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- /*==================================================================================================
- * Project : RTD AUTOSAR 4.4
- * Platform : CORTEXM
- * Peripheral :
- * Dependencies : none
- *
- * Autosar Version : 4.4.0
- * Autosar Revision : ASR_REL_4_4_REV_0000
- * Autosar Conf.Variant :
- * SW Version : 1.0.0
- * Build Version : S32K1_RTD_1_0_0_HF01_D2109_ASR_REL_4_4_REV_0000_20210907
- *
- * (c) Copyright 2020-2021 NXP Semiconductors
- * All Rights Reserved.
- *
- * NXP Confidential. This software is owned or controlled by NXP and may only be
- * used strictly in accordance with the applicable license terms. By expressly
- * accepting such terms or by downloading, installing, activating and/or otherwise
- * using the software, you are agreeing that you have read, and that you agree to
- * comply with and are bound by, such license terms. If you do not agree to be
- * bound by the applicable license terms, then you may not retain, install,
- * activate or otherwise use the software.
- ==================================================================================================*/
- #ifdef __cplusplus
- extern "C" {
- #endif
- /*==================================================================================================
- * INCLUDE FILES
- * 1) system and project includes
- * 2) needed interfaces from external units
- * 3) internal and external interfaces from this unit
- ==================================================================================================*/
- #include "Platform_Types.h"
- #include "Mcal.h"
- #include "system.h"
- #ifdef S32K116
- #include "S32K116.h"
- #endif
- #ifdef S32K118
- #include "S32K118.h"
- #endif
- #ifdef S32K142
- #include "S32K142.h"
- #define ENABLE_THREAD_MODE_ENTRY_CONFIGURATION
- #endif
- #ifdef S32K142W
- #include "S32K142W.h"
- #define ENABLE_THREAD_MODE_ENTRY_CONFIGURATION
- #endif
- #ifdef S32K144
- #include "S32K144.h"
- #define ENABLE_THREAD_MODE_ENTRY_CONFIGURATION
- #endif
- #ifdef S32K144W
- #include "S32K144W.h"
- #define ENABLE_THREAD_MODE_ENTRY_CONFIGURATION
- #endif
- #ifdef S32K146
- #include "S32K146.h"
- #define ENABLE_THREAD_MODE_ENTRY_CONFIGURATION
- #endif
- #ifdef S32K148
- #include "S32K148.h"
- #define ENABLE_THREAD_MODE_ENTRY_CONFIGURATION
- #endif
- /*==================================================================================================
- * FILE VERSION CHECKS
- ==================================================================================================*/
- /*==================================================================================================
- * LOCAL TYPEDEFS (STRUCTURES, UNIONS, ENUMS)
- ==================================================================================================*/
- /*==================================================================================================
- * LOCAL CONSTANTS
- ==================================================================================================*/
- /*==================================================================================================
- * LOCAL MACROS
- ==================================================================================================*/
- #define SVC_GoToSupervisor() ASM_KEYWORD("svc 0x0")
- #define SVC_GoToUser() ASM_KEYWORD("svc 0x1")
- #define S32_SCB_CPACR_CPx_MASK(CpNum) (0x3U << S32_SCB_CPACR_CPx_SHIFT(CpNum))
- #define S32_SCB_CPACR_CPx_SHIFT(CpNum) ((uint32)(2U*((uint32)CpNum)))
- #define S32_SCB_CPACR_CPx(CpNum, x) (((uint32)(((uint32)(x))<<S32_SCB_CPACR_CPx_SHIFT((CpNum))))&S32_SCB_CPACR_CPx_MASK((CpNum)))
- #define CODE_CACHE 0u
- #define CACHE_OK 0u
- #define CACHE_INVALID_PARAM 1u
- /*==================================================================================================
- * LOCAL VARIABLES
- ==================================================================================================*/
- /*==================================================================================================-
- * GLOBAL CONSTANTS
- ==================================================================================================*/
- /*==================================================================================================
- * GLOBAL VARIABLES
- ==================================================================================================*/
- /* Allocate a global variable which will be overwritten by the debugger if attached(in CMM), to catch the core after reset. */
- uint32 RESET_CATCH_CORE=0x00U;
- /*==================================================================================================
- * LOCAL FUNCTION PROTOTYPES
- ==================================================================================================*/
- /* Instruction cache initialization
- * sys_m4_cache_init(CODE_CACHE);
- */
- #ifdef I_CACHE_ENABLE
- static uint8 sys_m4_cache_init(uint8 cache);
- #endif
- #ifdef MCAL_ENABLE_USER_MODE_SUPPORT
- LOCAL_INLINE void Direct_GoToUser(void);
- #endif
- /*==================================================================================================
- * LOCAL FUNCTIONS
- ==================================================================================================*/
- /* Instruction cache initialization
- * sys_m4_cache_init(CODE_CACHE);
- */
- #ifdef I_CACHE_ENABLE
- static uint8 sys_m4_cache_init(uint8 cache)
- {
- uint8 RetValue = CACHE_OK;
- if (cache == CODE_CACHE)
- {
- /* Code Cache Init */
- /* Cache Set Command: set command bits in CCR */
- /* set invalidate way 1 and invalidate way 0 bits */
- IP_LMEM->PCCCR = 0x05000000UL;
- /* set ccr[go] bit to initiate command to invalidate cache */
- IP_LMEM->PCCCR |= LMEM_PCCCR_GO(1);
- /* wait until the ccr[go] bit clears to indicate command complete */
- while((IP_LMEM->PCCCR & LMEM_PCCCR_GO_MASK) == LMEM_PCCCR_GO_MASK){};
- /* enable cache */
- IP_LMEM->PCCCR |= LMEM_PCCCR_ENCACHE(1);
- }
- else
- {
- RetValue = CACHE_INVALID_PARAM;
- }
- return RetValue;
- }
- #endif
- #ifdef MCAL_ENABLE_USER_MODE_SUPPORT
- LOCAL_INLINE void Direct_GoToUser(void)
- {
- ASM_KEYWORD("push {r0}");
- ASM_KEYWORD("ldr r0, =0x1");
- ASM_KEYWORD("msr CONTROL, r0");
- ASM_KEYWORD("pop {r0}");
- }
- #endif
- /*==================================================================================================
- * GLOBAL FUNCTIONS
- ==================================================================================================*/
- #ifdef MCAL_ENABLE_USER_MODE_SUPPORT
- extern uint32 startup_getControlRegisterValue(void);
- extern uint32 startup_getAipsRegisterValue(void);
- extern void Suspend_Interrupts(void);
- extern void Resume_Interrupts(void);
- #endif /*MCAL_ENABLE_USER_MODE_SUPPORT*/
- /*================================================================================================*/
- /**
- * @brief startup_go_to_user_mode
- * @details Function called from startup.s to switch to user mode if MCAL_ENABLE_USER_MODE_SUPPORT
- * is defined
- */
- /*================================================================================================*/
- void startup_go_to_user_mode(void);
- void startup_go_to_user_mode(void)
- {
- #ifdef MCAL_ENABLE_USER_MODE_SUPPORT
- ASM_KEYWORD("svc 0x1");
- #endif
- }
- /*================================================================================================*/
- /**
- * @brief Default IRQ handler
- * @details Infinite Loop
- */
- /*================================================================================================*/
- void default_interrupt_routine(void)
- {
- while(TRUE){};
- }
- /*================================================================================================*/
- /**
- * @brief Sys_GoToSupervisor
- * @details function used to enter to supervisor mode.
- * check if it's needed to switch to supervisor mode and make the switch.
- * Return 1 if switch was done
- */
- /*================================================================================================*/
- #ifdef MCAL_ENABLE_USER_MODE_SUPPORT
- uint32 Sys_GoToSupervisor(void)
- {
- uint32 u32ControlRegValue;
- uint32 u32AipsRegValue;
- uint32 u32SwitchToSupervisor;
- /* if it's 0 then Thread mode is already in supervisor mode */
- u32ControlRegValue = startup_getControlRegisterValue();
- /* if it's 0 the core is in Thread mode, otherwise in Handler mode */
- u32AipsRegValue = startup_getAipsRegisterValue();
- /* if core is already in supervisor mode for Thread mode, or running form Handler mode, there is no need to make the switch */
- if((0U == (u32ControlRegValue & 1u)) || (0u < (u32AipsRegValue & 0xFFu)))
- {
- u32SwitchToSupervisor = 0U;
- }
- else
- {
- u32SwitchToSupervisor = 1U;
- SVC_GoToSupervisor();
- }
- return u32SwitchToSupervisor;
- }
- /*================================================================================================*/
- /**
- * @brief Sys_GoToUser_Return
- * @details function used to switch back to user mode for Thread mode, return a uint32 value passed as parameter
- */
- /*================================================================================================*/
- uint32 Sys_GoToUser_Return(uint32 u32SwitchToSupervisor, uint32 u32returnValue)
- {
- if (1UL == u32SwitchToSupervisor)
- {
- Direct_GoToUser();
- }
- return u32returnValue;
- }
- uint32 Sys_GoToUser(void)
- {
- Direct_GoToUser();
- return 0UL;
- }
- /*================================================================================================*/
- /**
- * @brief Sys_SuspendInterrupts
- * @details Suspend Interrupts
- */
- /*================================================================================================*/
- void Sys_SuspendInterrupts(void)
- {
- uint32 u32ControlRegValue;
- uint32 u32AipsRegValue;
- /* if it's 0 then Thread mode is already in supervisor mode */
- u32ControlRegValue = startup_getControlRegisterValue();
- /* if it's 0 the core is in Thread mode, otherwise in Handler mode */
- u32AipsRegValue = startup_getAipsRegisterValue();
- if((0U == (u32ControlRegValue & 1u)) || (0u < (u32AipsRegValue & 0xFFu)))
- {
- Suspend_Interrupts();
- }
- else
- {
- ASM_KEYWORD(" svc 0x3");
- }
- }
- /*================================================================================================*/
- /**
- * @brief Sys_ResumeInterrupts
- * @details Resume Interrupts
- */
- /*================================================================================================*/
- void Sys_ResumeInterrupts(void)
- {
- uint32 u32ControlRegValue;
- uint32 u32AipsRegValue;
- /* if it's 0 then Thread mode is already in supervisor mode */
- u32ControlRegValue = startup_getControlRegisterValue();
- /* if it's 0 the core is in Thread mode, otherwise in Handler mode */
- u32AipsRegValue = startup_getAipsRegisterValue();
- if((0U == (u32ControlRegValue & 1u)) || (0u < (u32AipsRegValue & 0xFFu)))
- {
- Resume_Interrupts();
- }
- else
- {
- ASM_KEYWORD(" svc 0x2");
- }
- }
- #endif
- /*================================================================================================*/
- /**
- * @brief Sys_GetCoreID
- * @details Function used to get the ID of the currently executing thread
- */
- /*================================================================================================*/
- #if !defined(USING_OS_AUTOSAROS)
- uint8 Sys_GetCoreID(void)
- {
- return 0U;
- }
- #endif
- /*================================================================================================*/
- /*
- * system initialization : system clock, interrupt router ...
- */
- #ifdef __ICCARM__
- #pragma default_function_attributes = @ ".systeminit"
- #else
- __attribute__ ((section (".systeminit")))
- #endif
- void SystemInit(void)
- {
- /**************************************************************************/
- /* FPU ENABLE*/
- /**************************************************************************/
- #ifdef ENABLE_FPU
- /* Enable CP10 and CP11 coprocessors */
- S32_SCB->CPACR |= (S32_SCB_CPACR_CPx(10U, 3U) | S32_SCB_CPACR_CPx(11U, 3U));
- ASM_KEYWORD("dsb");
- ASM_KEYWORD("isb");
- #endif /* ENABLE_FPU */
- #ifdef ENABLE_THREAD_MODE_ENTRY_CONFIGURATION
- S32_SCB->CCR |= 1u; /**< processor can enter Thread mode from any level under the
- control of an EXC_RETURN value, PendSV priority set to 0*/
- #endif
- S32_SCB->SHPR3 &= ~S32_SCB_SHPR3_PRI_14_MASK;
-
- /* enable the AIPS */
- IP_AIPS->MPRA = 0x77777777;
- IP_AIPS->PACRA = 0x0;
- IP_AIPS->PACRB = 0x0;
- IP_AIPS->PACRD = 0x0;
- IP_AIPS->OPACR[0] = 0x0;
- IP_AIPS->OPACR[1] = 0x0;
- IP_AIPS->OPACR[2] = 0x0;
- IP_AIPS->OPACR[3] = 0x0;
- IP_AIPS->OPACR[4] = 0x0;
- IP_AIPS->OPACR[5] = 0x0;
- IP_AIPS->OPACR[6] = 0x0;
- IP_AIPS->OPACR[7] = 0x0;
- IP_AIPS->OPACR[8] = 0x0;
- IP_AIPS->OPACR[9] = 0x0;
- IP_AIPS->OPACR[10] = 0x0;
- IP_AIPS->OPACR[11] = 0x0;
- /**************************************************************************/
- /* DEFAULT MEMORY ENABLE*/
- /**************************************************************************/
- ASM_KEYWORD("dsb");
- ASM_KEYWORD("isb");
- #ifdef I_CACHE_ENABLE
- /**************************************************************************/
- /* ENABLE CACHE */
- /**************************************************************************/
- (void)sys_m4_cache_init(CODE_CACHE);
- #endif
- }
- #ifdef __ICCARM__
- #pragma default_function_attributes =
- #endif
- #ifdef __cplusplus
- }
- #endif
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