atsamd: Update code to use armcm_boot mechanism

Replace the custom linker scripts with the src/generic/armcm_boot.c
mechanism.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

src/atsamd/Kconfig

@@ -68,6 +68,10 @@ config FLASH_SIZE
     default 0x80000 if MACH_SAMD51G19 || MACH_SAMD51J19 || MACH_SAMD51N19
     default 0x100000 if MACH_SAMD51P20
 
+config RAM_START
+    hex
+    default 0x20000000
+
 config RAM_SIZE
     hex
     default 0x1000 if MACH_SAMD21E15

src/atsamd/Makefile

@@ -4,8 +4,8 @@
 CROSS_PREFIX=arm-none-eabi-
 
 dirs-y += src/atsamd src/generic
-dirs-$(CONFIG_MACH_SAMD21) += lib/samd21/samd21a/gcc/gcc/
+dirs-$(CONFIG_MACH_SAMD21) += lib/samd21/samd21a/gcc
-dirs-$(CONFIG_MACH_SAMD51) += lib/samd51/samd51a/gcc/gcc/
+dirs-$(CONFIG_MACH_SAMD51) += lib/samd51/samd51a/gcc
 
 MCU := $(shell echo $(CONFIG_MCU) | tr a-z A-Z)
 
@@ -15,11 +15,12 @@ CFLAGS-$(CONFIG_MACH_SAMD51) += -mfpu=fpv4-sp-d16 -mfloat-abi=hard
 CFLAGS += $(CFLAGS-y) -D__$(MCU)__ -mthumb -Ilib/cmsis-core
 
 CFLAGS_klipper.elf += --specs=nano.specs --specs=nosys.specs
-CFLAGS_klipper.elf += -T $(OUT)src/atsamd/samd.ld
+CFLAGS_klipper.elf += -T $(OUT)src/generic/armcm_boot.ld
-$(OUT)klipper.elf: $(OUT)src/atsamd/samd.ld
+$(OUT)klipper.elf: $(OUT)src/generic/armcm_boot.ld
 
 # Add source files
-src-y += atsamd/main.c atsamd/gpio.c generic/crc16_ccitt.c generic/armcm_irq.c
+src-y += atsamd/main.c atsamd/gpio.c
+src-y += generic/armcm_boot.c generic/armcm_irq.c generic/crc16_ccitt.c
 src-$(CONFIG_USBSERIAL) += atsamd/usbserial.c generic/usb_cdc.c
 src-$(CONFIG_SERIAL) += atsamd/serial.c generic/serial_irq.c
 src-$(CONFIG_HAVE_GPIO_ADC) += atsamd/adc.c
@@ -29,10 +30,8 @@ src-$(CONFIG_HAVE_SERCOM) += atsamd/sercom.c
 src-$(CONFIG_HAVE_GPIO_HARD_PWM) += atsamd/hard_pwm.c
 src-$(CONFIG_MACH_SAMD21) += atsamd/watchdog.c
 src-$(CONFIG_MACH_SAMD21) += atsamd/clock.c atsamd/timer.c generic/timer_irq.c
-src-$(CONFIG_MACH_SAMD21) += ../lib/samd21/samd21a/gcc/gcc/startup_samd21.c
 src-$(CONFIG_MACH_SAMD51) += atsamd/samd51_watchdog.c
 src-$(CONFIG_MACH_SAMD51) += atsamd/samd51_clock.c generic/armcm_timer.c
-src-$(CONFIG_MACH_SAMD51) += ../lib/samd51/samd51a/gcc/gcc/startup_samd51.c
 
 # Build the additional hex and bin output files
 target-y += $(OUT)klipper.bin $(OUT)klipper.elf.hex

src/atsamd/main.c

@@ -4,28 +4,12 @@
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
-#include "command.h" // DECL_CONSTANT
+#include "command.h" // DECL_CONSTANT_STR
 #include "internal.h" // NVIC_SystemReset
 #include "sched.h" // sched_main
 
 DECL_CONSTANT_STR("MCU", CONFIG_MCU);
 
-// Return the start of memory available for dynamic allocations
-void *
-dynmem_start(void)
-{
-    extern uint32_t _ezero;
-    return &_ezero;
-}
-
-// Return the end of memory available for dynamic allocations
-void *
-dynmem_end(void)
-{
-    extern uint32_t _sstack;
-    return &_sstack;
-}
-
 void
 command_reset(uint32_t *args)
 {
@@ -37,7 +21,6 @@ DECL_COMMAND_FLAGS(command_reset, HF_IN_SHUTDOWN, "reset");
 int
 main(void)
 {
-    SystemInit();
     sched_main();
     return 0;
 }

src/atsamd/samd.lds.S

@@ -1,63 +0,0 @@
-/* Linker script for atsamd chips
- *
- * Copyright (C) 2019  Kevin O'Connor <kevin@koconnor.net>
- *
- * This file may be distributed under the terms of the GNU GPLv3 license.
- */
-
-#include "autoconf.h"
-
-OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm")
-OUTPUT_ARCH(arm)
-
-MEMORY
-{
-  rom (rx) : ORIGIN = CONFIG_FLASH_START , LENGTH = CONFIG_FLASH_SIZE
-  ram (rwx) : ORIGIN = 0x20000000, LENGTH = CONFIG_RAM_SIZE
-}
-
-SECTIONS
-{
-    .text : {
-        . = ALIGN(4);
-        _sfixed = .;
-        KEEP(*(.vectors .vectors.*))
-        *(.text .text.*)
-        *(.rodata .rodata*)
-
-        . = ALIGN(4);
-        KEEP(*(.init))
-        . = ALIGN(4);
-        KEEP(*(.fini))
-    } > rom
-
-    . = ALIGN(4);
-    _etext = .;
-
-    .relocate : AT (_etext)
-    {
-        . = ALIGN(4);
-        _srelocate = .;
-        *(.ramfunc .ramfunc.*);
-        *(.data .data.*);
-        . = ALIGN(4);
-        _erelocate = .;
-    } > ram
-
-    .bss (NOLOAD) :
-    {
-        . = ALIGN(4);
-        _szero = .;
-        *(.bss .bss.*)
-        *(COMMON)
-        . = ALIGN(4);
-        _ezero = .;
-    } > ram
-
-    _sstack = 0x20000000 + CONFIG_RAM_SIZE - CONFIG_STACK_SIZE ;
-    .stack _sstack (NOLOAD) :
-    {
-        . = . + CONFIG_STACK_SIZE;
-        _estack = .;
-    } > ram
-}

src/atsamd/serial.c

@@ -4,6 +4,7 @@
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
+#include "board/armcm_boot.h" // armcm_enable_irq
 #include "board/serial_irq.h" // serial_rx_data
 #include "command.h" // DECL_CONSTANT_STR
 #include "internal.h" // enable_pclock
@@ -15,7 +16,7 @@ serial_enable_tx_irq(void)
     SERCOM0->USART.INTENSET.reg = SERCOM_USART_INTENSET_DRE;
 }
 
-void __visible
+void
 SERCOM0_Handler(void)
 {
     uint32_t status = SERCOM0->USART.INTFLAG.reg;
@@ -31,16 +32,6 @@ SERCOM0_Handler(void)
     }
 }
 
-// Aliases for irq handler on SAMD51
-void SERCOM0_0_Handler(void)
-    __visible __attribute__((alias("SERCOM0_Handler")));
-void SERCOM0_1_Handler(void)
-    __visible __attribute__((alias("SERCOM0_Handler")));
-void SERCOM0_2_Handler(void)
-    __visible __attribute__((alias("SERCOM0_Handler")));
-void SERCOM0_3_Handler(void)
-    __visible __attribute__((alias("SERCOM0_Handler")));
-
 DECL_CONSTANT_STR("RESERVE_PINS_serial", "PA11,PA10");
 
 void
@@ -69,17 +60,12 @@ serial_init(void)
     su->INTENSET.reg = SERCOM_USART_INTENSET_RXC;
     su->CTRLA.reg = areg | SERCOM_USART_CTRLA_ENABLE;
 #if CONFIG_MACH_SAMD21
-    NVIC_SetPriority(SERCOM0_IRQn, 0);
+    armcm_enable_irq(SERCOM0_Handler, SERCOM0_IRQn, 0);
-    NVIC_EnableIRQ(SERCOM0_IRQn);
 #elif CONFIG_MACH_SAMD51
-    NVIC_SetPriority(SERCOM0_0_IRQn, 0);
+    armcm_enable_irq(SERCOM0_Handler, SERCOM0_0_IRQn, 0);
-    NVIC_SetPriority(SERCOM0_1_IRQn, 0);
+    armcm_enable_irq(SERCOM0_Handler, SERCOM0_1_IRQn, 0);
-    NVIC_SetPriority(SERCOM0_2_IRQn, 0);
+    armcm_enable_irq(SERCOM0_Handler, SERCOM0_2_IRQn, 0);
-    NVIC_SetPriority(SERCOM0_3_IRQn, 0);
+    armcm_enable_irq(SERCOM0_Handler, SERCOM0_3_IRQn, 0);
-    NVIC_EnableIRQ(SERCOM0_0_IRQn);
-    NVIC_EnableIRQ(SERCOM0_1_IRQn);
-    NVIC_EnableIRQ(SERCOM0_2_IRQn);
-    NVIC_EnableIRQ(SERCOM0_3_IRQn);
 #endif
 }
 DECL_INIT(serial_init);

src/atsamd/timer.c

@@ -4,6 +4,7 @@
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
+#include "board/armcm_boot.h" // armcm_enable_irq
 #include "board/irq.h" // irq_disable
 #include "board/misc.h" // timer_read_time
 #include "board/timer_irq.h" // timer_dispatch_many
@@ -33,7 +34,7 @@ timer_kick(void)
 }
 
 // IRQ handler
-void __visible __aligned(16) // aligning helps stabilize perf benchmarks
+void __aligned(16) // aligning helps stabilize perf benchmarks
 TC4_Handler(void)
 {
     irq_disable();
@@ -54,8 +55,7 @@ timer_init(void)
     irqstatus_t flag = irq_save();
     tc->CTRLA.reg = 0;
     tc->CTRLA.reg = TC_CTRLA_MODE_COUNT32;
-    NVIC_SetPriority(TC4_IRQn, 2);
+    armcm_enable_irq(TC4_Handler, TC4_IRQn, 2);
-    NVIC_EnableIRQ(TC4_IRQn);
     tc->INTENSET.reg = TC_INTENSET_MC0;
     tc->COUNT.reg = 0;
     timer_kick();

src/atsamd/usbserial.c

@@ -6,6 +6,7 @@
 
 #include <string.h> // memcpy
 #include "autoconf.h" // CONFIG_FLASH_START
+#include "board/armcm_boot.h" // armcm_enable_irq
 #include "board/io.h" // readl
 #include "board/irq.h" // irq_disable
 #include "board/usb_cdc.h" // usb_notify_ep0
@@ -190,7 +191,7 @@ usb_request_bootloader(void)
  * Setup and interrupts
  ****************************************************************/
 
-void __visible
+void
 USB_Handler(void)
 {
     uint8_t s = USB->DEVICE.INTFLAG.reg;
@@ -225,12 +226,6 @@ USB_Handler(void)
     }
 }
 
-// Aliases for irq handeler on SAMD51
-void USB_0_Handler(void) __visible __attribute__((alias("USB_Handler")));
-void USB_1_Handler(void) __visible __attribute__((alias("USB_Handler")));
-void USB_2_Handler(void) __visible __attribute__((alias("USB_Handler")));
-void USB_3_Handler(void) __visible __attribute__((alias("USB_Handler")));
-
 DECL_CONSTANT_STR("RESERVE_PINS_USB", "PA24,PA25");
 
 void
@@ -256,17 +251,12 @@ usbserial_init(void)
     // enable irqs
     USB->DEVICE.INTENSET.reg = USB_DEVICE_INTENSET_EORST;
 #if CONFIG_MACH_SAMD21
-    NVIC_SetPriority(USB_IRQn, 1);
+    armcm_enable_irq(USB_Handler, USB_IRQn, 1);
-    NVIC_EnableIRQ(USB_IRQn);
 #elif CONFIG_MACH_SAMD51
-    NVIC_SetPriority(USB_0_IRQn, 1);
+    armcm_enable_irq(USB_Handler, USB_0_IRQn, 1);
-    NVIC_SetPriority(USB_1_IRQn, 1);
+    armcm_enable_irq(USB_Handler, USB_1_IRQn, 1);
-    NVIC_SetPriority(USB_2_IRQn, 1);
+    armcm_enable_irq(USB_Handler, USB_2_IRQn, 1);
-    NVIC_SetPriority(USB_3_IRQn, 1);
+    armcm_enable_irq(USB_Handler, USB_3_IRQn, 1);
-    NVIC_EnableIRQ(USB_0_IRQn);
-    NVIC_EnableIRQ(USB_1_IRQn);
-    NVIC_EnableIRQ(USB_2_IRQn);
-    NVIC_EnableIRQ(USB_3_IRQn);
 #endif
 }
 DECL_INIT(usbserial_init);