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Simulator compiles, to be tested. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@10078 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Giovanni Di Sirio 2017-02-02 11:28:02 +00:00
parent e3498cf082
commit 07fc57b2c8
6 changed files with 130 additions and 110 deletions
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3
demos/various/RT-Posix-Simulator/Makefile
View File

@ -156,8 +156,7 @@ UINCDIR =
ULIBDIR = ULIBDIR =
# List all user libraries here # List all user libraries here
ULIBS = -lws2_32 ULIBS =
# #
# End of user defines # End of user defines
############################################################################## ##############################################################################

20
os/hal/ports/simulator/console.c
View File

@ -43,7 +43,7 @@ BaseChannel CD1;
/* Driver local functions. */ /* Driver local functions. */
/*===========================================================================*/ /*===========================================================================*/
static size_t write(void *ip, const uint8_t *bp, size_t n) { static size_t _write(void *ip, const uint8_t *bp, size_t n) {
size_t ret; size_t ret;
(void)ip; (void)ip;
@ -53,14 +53,14 @@ static size_t write(void *ip, const uint8_t *bp, size_t n) {
return ret; return ret;
} }
static size_t read(void *ip, uint8_t *bp, size_t n) { static size_t _read(void *ip, uint8_t *bp, size_t n) {
(void)ip; (void)ip;
return fread(bp, 1, n, stdin); return fread(bp, 1, n, stdin);
} }
static msg_t put(void *ip, uint8_t b) { static msg_t _put(void *ip, uint8_t b) {
(void)ip; (void)ip;
@ -69,14 +69,14 @@ static msg_t put(void *ip, uint8_t b) {
return MSG_OK; return MSG_OK;
} }
static msg_t get(void *ip) { static msg_t _get(void *ip) {
(void)ip; (void)ip;
return fgetc(stdin); return fgetc(stdin);
} }
static msg_t putt(void *ip, uint8_t b, systime_t time) { static msg_t _putt(void *ip, uint8_t b, systime_t time) {
(void)ip; (void)ip;
(void)time; (void)time;
@ -86,7 +86,7 @@ static msg_t putt(void *ip, uint8_t b, systime_t time) {
return MSG_OK; return MSG_OK;
} }
static msg_t gett(void *ip, systime_t time) { static msg_t _gett(void *ip, systime_t time) {
(void)ip; (void)ip;
(void)time; (void)time;
@ -94,7 +94,7 @@ static msg_t gett(void *ip, systime_t time) {
return fgetc(stdin); return fgetc(stdin);
} }
static size_t writet(void *ip, const uint8_t *bp, size_t n, systime_t time) { static size_t _writet(void *ip, const uint8_t *bp, size_t n, systime_t time) {
size_t ret; size_t ret;
(void)ip; (void)ip;
@ -105,7 +105,7 @@ static size_t writet(void *ip, const uint8_t *bp, size_t n, systime_t time) {
return ret; return ret;
} }
static size_t readt(void *ip, uint8_t *bp, size_t n, systime_t time) { static size_t _readt(void *ip, uint8_t *bp, size_t n, systime_t time) {
(void)ip; (void)ip;
(void)time; (void)time;
@ -114,8 +114,8 @@ static size_t readt(void *ip, uint8_t *bp, size_t n, systime_t time) {
} }
static const struct BaseChannelVMT vmt = { static const struct BaseChannelVMT vmt = {
write, read, put, get, _write, _read, _put, _get,
putt, gett, writet, readt _putt, _gett, _writet, _readt
}; };
/*===========================================================================*/ /*===========================================================================*/

41
os/hal/ports/simulator/posix/hal_lld.c
View File

@ -22,6 +22,10 @@
* @{ * @{
*/ */
#include <stdio.h>
#include <stdlib.h>
#include <sys/time.h>
#include "hal.h" #include "hal.h"
/*===========================================================================*/ /*===========================================================================*/
@ -32,8 +36,8 @@
/* Driver local variables and types. */ /* Driver local variables and types. */
/*===========================================================================*/ /*===========================================================================*/
static LARGE_INTEGER nextcnt; static struct timeval nextcnt;
static LARGE_INTEGER slice; static struct timeval tick = {0UL, 1000000UL / OSAL_ST_FREQUENCY};
/*===========================================================================*/ /*===========================================================================*/
/* Driver local functions. */ /* Driver local functions. */
@ -51,31 +55,21 @@ static LARGE_INTEGER slice;
* @brief Low level HAL driver initialization. * @brief Low level HAL driver initialization.
*/ */
void hal_lld_init(void) { void hal_lld_init(void) {
WSADATA wsaData;
/* Initialization.*/ #if defined(__APPLE__)
if (WSAStartup(2, &wsaData) != 0) { puts("ChibiOS/RT simulator (OS X)\n");
printf("Unable to locate a winsock DLL\n"); #else
exit(1); puts("ChibiOS/RT simulator (Linux)\n");
} #endif
gettimeofday(&nextcnt, NULL);
printf("ChibiOS/RT simulator (Win32)\n"); timeradd(&nextcnt, &tick, &nextcnt);
if (!QueryPerformanceFrequency(&slice)) {
printf("QueryPerformanceFrequency() error");
exit(1);
}
slice.QuadPart /= CH_CFG_ST_FREQUENCY;
QueryPerformanceCounter(&nextcnt);
nextcnt.QuadPart += slice.QuadPart;
fflush(stdout);
} }
/** /**
* @brief Interrupt simulation. * @brief Interrupt simulation.
*/ */
void _sim_check_for_interrupts(void) { void _sim_check_for_interrupts(void) {
LARGE_INTEGER n; struct timeval tv;
#if HAL_USE_SERIAL #if HAL_USE_SERIAL
if (sd_lld_interrupt_pending()) { if (sd_lld_interrupt_pending()) {
@ -87,10 +81,9 @@ void _sim_check_for_interrupts(void) {
} }
#endif #endif
/* Interrupt Timer simulation (10ms interval).*/ gettimeofday(&tv, NULL);
QueryPerformanceCounter(&n); if (timercmp(&tv, &nextcnt, >=)) {
if (n.QuadPart > nextcnt.QuadPart) { timeradd(&nextcnt, &tick, &nextcnt);
nextcnt.QuadPart += slice.QuadPart;
CH_IRQ_PROLOGUE(); CH_IRQ_PROLOGUE();

12
os/hal/ports/simulator/posix/hal_lld.h
View File

@ -25,7 +25,15 @@
#ifndef HAL_LLD_H #ifndef HAL_LLD_H
#define HAL_LLD_H #define HAL_LLD_H
#if defined(WIN32)
#include <windows.h> #include <windows.h>
#else
#include <sys/types.h>
#include <sys/socket.h>
#include <netdb.h>
#include <unistd.h>
#include <fcntl.h>
#endif
#include <stdio.h> #include <stdio.h>
/*===========================================================================*/ /*===========================================================================*/
@ -35,7 +43,11 @@
/** /**
* @brief Platform name. * @brief Platform name.
*/ */
#if defined(WIN32)
#define PLATFORM_NAME "Win32 Simulator" #define PLATFORM_NAME "Win32 Simulator"
#else
#define PLATFORM_NAME "Posix Simulator"
#endif
/*===========================================================================*/ /*===========================================================================*/
/* Driver pre-compile time settings. */ /* Driver pre-compile time settings. */

144
os/hal/ports/simulator/posix/hal_serial_lld.c
View File

@ -22,6 +22,10 @@
* @{ * @{
*/ */
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include "hal.h" #include "hal.h"
#if HAL_USE_SERIAL || defined(__DOXYGEN__) #if HAL_USE_SERIAL || defined(__DOXYGEN__)
@ -31,11 +35,12 @@
/*===========================================================================*/ /*===========================================================================*/
/** @brief Serial driver 1 identifier.*/ /** @brief Serial driver 1 identifier.*/
#if USE_WIN32_SERIAL1 || defined(__DOXYGEN__) #if USE_SIM_SERIAL1 || defined(__DOXYGEN__)
SerialDriver SD1; SerialDriver SD1;
#endif #endif
/** @brief Serial driver 2 identifier.*/ /** @brief Serial driver 2 identifier.*/
#if USE_WIN32_SERIAL2 || defined(__DOXYGEN__) #if USE_SIM_SERIAL2 || defined(__DOXYGEN__)
SerialDriver SD2; SerialDriver SD2;
#endif #endif
@ -47,8 +52,6 @@ SerialDriver SD2;
static const SerialConfig default_config = { static const SerialConfig default_config = {
}; };
static u_long nb = 1;
/*===========================================================================*/ /*===========================================================================*/
/* Driver local functions. */ /* Driver local functions. */
/*===========================================================================*/ /*===========================================================================*/
@ -56,6 +59,8 @@ static u_long nb = 1;
static void init(SerialDriver *sdp, uint16_t port) { static void init(SerialDriver *sdp, uint16_t port) {
struct sockaddr_in sad; struct sockaddr_in sad;
struct protoent *prtp; struct protoent *prtp;
int sockval = 1;
socklen_t socklen = sizeof(sockval);
if ((prtp = getprotobyname("tcp")) == NULL) { if ((prtp = getprotobyname("tcp")) == NULL) {
printf("%s: Error mapping protocol name to protocol number\n", sdp->com_name); printf("%s: Error mapping protocol name to protocol number\n", sdp->com_name);
@ -63,12 +68,21 @@ static void init(SerialDriver *sdp, uint16_t port) {
} }
sdp->com_listen = socket(PF_INET, SOCK_STREAM, prtp->p_proto); sdp->com_listen = socket(PF_INET, SOCK_STREAM, prtp->p_proto);
if (sdp->com_listen == INVALID_SOCKET) { if (sdp->com_listen == -1) {
printf("%s: Error creating simulator socket\n", sdp->com_name); printf("%s: Error creating simulator socket\n", sdp->com_name);
goto abort; goto abort;
} }
if (ioctlsocket(sdp->com_listen, FIONBIO, &nb) != 0) { setsockopt(sdp->com_listen, SOL_SOCKET, SO_REUSEADDR, &sockval, socklen);
#if 0
if (ioctl(sdp->com_listen, FIONBIO, &nb) != 0) {
printf("%s: Unable to setup non blocking mode on socket\n", sdp->com_name);
goto abort;
}
#endif
int flags = fcntl(sdp->com_listen, F_GETFL, 0);
if (fcntl(sdp->com_listen, F_SETFL, flags | O_NONBLOCK) != 0) {
printf("%s: Unable to setup non blocking mode on socket\n", sdp->com_name); printf("%s: Unable to setup non blocking mode on socket\n", sdp->com_name);
goto abort; goto abort;
} }
@ -90,69 +104,75 @@ static void init(SerialDriver *sdp, uint16_t port) {
return; return;
abort: abort:
if (sdp->com_listen != INVALID_SOCKET) if (sdp->com_listen != -1)
closesocket(sdp->com_listen); close(sdp->com_listen);
WSACleanup();
exit(1); exit(1);
} }
static bool connint(SerialDriver *sdp) { static bool connint(SerialDriver *sdp) {
if (sdp->com_data == INVALID_SOCKET) { if (sdp->com_data == -1) {
struct sockaddr addr; struct sockaddr addr;
int addrlen = sizeof(addr); socklen_t addrlen = sizeof(addr);
if ((sdp->com_data = accept(sdp->com_listen, &addr, &addrlen)) == INVALID_SOCKET) if ((sdp->com_data = accept(sdp->com_listen, &addr, &addrlen)) == -1)
return FALSE; return FALSE;
if (ioctlsocket(sdp->com_data, FIONBIO, &nb) != 0) { #if 0
if (ioctl(sdp->com_data, FIONBIO, &nb) != 0) {
printf("%s: Unable to setup non blocking mode on data socket\n", sdp->com_name); printf("%s: Unable to setup non blocking mode on data socket\n", sdp->com_name);
goto abort; goto abort;
} }
chSysLockFromISR(); #endif
int flags = fcntl(sdp->com_data, F_GETFL, 0);
if (fcntl(sdp->com_data, F_SETFL, flags | O_NONBLOCK) != 0) {
printf("%s: Unable to setup non blocking mode on data socket\n", sdp->com_name);
goto abort;
}
osalSysLockFromISR();
chnAddFlagsI(sdp, CHN_CONNECTED); chnAddFlagsI(sdp, CHN_CONNECTED);
chSysUnlockFromISR(); osalSysUnlockFromISR();
return TRUE; return TRUE;
} }
return FALSE; return FALSE;
abort: abort:
if (sdp->com_listen != INVALID_SOCKET) if (sdp->com_listen != -1)
closesocket(sdp->com_listen); close(sdp->com_listen);
if (sdp->com_data != INVALID_SOCKET) if (sdp->com_data != -1)
closesocket(sdp->com_data); close(sdp->com_data);
WSACleanup();
exit(1); exit(1);
} }
static bool inint(SerialDriver *sdp) { static bool inint(SerialDriver *sdp) {
if (sdp->com_data != INVALID_SOCKET) { if (sdp->com_data != -1) {
int i; int i;
uint8_t data[32]; uint8_t data[32];
/* /*
* Input. * Input.
*/ */
int n = recv(sdp->com_data, (char *)data, sizeof(data), 0); int n = recv(sdp->com_data, data, sizeof(data), 0);
switch (n) { switch (n) {
case 0: case 0:
closesocket(sdp->com_data); close(sdp->com_data);
sdp->com_data = INVALID_SOCKET; sdp->com_data = -1;
chSysLockFromISR(); osalSysLockFromISR();
chnAddFlagsI(sdp, CHN_DISCONNECTED); chnAddFlagsI(sdp, CHN_DISCONNECTED);
chSysUnlockFromISR(); osalSysUnlockFromISR();
return FALSE; return FALSE;
case SOCKET_ERROR: case -1:
if (WSAGetLastError() == WSAEWOULDBLOCK) if (errno == EWOULDBLOCK)
return FALSE; return FALSE;
closesocket(sdp->com_data); close(sdp->com_data);
sdp->com_data = INVALID_SOCKET; sdp->com_data = -1;
return FALSE; return FALSE;
} }
for (i = 0; i < n; i++) { for (i = 0; i < n; i++) {
chSysLockFromISR(); osalSysLockFromISR();
sdIncomingDataI(sdp, data[i]); sdIncomingDataI(sdp, data[i]);
chSysUnlockFromISR(); osalSysUnlockFromISR();
} }
return TRUE; return TRUE;
} }
@ -161,33 +181,33 @@ static bool inint(SerialDriver *sdp) {
static bool outint(SerialDriver *sdp) { static bool outint(SerialDriver *sdp) {
if (sdp->com_data != INVALID_SOCKET) { if (sdp->com_data != -1) {
int n; int n;
uint8_t data[1]; uint8_t data[1];
/* /*
* Input. * Input.
*/ */
chSysLockFromISR(); osalSysLockFromISR();
n = sdRequestDataI(sdp); n = sdRequestDataI(sdp);
chSysUnlockFromISR(); osalSysUnlockFromISR();
if (n < 0) if (n < 0)
return FALSE; return FALSE;
data[0] = (uint8_t)n; data[0] = (uint8_t)n;
n = send(sdp->com_data, (char *)data, sizeof(data), 0); n = send(sdp->com_data, data, sizeof(data), 0);
switch (n) { switch (n) {
case 0: case 0:
closesocket(sdp->com_data); close(sdp->com_data);
sdp->com_data = INVALID_SOCKET; sdp->com_data = -1;
chSysLockFromISR(); osalSysLockFromISR();
chnAddFlagsI(sdp, CHN_DISCONNECTED); chnAddFlagsI(sdp, CHN_DISCONNECTED);
chSysUnlockFromISR(); osalSysUnlockFromISR();
return FALSE; return FALSE;
case SOCKET_ERROR: case -1:
if (WSAGetLastError() == WSAEWOULDBLOCK) if (errno == EWOULDBLOCK)
return FALSE; return FALSE;
closesocket(sdp->com_data); close(sdp->com_data);
sdp->com_data = INVALID_SOCKET; sdp->com_data = -1;
return FALSE; return FALSE;
} }
return TRUE; return TRUE;
@ -208,17 +228,17 @@ static bool outint(SerialDriver *sdp) {
*/ */
void sd_lld_init(void) { void sd_lld_init(void) {
#if USE_WIN32_SERIAL1 #if USE_SIM_SERIAL1
sdObjectInit(&SD1, NULL, NULL); sdObjectInit(&SD1, NULL, NULL);
SD1.com_listen = INVALID_SOCKET; SD1.com_listen = -1;
SD1.com_data = INVALID_SOCKET; SD1.com_data = -1;
SD1.com_name = "SD1"; SD1.com_name = "SD1";
#endif #endif
#if USE_WIN32_SERIAL2 #if USE_SIM_SERIAL2
sdObjectInit(&SD2, NULL, NULL); sdObjectInit(&SD2, NULL, NULL);
SD2.com_listen = INVALID_SOCKET; SD2.com_listen = -1;
SD2.com_data = INVALID_SOCKET; SD2.com_data = -1;
SD2.com_name = "SD2"; SD2.com_name = "SD2";
#endif #endif
} }
@ -236,14 +256,14 @@ void sd_lld_start(SerialDriver *sdp, const SerialConfig *config) {
if (config == NULL) if (config == NULL)
config = &default_config; config = &default_config;
#if USE_WIN32_SERIAL1 #if USE_SIM_SERIAL1
if (sdp == &SD1) if (sdp == &SD1)
init(&SD1, SD1_PORT); init(&SD1, SIM_SD1_PORT);
#endif #endif
#if USE_WIN32_SERIAL2 #if USE_SIM_SERIAL2
if (sdp == &SD2) if (sdp == &SD2)
init(&SD2, SD2_PORT); init(&SD2, SIM_SD2_PORT);
#endif #endif
} }
@ -260,19 +280,15 @@ void sd_lld_stop(SerialDriver *sdp) {
} }
bool sd_lld_interrupt_pending(void) { bool sd_lld_interrupt_pending(void) {
bool b = false; bool b;
CH_IRQ_PROLOGUE(); OSAL_IRQ_PROLOGUE();
#if USE_WIN32_SERIAL1 b = connint(&SD1) || connint(&SD2) ||
b |= connint(&SD1) || inint(&SD1) || outint(&SD1); inint(&SD1) || inint(&SD2) ||
#endif outint(&SD1) || outint(&SD2);
#if USE_WIN32_SERIAL2 OSAL_IRQ_EPILOGUE();
b |= connint(&SD2) || inint(&SD2) || outint(&SD2);
#endif
CH_IRQ_EPILOGUE();
return b; return b;
} }

20
os/hal/ports/simulator/posix/hal_serial_lld.h
View File

@ -45,8 +45,8 @@
* @details If set to @p TRUE the support for SD1 is included. * @details If set to @p TRUE the support for SD1 is included.
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(USE_WIN32_SERIAL1) || defined(__DOXYGEN__) #if !defined(USE_SIM_SERIAL1) || defined(__DOXYGEN__)
#define USE_WIN32_SERIAL1 TRUE #define USE_SIM_SERIAL1 TRUE
#endif #endif
/** /**
@ -54,22 +54,22 @@
* @details If set to @p TRUE the support for SD2 is included. * @details If set to @p TRUE the support for SD2 is included.
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(USE_WIN32_SERIAL2) || defined(__DOXYGEN__) #if !defined(USE_SIM_SERIAL2) || defined(__DOXYGEN__)
#define USE_WIN32_SERIAL2 TRUE #define USE_SIM_SERIAL2 TRUE
#endif #endif
/** /**
* @brief Listen port for SD1. * @brief Listen port for SD1.
*/ */
#if !defined(SD1_PORT) || defined(__DOXYGEN__) #if !defined(SD1_PORT) || defined(__DOXYGEN__)
#define SD1_PORT 29001 #define SIM_SD1_PORT 29001
#endif #endif
/** /**
* @brief Listen port for SD2. * @brief Listen port for SD2.
*/ */
#if !defined(SD2_PORT) || defined(__DOXYGEN__) #if !defined(SD2_PORT) || defined(__DOXYGEN__)
#define SD2_PORT 29002 #define SIM_SD2_PORT 29002
#endif #endif
/*===========================================================================*/ /*===========================================================================*/
@ -108,9 +108,9 @@ typedef struct {
uint8_t ob[SERIAL_BUFFERS_SIZE]; \ uint8_t ob[SERIAL_BUFFERS_SIZE]; \
/* End of the mandatory fields.*/ \ /* End of the mandatory fields.*/ \
/* Listen socket for simulated serial port.*/ \ /* Listen socket for simulated serial port.*/ \
SOCKET com_listen; \ int com_listen; \
/* Data socket for simulated serial port.*/ \ /* Data socket for simulated serial port.*/ \
SOCKET com_data; \ int com_data; \
/* Port readable name.*/ \ /* Port readable name.*/ \
const char *com_name; const char *com_name;
@ -118,10 +118,10 @@ typedef struct {
/* External declarations. */ /* External declarations. */
/*===========================================================================*/ /*===========================================================================*/
#if USE_WIN32_SERIAL1 && !defined(__DOXYGEN__) #if USE_SIM_SERIAL1 && !defined(__DOXYGEN__)
extern SerialDriver SD1; extern SerialDriver SD1;
#endif #endif
#if USE_WIN32_SERIAL2 && !defined(__DOXYGEN__) #if USE_SIM_SERIAL2 && !defined(__DOXYGEN__)
extern SerialDriver SD2; extern SerialDriver SD2;
#endif #endif