the Freedom E300 Arty Dev Kit.
|
||||
#ifdef HAS_BOARD_BUTTONS
|
||||
#define BUTTON_0_OFFSET 15
|
||||
#define BUTTON_1_OFFSET 30
|
||||
#define BUTTON_2_OFFSET 31
|
||||
|
||||
#define INT_DEVICE_BUTTON_0 (INT_GPIO_BASE + BUTTON_0_OFFSET)
|
||||
#define INT_DEVICE_BUTTON_1 (INT_GPIO_BASE + BUTTON_1_OFFSET)
|
||||
#define INT_DEVICE_BUTTON_2 (INT_GPIO_BASE + BUTTON_2_OFFSET)
|
||||
|
||||
#endif
|
||||
|
||||
#define HAS_HFXOSC 1
|
||||
#define HAS_LFROSC_BYPASS 1
|
||||
|
||||
#define RTC_FREQ 32768
|
||||
|
||||
void write_hex(int fd, unsigned long int hex);
|
||||
|
||||
#endif /* _SIFIVE_HIFIVE1_H */
|
||||
111
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/start.S
vendored
Normal file
111
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/start.S
vendored
Normal file
@ -0,0 +1,111 @@
|
||||
// See LICENSE for license details.
|
||||
#include <sifive/smp.h>
|
||||
|
||||
/* This is defined in sifive/platform.h, but that can't be included from
|
||||
* assembly. */
|
||||
#define CLINT_CTRL_ADDR 0x02000000
|
||||
|
||||
.section .init
|
||||
.globl _start
|
||||
.type _start,@function
|
||||
|
||||
_start:
|
||||
.cfi_startproc
|
||||
.cfi_undefined ra
|
||||
.option push
|
||||
.option norelax
|
||||
la gp, __global_pointer$
|
||||
.option pop
|
||||
la sp, _sp
|
||||
|
||||
#if defined(ENABLE_SMP)
|
||||
smp_pause(t0, t1)
|
||||
#endif
|
||||
|
||||
/* Load data section */
|
||||
la a0, _data_lma
|
||||
la a1, _data
|
||||
la a2, _edata
|
||||
bgeu a1, a2, 2f
|
||||
1:
|
||||
lw t0, (a0)
|
||||
sw t0, (a1)
|
||||
addi a0, a0, 4
|
||||
addi a1, a1, 4
|
||||
bltu a1, a2, 1b
|
||||
2:
|
||||
|
||||
/* Clear bss section */
|
||||
la a0, __bss_start
|
||||
la a1, _end
|
||||
bgeu a0, a1, 2f
|
||||
1:
|
||||
sw zero, (a0)
|
||||
addi a0, a0, 4
|
||||
bltu a0, a1, 1b
|
||||
2:
|
||||
|
||||
/* Call global constructors */
|
||||
la a0, __libc_fini_array
|
||||
call atexit
|
||||
call __libc_init_array
|
||||
|
||||
#ifndef __riscv_float_abi_soft
|
||||
/* Enable FPU */
|
||||
li t0, MSTATUS_FS
|
||||
csrs mstatus, t0
|
||||
csrr t1, mstatus
|
||||
and t1, t1, t0
|
||||
beqz t1, 1f
|
||||
fssr x0
|
||||
1:
|
||||
#endif
|
||||
|
||||
#if defined(ENABLE_SMP)
|
||||
smp_resume(t0, t1)
|
||||
|
||||
csrr a0, mhartid
|
||||
bnez a0, 2f
|
||||
#endif
|
||||
|
||||
auipc ra, 0
|
||||
addi sp, sp, -16
|
||||
#if __riscv_xlen == 32
|
||||
sw ra, 8(sp)
|
||||
#else
|
||||
sd ra, 8(sp)
|
||||
#endif
|
||||
|
||||
/* argc = argv = 0 */
|
||||
li a0, 0
|
||||
li a1, 0
|
||||
call main
|
||||
tail exit
|
||||
1:
|
||||
j 1b
|
||||
|
||||
#if defined(ENABLE_SMP)
|
||||
2:
|
||||
la t0, trap_entry
|
||||
csrw mtvec, t0
|
||||
|
||||
csrr a0, mhartid
|
||||
la t1, _sp
|
||||
slli t0, a0, 10
|
||||
sub sp, t1, t0
|
||||
|
||||
auipc ra, 0
|
||||
addi sp, sp, -16
|
||||
#if __riscv_xlen == 32
|
||||
sw ra, 8(sp)
|
||||
#else
|
||||
sd ra, 8(sp)
|
||||
#endif
|
||||
|
||||
call secondary_main
|
||||
tail exit
|
||||
|
||||
1:
|
||||
j 1b
|
||||
#endif
|
||||
.cfi_endproc
|
||||
288
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/ventry.S
vendored
Normal file
288
hifive1-vp/riscv-bldc-forced-commutation/bsp/env/ventry.S
vendored
Normal file
@ -0,0 +1,288 @@
|
||||
// See LICENSE for license details
|
||||
|
||||
#ifndef VENTRY_S
|
||||
#define VENTRY_S
|
||||
|
||||
#include "encoding.h"
|
||||
#include "sifive/bits.h"
|
||||
|
||||
#only save caller registers
|
||||
.macro TRAP_ENTRY
|
||||
addi sp, sp, -16*REGBYTES
|
||||
|
||||
STORE x1, 0*REGBYTES(sp)
|
||||
STORE x5, 1*REGBYTES(sp)
|
||||
STORE x6, 2*REGBYTES(sp)
|
||||
STORE x7, 3*REGBYTES(sp)
|
||||
STORE x10, 4*REGBYTES(sp)
|
||||
STORE x11, 5*REGBYTES(sp)
|
||||
STORE x12, 6*REGBYTES(sp)
|
||||
STORE x13, 7*REGBYTES(sp)
|
||||
STORE x14, 8*REGBYTES(sp)
|
||||
STORE x15, 9*REGBYTES(sp)
|
||||
STORE x16, 10*REGBYTES(sp)
|
||||
STORE x17, 11*REGBYTES(sp)
|
||||
STORE x28, 12*REGBYTES(sp)
|
||||
STORE x29, 13*REGBYTES(sp)
|
||||
STORE x30, 14*REGBYTES(sp)
|
||||
STORE x31, 15*REGBYTES(sp)
|
||||
.endm
|
||||
|
||||
#restore caller registers
|
||||
.macro TRAP_EXIT
|
||||
# Remain in M-mode after mret
|
||||
li t0, MSTATUS_MPP
|
||||
csrs mstatus, t0
|
||||
|
||||
LOAD x1, 0*REGBYTES(sp)
|
||||
LOAD x5, 1*REGBYTES(sp)
|
||||
LOAD x6, 2*REGBYTES(sp)
|
||||
LOAD x7, 3*REGBYTES(sp)
|
||||
LOAD x10, 4*REGBYTES(sp)
|
||||
LOAD x11, 5*REGBYTES(sp)
|
||||
LOAD x12, 6*REGBYTES(sp)
|
||||
LOAD x13, 7*REGBYTES(sp)
|
||||
LOAD x14, 8*REGBYTES(sp)
|
||||
LOAD x15, 9*REGBYTES(sp)
|
||||
LOAD x16, 10*REGBYTES(sp)
|
||||
LOAD x17, 11*REGBYTES(sp)
|
||||
LOAD x28, 12*REGBYTES(sp)
|
||||
LOAD x29, 13*REGBYTES(sp)
|
||||
LOAD x30, 14*REGBYTES(sp)
|
||||
LOAD x31, 15*REGBYTES(sp)
|
||||
|
||||
addi sp, sp, 16*REGBYTES
|
||||
mret
|
||||
.endm
|
||||
|
||||
|
||||
|
||||
#Vector table for E31/E51
|
||||
|
||||
.section .text.entry
|
||||
.align 8
|
||||
.global vtrap_entry
|
||||
vtrap_entry:
|
||||
j sync_trap
|
||||
.align 2
|
||||
j reserved
|
||||
.align 2
|
||||
j reserved
|
||||
.align 2
|
||||
j vmsi_Handler
|
||||
.align 2
|
||||
j reserved
|
||||
.align 2
|
||||
j reserved
|
||||
.align 2
|
||||
j reserved
|
||||
.align 2
|
||||
j vmti_Handler
|
||||
.align 2
|
||||
j reserved
|
||||
.align 2
|
||||
j reserved
|
||||
.align 2
|
||||
j reserved
|
||||
.align 2
|
||||
j vmei_Handler
|
||||
.align 2
|
||||
j reserved
|
||||
.align 2
|
||||
j reserved
|
||||
.align 2
|
||||
j reserved
|
||||
.align 2
|
||||
j reserved
|
||||
.align 2
|
||||
j vlip_Handler0
|
||||
.align 2
|
||||
j vlip_Handler1
|
||||
.align 2
|
||||
j vlip_Handler2
|
||||
.align 2
|
||||
j vlip_Handler3
|
||||
.align 2
|
||||
j vlip_Handler4
|
||||
.align 2
|
||||
j vlip_Handler5
|
||||
.align 2
|
||||
j vlip_Handler6
|
||||
.align 2
|
||||
j vlip_Handler7
|
||||
.align 2
|
||||
j vlip_Handler8
|
||||
.align 2
|
||||
j vlip_Handler9
|
||||
.align 2
|
||||
j vlip_Handler10
|
||||
.align 2
|
||||
j vlip_Handler11
|
||||
.align 2
|
||||
j vlip_Handler12
|
||||
.align 2
|
||||
j vlip_Handler13
|
||||
.align 2
|
||||
j vlip_Handler14
|
||||
.align 2
|
||||
j vlip_Handler15
|
||||
|
||||
#synchronous trap
|
||||
sync_trap:
|
||||
TRAP_ENTRY
|
||||
jal handle_sync_trap
|
||||
TRAP_EXIT
|
||||
|
||||
#Machine Software Interrupt
|
||||
vmsi_Handler:
|
||||
TRAP_ENTRY
|
||||
jal reserved
|
||||
TRAP_EXIT
|
||||
|
||||
#Machine Timer Interrupt
|
||||
vmti_Handler:
|
||||
TRAP_ENTRY
|
||||
jal handle_m_time_interrupt
|
||||
TRAP_EXIT
|
||||
|
||||
#Machine External Interrupt
|
||||
vmei_Handler:
|
||||
TRAP_ENTRY
|
||||
jal handle_m_external_interrupt
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP0
|
||||
vlip_Handler0:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt0
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP1
|
||||
vlip_Handler1:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt1
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP2
|
||||
vlip_Handler2:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt2
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP3
|
||||
vlip_Handler3:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt3
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP4
|
||||
vlip_Handler4:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt4
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP5
|
||||
vlip_Handler5:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt5
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP6
|
||||
vlip_Handler6:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt6
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP7
|
||||
vlip_Handler7:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt7
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP8
|
||||
vlip_Handler8:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt8
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP9
|
||||
vlip_Handler9:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt9
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP10
|
||||
vlip_Handler10:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt10
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP11
|
||||
vlip_Handler11:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt11
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP12
|
||||
vlip_Handler12:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt12
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP13
|
||||
vlip_Handler13:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt13
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP14
|
||||
vlip_Handler14:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt14
|
||||
TRAP_EXIT
|
||||
|
||||
#LIP15
|
||||
vlip_Handler15:
|
||||
TRAP_ENTRY
|
||||
jal handle_local_interrupt15
|
||||
TRAP_EXIT
|
||||
|
||||
#unimplemented ISRs trap here
|
||||
.weak reserved
|
||||
reserved:
|
||||
.weak handle_local_interrupt0
|
||||
handle_local_interrupt0:
|
||||
.weak handle_local_interrupt1
|
||||
handle_local_interrupt1:
|
||||
.weak handle_local_interrupt2
|
||||
handle_local_interrupt2:
|
||||
.weak handle_local_interrupt3
|
||||
handle_local_interrupt3:
|
||||
.weak handle_local_interrupt4
|
||||
handle_local_interrupt4:
|
||||
.weak handle_local_interrupt5
|
||||
handle_local_interrupt5:
|
||||
.weak handle_local_interrupt6
|
||||
handle_local_interrupt6:
|
||||
.weak handle_local_interrupt7
|
||||
handle_local_interrupt7:
|
||||
.weak handle_local_interrupt8
|
||||
handle_local_interrupt8:
|
||||
.weak handle_local_interrupt9
|
||||
handle_local_interrupt9:
|
||||
.weak handle_local_interrupt10
|
||||
handle_local_interrupt10:
|
||||
.weak handle_local_interrupt11
|
||||
handle_local_interrupt11:
|
||||
.weak handle_local_interrupt12
|
||||
handle_local_interrupt12:
|
||||
.weak handle_local_interrupt13
|
||||
handle_local_interrupt13:
|
||||
.weak handle_local_interrupt14
|
||||
handle_local_interrupt14:
|
||||
.weak handle_local_interrupt15
|
||||
handle_local_interrupt15:
|
||||
1:
|
||||
j 1b
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user