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ChibiOS
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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6304 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
gdisirio 2013-09-14 10:00:36 +00:00
parent 3ed3be799e
commit c0b3c5e8b2
6 changed files with 129 additions and 177 deletions
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6
demos/rt/RT-STM32F407-DISCOVERY-MEMS/Makefile
View File

@ -96,7 +96,10 @@ CSRC = $(PORTSRC) \
$(OSALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
main.c
$(CHIBIOS)/os/various/devices_lib/accel/lis302dl.c \
$(CHIBIOS)/os/various/shell.c \
$(CHIBIOS)/os/various/chprintf.c \
usbcfg.c main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
@ -127,6 +130,7 @@ ASMSRC = $(PORTASM)
INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
$(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
$(CHIBIOS)/os/various/devices_lib/accel \
$(CHIBIOS)/os/various
#

17
demos/rt/RT-STM32F407-DISCOVERY-MEMS/main.c
View File

@ -31,8 +31,8 @@ SerialUSBDriver SDU1;
/* Command line related. */
/*===========================================================================*/
#define SHELL_WA_SIZE THD_WA_SIZE(2048)
#define TEST_WA_SIZE THD_WA_SIZE(256)
#define SHELL_WA_SIZE THD_WORKING_AREA_SIZE(2048)
#define TEST_WA_SIZE THD_WORKING_AREA_SIZE(256)
static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
size_t n, size;
@ -49,7 +49,7 @@ static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
}
static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
static const char *states[] = {CH_THD_STATE_NAMES};
static const char *states[] = {CH_STATE_NAMES};
thread_t *tp;
(void)argv;
@ -62,7 +62,8 @@ static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
do {
chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s\r\n",
(uint32_t)tp, (uint32_t)tp->p_ctx.r13,
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1));
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
states[tp->p_state]);
tp = chRegNextThread(tp);
} while (tp != NULL);
}
@ -150,8 +151,8 @@ static const SPIConfig spi2cfg = {
* This is a periodic thread that reads accelerometer and outputs
* result to SPI2 and PWM.
*/
static WORKING_AREA(waThread1, 128);
static msg_t Thread1(void *arg) {
static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg) {
static int8_t xbuf[4], ybuf[4]; /* Last accelerometer data.*/
systime_t time; /* Next deadline.*/
@ -164,7 +165,7 @@ static msg_t Thread1(void *arg) {
lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG3, 0x00);
/* Reader thread loop.*/
time = chTimeNow();
time = chVTGetSystemTime();
while (TRUE) {
int32_t x, y;
unsigned i;
@ -314,7 +315,7 @@ int main(void) {
}
else {
/* If the previous shell exited.*/
if (chThdTerminated(shelltp)) {
if (chThdTerminatedX(shelltp)) {
/* Recovers memory of the previous shell.*/
chThdRelease(shelltp);
shelltp = NULL;

4
demos/rt/RT-STM32F407-DISCOVERY-MEMS/usbcfg.c
View File

@ -270,7 +270,7 @@ static void usb_event(USBDriver *usbp, usbevent_t event) {
case USB_EVENT_ADDRESS:
return;
case USB_EVENT_CONFIGURED:
chSysLockFromIsr();
chSysLockFromISR();
/* Enables the endpoints specified into the configuration.
Note, this callback is invoked from an ISR so I-Class functions
@ -281,7 +281,7 @@ static void usb_event(USBDriver *usbp, usbevent_t event) {
/* Resetting the state of the CDC subsystem.*/
sduConfigureHookI(&SDU1);
chSysUnlockFromIsr();
chSysUnlockFromISR();
return;
case USB_EVENT_SUSPEND:
return;

257
os/hal/ports/STM32/OTGv1/usb_lld.c
View File

@ -24,7 +24,6 @@
#include <string.h>
#include "ch.h"
#include "hal.h"
#if HAL_USE_USB || defined(__DOXYGEN__)
@ -110,21 +109,6 @@ static const stm32_otg_params_t hsparams = {
/* Driver local functions. */
/*===========================================================================*/
/**
* @brief Wakes up the pump thread.
*
* @param[in] usbp pointer to the @p USBDriver object
*
* @notapi
*/
static void usb_lld_wakeup_pump(USBDriver *usbp) {
if (usbp->thd_wait != NULL) {
chThdResumeI(usbp->thd_wait);
usbp->thd_wait = NULL;
}
}
static void otg_core_reset(USBDriver *usbp) {
stm32_otg_t *otgp = usbp->otg;
@ -132,7 +116,7 @@ static void otg_core_reset(USBDriver *usbp) {
otgp->GRSTCTL = GRSTCTL_CSRST;
while ((otgp->GRSTCTL & GRSTCTL_CSRST) != 0)
;
halPolledDelay(12);
osalSysPolledDelayX(12);
/* Wait AHB idle condition.*/
while ((otgp->GRSTCTL & GRSTCTL_AHBIDL) == 0)
;
@ -182,7 +166,7 @@ static void otg_rxfifo_flush(USBDriver *usbp) {
while ((otgp->GRSTCTL & GRSTCTL_RXFFLSH) != 0)
;
/* Wait for 3 PHY Clocks.*/
halPolledDelay(12);
osalSysPolledDelayX(12);
}
static void otg_txfifo_flush(USBDriver *usbp, uint32_t fifo) {
@ -192,7 +176,7 @@ static void otg_txfifo_flush(USBDriver *usbp, uint32_t fifo) {
while ((otgp->GRSTCTL & GRSTCTL_TXFFLSH) != 0)
;
/* Wait for 3 PHY Clocks.*/
halPolledDelay(12);
osalSysPolledDelayX(12);
}
/**
@ -220,8 +204,8 @@ static uint32_t otg_ram_alloc(USBDriver *usbp, size_t size) {
next = usbp->pmnext;
usbp->pmnext += size;
chDbgAssert(usbp->pmnext <= usbp->otgparams->otg_ram_size,
"otg_fifo_alloc(), #1", "OTG FIFO memory overflow");
osalDbgAssert(usbp->pmnext <= usbp->otgparams->otg_ram_size,
"OTG FIFO memory overflow");
return next;
}
@ -269,13 +253,13 @@ static void otg_fifo_write_from_buffer(volatile uint32_t *fifop,
* @brief Writes to a TX FIFO fetching data from a queue.
*
* @param[in] fifop pointer to the FIFO register
* @param[in] oqp pointer to an @p OutputQueue object
* @param[in] oqp pointer to an @p output_queue_t object
* @param[in] n maximum number of bytes to copy
*
* @notapi
*/
static void otg_fifo_write_from_queue(volatile uint32_t *fifop,
OutputQueue *oqp,
output_queue_t *oqp,
size_t n) {
size_t ntogo;
@ -315,12 +299,11 @@ static void otg_fifo_write_from_queue(volatile uint32_t *fifop,
}
/* Updating queue.*/
chSysLock();
osalSysLock();
oqp->q_counter += n;
while (notempty(&oqp->q_waiting))
chSchReadyI(fifo_remove(&oqp->q_waiting))->p_u.rdymsg = Q_OK;
chSchRescheduleS();
chSysUnlock();
osalQueueWakeupAllI(&oqp->q_waiting, Q_OK);
osalOsRescheduleS();
osalSysUnlock();
}
/**
@ -382,13 +365,13 @@ static void otg_fifo_read_to_buffer(volatile uint32_t *fifop,
* @brief Reads a packet from the RXFIFO.
*
* @param[in] fifop pointer to the FIFO register
* @param[in] iqp pointer to an @p InputQueue object
* @param[in] iqp pointer to an @p input_queue_t object
* @param[in] n number of bytes to pull from the FIFO
*
* @notapi
*/
static void otg_fifo_read_to_queue(volatile uint32_t *fifop,
InputQueue *iqp,
input_queue_t *iqp,
size_t n) {
size_t ntogo;
@ -427,12 +410,11 @@ static void otg_fifo_read_to_queue(volatile uint32_t *fifop,
}
/* Updating queue.*/
chSysLock();
osalSysLock();
iqp->q_counter += n;
while (notempty(&iqp->q_waiting))
chSchReadyI(fifo_remove(&iqp->q_waiting))->p_u.rdymsg = Q_OK;
chSchRescheduleS();
chSysUnlock();
osalQueueWakeupAllI(&iqp->q_waiting, Q_OK);
osalOsRescheduleS();
osalSysUnlock();
}
/**
@ -489,7 +471,7 @@ static void otg_rxfifo_handler(USBDriver *usbp) {
*
* @notapi
*/
static bool_t otg_txfifo_handler(USBDriver *usbp, usbep_t ep) {
static bool otg_txfifo_handler(USBDriver *usbp, usbep_t ep) {
/* The TXFIFO is filled until there is space and data to be transmitted.*/
while (TRUE) {
@ -557,11 +539,11 @@ static void otg_epin_handler(USBDriver *usbp, usbep_t ep) {
if ((epint & DIEPINT_TXFE) &&
(otgp->DIEPEMPMSK & DIEPEMPMSK_INEPTXFEM(ep))) {
/* The thread is made ready, it will be scheduled on ISR exit.*/
chSysLockFromIsr();
osalSysLockFromISR();
usbp->txpending |= (1 << ep);
otgp->DIEPEMPMSK &= ~(1 << ep);
usb_lld_wakeup_pump(usbp);
chSysUnlockFromIsr();
osalThreadResumeI(&usbp->wait, MSG_OK);
osalSysUnlockFromISR();
}
}
@ -626,10 +608,10 @@ static void usb_lld_serve_interrupt(USBDriver *usbp) {
if (sts & GINTSTS_RXFLVL) {
/* The interrupt is masked while the thread has control or it would
be triggered again.*/
chSysLockFromIsr();
osalSysLockFromISR();
otgp->GINTMSK &= ~GINTMSK_RXFLVLM;
usb_lld_wakeup_pump(usbp);
chSysUnlockFromIsr();
osalThreadResumeI(&usbp->wait, MSG_OK);
osalSysUnlockFromISR();
}
/* IN/OUT endpoints event handling.*/
@ -669,67 +651,9 @@ static void usb_lld_serve_interrupt(USBDriver *usbp) {
}
/*===========================================================================*/
/* Driver interrupt handlers and threads. */
/* Driver interrupt handlers. */
/*===========================================================================*/
static msg_t usb_lld_pump(void *p) {
USBDriver *usbp = (USBDriver *)p;
stm32_otg_t *otgp = usbp->otg;
chRegSetThreadName("usb_lld_pump");
chSysLock();
while (TRUE) {
usbep_t ep;
uint32_t epmask;
/* Nothing to do, going to sleep.*/
if ((usbp->state == USB_STOP) ||
((usbp->txpending == 0) && !(otgp->GINTSTS & GINTSTS_RXFLVL))) {
otgp->GINTMSK |= GINTMSK_RXFLVLM;
usbp->thd_wait = chThdSelf();
chSchGoSleepS(THD_STATE_SUSPENDED);
}
chSysUnlock();
/* Checks if there are TXFIFOs to be filled.*/
for (ep = 0; ep <= usbp->otgparams->num_endpoints; ep++) {
/* Empties the RX FIFO.*/
while (otgp->GINTSTS & GINTSTS_RXFLVL) {
otg_rxfifo_handler(usbp);
}
epmask = (1 << ep);
if (usbp->txpending & epmask) {
bool_t done;
chSysLock();
/* USB interrupts are globally *suspended* because the peripheral
does not allow any interference during the TX FIFO filling
operation.
Synopsys document: DesignWare Cores USB 2.0 Hi-Speed On-The-Go (OTG)
"The application has to finish writing one complete packet before
switching to a different channel/endpoint FIFO. Violating this
rule results in an error.".*/
otgp->GAHBCFG &= ~GAHBCFG_GINTMSK;
usbp->txpending &= ~epmask;
chSysUnlock();
done = otg_txfifo_handler(usbp, ep);
chSysLock();
otgp->GAHBCFG |= GAHBCFG_GINTMSK;
if (!done)
otgp->DIEPEMPMSK |= epmask;
chSysUnlock();
}
}
chSysLock();
}
chSysUnlock();
return 0;
}
#if STM32_USB_USE_OTG1 || defined(__DOXYGEN__)
#if !defined(STM32_OTG1_HANDLER)
#error "STM32_OTG1_HANDLER not defined"
@ -739,13 +663,13 @@ static msg_t usb_lld_pump(void *p) {
*
* @isr
*/
CH_IRQ_HANDLER(STM32_OTG1_HANDLER) {
OSAL_IRQ_HANDLER(STM32_OTG1_HANDLER) {
CH_IRQ_PROLOGUE();
OSAL_IRQ_PROLOGUE();
usb_lld_serve_interrupt(&USBD1);
CH_IRQ_EPILOGUE();
OSAL_IRQ_EPILOGUE();
}
#endif
@ -758,13 +682,13 @@ CH_IRQ_HANDLER(STM32_OTG1_HANDLER) {
*
* @isr
*/
CH_IRQ_HANDLER(STM32_OTG2_HANDLER) {
OSAL_IRQ_HANDLER(STM32_OTG2_HANDLER) {
CH_IRQ_PROLOGUE();
OSAL_IRQ_PROLOGUE();
usb_lld_serve_interrupt(&USBD2);
CH_IRQ_EPILOGUE();
OSAL_IRQ_EPILOGUE();
}
#endif
@ -782,46 +706,16 @@ void usb_lld_init(void) {
/* Driver initialization.*/
#if STM32_USB_USE_OTG1
usbObjectInit(&USBD1);
USBD1.thd_ptr = NULL;
USBD1.thd_wait = NULL;
USBD1.wait = NULL;
USBD1.otg = OTG_FS;
USBD1.otgparams = &fsparams;
/* Filling the thread working area here because the function
@p chThdCreateI() does not do it.*/
#if CH_DBG_FILL_THREADS
{
void *wsp = USBD1.wa_pump;
_thread_memfill((uint8_t *)wsp,
(uint8_t *)wsp + sizeof(Thread),
CH_THREAD_FILL_VALUE);
_thread_memfill((uint8_t *)wsp + sizeof(Thread),
(uint8_t *)wsp + sizeof(USBD1.wa_pump) - sizeof(Thread),
CH_STACK_FILL_VALUE);
}
#endif
#endif
#if STM32_USB_USE_OTG2
usbObjectInit(&USBD2);
USBD2.thd_ptr = NULL;
USBD2.thd_wait = NULL;
USBD2.wait = NULL;
USBD2.otg = OTG_HS;
USBD2.otgparams = &hsparams;
/* Filling the thread working area here because the function
@p chThdCreateI() does not do it.*/
#if CH_DBG_FILL_THREADS
{
void *wsp = USBD2.wa_pump;
_thread_memfill((uint8_t *)wsp,
(uint8_t *)wsp + sizeof(Thread),
CH_THREAD_FILL_VALUE);
_thread_memfill((uint8_t *)wsp + sizeof(Thread),
(uint8_t *)wsp + sizeof(USBD2.wa_pump) - sizeof(Thread),
CH_STACK_FILL_VALUE);
}
#endif
#endif
}
@ -847,8 +741,7 @@ void usb_lld_start(USBDriver *usbp) {
rccResetOTG_FS();
/* Enables IRQ vector.*/
nvicEnableVector(STM32_OTG1_NUMBER,
CORTEX_PRIORITY_MASK(STM32_USB_OTG1_IRQ_PRIORITY));
nvicEnableVector(STM32_OTG1_NUMBER, STM32_USB_OTG1_IRQ_PRIORITY);
}
#endif
#if STM32_USB_USE_OTG2
@ -858,20 +751,11 @@ void usb_lld_start(USBDriver *usbp) {
rccResetOTG_HS();
/* Enables IRQ vector.*/
nvicEnableVector(STM32_OTG2_NUMBER,
CORTEX_PRIORITY_MASK(STM32_USB_OTG2_IRQ_PRIORITY));
nvicEnableVector(STM32_OTG2_NUMBER, STM32_USB_OTG2_IRQ_PRIORITY);
}
#endif
/* Creates the data pump threads in a suspended state. Note, it is
created only once, the first time @p usbStart() is invoked.*/
usbp->txpending = 0;
if (usbp->thd_ptr == NULL)
usbp->thd_ptr = usbp->thd_wait = chThdCreateI(usbp->wa_pump,
sizeof usbp->wa_pump,
STM32_USB_OTG_THREAD_PRIO,
usb_lld_pump,
usbp);
/* - Forced device mode.
- USB turn-around time = TRDT_VALUE.
@ -1295,6 +1179,77 @@ void usb_lld_clear_in(USBDriver *usbp, usbep_t ep) {
usbp->otg->ie[ep].DIEPCTL &= ~DIEPCTL_STALL;
}
/**
* @brief USB data transfer loop.
* @details This function must be executed by a system thread in order to
* make the USB driver work.
* @note The data copy part of the driver is implemented in this thread
* in order to not perform heavy tasks withing interrupt handlers.
*
* @param[in] p pointer to the @p USBDriver object
* @return The function never returns.
*
* @special
*/
msg_t usb_lld_pump(void *p) {
USBDriver *usbp = (USBDriver *)p;
stm32_otg_t *otgp = usbp->otg;
#if defined(__CHIBIOS_RT__)
chRegSetThreadName("usb_lld_pump");
#endif
osalSysLock();
while (true) {
usbep_t ep;
uint32_t epmask;
/* Nothing to do, going to sleep.*/
if ((usbp->state == USB_STOP) ||
((usbp->txpending == 0) && !(otgp->GINTSTS & GINTSTS_RXFLVL))) {
otgp->GINTMSK |= GINTMSK_RXFLVLM;
osalThreadSuspendS(&usbp->wait);
}
osalSysUnlock();
/* Checks if there are TXFIFOs to be filled.*/
for (ep = 0; ep <= usbp->otgparams->num_endpoints; ep++) {
/* Empties the RX FIFO.*/
while (otgp->GINTSTS & GINTSTS_RXFLVL) {
otg_rxfifo_handler(usbp);
}
epmask = (1 << ep);
if (usbp->txpending & epmask) {
bool done;
osalSysLock();
/* USB interrupts are globally *suspended* because the peripheral
does not allow any interference during the TX FIFO filling
operation.
Synopsys document: DesignWare Cores USB 2.0 Hi-Speed On-The-Go (OTG)
"The application has to finish writing one complete packet before
switching to a different channel/endpoint FIFO. Violating this
rule results in an error.".*/
otgp->GAHBCFG &= ~GAHBCFG_GINTMSK;
usbp->txpending &= ~epmask;
osalSysUnlock();
done = otg_txfifo_handler(usbp, ep);
osalSysLock();
otgp->GAHBCFG |= GAHBCFG_GINTMSK;
if (!done)
otgp->DIEPEMPMSK |= epmask;
osalSysUnlock();
}
}
osalSysLock();
}
osalSysUnlock();
return 0;
}
#endif /* HAL_USE_USB */
/** @} */

19
os/hal/ports/STM32/OTGv1/usb_lld.h
View File

@ -198,7 +198,7 @@ typedef struct {
/**
* @brief Buffer mode, queue or linear.
*/
bool_t txqueued;
bool txqueued;
/**
* @brief Requested transmit transfer size.
*/
@ -218,7 +218,7 @@ typedef struct {
/**
* @brief Pointer to the output queue.
*/
OutputQueue *txqueue;
output_queue_t *txqueue;
} queue;
} mode;
} USBInEndpointState;
@ -230,7 +230,7 @@ typedef struct {
/**
* @brief Buffer mode, queue or linear.
*/
bool_t rxqueued;
bool rxqueued;
/**
* @brief Requested receive transfer size.
*/
@ -250,7 +250,7 @@ typedef struct {
/**
* @brief Pointer to the input queue.
*/
InputQueue *rxqueue;
input_queue_t *rxqueue;
} queue;
} mode;
} USBOutEndpointState;
@ -441,18 +441,10 @@ struct USBDriver {
* @brief Mask of TXFIFOs to be filled by the pump thread.
*/
uint32_t txpending;
/**
* @brief Pointer to the thread.
*/
Thread *thd_ptr;
/**
* @brief Pointer to the thread when it is sleeping or @p NULL.
*/
Thread *thd_wait;
/**
* @brief Working area for the dedicated data pump thread;
*/
WORKING_AREA(wa_pump, STM32_USB_OTG_THREAD_STACK_SIZE);
thread_reference_t wait;
};
/*===========================================================================*/
@ -523,6 +515,7 @@ extern "C" {
void usb_lld_stall_in(USBDriver *usbp, usbep_t ep);
void usb_lld_clear_out(USBDriver *usbp, usbep_t ep);
void usb_lld_clear_in(USBDriver *usbp, usbep_t ep);
msg_t usb_lld_pump(void *p);
#ifdef __cplusplus
}
#endif

3
os/various/devices_lib/accel/lis302dl.c
View File

@ -22,7 +22,6 @@
* @{
*/
#include "ch.h"
#include "hal.h"
#include "lis302dl.h"
@ -81,7 +80,7 @@ void lis302dlWriteRegister(SPIDriver *spip, uint8_t reg, uint8_t value) {
default:
/* Reserved register must not be written, according to the datasheet
this could permanently damage the device.*/
chDbgAssert(FALSE, "lis302dlWriteRegister(), #1", "reserved register");
osalDbgAssert(FALSE, "reserved register");
case LIS302DL_WHO_AM_I:
case LIS302DL_HP_FILTER_RESET:
case LIS302DL_STATUS_REG: