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Add support for RA6M4 #2623

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Feb 23, 2024
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Add support for RA6M4 #2623

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9 changes: 3 additions & 6 deletions examples/renesas/ek-ra6m4-make-baremetal-builtin/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -4,14 +4,11 @@ CFLAGS += -g3 -Os -ffunction-sections -fdata-sections
CFLAGS += -I. -Icmsis_core/CMSIS/Core/Include
CFLAGS += -Icmsis_mcu/ra/fsp/src/bsp/cmsis/Device/RENESAS/Include
CFLAGS += -Icmsis_mcu/ra/fsp/src/bsp/mcu/all
#CFLAGS += -Icmsis_mcu/ra/fsp/inc
#CFLAGS += -Icmsis_mcu/ra/fsp/inc/api
CFLAGS += -mcpu=cortex-m33 -mthumb -mfpu=fpv5-sp-d16 -mfloat-abi=hard $(CFLAGS_EXTRA)
LDFLAGS ?= -Tlink.ld -nostdlib -nostartfiles --specs nano.specs -lc -lgcc -Wl,--gc-sections -Wl,[email protected]

SOURCES = main.c hal.c mongoose.c net.c packed_fs.c
#SOURCES += cmsis_mcu/Files/startup_RA.c
#SOURCES += cmsis_mcu/Files/system_RA.c
# CMSIS startup and system files are deeply tied to the BSP, and we don't use it. See hal.c

# Example specific build options. See README.md
CFLAGS += -DHTTP_URL=\"http://0.0.0.0/\" -DHTTPS_URL=\"https://0.0.0.0/\"
Expand Down Expand Up @@ -42,11 +39,11 @@ cmsis_mcu:


# Automated remote test. Requires env variable VCON_API_KEY set. See https://vcon.io/automated-firmware-tests/
DEVICE_URL ?= https://dash.vcon.io/api/v3/devices/13
DEVICE_URL ?= https://dash.vcon.io/api/v3/devices/14
update: firmware.bin
curl --fail-with-body -su :$(VCON_API_KEY) $(DEVICE_URL)/ota --data-binary @$<

update: CFLAGS += -DUART_DEBUG=LPUART3
update: CFLAGS += -DUART_DEBUG=R_SCI7

test: update
curl --fail-with-body -su :$(VCON_API_KEY) $(DEVICE_URL)/tx?t=5 | tee /tmp/output.txt
Expand Down
14 changes: 10 additions & 4 deletions examples/renesas/ek-ra6m4-make-baremetal-builtin/hal.c
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Expand Up @@ -13,11 +13,12 @@ static volatile uint64_t s_ticks; // Milliseconds since boot
extern void _estack(void); // Defined in link.ld
void Reset_Handler(void);
void SysTick_Handler(void);
extern void EDMAC_IRQHandler(void);

// 16 ARM and 200 peripheral handlers
__attribute__((section(".vectors"))) void (*const tab[16 + 10])(void) = {
_estack, Reset_Handler, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, SysTick_Handler};
_estack, Reset_Handler, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
SysTick_Handler, EDMAC_IRQHandler};

void Reset_Handler(void) {
extern long _sbss[], _ebss[], _sdata[], _edata[], _sidata[];
Expand All @@ -33,21 +34,26 @@ void Reset_Handler(void) {
}

void SystemInit(void) { // Called automatically by startup code
clock_init(); // Set system clock to SYS_FREQUENCY
rng_init(); // Initialise random number generator
SCB->CPACR |= ((3UL << 10 * 2) | (3UL << 11 * 2)); // Enable FPU
__DSB();
__ISB();
clock_init(); // Set system clock to SYS_FREQUENCY
rng_init(); // Initialise random number generator
SysTick_Config(SystemCoreClock / 1000); // Sys tick every 1ms
}

void SysTick_Handler(void) { // SyStick IRQ handler, triggered every 1ms
s_ticks++;
}

#if 0
void mg_random(void *buf, size_t len) { // Use on-board RNG
for (size_t n = 0; n < len; n += sizeof(uint32_t)) {
uint32_t r = rng_read();
memcpy((char *) buf + n, &r, n + sizeof(r) > len ? len - n : sizeof(r));
}
}
#endif

uint64_t mg_millis(void) { // Let Mongoose use our uptime function
return s_ticks; // Return number of milliseconds since boot
Expand Down
171 changes: 123 additions & 48 deletions examples/renesas/ek-ra6m4-make-baremetal-builtin/hal.h
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Expand Up @@ -16,30 +16,66 @@

extern void hal_init(void);

#define LED1 PIN('E', 15)
#define LED2 PIN('E', 4)
#define LED3 PIN('E', 0)
#define UART_DEBUG R_SCI0
#define UART_TX PIN('G', 13)
#define UART_RX PIN('G', 12)

#define BIT(x) (1UL << (x))
#define CLRSET(reg, clear, set) ((reg) = ((reg) & ~(clear)) | (set))
#define PIN(port, num) ((((port) - 'A') << 8) | (num))
#define SETBITS(reg, clear, set) ((reg) = ((reg) & ~(clear)) | (set))
#define PIN(port, num) ((((port) - '0') << 8) | (num))
#define PIN_NUM(pin) (pin & 255)
#define PIN_PORT(pin) (pin >> 8)

// No-op HAL API implementation for a device with GPIO and UART
#define LED1 PIN('4', 15) // blue
#define LED2 PIN('4', 4) // green
#define LED3 PIN('4', 0) // red
#define LED LED2 // Use green LED for blinking

#define rng_read() 0
#define rng_init()
#define uart_read_ready(uart) 0
#define GENERATE_MAC_ADDRESS() \
{ 2, 3, 4, 5, 6, 7 }

// Clock
#define SYS_FREQUENCY 2000000
// Board UM: P212 P213 24MHz xtal
// - (8.1 Table 8.1) (50.3.1 Table 50.14): PLL 120 ~ 200 MHz; input 8 ~ 24 MHz.
// System clock (ICLK) <= 200 MHz; PCLKA <= 100 MHz; PCLKB <= 50 MHz
// - (8.2.2): ICLK >= other clocks of interest for us
// - (8.7.3): FlashIF Clock (FCLK) (8.1 Table 8.1): 4 MHz to 50 MHz(P/E), up to
// 50 MHz (R)
// - (8.2.9): MOSCCR Set the PRCR.PRC0 bit to 1 (write enabled) before rewriting
// this register.
// - (10.2.9) OPCCR : Operating Power Control Register, defaults to high-speed
// mode
// - (45.2.4) 1 wait state for SRAM (default);
#define SYS_FREQUENCY 200000000
#define PLL_MUL 49 // x25 ((n+1)/2)
#define PLL_DIV 2 // /3 (n+1)
#define ICLK_DIV 0 // /1 -> 200MHz (/(2^n))
#define FCLK_DIV 2 // /4 -> 50MHz
#define PCLKAD_DIV 1 // /2 -> 100MHz
#define PCLKBC_DIV 2 // /4 -> 50MHz
#define FLASH_MHZ (SYS_FREQUENCY / ((1 << FCLK_DIV) * 1000000))
static inline void clock_init(void) {
SCB->CPACR = (uint32_t) 15U << 20;
R_SYSTEM->PRCR = 0xA501; // enable writing to osc control regs (12.2.1)
R_SYSTEM->MOSCWTCR = 9; // (8.2.5, 8.2.4)
R_SYSTEM->MOSCCR = 0; // enable main oscillator, default cfg (20~24MHz)
while (R_SYSTEM->OSCSF_b.MOSCSF == 0) (void) 0; // wait until it stabilizes
R_SYSTEM->PLLCCR =
(PLL_MUL << R_SYSTEM_PLLCCR_PLLMUL_Pos) |
(PLL_DIV
<< R_SYSTEM_PLLCCR_PLIDIV_Pos); // config PLL for MOSC /3 x 25 (8.2.4)
R_SYSTEM->PLLCR = 0; // enable PLL
R_SYSTEM->SCKDIVCR =
(FCLK_DIV << R_SYSTEM_SCKDIVCR_FCK_Pos) |
(ICLK_DIV << R_SYSTEM_SCKDIVCR_ICK_Pos) |
(PCLKAD_DIV << R_SYSTEM_SCKDIVCR_BCK_Pos) |
(PCLKAD_DIV << R_SYSTEM_SCKDIVCR_PCKA_Pos) |
(PCLKBC_DIV << R_SYSTEM_SCKDIVCR_PCKB_Pos) |
(PCLKBC_DIV << R_SYSTEM_SCKDIVCR_PCKC_Pos) |
(PCLKAD_DIV << R_SYSTEM_SCKDIVCR_PCKD_Pos); // set dividers
R_FCACHE->FLWT = 3; // flash: 3 wait states (47.4.3)
R_FLAD->FCKMHZ = FLASH_MHZ; // flash: read speed optimization (47.4.28)
R_FACI_HP->FPCKAR = (0x1E << 8) + FLASH_MHZ; // flash: write (47.4.26)
while (R_SYSTEM->OSCSF_b.PLLSF == 0) (void) 0; // PLL stabilization
while (R_FLAD->FCKMHZ != FLASH_MHZ) (void) 0; // flash module magic
R_SYSTEM->SCKSCR = 5; // select PLL (8.2.3)
}

// GPIO
Expand All @@ -48,12 +84,22 @@ enum { GPIO_MODE_INPUT, GPIO_MODE_OUTPUT, GPIO_MODE_AF };

static inline void gpio_init(uint16_t pin, uint8_t mode, uint8_t af) {
R_PORT0_Type *gpio = GPIO(PIN_PORT(pin));

if (mode == GPIO_MODE_OUTPUT) {
gpio->PCNTR1 |= BIT(PIN_NUM(pin));
} else if (mode == GPIO_MODE_INPUT) {
gpio->PCNTR1 &= ~BIT(PIN_NUM(pin));
} else {
(void) af;
} else { // GPIO_MODE_AF
// TODO(): only non-analog supported (19.2.5)
R_PMISC->PWPR_b.B0WI = 0; // (19.5.1--> (RM says this is PFS...)
R_PMISC->PWPR_b.PFSWE = 1;
R_PFS->PORT[PIN_PORT(pin)].PIN[PIN_NUM(pin)].PmnPFS_b.PMR = 0;
R_PFS->PORT[PIN_PORT(pin)].PIN[PIN_NUM(pin)].PmnPFS_b.PSEL =
af & (R_PFS_PORT_PIN_PmnPFS_PSEL_Msk >> R_PFS_PORT_PIN_PmnPFS_PSEL_Pos);
R_PFS->PORT[PIN_PORT(pin)].PIN[PIN_NUM(pin)].PmnPFS_b.PMR = 1;
R_PFS->PORT[PIN_PORT(pin)].PIN[PIN_NUM(pin)].PmnPFS_b.DSCR = 2; // high
R_PMISC->PWPR_b.PFSWE = 0;
R_PMISC->PWPR_b.B0WI = 1; // <--19.5.1)
}
}

Expand All @@ -79,49 +125,78 @@ static inline void gpio_toggle(uint16_t pin) {
gpio_write(pin, !gpio_read(pin));
}

#ifndef UART_DEBUG
#define UART_DEBUG R_SCI7
#endif
#define UART_TX PIN('6', 13) // SCI7
#define UART_RX PIN('6', 14)

// UART
// (datasheet, after BSP rev.eng.) SCI uses PCLKA in this chip
static inline void uart_init(R_SCI0_Type *uart, unsigned baud) {
gpio_output(UART_TX);
gpio_input(UART_RX);
if (uart != R_SCI7) return;
R_MSTP->MSTPCRB_b.MSTPB24 = 0; // enable SCI7
(void) R_MSTP->MSTPCRB; // (10.10.15)
uart->SCR = 0; // (29.3.7 -->) disable SCI
uart->FCR_b.FM = 0; // disable FIFO
uart->SIMR1 = 0; // disable I2C (default)
uart->SPMR = 0; // disable SPI (default)
uart->SCMR_b.SMIF = 0; // no smartcard (default)
uart->SMR = 0; // async 8N1, use PCLK
uart->SCMR_b.CHR1 = 1; // disable 9-bit mode (default)
uart->SEMR = 0; // 16x clocking (other SCIs need internal clock setting)
uart->SPTR = 3; // no inversions, high on idle
uart->BRR = (uint8_t) (SYS_FREQUENCY / (32 * (1 << PCLKAD_DIV) * baud));
gpio_init(UART_TX, GPIO_MODE_AF, 5); // (19.6)
gpio_init(UART_RX, GPIO_MODE_AF, 5);
(void) uart, (void) baud;
uart->SCR = R_SCI0_SCR_TE_Msk | R_SCI0_SCR_RE_Msk; // enable Tx, Rx
}

static inline void uart_write_byte(void *uart, uint8_t byte) {
uint16_t pin = UART_TX;
uint32_t baud = 9600;
uint32_t interval = SYS_FREQUENCY / baud; // Time to send 1 bit
uint8_t bits[] = {
0, // Start bit
(byte >> 0) & 1U,
(byte >> 1) & 1U,
(byte >> 2) & 1U,
(byte >> 3) & 1U,
(byte >> 4) & 1U,
(byte >> 5) & 1U,
(byte >> 6) & 1U,
(byte >> 7) & 1U,
1, // Stop bit
};
uint32_t t = SysTick->VAL; // Current timer value

for (uint8_t i = 0; i < 10; i++) {
gpio_write(pin, bits[i]);
if (t <= interval) {
while (SysTick->VAL <= t) (void) 0;
t = SysTick->LOAD + 1 - interval;
while (SysTick->VAL > t) (void) 0;
} else {
t -= interval;
while (SysTick->VAL > t) (void) 0;
}
}
(void) uart;
static inline void uart_write_byte(R_SCI0_Type *uart, uint8_t byte) {
uart->TDR = byte;
while (uart->SSR_b.TDRE == 0) (void) 0;
}

static inline void uart_write_buf(void *uart, char *buf, size_t len) {
static inline void uart_write_buf(R_SCI0_Type *uart, char *buf, size_t len) {
while (len-- > 0) uart_write_byte(uart, *(uint8_t *) buf++);
}

static inline int uart_read_ready(R_SCI0_Type *uart) {
return uart->SSR_b.RDRF; // If RDRF bit is set, data is ready
}
static inline uint8_t uart_read_byte(R_SCI0_Type *uart) {
return uart->RDR;
}

// Ethernet
// - (13.3.2 Table 13.4) Event table: Event 0x16F, ETHER_EINT0
// - (13.1) ICU (13.3.1) Interrupt Vector Table (13.5)
// - Choose a IELSRx, that is IRQn=x in NVIC, write event number
static inline void ethernet_init(void) {
R_MSTP->MSTPCRB_b.MSTPB15 = 0; // enable ETHERC0 and EDMAC0
(void) R_MSTP->MSTPCRB; // (10.10.15)
// (Board manual: 4.3.3 Table 1, 6.1 Table 20) (RM: 19.6)
R_SYSTEM->PRCR = 0xA502; // enable writing to next reg (12.2.1)
R_SYSTEM->VBTICTLR = 0; // enable MDC pins (19.5.5) (11.2.6)
gpio_init(PIN('4', 1), GPIO_MODE_AF, 0x17); // MDC
gpio_init(PIN('4', 2), GPIO_MODE_AF, 0x17); // MDIO
gpio_output(PIN('4', 3)); // PHY RST
gpio_write(PIN('0', 2), 1); // prevent NAND_TREE
gpio_write(PIN('4', 3), 0); // assert RST
gpio_init(PIN('4', 5), GPIO_MODE_AF, 0x17); // TX_EN
gpio_init(PIN('4', 6), GPIO_MODE_AF, 0x17); // TXD1
gpio_init(PIN('7', 0), GPIO_MODE_AF, 0x17); // TXD0
gpio_init(PIN('7', 1), GPIO_MODE_AF, 0x17); // REF50CK0
gpio_init(PIN('7', 2), GPIO_MODE_AF, 0x17); // RXD0
gpio_init(PIN('7', 3), GPIO_MODE_AF, 0x17); // RXD1
gpio_init(PIN('7', 4), GPIO_MODE_AF, 0x17); // RX_ER
gpio_init(PIN('7', 5), GPIO_MODE_AF, 0x17); // CRS_DV
R_PMISC->PFENET_b.PHYMODE0 = 0; // select RMII
for (volatile int i = 0; i < 0x2000; i++)
(void) 0; // keep PHY RST low for a while
gpio_write(PIN('4', 3), 1); // deassert RST
gpio_input(PIN('0', 2)); // PHY IRQ, not used
NVIC_EnableIRQ(0); // (13.5.1) no CMSIS support
R_ICU->IELSR[0] = 0x16f; // (13.2.15)(13.5.4.1)
}
18 changes: 7 additions & 11 deletions examples/renesas/ek-ra6m4-make-baremetal-builtin/main.c
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Expand Up @@ -8,15 +8,12 @@
#define BLINK_PERIOD_MS 1000 // LED blinking period in millis

static void timer_fn(void *arg) {
gpio_toggle(LED2); // Blink LED
#if 0
gpio_toggle(LED); // Blink LED
struct mg_tcpip_if *ifp = arg; // And show
const char *names[] = {"down", "up", "req", "ready"}; // network stats
MG_INFO(("Ethernet: %s, IP: %M, rx:%u, tx:%u, dr:%u, er:%u",
names[ifp->state], mg_print_ip4, &ifp->ip, ifp->nrecv, ifp->nsent,
ifp->ndrop, ifp->nerr));
#endif
(void) arg;
}

int main(void) {
Expand All @@ -27,19 +24,19 @@ int main(void) {
mg_log_set(MG_LL_DEBUG); // Set log level

MG_INFO(("Starting, CPU freq %g MHz", (double) SystemCoreClock / 1000000));
mg_timer_add(&mgr, BLINK_PERIOD_MS, MG_TIMER_REPEAT, timer_fn, &mgr);

#if 0

// Initialise Mongoose network stack
struct mg_tcpip_driver_stm32h_data driver_data = {.mdc_cr = 4};
struct mg_tcpip_if mif = {.mac = GENERATE_MAC_ADDRESS(),
struct mg_tcpip_driver_ra_data driver_data = {
.clock = SystemCoreClock, .irqno = 0, .phy_addr = 1};
struct mg_tcpip_if mif = {// .mac = {...}, generate random mac address
// Uncomment below for static configuration:
// .ip = mg_htonl(MG_U32(192, 168, 0, 223)),
// .mask = mg_htonl(MG_U32(255, 255, 255, 0)),
// .gw = mg_htonl(MG_U32(192, 168, 0, 1)),
.driver = &mg_tcpip_driver_stm32h,
.driver = &mg_tcpip_driver_ra,
.driver_data = &driver_data};
mg_tcpip_init(&mgr, &mif);
mg_timer_add(&mgr, BLINK_PERIOD_MS, MG_TIMER_REPEAT, timer_fn, &mif);

MG_INFO(("MAC: %M. Waiting for IP...", mg_print_mac, mif.mac));
while (mif.state != MG_TCPIP_STATE_READY) {
Expand All @@ -48,7 +45,6 @@ int main(void) {

MG_INFO(("Initialising application..."));
web_init(&mgr);
#endif

MG_INFO(("Starting event loop"));
for (;;) {
Expand Down
4 changes: 2 additions & 2 deletions examples/renesas/ek-ra6m4-make-baremetal-builtin/mongoose_custom.h
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Expand Up @@ -7,7 +7,7 @@

#define MG_ENABLE_TCPIP 1
#define MG_ENABLE_CUSTOM_MILLIS 1
#define MG_ENABLE_CUSTOM_RANDOM 1
#define MG_ENABLE_CUSTOM_RANDOM 0
#define MG_ENABLE_PACKED_FS 1
#define MG_ENABLE_DRIVER_STM32H 1
#define MG_ENABLE_DRIVER_RA 1
//#define MG_ENABLE_LINES 1
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