96 lines
3.1 KiB
C++
96 lines
3.1 KiB
C++
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* InterruptVectors_Due.cpp - This module relocates the Interrupt vector table to SRAM,
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* allowing to register new interrupt handlers at runtime. Specially valuable and needed
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* because Arduino runtime allocates some interrupt handlers that we NEED to override to
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* properly support extended functionality, as for example, USB host or USB device (MSD, MTP)
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* and custom serial port handlers, and we don't actually want to modify and/or recompile the
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* Arduino runtime. We just want to run as much as possible on Stock Arduino
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*
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* Copyright (c) 2017 Eduardo José Tagle. All right reserved
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*/
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#ifdef ARDUINO_ARCH_SAM
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#include "HAL_Due.h"
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#include "InterruptVectors_Due.h"
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/* The relocated Exception/Interrupt Table - Must be aligned to 128bytes,
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as bits 0-6 on VTOR register are reserved and must be set to 0 */
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__attribute__ ((aligned(128)))
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static DeviceVectors ram_tab = { NULL };
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/**
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* This function checks if the exception/interrupt table is already in SRAM or not.
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* If it is not, then it copies the ROM table to the SRAM and relocates the table
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* by reprogramming the NVIC registers
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*/
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static pfnISR_Handler* get_relocated_table_addr(void) {
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// Get the address of the interrupt/exception table
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uint32_t isrtab = SCB->VTOR;
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// If already relocated, we are done!
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if (isrtab >= IRAM0_ADDR)
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return (pfnISR_Handler*)isrtab;
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// Get the address of the table stored in FLASH
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const pfnISR_Handler* romtab = (const pfnISR_Handler*)isrtab;
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// Copy it to SRAM
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memcpy(&ram_tab, romtab, sizeof(ram_tab));
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// Disable global interrupts
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CRITICAL_SECTION_START;
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// Set the vector table base address to the SRAM copy
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SCB->VTOR = (uint32_t)(&ram_tab);
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// Reenable interrupts
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CRITICAL_SECTION_END;
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// Return the address of the table
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return (pfnISR_Handler*)(&ram_tab);
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}
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pfnISR_Handler install_isr(IRQn_Type irq, pfnISR_Handler newHandler) {
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// Get the address of the relocated table
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const pfnISR_Handler *isrtab = get_relocated_table_addr();
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// Disable global interrupts
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CRITICAL_SECTION_START;
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// Get the original handler
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pfnISR_Handler oldHandler = isrtab[irq + 16];
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// Install the new one
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isrtab[irq + 16] = newHandler;
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// Reenable interrupts
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CRITICAL_SECTION_END;
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// Return the original one
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return oldHandler;
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}
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#endif
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