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ChibiOS
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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@250 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
gdisirio 2008-03-27 14:42:48 +00:00
parent 165bcc4a07
commit b83cd4a1dc
4 changed files with 158 additions and 93 deletions
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51
demos/ARM7-LPC214x-G++/Makefile
View File

@ -68,7 +68,7 @@ UDEFS =
UADEFS =
# List ARM-mode C source files here
CSRC = ../../ports/ARM7-LPC214x/chcore.c \
ACSRC = ../../ports/ARM7-LPC214x/chcore.c \
../../ports/ARM7-LPC214x/vic.c \
../../ports/ARM7-LPC214x/lpc214x_serial.c \
../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
@ -79,12 +79,13 @@ CSRC = ../../ports/ARM7-LPC214x/chcore.c \
board.c
# List ARM-mode C++ source files here
CPPSRC = ../../src/lib/ch.cpp main.cpp
ACPPSRC = ../../src/lib/ch.cpp main.cpp
# List THUMB-mode C sources here
# NOTE: If any module is compiled in thumb mode then -mthumb-interwork is
# enabled for all modules and that lowers performance.
TSRC =
TCSRC =
# List THUMB-mode C++ source files here
TCPPSRC =
# List ASM source files here
ASMSRC = ../../ports/ARM7-LPC214x/crt0.s ../../ports/ARM7/chsys.s
@ -130,11 +131,15 @@ INCDIR = $(patsubst %,-I%,$(DINCDIR) $(UINCDIR))
LIBDIR = $(patsubst %,-L%,$(DLIBDIR) $(ULIBDIR))
DEFS = $(DDEFS) $(UDEFS)
ADEFS = $(DADEFS) $(UADEFS)
AOBJS = $(CSRC:.c=.o)
TOBJS = $(TSRC:.c=.o)
CPPOBJS = $(CPPSRC:.cpp=.o)
ASRC = $(ACSRC)$(ACPPSRC)
TSRC = $(TCSRC)$(TCPPSRC)
SRC = $(ASRC)$(TSRC)
ACOBJS = $(ACSRC:.c=.o)
ACPPOBJS = $(ACPPSRC:.cpp=.o)
TCOBJS = $(TCSRC:.c=.o)
TCPPOBJS = $(TCPPSRC:.cpp=.o)
ASMOBJS = $(ASMSRC:.s=.o)
OBJS = $(ASMOBJS) $(CPPOBJS) $(AOBJS) $(TOBJS)
OBJS = $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS)
LIBS = $(DLIBS) $(ULIBS)
MCFLAGS = -mcpu=$(MCU)
@ -149,7 +154,7 @@ ifneq ($(TSRC),)
CFLAGS += -D THUMB_PRESENT
CPPFLAGS += -D THUMB_PRESENT
ASFLAGS += -D THUMB_PRESENT
ifneq ($(CSRC),)
ifneq ($(ASRC),)
# Mixed ARM and THUMB case.
CFLAGS += -mthumb-interwork
CPPFLAGS += -mthumb-interwork
@ -173,15 +178,19 @@ CPPFLAGS += -MD -MP -MF .dep/$(@F).d
all: $(OBJS) $(PROJECT).elf $(PROJECT).hex $(PROJECT).bin $(PROJECT).dmp
$(CPPOBJS) : %.o : %.cpp
$(ACPPOBJS) : %.o : %.cpp
@echo
$(CPPC) -c $(CPPFLAGS) $(AOPT) -I . $(INCDIR) $< -o $@
$(AOBJS) : %.o : %.c
$(TCPPOBJS) : %.o : %.cpp
@echo
$(CPPC) -c $(CPPFLAGS) $(TOPT) -I . $(INCDIR) $< -o $@
$(ACOBJS) : %.o : %.c
@echo
$(CC) -c $(CFLAGS) $(AOPT) -I . $(INCDIR) $< -o $@
$(TOBJS) : %.o : %.c
$(TCOBJS) : %.o : %.c
@echo
$(CC) -c $(CFLAGS) $(TOPT) -I . $(INCDIR) $< -o $@
@ -191,7 +200,7 @@ $(ASMOBJS) : %.o : %.s
%elf: $(OBJS)
@echo
$(LD) $(ASMOBJS) $(AOBJS) $(TOBJS) $(CPPOBJS) $(LDFLAGS) $(LIBS) -o $@
$(LD) $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS) $(LDFLAGS) $(LIBS) -o $@
%hex: %elf
$(HEX) $< $@
@ -209,12 +218,14 @@ clean:
-rm -f $(PROJECT).map
-rm -f $(PROJECT).hex
-rm -f $(PROJECT).bin
-rm -f $(CSRC:.c=.c.bak)
-rm -f $(CSRC:.c=.lst)
-rm -f $(CPPSRC:.cpp=.c.bak)
-rm -f $(CPPSRC:.cpp=.lst)
-rm -f $(TSRC:.c=.c.bak)
-rm -f $(TSRC:.c=.lst)
-rm -f $(ACSRC:.c=.c.bak)
-rm -f $(ACSRC:.c=.lst)
-rm -f $(TCSRC:.c=.c.bak)
-rm -f $(TCSRC:.c=.lst)
-rm -f $(ACPPSRC:.cpp=.c.bak)
-rm -f $(ACPPSRC:.cpp=.lst)
-rm -f $(TCPPSRC:.cpp=.c.bak)
-rm -f $(TCPPSRC:.cpp=.lst)
-rm -f $(ASMSRC:.s=.s.bak)
-rm -f $(ASMSRC:.s=.lst)
-rm -fR .dep

89
demos/ARM7-LPC214x-G++/Makefile.thumb
View File

@ -18,6 +18,12 @@
TRGT = arm-elf-
CC = $(TRGT)gcc
CPPC = $(TRGT)g++
# Enable loading with g++ only if you need C++ runtime support.
# NOTE: You can use C++ even without C++ support if you are careful. C++
# runtime support makes code size explode.
LD = $(TRGT)gcc
#LD = $(TRGT)g++
CP = $(TRGT)objcopy
AS = $(TRGT)gcc -x assembler-with-cpp
OD = $(TRGT)objdump
@ -62,24 +68,30 @@ UDEFS =
UADEFS =
# List ARM-mode C source files here
ASRC =
ACSRC =
# List ARM-mode C++ source files here
ACPPSRC =
# List THUMB-mode C sources here
# NOTE: If any module is compiled in thumb mode then -mthumb-interwork is
# enabled for all modules and that lowers performance.
TSRC = ../../ports/ARM7-LPC214x/chcore.c \
TCSRC = ../../ports/ARM7-LPC214x/chcore.c \
../../ports/ARM7-LPC214x/vic.c \
../../ports/ARM7-LPC214x/lpc214x_serial.c \
../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \
../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \
../../src/chserial.c \
board.c main.c
../../src/lib/evtimer.c ../../test/test.c \
board.c
# List THUMB-mode C++ source files here
TCPPSRC = ../../src/lib/ch.cpp main.cpp
# List ASM source files here
ASMSRC = ../../ports/ARM7-LPC214x/crt0.s ../../ports/ARM7/chsys.s
# List all user directories here
UINCDIR = ../../src/include ../../src/lib \
UINCDIR = ../../src/include ../../src/lib ../../test \
../../ports/ARM7 ../../ports/ARM7-LPC214x
# List the user directory to look for the libraries here
@ -99,12 +111,17 @@ TOPT = -mthumb -D THUMB
# chconf.h.
# NOTE: -falign-functions=16 may improve the performance, not always, but
# increases the code size.
OPT = -Os -ggdb -fomit-frame-pointer
OPT = -O2 -ggdb -fomit-frame-pointer
#OPT += -ffixed-r7
OPT += -falign-functions=16
# C++ specific options here
# NOTE: -fno-rtti saves a LOT of code space, remove it only if you really need
# RTTI.
CPPOPT = -fno-rtti
# Define warning options here
WARN = -Wall -Wstrict-prototypes
WARN = -Wall
#
# End of user defines
@ -114,36 +131,46 @@ INCDIR = $(patsubst %,-I%,$(DINCDIR) $(UINCDIR))
LIBDIR = $(patsubst %,-L%,$(DLIBDIR) $(ULIBDIR))
DEFS = $(DDEFS) $(UDEFS)
ADEFS = $(DADEFS) $(UADEFS)
AOBJS = $(ASRC:.c=.o)
TOBJS = $(TSRC:.c=.o)
OBJS = $(ASMOBJS) $(AOBJS) $(TOBJS)
ASRC = $(ACSRC)$(ACPPSRC)
TSRC = $(TCSRC)$(TCPPSRC)
SRC = $(ASRC)$(TSRC)
ACOBJS = $(ACSRC:.c=.o)
ACPPOBJS = $(ACPPSRC:.cpp=.o)
TCOBJS = $(TCSRC:.c=.o)
TCPPOBJS = $(TCPPSRC:.cpp=.o)
ASMOBJS = $(ASMSRC:.s=.o)
OBJS = $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS)
LIBS = $(DLIBS) $(ULIBS)
MCFLAGS = -mcpu=$(MCU)
ASFLAGS = $(MCFLAGS) -Wa,-amhls=$(<:.s=.lst) $(ADEFS)
CPFLAGS = $(MCFLAGS) $(OPT) $(WARN) -Wa,-alms=$(<:.c=.lst) $(DEFS)
CFLAGS = $(MCFLAGS) $(OPT) $(WARN) -Wa,-alms=$(<:.c=.lst) $(DEFS)
CPPFLAGS = $(MCFLAGS) $(OPT) $(CPPOPT) $(WARN) -Wa,-alms=$(<:.cpp=.lst) $(DEFS)
LDFLAGS = $(MCFLAGS) -nostartfiles -T$(LDSCRIPT) -Wl,-Map=$(PROJECT).map,--cref,--no-warn-mismatch $(LIBDIR)
ODFLAGS = -x --syms
# Thumb interwork enabled only if needed because it kills performance.
ifneq ($(TSRC),)
CPFLAGS += -D THUMB_PRESENT
CFLAGS += -D THUMB_PRESENT
CPPFLAGS += -D THUMB_PRESENT
ASFLAGS += -D THUMB_PRESENT
ifneq ($(ASRC),)
# Mixed ARM and THUMB case.
CPFLAGS += -mthumb-interwork
CFLAGS += -mthumb-interwork
CPPFLAGS += -mthumb-interwork
LDFLAGS += -mthumb-interwork
else
# Pure THUMB case, THUMB C code cannot be called by ARM asm code directly.
CPFLAGS += -D THUMB_NO_INTERWORKING
CFLAGS += -D THUMB_NO_INTERWORKING
CPPFLAGS += -D THUMB_NO_INTERWORKING
LDFLAGS += -mthumb
ASFLAGS += -D THUMB_NO_INTERWORKING
endif
endif
# Generate dependency information
CPFLAGS += -MD -MP -MF .dep/$(@F).d
CFLAGS += -MD -MP -MF .dep/$(@F).d
CPPFLAGS += -MD -MP -MF .dep/$(@F).d
#
# Makefile rules
@ -151,13 +178,21 @@ CPFLAGS += -MD -MP -MF .dep/$(@F).d
all: $(OBJS) $(PROJECT).elf $(PROJECT).hex $(PROJECT).bin $(PROJECT).dmp
$(AOBJS) : %.o : %.c
$(ACPPOBJS) : %.o : %.cpp
@echo
$(CC) -c $(CPFLAGS) $(AOPT) -I . $(INCDIR) $< -o $@
$(CPPC) -c $(CPPFLAGS) $(AOPT) -I . $(INCDIR) $< -o $@
$(TOBJS) : %.o : %.c
$(TCPPOBJS) : %.o : %.cpp
@echo
$(CC) -c $(CPFLAGS) $(TOPT) -I . $(INCDIR) $< -o $@
$(CPPC) -c $(CPPFLAGS) $(TOPT) -I . $(INCDIR) $< -o $@
$(ACOBJS) : %.o : %.c
@echo
$(CC) -c $(CFLAGS) $(AOPT) -I . $(INCDIR) $< -o $@
$(TCOBJS) : %.o : %.c
@echo
$(CC) -c $(CFLAGS) $(TOPT) -I . $(INCDIR) $< -o $@
$(ASMOBJS) : %.o : %.s
@echo
@ -165,7 +200,7 @@ $(ASMOBJS) : %.o : %.s
%elf: $(OBJS)
@echo
$(CC) $(ASMOBJS) $(AOBJS) $(TOBJS) $(LDFLAGS) $(LIBS) -o $@
$(LD) $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS) $(LDFLAGS) $(LIBS) -o $@
%hex: %elf
$(HEX) $< $@
@ -183,10 +218,14 @@ clean:
-rm -f $(PROJECT).map
-rm -f $(PROJECT).hex
-rm -f $(PROJECT).bin
-rm -f $(ASRC:.c=.c.bak)
-rm -f $(ASRC:.c=.lst)
-rm -f $(TSRC:.c=.c.bak)
-rm -f $(TSRC:.c=.lst)
-rm -f $(ACSRC:.c=.c.bak)
-rm -f $(ACSRC:.c=.lst)
-rm -f $(TCSRC:.c=.c.bak)
-rm -f $(TCSRC:.c=.lst)
-rm -f $(ACPPSRC:.cpp=.c.bak)
-rm -f $(ACPPSRC:.cpp=.lst)
-rm -f $(TCPPSRC:.cpp=.c.bak)
-rm -f $(TCPPSRC:.cpp=.lst)
-rm -f $(ASMSRC:.s=.s.bak)
-rm -f $(ASMSRC:.s=.lst)
-rm -fR .dep

39
demos/ARM7-LPC214x-G++/main.cpp
View File

@ -28,7 +28,8 @@
using namespace chibios_rt;
/*
* LED blinking sequences.
* LED blink sequences.
* NOTE: Sequences must always be terminated by a GOTO instruction.
*/
#define SLEEP 0
#define GOTO 1
@ -39,9 +40,9 @@ using namespace chibios_rt;
typedef struct {
uint8_t action;
uint32_t value;
} bitop_t;
} seqop_t;
bitop_t LED1_sequence[] =
static const seqop_t LED1_sequence[] =
{
{BITCLEAR, 0x00000400},
{SLEEP, 200},
@ -50,7 +51,7 @@ bitop_t LED1_sequence[] =
{GOTO, 0}
};
bitop_t LED2_sequence[] =
static const seqop_t LED2_sequence[] =
{
{SLEEP, 1000},
{BITCLEAR, 0x00000800},
@ -60,7 +61,7 @@ bitop_t LED2_sequence[] =
{GOTO, 1}
};
bitop_t LED3_sequence[] =
static const seqop_t LED3_sequence[] =
{
{BITCLEAR, 0x80000000},
{SLEEP, 200},
@ -70,14 +71,16 @@ bitop_t LED3_sequence[] =
};
/**
* Blinker thread class. It can drive LEDs or other output pins.
* Sequencer thread class. It can drive LEDs or other output pins.
*/
class BlinkerThread : BaseThread {
class SequencerThread : BaseThread {
private:
WorkingArea(wa, 64);
bitop_t *base, *curr, *top;
WorkingArea(wa, 64); // Thread working area.
const seqop_t *base, *curr; // Thread local variables.
protected:
virtual msg_t Main(void) {
while (TRUE) {
@ -102,7 +105,7 @@ protected:
}
public:
BlinkerThread(bitop_t *sequence) : BaseThread(NORMALPRIO, 0, wa, sizeof wa) {
SequencerThread(const seqop_t *sequence) : BaseThread(NORMALPRIO, 0, wa, sizeof wa) {
base = curr = sequence;
}
@ -127,19 +130,19 @@ int main(int argc, char **argv) {
static EvTimer evt;
struct EventListener el0;
System::Init();
System::Init(); // ChibiOS/RT goes live here.
evtInit(&evt, 500); /* Initializes an event timer object. */
evtStart(&evt); /* Starts the event timer. */
chEvtRegister(&evt.et_es, &el0, 0); /* Registers on the timer event source. */
evtInit(&evt, 500); // Initializes an event timer object.
evtStart(&evt); // Starts the event timer.
chEvtRegister(&evt.et_es, &el0, 0); // Registers on the timer event source.
/*
* Starts serveral instances of the BlinkerThread class, each one operating
* Starts serveral instances of the SequencerThread class, each one operating
* on a different LED.
*/
BlinkerThread blinker1(LED1_sequence);
BlinkerThread blinker2(LED2_sequence);
BlinkerThread blinker3(LED3_sequence);
SequencerThread blinker1(LED1_sequence);
SequencerThread blinker2(LED2_sequence);
SequencerThread blinker3(LED3_sequence);
/*
* Serves timer events.

18
ports/ARM7/chcore.h
View File

@ -74,8 +74,14 @@ typedef struct {
}
#ifdef THUMB
extern void chSysLock(void);
extern void chSysUnlock(void);
#ifdef __cplusplus
extern "C" {
#endif
void chSysLock(void);
void chSysUnlock(void);
#ifdef __cplusplus
}
#endif
#else /* !THUMB */
#define chSysLock() asm("msr CPSR_c, #0x9F")
#define chSysUnlock() asm("msr CPSR_c, #0x1F")
@ -123,11 +129,17 @@ extern void chSysUnlock(void);
/* It requires zero bytes, but better be safe.*/
#define IDLE_THREAD_STACK_SIZE 8
void _IdleThread(void *p) __attribute__((noreturn));
#ifdef __cplusplus
extern "C" {
#endif
void _IdleThread(void *p) __attribute__((noreturn));
void chSysHalt(void);
void chSysSwitchI(Thread *otp, Thread *ntp);
void chSysPuts(char *msg);
void threadstart(void);
#ifdef __cplusplus
}
#endif
#endif /* _CHCORE_H_ */