|
@@ -0,0 +1,95 @@
|
|
1
|
+/**
|
|
2
|
+ * Marlin 3D Printer Firmware
|
|
3
|
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
4
|
+ *
|
|
5
|
+ * Based on Sprinter and grbl.
|
|
6
|
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
|
7
|
+ *
|
|
8
|
+ * This program is free software: you can redistribute it and/or modify
|
|
9
|
+ * it under the terms of the GNU General Public License as published by
|
|
10
|
+ * the Free Software Foundation, either version 3 of the License, or
|
|
11
|
+ * (at your option) any later version.
|
|
12
|
+ *
|
|
13
|
+ * This program is distributed in the hope that it will be useful,
|
|
14
|
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
15
|
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
16
|
+ * GNU General Public License for more details.
|
|
17
|
+ *
|
|
18
|
+ * You should have received a copy of the GNU General Public License
|
|
19
|
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
20
|
+ *
|
|
21
|
+ */
|
|
22
|
+
|
|
23
|
+/**
|
|
24
|
+ * InterruptVectors_Due.cpp - This module relocates the Interrupt vector table to SRAM,
|
|
25
|
+ * allowing to register new interrupt handlers at runtime. Specially valuable and needed
|
|
26
|
+ * because Arduino runtime allocates some interrupt handlers that we NEED to override to
|
|
27
|
+ * properly support extended functionality, as for example, USB host or USB device (MSD, MTP)
|
|
28
|
+ * and custom serial port handlers, and we don't actually want to modify and/or recompile the
|
|
29
|
+ * Arduino runtime. We just want to run as much as possible on Stock Arduino
|
|
30
|
+ *
|
|
31
|
+ * Copyright (c) 2017 Eduardo José Tagle. All right reserved
|
|
32
|
+ */
|
|
33
|
+#ifdef ARDUINO_ARCH_SAM
|
|
34
|
+
|
|
35
|
+#include "HAL_Due.h"
|
|
36
|
+#include "InterruptVectors_Due.h"
|
|
37
|
+
|
|
38
|
+/* The relocated Exception/Interrupt Table - Must be aligned to 128bytes,
|
|
39
|
+ as bits 0-6 on VTOR register are reserved and must be set to 0 */
|
|
40
|
+__attribute__ ((aligned(128)))
|
|
41
|
+static DeviceVectors ram_tab = { NULL };
|
|
42
|
+
|
|
43
|
+/**
|
|
44
|
+ * This function checks if the exception/interrupt table is already in SRAM or not.
|
|
45
|
+ * If it is not, then it copies the ROM table to the SRAM and relocates the table
|
|
46
|
+ * by reprogramming the NVIC registers
|
|
47
|
+ */
|
|
48
|
+static pfnISR_Handler* get_relocated_table_addr(void) {
|
|
49
|
+ // Get the address of the interrupt/exception table
|
|
50
|
+ uint32_t isrtab = SCB->VTOR;
|
|
51
|
+
|
|
52
|
+ // If already relocated, we are done!
|
|
53
|
+ if (isrtab >= IRAM0_ADDR)
|
|
54
|
+ return (pfnISR_Handler*)isrtab;
|
|
55
|
+
|
|
56
|
+ // Get the address of the table stored in FLASH
|
|
57
|
+ const pfnISR_Handler* romtab = (const pfnISR_Handler*)isrtab;
|
|
58
|
+
|
|
59
|
+ // Copy it to SRAM
|
|
60
|
+ memcpy(&ram_tab, romtab, sizeof(ram_tab));
|
|
61
|
+
|
|
62
|
+ // Disable global interrupts
|
|
63
|
+ CRITICAL_SECTION_START;
|
|
64
|
+
|
|
65
|
+ // Set the vector table base address to the SRAM copy
|
|
66
|
+ SCB->VTOR = (uint32_t)(&ram_tab);
|
|
67
|
+
|
|
68
|
+ // Reenable interrupts
|
|
69
|
+ CRITICAL_SECTION_END;
|
|
70
|
+
|
|
71
|
+ // Return the address of the table
|
|
72
|
+ return (pfnISR_Handler*)(&ram_tab);
|
|
73
|
+}
|
|
74
|
+
|
|
75
|
+pfnISR_Handler install_isr(IRQn_Type irq, pfnISR_Handler newHandler) {
|
|
76
|
+ // Get the address of the relocated table
|
|
77
|
+ const pfnISR_Handler *isrtab = get_relocated_table_addr();
|
|
78
|
+
|
|
79
|
+ // Disable global interrupts
|
|
80
|
+ CRITICAL_SECTION_START;
|
|
81
|
+
|
|
82
|
+ // Get the original handler
|
|
83
|
+ pfnISR_Handler oldHandler = isrtab[irq + 16];
|
|
84
|
+
|
|
85
|
+ // Install the new one
|
|
86
|
+ isrtab[irq + 16] = newHandler;
|
|
87
|
+
|
|
88
|
+ // Reenable interrupts
|
|
89
|
+ CRITICAL_SECTION_END;
|
|
90
|
+
|
|
91
|
+ // Return the original one
|
|
92
|
+ return oldHandler;
|
|
93
|
+}
|
|
94
|
+
|
|
95
|
+#endif
|