src: update generic files

Bring up generic files to accommodate the latest version of
Klipper.

Signed-off-by:  Eric Callahan <arksine.code@gmail.com>

src/generic/armcm_boot.c

@@ -14,17 +14,45 @@ extern uint32_t _data_start, _data_end, _data_flash;
 extern uint32_t _bss_start, _bss_end, _stack_start;
 extern uint32_t _stack_end;
 
-
 /****************************************************************
  * Basic interrupt handlers
  ****************************************************************/
 
-// Initial code entry point - invoked by the processor after a reset
-void
-ResetHandler(void)
+static void __noreturn
+reset_handler_stage_two(void)
 {
-    // Disable SysTick irq (for some bootloaders that don't)
+    int i;
+
+    // Clear all enabled user interrupts and user pending interrupts
+    for (i = 0; i < ARRAY_SIZE(NVIC->ICER); i++) {
+        NVIC->ICER[i] = 0xFFFFFFFF;
+        __DSB();
+        NVIC->ICPR[i] = 0xFFFFFFFF;
+    }
+
+    // Reset all user interrupt priorities
+    for (i = 0; i < ARRAY_SIZE(NVIC->IP); i++)
+        NVIC->IP[i] = 0;
+
+    // Disable SysTick interrupt
     SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk;
+    __DSB();
+
+    // Clear pending pendsv and systick interrupts
+    SCB->ICSR = SCB_ICSR_PENDSVCLR_Msk | SCB_ICSR_PENDSTCLR_Msk;
+
+    // Reset all system interrupt priorities
+#if __CORTEX_M >= 7
+    for (i = 0; i < ARRAY_SIZE(SCB->SHPR); i++)
+        SCB->SHPR[i] = 0;
+#else
+    for (i = 0; i < ARRAY_SIZE(SCB->SHP); i++)
+        SCB->SHP[i] = 0;
+#endif
+
+    __DSB();
+    __ISB();
+    __enable_irq();
 
     // Copy global variables from flash to ram
     uint32_t count = (&_data_end - &_data_start) * 4;
@@ -45,6 +73,18 @@ ResetHandler(void)
     for (;;)
         ;
 }
+
+// Initial code entry point - invoked by the processor after a reset
+// Reset interrupts and stack to take control from bootloaders
+void
+ResetHandler(void)
+{
+    __disable_irq();
+
+    // Explicitly load the stack pointer, jump to stage two
+    asm volatile("mov sp, %0\n bx %1"
+                 : : "r"(&_stack_end), "r"(reset_handler_stage_two));
+}
 DECL_ARMCM_IRQ(ResetHandler, -15);
 
 // Code called for any undefined interrupts

src/generic/armcm_irq.c

@@ -4,6 +4,7 @@
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
+#include "board/internal.h" // __CORTEX_M
 #include "irq.h" // irqstatus_t
 
 void
@@ -36,6 +37,10 @@ irq_restore(irqstatus_t flag)
 void
 irq_wait(void)
 {
+    if (__CORTEX_M >= 7)
+        // Cortex-m7 may disable cpu counter on wfi, so use nop
+        asm volatile("cpsie i\n    nop\n    cpsid i\n" ::: "memory");
+    else
         asm volatile("cpsie i\n    wfi\n    cpsid i\n" ::: "memory");
 }
 
@@ -43,3 +48,26 @@ void
 irq_poll(void)
 {
 }
+
+// Clear the active irq if a shutdown happened in an irq handler
+void
+clear_active_irq(void)
+{
+    uint32_t psr;
+    asm volatile("mrs %0, psr" : "=r" (psr));
+    if (!(psr & 0x1ff))
+        // Shutdown did not occur in an irq - nothing to do.
+        return;
+    // Clear active irq status
+    psr = 1<<24; // T-bit
+    uint32_t temp;
+    asm volatile(
+        "  push { %1 }\n"
+        "  adr %0, 1f\n"
+        "  push { %0 }\n"
+        "  push { r0, r1, r2, r3, r4, lr }\n"
+        "  bx %2\n"
+        ".balign 4\n"
+        "1:\n"
+        : "=&r"(temp) : "r"(psr), "r"(0xfffffff9) : "r12", "cc");
+}

src/generic/armcm_timer.h

@@ -0,0 +1,8 @@
+#ifndef __GENERIC_ARMCM_TIMER_H
+#define __GENERIC_ARMCM_TIMER_H
+
+#include <stdint.h> // uint32_t
+
+void udelay(uint32_t usecs);
+
+#endif // armcm_timer.h

src/generic/canbus.c

@@ -87,67 +87,88 @@ canboot_sendf(uint8_t* data, uint16_t size)
 
 
 /****************************************************************
- * CAN command handling
+ * CAN "admin" command handling
  ****************************************************************/
 
-// Helper to retry sending until successful
-static void
-canbus_send_blocking(uint32_t id, uint32_t len, uint8_t *data)
+// Available commands and responses
+#define CANBUS_CMD_QUERY_UNASSIGNED 0x00
+#define CANBUS_CMD_SET_NODEID 0x01
+#define CANBUS_RESP_NEED_NODEID 0x20
+
+// Helper to verify a UUID in a command matches this chip's UUID
+static int
+can_check_uuid(uint32_t id, uint32_t len, uint8_t *data)
 {
+    return len >= 7 && memcmp(&data[1], canbus_uuid, sizeof(canbus_uuid)) == 0;
+}
+
+// Helpers to encode/decode a CAN identifier to a 1-byte "nodeid"
+static int
+can_get_nodeid(void)
+{
+    if (!canbus_assigned_id)
+        return 0;
+    return (canbus_assigned_id - 0x100) >> 1;
+}
+static uint32_t
+can_decode_nodeid(int nodeid)
+{
+    return (nodeid << 1) + 0x100;
+}
+
+static void
+can_process_query_unassigned(uint32_t id, uint32_t len, uint8_t *data)
+{
+    if (canbus_assigned_id)
+        return;
+    uint8_t send[8];
+    send[0] = CANBUS_RESP_NEED_NODEID;
+    memcpy(&send[1], canbus_uuid, sizeof(canbus_uuid));
+    // Send with retry
     for (;;) {
-        int ret = canbus_send(id, len, data);
+        int ret = canbus_send(CANBUS_ID_ADMIN_RESP, 7, send);
         if (ret >= 0)
             return;
     }
 }
 
 static void
-can_process_ping(uint32_t id, uint32_t len, uint8_t *data)
+can_id_conflict(void)
 {
-    canbus_send_blocking(canbus_assigned_id + 1, 0, NULL);
+    canbus_assigned_id = 0;
+    canbus_set_filter(canbus_assigned_id);
+    // TODO: We should likely do something here, such as report back
 }
 
 static void
-can_process_reset(uint32_t id, uint32_t len, uint8_t *data)
+can_process_set_nodeid(uint32_t id, uint32_t len, uint8_t *data)
 {
-    /*uint32_t reset_id = data[0] | (data[1] << 8);
-    if (reset_id == canbus_assigned_id)
-        canbus_reboot();*/
-}
-
-static void
-can_process_uuid(uint32_t id, uint32_t len, uint8_t *data)
-{
-    if (canbus_assigned_id)
+    if (len < 8)
         return;
-    canbus_send_blocking(CANBUS_ID_UUID_RESP, sizeof(canbus_uuid), canbus_uuid);
-}
-
-static void
-can_process_set_id(uint32_t id, uint32_t len, uint8_t *data)
-{
-    // compare my UUID with packet to check if this packet mine
-    if (memcmp(&data[2], canbus_uuid, sizeof(canbus_uuid)) == 0) {
-        canbus_assigned_id = data[0] | (data[1] << 8);
-        canbus_set_dataport(canbus_assigned_id);
+    uint32_t newid = can_decode_nodeid(data[7]);
+    if (can_check_uuid(id, len, data)) {
+        if (newid != canbus_assigned_id) {
+            canbus_assigned_id = newid;
+            canbus_set_filter(canbus_assigned_id);
+        }
+    } else if (newid == canbus_assigned_id) {
+        can_id_conflict();
     }
 }
 
+// Handle an "admin" command
 static void
 can_process(uint32_t id, uint32_t len, uint8_t *data)
 {
-    if (id == canbus_assigned_id) {
-        if (len)
-            canboot_process_rx(id, len, data);
-        else
-            can_process_ping(id, len, data);
-    } else if (id == CANBUS_ID_UUID) {
-        if (len)
-            can_process_reset(id, len, data);
-        else
-            can_process_uuid(id, len, data);
-    } else if (id==CANBUS_ID_SET) {
-        can_process_set_id(id, len, data);
+    if (!len)
+        return;
+    switch (data[0]) {
+    case CANBUS_CMD_QUERY_UNASSIGNED:
+        can_process_query_unassigned(id, len, data);
+        break;
+    case CANBUS_CMD_SET_NODEID:
+        can_process_set_nodeid(id, len, data);
+        break;
     }
 }
 
@@ -158,12 +179,23 @@ can_process(uint32_t id, uint32_t len, uint8_t *data)
 
 static volatile uint8_t canbus_rx_wake;
 
+// Handle incoming data (called from IRQ handler)
+void
+canbus_process_data(uint32_t id, uint32_t len, uint8_t *data)
+{
+    if (!id || id != canbus_assigned_id)
+        return;
+    canboot_process_rx(id, len, data);
+    canbus_notify_rx();
+}
+
 void
 canbus_notify_rx(void)
 {
     canbus_rx_wake = 1;
 }
 
+// Task to process incoming commands and admin messages
 void
 canbus_rx_task(void)
 {
@@ -178,6 +210,9 @@ canbus_rx_task(void)
         int ret = canbus_read(&id, data);
         if (ret < 0)
             break;
+        if (id && id == canbus_assigned_id + 1)
+            can_id_conflict();
+        else if (id == CANBUS_ID_ADMIN)
             can_process(id, ret, data);
     }
 }
@@ -190,7 +225,12 @@ void
 canbus_set_uuid(void *uuid)
 {
     memcpy(canbus_uuid, uuid, sizeof(canbus_uuid));
-
-    // Send initial message
-    can_process_uuid(0, 0, NULL);
+    canbus_notify_rx();
+}
+
+void
+canbus_shutdown(void)
+{
+    canbus_notify_tx();
+    canbus_notify_rx();
 }

src/generic/canbus.h

@@ -3,24 +3,22 @@
 
 #include <stdint.h> // uint32_t
 
-#define CANBUS_ID_UUID 0x321
-#define CANBUS_ID_SET 0x322
-#define CANBUS_ID_UUID_RESP 0x323
+#define CANBUS_ID_ADMIN 0x3f0
+#define CANBUS_ID_ADMIN_RESP 0x3f1
 #define CANBUS_UUID_LEN 6
 
 // callbacks provided by board specific code
 int canbus_read(uint32_t *id, uint8_t *data);
 int canbus_send(uint32_t id, uint32_t len, uint8_t *data);
-void canbus_set_dataport(uint32_t id);
+void canbus_set_filter(uint32_t id);
 void canbus_reboot(void);
+void can_init(void);
 
 // canbus.c
 void canbus_notify_tx(void);
 void canbus_notify_rx(void);
+void canbus_process_data(uint32_t id, uint32_t len, uint8_t *data);
 void canbus_set_uuid(void *data);
-
-// canboot prototypes
-void can_init(void);
 void canbus_tx_task(void);
 void canbus_rx_task(void);
 uint8_t canbus_tx_clear(void);