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This commit is contained in:
rusEfi
parent
7aa85b11a5
commit
433c667ee8
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@ -0,0 +1,128 @@
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/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
*/
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|
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/**
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* @file console.c
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* @brief Simulator console driver code.
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* @{
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*/
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#include <stdio.h>
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#include "ch.h"
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#include "hal.h"
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#include "console.h"
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/**
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* @brief Console driver 1.
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*/
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BaseChannel CD1;
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/*===========================================================================*/
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/* Driver local variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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static size_t write(void *ip, const uint8_t *bp, size_t n) {
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size_t ret;
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(void)ip;
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ret = fwrite(bp, 1, n, stdout);
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fflush(stdout);
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return ret;
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}
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static size_t read(void *ip, uint8_t *bp, size_t n) {
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(void)ip;
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return fread(bp, 1, n, stdin);
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}
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static msg_t put(void *ip, uint8_t b) {
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(void)ip;
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fputc(b, stdout);
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fflush(stdout);
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return RDY_OK;
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}
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static msg_t get(void *ip) {
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(void)ip;
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return fgetc(stdin);
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}
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static msg_t putt(void *ip, uint8_t b, systime_t timeout) {
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(void)ip;
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(void)timeout;
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fputc(b, stdout);
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fflush(stdout);
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return RDY_OK;
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}
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static msg_t gett(void *ip, systime_t timeout) {
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(void)ip;
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(void)timeout;
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return fgetc(stdin);
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}
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static size_t writet(void *ip, const uint8_t *bp, size_t n, systime_t timeout) {
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size_t ret;
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(void)ip;
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(void)timeout;
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ret = fwrite(bp, 1, n, stdout);
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fflush(stdout);
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return ret;
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}
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static size_t readt(void *ip, uint8_t *bp, size_t n, systime_t timeout) {
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(void)ip;
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(void)timeout;
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return fread(bp, 1, n, stdin);
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}
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static const struct BaseChannelVMT vmt = {
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write, read, put, get,
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putt, gett, writet, readt
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};
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/*===========================================================================*/
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/* Driver interrupt handlers. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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void conInit(void) {
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CD1.vmt = &vmt;
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}
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/** @} */
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@ -0,0 +1,62 @@
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/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
|
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You may obtain a copy of the License at
|
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|
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http://www.apache.org/licenses/LICENSE-2.0
|
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|
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Unless required by applicable law or agreed to in writing, software
|
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distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
*/
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/**
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* @file console.h
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* @brief Simulator console driver header.
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* @{
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*/
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#ifndef _CONSOLE_H_
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#define _CONSOLE_H_
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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extern BaseChannel CD1;
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#ifdef __cplusplus
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extern "C" {
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#endif
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void conInit(void);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _CONSOLE_H_ */
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/** @} */
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@ -0,0 +1,104 @@
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/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
*/
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/**
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* @file Posix/hal_lld.c
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* @brief Posix HAL subsystem low level driver code.
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*
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* @addtogroup POSIX_HAL
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* @{
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <sys/time.h>
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#include "ch.h"
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#include "hal.h"
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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static struct timeval nextcnt;
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static struct timeval tick = {0, 1000000 / CH_FREQUENCY};
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver interrupt handlers. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Low level HAL driver initialization.
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*/
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void hal_lld_init(void) {
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#if defined(__APPLE__)
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puts("ChibiOS/RT simulator (OS X)\n");
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#else
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puts("ChibiOS/RT simulator (Linux)\n");
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#endif
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gettimeofday(&nextcnt, NULL);
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timeradd(&nextcnt, &tick, &nextcnt);
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}
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/**
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* @brief Interrupt simulation.
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*/
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void ChkIntSources(void) {
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struct timeval tv;
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#if HAL_USE_SERIAL
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if (sd_lld_interrupt_pending()) {
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dbg_check_lock();
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if (chSchIsPreemptionRequired())
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chSchDoReschedule();
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dbg_check_unlock();
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return;
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}
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#endif
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gettimeofday(&tv, NULL);
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if (timercmp(&tv, &nextcnt, >=)) {
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timeradd(&nextcnt, &tick, &nextcnt);
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CH_IRQ_PROLOGUE();
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chSysLockFromIsr();
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chSysTimerHandlerI();
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chSysUnlockFromIsr();
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CH_IRQ_EPILOGUE();
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dbg_check_lock();
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if (chSchIsPreemptionRequired())
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chSchDoReschedule();
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dbg_check_unlock();
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}
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}
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/** @} */
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@ -0,0 +1,80 @@
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/*
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||||
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file Posix/hal_lld.h
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||||
* @brief Posix simulator HAL subsystem low level driver header.
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||||
*
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||||
* @addtogroup POSIX_HAL
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||||
* @{
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||||
*/
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||||
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#ifndef _HAL_LLD_H_
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#define _HAL_LLD_H_
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <netdb.h>
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||||
|
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/*===========================================================================*/
|
||||
/* Driver constants. */
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/*===========================================================================*/
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/**
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* @brief Defines the support for realtime counters in the HAL.
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*/
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#define HAL_IMPLEMENTS_COUNTERS FALSE
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/**
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* @brief Platform name.
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*/
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#define PLATFORM_NAME "Linux"
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||||
#define SOCKET int
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#define INVALID_SOCKET -1
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||||
|
||||
/*===========================================================================*/
|
||||
/* Driver pre-compile time settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Derived constants and error checks. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver data structures and types. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver macros. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* External declarations. */
|
||||
/*===========================================================================*/
|
||||
|
||||
#ifdef __cplusplus
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||||
extern "C" {
|
||||
#endif
|
||||
void hal_lld_init(void);
|
||||
void ChkIntSources(void);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* _HAL_LLD_H_ */
|
||||
|
||||
/** @} */
|
||||
|
|
@ -0,0 +1,95 @@
|
|||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file Posix/pal_lld.c
|
||||
* @brief Posix low level simulated PAL driver code.
|
||||
*
|
||||
* @addtogroup POSIX_PAL
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
#include "hal.h"
|
||||
|
||||
#if HAL_USE_PAL || defined(__DOXYGEN__)
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver exported variables. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief VIO1 simulated port.
|
||||
*/
|
||||
sim_vio_port_t vio_port_1;
|
||||
|
||||
/**
|
||||
* @brief VIO2 simulated port.
|
||||
*/
|
||||
sim_vio_port_t vio_port_2;
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver local variables and types. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver local functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver interrupt handlers. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver exported functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Pads mode setup.
|
||||
* @details This function programs a pads group belonging to the same port
|
||||
* with the specified mode.
|
||||
*
|
||||
* @param[in] port the port identifier
|
||||
* @param[in] mask the group mask
|
||||
* @param[in] mode the mode
|
||||
*
|
||||
* @note This function is not meant to be invoked directly by the application
|
||||
* code.
|
||||
* @note @p PAL_MODE_UNCONNECTED is implemented as push pull output with high
|
||||
* state.
|
||||
* @note This function does not alter the @p PINSELx registers. Alternate
|
||||
* functions setup must be handled by device-specific code.
|
||||
*/
|
||||
void _pal_lld_setgroupmode(ioportid_t port,
|
||||
ioportmask_t mask,
|
||||
iomode_t mode) {
|
||||
|
||||
switch (mode) {
|
||||
case PAL_MODE_RESET:
|
||||
case PAL_MODE_INPUT:
|
||||
port->dir &= ~mask;
|
||||
break;
|
||||
case PAL_MODE_UNCONNECTED:
|
||||
port->latch |= mask;
|
||||
case PAL_MODE_OUTPUT_PUSHPULL:
|
||||
port->dir |= mask;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* HAL_USE_PAL */
|
||||
|
||||
/** @} */
|
||||
|
|
@ -0,0 +1,206 @@
|
|||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file Posix/pal_lld.h
|
||||
* @brief Posix low level simulated PAL driver header.
|
||||
*
|
||||
* @addtogroup POSIX_PAL
|
||||
* @{
|
||||
*/
|
||||
|
||||
#ifndef _PAL_LLD_H_
|
||||
#define _PAL_LLD_H_
|
||||
|
||||
#if HAL_USE_PAL || defined(__DOXYGEN__)
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Unsupported modes and specific modes */
|
||||
/*===========================================================================*/
|
||||
|
||||
#undef PAL_MODE_INPUT_PULLUP
|
||||
#undef PAL_MODE_INPUT_PULLDOWN
|
||||
#undef PAL_MODE_OUTPUT_OPENDRAIN
|
||||
#undef PAL_MODE_INPUT_ANALOG
|
||||
|
||||
/*===========================================================================*/
|
||||
/* I/O Ports Types and constants. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief VIO port structure.
|
||||
*/
|
||||
typedef struct {
|
||||
/**
|
||||
* @brief VIO_LATCH register.
|
||||
* @details This register represents the output latch of the VIO port.
|
||||
*/
|
||||
uint32_t latch;
|
||||
/**
|
||||
* @brief VIO_PIN register.
|
||||
* @details This register represents the logical level at the VIO port
|
||||
* pin level.
|
||||
*/
|
||||
uint32_t pin;
|
||||
/**
|
||||
* @brief VIO_DIR register.
|
||||
* @details Direction of the VIO port bits, 0=input, 1=output.
|
||||
*/
|
||||
uint32_t dir;
|
||||
} sim_vio_port_t;
|
||||
|
||||
/**
|
||||
* @brief Virtual I/O ports static initializer.
|
||||
* @details An instance of this structure must be passed to @p palInit() at
|
||||
* system startup time in order to initialized the digital I/O
|
||||
* subsystem. This represents only the initial setup, specific pads
|
||||
* or whole ports can be reprogrammed at later time.
|
||||
*/
|
||||
typedef struct {
|
||||
/**
|
||||
* @brief Virtual port 1 setup data.
|
||||
*/
|
||||
sim_vio_port_t VP1Data;
|
||||
/**
|
||||
* @brief Virtual port 2 setup data.
|
||||
*/
|
||||
sim_vio_port_t VP2Data;
|
||||
} PALConfig;
|
||||
|
||||
/**
|
||||
* @brief Width, in bits, of an I/O port.
|
||||
*/
|
||||
#define PAL_IOPORTS_WIDTH 32
|
||||
|
||||
/**
|
||||
* @brief Whole port mask.
|
||||
* @brief This macro specifies all the valid bits into a port.
|
||||
*/
|
||||
#define PAL_WHOLE_PORT ((ioportmask_t)0xFFFFFFFF)
|
||||
|
||||
/**
|
||||
* @brief Digital I/O port sized unsigned type.
|
||||
*/
|
||||
typedef uint32_t ioportmask_t;
|
||||
|
||||
/**
|
||||
* @brief Digital I/O modes.
|
||||
*/
|
||||
typedef uint32_t iomode_t;
|
||||
|
||||
/**
|
||||
* @brief Port Identifier.
|
||||
*/
|
||||
typedef sim_vio_port_t *ioportid_t;
|
||||
|
||||
/*===========================================================================*/
|
||||
/* I/O Ports Identifiers. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief VIO port 1 identifier.
|
||||
*/
|
||||
#define IOPORT1 (&vio_port_1)
|
||||
|
||||
/**
|
||||
* @brief VIO port 2 identifier.
|
||||
*/
|
||||
#define IOPORT2 (&vio_port_2)
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Implementation, some of the following macros could be implemented as */
|
||||
/* functions, if so please put them in pal_lld.c. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Low level PAL subsystem initialization.
|
||||
*
|
||||
* @param[in] config architecture-dependent ports configuration
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
#define pal_lld_init(config) \
|
||||
(vio_port_1 = (config)->VP1Data, \
|
||||
vio_port_2 = (config)->VP2Data)
|
||||
|
||||
/**
|
||||
* @brief Reads the physical I/O port states.
|
||||
*
|
||||
* @param[in] port port identifier
|
||||
* @return The port bits.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
#define pal_lld_readport(port) ((port)->pin)
|
||||
|
||||
/**
|
||||
* @brief Reads the output latch.
|
||||
* @details The purpose of this function is to read back the latched output
|
||||
* value.
|
||||
*
|
||||
* @param[in] port port identifier
|
||||
* @return The latched logical states.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
#define pal_lld_readlatch(port) ((port)->latch)
|
||||
|
||||
/**
|
||||
* @brief Writes a bits mask on a I/O port.
|
||||
*
|
||||
* @param[in] port port identifier
|
||||
* @param[in] bits bits to be written on the specified port
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
#define pal_lld_writeport(port, bits) ((port)->latch = (bits))
|
||||
|
||||
/**
|
||||
* @brief Pads group mode setup.
|
||||
* @details This function programs a pads group belonging to the same port
|
||||
* with the specified mode.
|
||||
*
|
||||
* @param[in] port port identifier
|
||||
* @param[in] mask group mask
|
||||
* @param[in] offset group bit offset within the port
|
||||
* @param[in] mode group mode
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
#define pal_lld_setgroupmode(port, mask, offset, mode) \
|
||||
_pal_lld_setgroupmode(port, mask << offset, mode)
|
||||
|
||||
#if !defined(__DOXYGEN__)
|
||||
extern sim_vio_port_t vio_port_1;
|
||||
extern sim_vio_port_t vio_port_2;
|
||||
extern const PALConfig pal_default_config;
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
void _pal_lld_setgroupmode(ioportid_t port,
|
||||
ioportmask_t mask,
|
||||
iomode_t mode);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* HAL_USE_PAL */
|
||||
|
||||
#endif /* _PAL_LLD_H_ */
|
||||
|
||||
/** @} */
|
||||
|
|
@ -0,0 +1,7 @@
|
|||
# List of all the Posix platform files.
|
||||
PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/Posix/hal_lld.c \
|
||||
${CHIBIOS}/os/hal/platforms/Posix/pal_lld.c \
|
||||
${CHIBIOS}/os/hal/platforms/Posix/serial_lld.c
|
||||
|
||||
# Required include directories
|
||||
PLATFORMINC = ${CHIBIOS}/os/hal/platforms/Posix
|
||||
|
|
@ -0,0 +1,287 @@
|
|||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file Posix/serial_lld.c
|
||||
* @brief Posix low level simulated serial driver code.
|
||||
*
|
||||
* @addtogroup POSIX_SERIAL
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <errno.h>
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#include "ch.h"
|
||||
#include "hal.h"
|
||||
|
||||
#if HAL_USE_SERIAL || defined(__DOXYGEN__)
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver exported variables. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/** @brief Serial driver 1 identifier.*/
|
||||
#if USE_SIM_SERIAL1 || defined(__DOXYGEN__)
|
||||
SerialDriver SD1;
|
||||
#endif
|
||||
/** @brief Serial driver 2 identifier.*/
|
||||
#if USE_SIM_SERIAL2 || defined(__DOXYGEN__)
|
||||
SerialDriver SD2;
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver local variables and types. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/** @brief Driver default configuration.*/
|
||||
static const SerialConfig default_config = {
|
||||
};
|
||||
|
||||
static u_long nb = 1;
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver local functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
static void init(SerialDriver *sdp, uint16_t port) {
|
||||
struct sockaddr_in sad;
|
||||
struct protoent *prtp;
|
||||
int sockval = 1;
|
||||
socklen_t socklen = sizeof(sockval);
|
||||
|
||||
|
||||
if ((prtp = getprotobyname("tcp")) == NULL) {
|
||||
printf("%s: Error mapping protocol name to protocol number\n", sdp->com_name);
|
||||
goto abort;
|
||||
}
|
||||
|
||||
sdp->com_listen = socket(PF_INET, SOCK_STREAM, prtp->p_proto);
|
||||
if (sdp->com_listen == INVALID_SOCKET) {
|
||||
printf("%s: Error creating simulator socket\n", sdp->com_name);
|
||||
goto abort;
|
||||
}
|
||||
|
||||
|
||||
setsockopt(sdp->com_listen, SOL_SOCKET, SO_REUSEADDR, &sockval, socklen);
|
||||
|
||||
if (ioctl(sdp->com_listen, FIONBIO, &nb) != 0) {
|
||||
printf("%s: Unable to setup non blocking mode on socket\n", sdp->com_name);
|
||||
goto abort;
|
||||
}
|
||||
|
||||
memset(&sad, 0, sizeof(sad));
|
||||
sad.sin_family = AF_INET;
|
||||
sad.sin_addr.s_addr = INADDR_ANY;
|
||||
sad.sin_port = htons(port);
|
||||
if (bind(sdp->com_listen, (struct sockaddr *)&sad, sizeof(sad))) {
|
||||
printf("%s: Error binding socket\n", sdp->com_name);
|
||||
goto abort;
|
||||
}
|
||||
|
||||
if (listen(sdp->com_listen, 1) != 0) {
|
||||
printf("%s: Error listening socket\n", sdp->com_name);
|
||||
goto abort;
|
||||
}
|
||||
printf("Full Duplex Channel %s listening on port %d\n", sdp->com_name, port);
|
||||
return;
|
||||
|
||||
abort:
|
||||
if (sdp->com_listen != INVALID_SOCKET)
|
||||
close(sdp->com_listen);
|
||||
exit(1);
|
||||
}
|
||||
|
||||
static bool_t connint(SerialDriver *sdp) {
|
||||
|
||||
if (sdp->com_data == INVALID_SOCKET) {
|
||||
struct sockaddr addr;
|
||||
socklen_t addrlen = sizeof(addr);
|
||||
|
||||
if ((sdp->com_data = accept(sdp->com_listen, &addr, &addrlen)) == INVALID_SOCKET)
|
||||
return FALSE;
|
||||
|
||||
if (ioctl(sdp->com_data, FIONBIO, &nb) != 0) {
|
||||
printf("%s: Unable to setup non blocking mode on data socket\n", sdp->com_name);
|
||||
goto abort;
|
||||
}
|
||||
chSysLockFromIsr();
|
||||
chnAddFlagsI(sdp, CHN_CONNECTED);
|
||||
chSysUnlockFromIsr();
|
||||
return TRUE;
|
||||
}
|
||||
return FALSE;
|
||||
abort:
|
||||
if (sdp->com_listen != INVALID_SOCKET)
|
||||
close(sdp->com_listen);
|
||||
if (sdp->com_data != INVALID_SOCKET)
|
||||
close(sdp->com_data);
|
||||
exit(1);
|
||||
}
|
||||
|
||||
static bool_t inint(SerialDriver *sdp) {
|
||||
|
||||
if (sdp->com_data != INVALID_SOCKET) {
|
||||
int i;
|
||||
uint8_t data[32];
|
||||
|
||||
/*
|
||||
* Input.
|
||||
*/
|
||||
int n = recv(sdp->com_data, data, sizeof(data), 0);
|
||||
switch (n) {
|
||||
case 0:
|
||||
close(sdp->com_data);
|
||||
sdp->com_data = INVALID_SOCKET;
|
||||
chSysLockFromIsr();
|
||||
chnAddFlagsI(sdp, CHN_DISCONNECTED);
|
||||
chSysUnlockFromIsr();
|
||||
return FALSE;
|
||||
case INVALID_SOCKET:
|
||||
if (errno == EWOULDBLOCK)
|
||||
return FALSE;
|
||||
close(sdp->com_data);
|
||||
sdp->com_data = INVALID_SOCKET;
|
||||
return FALSE;
|
||||
}
|
||||
for (i = 0; i < n; i++) {
|
||||
chSysLockFromIsr();
|
||||
sdIncomingDataI(sdp, data[i]);
|
||||
chSysUnlockFromIsr();
|
||||
}
|
||||
return TRUE;
|
||||
}
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
static bool_t outint(SerialDriver *sdp) {
|
||||
|
||||
if (sdp->com_data != INVALID_SOCKET) {
|
||||
int n;
|
||||
uint8_t data[1];
|
||||
|
||||
/*
|
||||
* Input.
|
||||
*/
|
||||
chSysLockFromIsr();
|
||||
n = sdRequestDataI(sdp);
|
||||
chSysUnlockFromIsr();
|
||||
if (n < 0)
|
||||
return FALSE;
|
||||
data[0] = (uint8_t)n;
|
||||
n = send(sdp->com_data, data, sizeof(data), 0);
|
||||
switch (n) {
|
||||
case 0:
|
||||
close(sdp->com_data);
|
||||
sdp->com_data = INVALID_SOCKET;
|
||||
chSysLockFromIsr();
|
||||
chnAddFlagsI(sdp, CHN_DISCONNECTED);
|
||||
chSysUnlockFromIsr();
|
||||
return FALSE;
|
||||
case INVALID_SOCKET:
|
||||
if (errno == EWOULDBLOCK)
|
||||
return FALSE;
|
||||
close(sdp->com_data);
|
||||
sdp->com_data = INVALID_SOCKET;
|
||||
return FALSE;
|
||||
}
|
||||
return TRUE;
|
||||
}
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver interrupt handlers. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver exported functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Low level serial driver initialization.
|
||||
*/
|
||||
void sd_lld_init(void) {
|
||||
|
||||
#if USE_SIM_SERIAL1
|
||||
sdObjectInit(&SD1, NULL, NULL);
|
||||
SD1.com_listen = INVALID_SOCKET;
|
||||
SD1.com_data = INVALID_SOCKET;
|
||||
SD1.com_name = "SD1";
|
||||
#endif
|
||||
|
||||
#if USE_SIM_SERIAL2
|
||||
sdObjectInit(&SD2, NULL, NULL);
|
||||
SD2.com_listen = INVALID_SOCKET;
|
||||
SD2.com_data = INVALID_SOCKET;
|
||||
SD2.com_name = "SD2";
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Low level serial driver configuration and (re)start.
|
||||
*
|
||||
* @param[in] sdp pointer to a @p SerialDriver object
|
||||
*/
|
||||
void sd_lld_start(SerialDriver *sdp, const SerialConfig *config) {
|
||||
|
||||
if (config == NULL)
|
||||
config = &default_config;
|
||||
|
||||
#if USE_SIM_SERIAL1
|
||||
if (sdp == &SD1)
|
||||
init(&SD1, SIM_SD1_PORT);
|
||||
#endif
|
||||
|
||||
#if USE_SIM_SERIAL2
|
||||
if (sdp == &SD2)
|
||||
init(&SD2, SIM_SD2_PORT);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Low level serial driver stop.
|
||||
* @details De-initializes the USART, stops the associated clock, resets the
|
||||
* interrupt vector.
|
||||
*
|
||||
* @param[in] sdp pointer to a @p SerialDriver object
|
||||
*/
|
||||
void sd_lld_stop(SerialDriver *sdp) {
|
||||
|
||||
(void)sdp;
|
||||
}
|
||||
|
||||
bool_t sd_lld_interrupt_pending(void) {
|
||||
bool_t b;
|
||||
|
||||
CH_IRQ_PROLOGUE();
|
||||
|
||||
b = connint(&SD1) || connint(&SD2) ||
|
||||
inint(&SD1) || inint(&SD2) ||
|
||||
outint(&SD1) || outint(&SD2);
|
||||
|
||||
CH_IRQ_EPILOGUE();
|
||||
|
||||
return b;
|
||||
}
|
||||
|
||||
#endif /* HAL_USE_SERIAL */
|
||||
|
||||
/** @} */
|
||||
|
|
@ -0,0 +1,151 @@
|
|||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file Posix/serial_lld.h
|
||||
* @brief Posix low level simulated serial driver header.
|
||||
*
|
||||
* @addtogroup POSIX_SERIAL
|
||||
* @{
|
||||
*/
|
||||
|
||||
#ifndef _SERIAL_LLD_H_
|
||||
#define _SERIAL_LLD_H_
|
||||
|
||||
#if HAL_USE_SERIAL || defined(__DOXYGEN__)
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver constants. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver pre-compile time settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Serial buffers size.
|
||||
* @details Configuration parameter, you can change the depth of the queue
|
||||
* buffers depending on the requirements of your application.
|
||||
*/
|
||||
#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
|
||||
#define SERIAL_BUFFERS_SIZE 1024
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief SD1 driver enable switch.
|
||||
* @details If set to @p TRUE the support for SD1 is included.
|
||||
* @note The default is @p TRUE.
|
||||
*/
|
||||
#if !defined(USE_SIM_SERIAL1) || defined(__DOXYGEN__)
|
||||
#define USE_SIM_SERIAL1 TRUE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief SD2 driver enable switch.
|
||||
* @details If set to @p TRUE the support for SD2 is included.
|
||||
* @note The default is @p TRUE.
|
||||
*/
|
||||
#if !defined(USE_SIM_SERIAL2) || defined(__DOXYGEN__)
|
||||
#define USE_SIM_SERIAL2 TRUE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Listen port for SD1.
|
||||
*/
|
||||
#if !defined(SD1_PORT) || defined(__DOXYGEN__)
|
||||
#define SIM_SD1_PORT 29001
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Listen port for SD2.
|
||||
*/
|
||||
#if !defined(SD2_PORT) || defined(__DOXYGEN__)
|
||||
#define SIM_SD2_PORT 29002
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Derived constants and error checks. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver data structures and types. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Generic Serial Driver configuration structure.
|
||||
* @details An instance of this structure must be passed to @p sdStart()
|
||||
* in order to configure and start a serial driver operations.
|
||||
* @note This structure content is architecture dependent, each driver
|
||||
* implementation defines its own version and the custom static
|
||||
* initializers.
|
||||
*/
|
||||
typedef struct {
|
||||
} SerialConfig;
|
||||
|
||||
/**
|
||||
* @brief @p SerialDriver specific data.
|
||||
*/
|
||||
#define _serial_driver_data \
|
||||
_base_asynchronous_channel_data \
|
||||
/* Driver state.*/ \
|
||||
sdstate_t state; \
|
||||
/* Input queue.*/ \
|
||||
InputQueue iqueue; \
|
||||
/* Output queue.*/ \
|
||||
OutputQueue oqueue; \
|
||||
/* Input circular buffer.*/ \
|
||||
uint8_t ib[SERIAL_BUFFERS_SIZE]; \
|
||||
/* Output circular buffer.*/ \
|
||||
uint8_t ob[SERIAL_BUFFERS_SIZE]; \
|
||||
/* End of the mandatory fields.*/ \
|
||||
/* Listen socket for simulated serial port.*/ \
|
||||
SOCKET com_listen; \
|
||||
/* Data socket for simulated serial port.*/ \
|
||||
SOCKET com_data; \
|
||||
/* Port readable name.*/ \
|
||||
const char *com_name;
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver macros. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* External declarations. */
|
||||
/*===========================================================================*/
|
||||
|
||||
#if USE_SIM_SERIAL1 && !defined(__DOXYGEN__)
|
||||
extern SerialDriver SD1;
|
||||
#endif
|
||||
#if USE_SIM_SERIAL2 && !defined(__DOXYGEN__)
|
||||
extern SerialDriver SD2;
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
void sd_lld_init(void);
|
||||
void sd_lld_start(SerialDriver *sdp, const SerialConfig *config);
|
||||
void sd_lld_stop(SerialDriver *sdp);
|
||||
bool_t sd_lld_interrupt_pending(void);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* HAL_USE_SERIAL */
|
||||
|
||||
#endif /* _SERIAL_LLD_H_ */
|
||||
|
||||
/** @} */
|
||||
|
|
@ -59,7 +59,7 @@ public class AverageAngles {
|
|||
System.out.println("Skipping due to NaN");
|
||||
return;
|
||||
}
|
||||
current.add(new AngleEvent(angle));
|
||||
current.add(new AngleEvent(angle, signal));
|
||||
}
|
||||
|
||||
for (int i = 0; i < current.size(); i++) {
|
||||
|
|
@ -73,7 +73,7 @@ public class AverageAngles {
|
|||
}
|
||||
|
||||
public void printReport(Appendable stream) throws IOException {
|
||||
List<Double> angles = new ArrayList<>();
|
||||
List<AngleEvent> angles = new ArrayList<>();
|
||||
|
||||
stream.append("Based on " + angleData.size() + " charts\r\n");
|
||||
|
||||
|
|
@ -94,7 +94,7 @@ public class AverageAngles {
|
|||
StandardDeviation sd = new StandardDeviation();
|
||||
double sdv = sd.evaluate(values, mean);
|
||||
|
||||
angles.add(mean);
|
||||
angles.add(new AngleEvent(mean, v.get(0).signal));
|
||||
|
||||
double diff = mean - prev;
|
||||
prev = mean;
|
||||
|
|
@ -102,19 +102,28 @@ public class AverageAngles {
|
|||
}
|
||||
if (angleData.isEmpty())
|
||||
return;
|
||||
Double lastValue = angles.get(angles.size() - 1);
|
||||
stream.append("Last value = " + lastValue + "\r\n");
|
||||
Double lastValue = angles.get(angles.size() - 1).angle;
|
||||
stream.append("Last value = " + lastValue + ", using it to offset...\r\n");
|
||||
double delta = 720 - lastValue;
|
||||
for (double v : angles) {
|
||||
stream.append((delta + v) + "\r\n");
|
||||
stream.append("And the " + angles.size() + " angles are:\r\n");
|
||||
for (AngleEvent v : angles) {
|
||||
stream.append((delta + v.angle) + "\r\n");
|
||||
}
|
||||
|
||||
stream.append("And the " + angles.size() + " lines of code are:\r\n");
|
||||
for (AngleEvent v : angles) {
|
||||
String signal = (v.signal / 1000) % 2 == 0 ? "TV_FALL" : "TV_RISE";
|
||||
stream.append("s->addEvent(" + (delta + v.angle) + ", ch, " + signal + ");\r\n");
|
||||
}
|
||||
}
|
||||
|
||||
private static class AngleEvent {
|
||||
private final double angle;
|
||||
private final int signal;
|
||||
|
||||
public AngleEvent(double angle) {
|
||||
public AngleEvent(double angle, int signal) {
|
||||
this.angle = angle;
|
||||
this.signal = signal;
|
||||
}
|
||||
|
||||
public double getAngle() {
|
||||
|
|
|
|||
|
|
@ -11,19 +11,39 @@ ifeq ($(USE_OPT),)
|
|||
# this config if debugging is needed, but the binary is about 50M
|
||||
# USE_OPT = -c -Wall -O0 -ggdb -g3 -Werror-implicit-function-declaration -Werror -Wno-error=pointer-sign -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=sign-compare -Wno-error=unused-parameter -Wno-error=missing-field-initializers -Wno-error=write-strings
|
||||
# this config producec a smaller binary file
|
||||
USE_OPT = -c -Wall -O2 -Werror-implicit-function-declaration -Werror -Wno-error=pointer-sign -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=sign-compare -Wno-error=unused-parameter -Wno-error=missing-field-initializers -Wno-error=write-strings -Wno-error=strict-aliasing
|
||||
USE_OPT = -c -Wall -O2 -Werror-implicit-function-declaration -Wno-error=pointer-sign -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=sign-compare -Wno-error=unused-parameter -Wno-error=missing-field-initializers -Wno-error=write-strings -Wno-error=strict-aliasing
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
else
|
||||
USE_OPT += -m32
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
# C specific options here (added to USE_OPT).
|
||||
ifeq ($(USE_COPT),)
|
||||
USE_COPT = -std=gnu99 -fgnu89-inline
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
else
|
||||
USE_COPT += -Wno-error=attributes -Wno-error=implicit-function-declaration -include stdio.h
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
# C++ specific options here (added to USE_OPT).
|
||||
ifeq ($(USE_CPPOPT),)
|
||||
USE_CPPOPT = -std=c++11 -fno-rtti -fpermissive -fno-exceptions -fno-use-cxa-atexit
|
||||
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
else
|
||||
USE_CPPOPT += -include cstring -include cstdio -include cstdlib
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
|
||||
# Enable this if you want the linker to remove unused code and data
|
||||
ifeq ($(USE_LINK_GC),)
|
||||
USE_LINK_GC = yes
|
||||
|
|
@ -84,7 +104,13 @@ include $(PROJECT_DIR)/development/development.mk
|
|||
|
||||
include $(CHIBIOS)/boards/simulator/board.mk
|
||||
include ${CHIBIOS}/os/hal/hal.mk
|
||||
include ${CHIBIOS}/os/hal/platforms/Win32/platform.mk
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
include ${CHIBIOS}/os/hal/platforms/Win32/platform.mk
|
||||
else
|
||||
include ${CHIBIOS}/os/hal/platforms/Posix/platform.mk
|
||||
endif
|
||||
|
||||
include ${CHIBIOS}/os/ports/GCC/SIMIA32/port.mk
|
||||
include ${CHIBIOS}/os/kernel/kernel.mk
|
||||
|
||||
|
|
@ -239,7 +265,12 @@ DINCDIR =
|
|||
DLIBDIR =
|
||||
|
||||
# List all default libraries here
|
||||
DLIBS = -static-libgcc -static-libstdc++ -lws2_32
|
||||
ifeq ($(OS),Windows_NT)
|
||||
DLIBS = -static-libgcc -static-libstdc++ -lws2_32
|
||||
else
|
||||
DLIBS = -static-libgcc -lgcc -static-libstdc++ -m32
|
||||
endif
|
||||
|
||||
|
||||
#
|
||||
# End of default section
|
||||
|
|
|
|||
Loading…
Reference in New Issue