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chibios_with_elua
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This commit is contained in:
rusefillc 2021-04-22 00:38:27 -04:00
parent dea9bdb927
commit 12253edfb7
4 changed files with 321 additions and 179 deletions
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10
Makefile
View File

@ -97,8 +97,8 @@ include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk
# RTOS files (optional). # RTOS files (optional).
include $(CHIBIOS)/os/rt/rt.mk include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Other files (optional). include $(CHIBIOS)/os/hal/lib/streams/streams.mk
include $(CHIBIOS)/test/rt/rt_test.mk include $(CHIBIOS)/os/various/shell/shell.mk
# Define linker script file here # Define linker script file here
LDSCRIPT= STM32F407xG.ld LDSCRIPT= STM32F407xG.ld
@ -112,9 +112,7 @@ CSRC = $(PORTSRC) \
$(OSALSRC) \ $(OSALSRC) \
$(PLATFORMSRC) \ $(PLATFORMSRC) \
$(BOARDSRC) \ $(BOARDSRC) \
$(CHIBIOS)/os/various/shell.c \ $(SHELLSRC) \
$(CHIBIOS)/os/hal/lib/streams/memstreams.c \
$(CHIBIOS)/os/hal/lib/streams/chprintf.c \
usbcfg.c main.c usbcfg.c main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global # C++ sources that can be compiled in ARM or THUMB mode depending on the global
@ -228,7 +226,7 @@ DLIBS = -lm
# #
# List all user C define here, like -D_DEBUG=1 # List all user C define here, like -D_DEBUG=1
UDEFS = UDEFS = -DSHELL_CMD_TEST_ENABLED=0
# Define ASM defines here # Define ASM defines here
UADEFS = UADEFS =

287
halconf.h
View File

@ -1,5 +1,5 @@
/* /*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License"); Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License. you may not use this file except in compliance with the License.
@ -25,8 +25,11 @@
* @{ * @{
*/ */
#ifndef _HALCONF_H_ #ifndef HALCONF_H
#define _HALCONF_H_ #define HALCONF_H
#define _CHIBIOS_HAL_CONF_
#define _CHIBIOS_HAL_CONF_VER_7_1_
#include "mcuconf.h" #include "mcuconf.h"
@ -34,126 +37,188 @@
* @brief Enables the PAL subsystem. * @brief Enables the PAL subsystem.
*/ */
#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__) #if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
#define HAL_USE_PAL TRUE #define HAL_USE_PAL TRUE
#endif #endif
/** /**
* @brief Enables the ADC subsystem. * @brief Enables the ADC subsystem.
*/ */
#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__) #if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
#define HAL_USE_ADC FALSE #define HAL_USE_ADC FALSE
#endif #endif
/** /**
* @brief Enables the CAN subsystem. * @brief Enables the CAN subsystem.
*/ */
#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__) #if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
#define HAL_USE_CAN FALSE #define HAL_USE_CAN FALSE
#endif #endif
/** /**
* @brief Enables the EXT subsystem. * @brief Enables the cryptographic subsystem.
*/ */
#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__) #if !defined(HAL_USE_CRY) || defined(__DOXYGEN__)
#define HAL_USE_EXT FALSE #define HAL_USE_CRY FALSE
#endif
/**
* @brief Enables the DAC subsystem.
*/
#if !defined(HAL_USE_DAC) || defined(__DOXYGEN__)
#define HAL_USE_DAC FALSE
#endif
/**
* @brief Enables the EFlash subsystem.
*/
#if !defined(HAL_USE_EFL) || defined(__DOXYGEN__)
#define HAL_USE_EFL FALSE
#endif #endif
/** /**
* @brief Enables the GPT subsystem. * @brief Enables the GPT subsystem.
*/ */
#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__) #if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
#define HAL_USE_GPT FALSE #define HAL_USE_GPT FALSE
#endif #endif
/** /**
* @brief Enables the I2C subsystem. * @brief Enables the I2C subsystem.
*/ */
#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__) #if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
#define HAL_USE_I2C FALSE #define HAL_USE_I2C FALSE
#endif #endif
/** /**
* @brief Enables the I2S subsystem. * @brief Enables the I2S subsystem.
*/ */
#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__) #if !defined(HAL_USE_I2S) || defined(__DOXYGEN__)
#define HAL_USE_I2S FALSE #define HAL_USE_I2S FALSE
#endif #endif
/** /**
* @brief Enables the ICU subsystem. * @brief Enables the ICU subsystem.
*/ */
#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__) #if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
#define HAL_USE_ICU FALSE #define HAL_USE_ICU FALSE
#endif #endif
/** /**
* @brief Enables the MAC subsystem. * @brief Enables the MAC subsystem.
*/ */
#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__) #if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
#define HAL_USE_MAC FALSE #define HAL_USE_MAC FALSE
#endif #endif
/** /**
* @brief Enables the MMC_SPI subsystem. * @brief Enables the MMC_SPI subsystem.
*/ */
#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__) #if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
#define HAL_USE_MMC_SPI FALSE #define HAL_USE_MMC_SPI FALSE
#endif #endif
/** /**
* @brief Enables the PWM subsystem. * @brief Enables the PWM subsystem.
*/ */
#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__) #if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
#define HAL_USE_PWM TRUE #define HAL_USE_PWM FALSE
#endif #endif
/** /**
* @brief Enables the RTC subsystem. * @brief Enables the RTC subsystem.
*/ */
#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__) #if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)
#define HAL_USE_RTC FALSE #define HAL_USE_RTC FALSE
#endif #endif
/** /**
* @brief Enables the SDC subsystem. * @brief Enables the SDC subsystem.
*/ */
#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__) #if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)
#define HAL_USE_SDC FALSE #define HAL_USE_SDC FALSE
#endif #endif
/** /**
* @brief Enables the SERIAL subsystem. * @brief Enables the SERIAL subsystem.
*/ */
#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__) #if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
#define HAL_USE_SERIAL TRUE #define HAL_USE_SERIAL TRUE
#endif #endif
/** /**
* @brief Enables the SERIAL over USB subsystem. * @brief Enables the SERIAL over USB subsystem.
*/ */
#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__) #if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
#define HAL_USE_SERIAL_USB TRUE #define HAL_USE_SERIAL_USB TRUE
#endif
/**
* @brief Enables the SIO subsystem.
*/
#if !defined(HAL_USE_SIO) || defined(__DOXYGEN__)
#define HAL_USE_SIO FALSE
#endif #endif
/** /**
* @brief Enables the SPI subsystem. * @brief Enables the SPI subsystem.
*/ */
#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__) #if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
#define HAL_USE_SPI TRUE #define HAL_USE_SPI FALSE
#endif
/**
* @brief Enables the TRNG subsystem.
*/
#if !defined(HAL_USE_TRNG) || defined(__DOXYGEN__)
#define HAL_USE_TRNG FALSE
#endif #endif
/** /**
* @brief Enables the UART subsystem. * @brief Enables the UART subsystem.
*/ */
#if !defined(HAL_USE_UART) || defined(__DOXYGEN__) #if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
#define HAL_USE_UART FALSE #define HAL_USE_UART FALSE
#endif #endif
/** /**
* @brief Enables the USB subsystem. * @brief Enables the USB subsystem.
*/ */
#if !defined(HAL_USE_USB) || defined(__DOXYGEN__) #if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
#define HAL_USE_USB TRUE #define HAL_USE_USB TRUE
#endif
/**
* @brief Enables the WDG subsystem.
*/
#if !defined(HAL_USE_WDG) || defined(__DOXYGEN__)
#define HAL_USE_WDG FALSE
#endif
/**
* @brief Enables the WSPI subsystem.
*/
#if !defined(HAL_USE_WSPI) || defined(__DOXYGEN__)
#define HAL_USE_WSPI FALSE
#endif
/*===========================================================================*/
/* PAL driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(PAL_USE_CALLBACKS) || defined(__DOXYGEN__)
#define PAL_USE_CALLBACKS FALSE
#endif
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(PAL_USE_WAIT) || defined(__DOXYGEN__)
#define PAL_USE_WAIT FALSE
#endif #endif
/*===========================================================================*/ /*===========================================================================*/
@ -165,7 +230,7 @@
* @note Disabling this option saves both code and data space. * @note Disabling this option saves both code and data space.
*/ */
#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__) #if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)
#define ADC_USE_WAIT TRUE #define ADC_USE_WAIT TRUE
#endif #endif
/** /**
@ -173,7 +238,7 @@
* @note Disabling this option saves both code and data space. * @note Disabling this option saves both code and data space.
*/ */
#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) #if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define ADC_USE_MUTUAL_EXCLUSION TRUE #define ADC_USE_MUTUAL_EXCLUSION TRUE
#endif #endif
/*===========================================================================*/ /*===========================================================================*/
@ -184,7 +249,56 @@
* @brief Sleep mode related APIs inclusion switch. * @brief Sleep mode related APIs inclusion switch.
*/ */
#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__) #if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
#define CAN_USE_SLEEP_MODE TRUE #define CAN_USE_SLEEP_MODE TRUE
#endif
/**
* @brief Enforces the driver to use direct callbacks rather than OSAL events.
*/
#if !defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__)
#define CAN_ENFORCE_USE_CALLBACKS FALSE
#endif
/*===========================================================================*/
/* CRY driver related settings. */
/*===========================================================================*/
/**
* @brief Enables the SW fall-back of the cryptographic driver.
* @details When enabled, this option, activates a fall-back software
* implementation for algorithms not supported by the underlying
* hardware.
* @note Fall-back implementations may not be present for all algorithms.
*/
#if !defined(HAL_CRY_USE_FALLBACK) || defined(__DOXYGEN__)
#define HAL_CRY_USE_FALLBACK FALSE
#endif
/**
* @brief Makes the driver forcibly use the fall-back implementations.
*/
#if !defined(HAL_CRY_ENFORCE_FALLBACK) || defined(__DOXYGEN__)
#define HAL_CRY_ENFORCE_FALLBACK FALSE
#endif
/*===========================================================================*/
/* DAC driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(DAC_USE_WAIT) || defined(__DOXYGEN__)
#define DAC_USE_WAIT TRUE
#endif
/**
* @brief Enables the @p dacAcquireBus() and @p dacReleaseBus() APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(DAC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define DAC_USE_MUTUAL_EXCLUSION TRUE
#endif #endif
/*===========================================================================*/ /*===========================================================================*/
@ -195,7 +309,7 @@
* @brief Enables the mutual exclusion APIs on the I2C bus. * @brief Enables the mutual exclusion APIs on the I2C bus.
*/ */
#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) #if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define I2C_USE_MUTUAL_EXCLUSION TRUE #define I2C_USE_MUTUAL_EXCLUSION TRUE
#endif #endif
/*===========================================================================*/ /*===========================================================================*/
@ -203,17 +317,17 @@
/*===========================================================================*/ /*===========================================================================*/
/** /**
* @brief Enables an event sources for incoming packets. * @brief Enables the zero-copy API.
*/ */
#if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__) #if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__)
#define MAC_USE_ZERO_COPY FALSE #define MAC_USE_ZERO_COPY FALSE
#endif #endif
/** /**
* @brief Enables an event sources for incoming packets. * @brief Enables an event sources for incoming packets.
*/ */
#if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__) #if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__)
#define MAC_USE_EVENTS TRUE #define MAC_USE_EVENTS TRUE
#endif #endif
/*===========================================================================*/ /*===========================================================================*/
@ -229,7 +343,7 @@
* use a DMA channel and heavily loads the CPU. * use a DMA channel and heavily loads the CPU.
*/ */
#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__) #if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)
#define MMC_NICE_WAITING TRUE #define MMC_NICE_WAITING TRUE
#endif #endif
/*===========================================================================*/ /*===========================================================================*/
@ -241,7 +355,7 @@
* @note Attempts are performed at 10mS intervals. * @note Attempts are performed at 10mS intervals.
*/ */
#if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__) #if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__)
#define SDC_INIT_RETRY 100 #define SDC_INIT_RETRY 100
#endif #endif
/** /**
@ -250,7 +364,7 @@
* at @p FALSE. * at @p FALSE.
*/ */
#if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__) #if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__)
#define SDC_MMC_SUPPORT FALSE #define SDC_MMC_SUPPORT FALSE
#endif #endif
/** /**
@ -260,7 +374,21 @@
* lower priority, this may slow down the driver a bit however. * lower priority, this may slow down the driver a bit however.
*/ */
#if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__) #if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__)
#define SDC_NICE_WAITING TRUE #define SDC_NICE_WAITING TRUE
#endif
/**
* @brief OCR initialization constant for V20 cards.
*/
#if !defined(SDC_INIT_OCR_V20) || defined(__DOXYGEN__)
#define SDC_INIT_OCR_V20 0x50FF8000U
#endif
/**
* @brief OCR initialization constant for non-V20 cards.
*/
#if !defined(SDC_INIT_OCR) || defined(__DOXYGEN__)
#define SDC_INIT_OCR 0x80100000U
#endif #endif
/*===========================================================================*/ /*===========================================================================*/
@ -273,18 +401,18 @@
* default configuration. * default configuration.
*/ */
#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__) #if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)
#define SERIAL_DEFAULT_BITRATE 38400 #define SERIAL_DEFAULT_BITRATE 38400
#endif #endif
/** /**
* @brief Serial buffers size. * @brief Serial buffers size.
* @details Configuration parameter, you can change the depth of the queue * @details Configuration parameter, you can change the depth of the queue
* buffers depending on the requirements of your application. * buffers depending on the requirements of your application.
* @note The default is 64 bytes for both the transmission and receive * @note The default is 16 bytes for both the transmission and receive
* buffers. * buffers.
*/ */
#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__) #if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
#define SERIAL_BUFFERS_SIZE 16 #define SERIAL_BUFFERS_SIZE 16
#endif #endif
/*===========================================================================*/ /*===========================================================================*/
@ -295,11 +423,19 @@
* @brief Serial over USB buffers size. * @brief Serial over USB buffers size.
* @details Configuration parameter, the buffer size must be a multiple of * @details Configuration parameter, the buffer size must be a multiple of
* the USB data endpoint maximum packet size. * the USB data endpoint maximum packet size.
* @note The default is 64 bytes for both the transmission and receive * @note The default is 256 bytes for both the transmission and receive
* buffers. * buffers.
*/ */
#if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__) #if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__)
#define SERIAL_USB_BUFFERS_SIZE 256 #define SERIAL_USB_BUFFERS_SIZE 256
#endif
/**
* @brief Serial over USB number of buffers.
* @note The default is 2 buffers.
*/
#if !defined(SERIAL_USB_BUFFERS_NUMBER) || defined(__DOXYGEN__)
#define SERIAL_USB_BUFFERS_NUMBER 2
#endif #endif
/*===========================================================================*/ /*===========================================================================*/
@ -311,7 +447,15 @@
* @note Disabling this option saves both code and data space. * @note Disabling this option saves both code and data space.
*/ */
#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__) #if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)
#define SPI_USE_WAIT TRUE #define SPI_USE_WAIT TRUE
#endif
/**
* @brief Enables circular transfers APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(SPI_USE_CIRCULAR) || defined(__DOXYGEN__)
#define SPI_USE_CIRCULAR FALSE
#endif #endif
/** /**
@ -319,16 +463,69 @@
* @note Disabling this option saves both code and data space. * @note Disabling this option saves both code and data space.
*/ */
#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) #if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define SPI_USE_MUTUAL_EXCLUSION TRUE #define SPI_USE_MUTUAL_EXCLUSION TRUE
#endif #endif
/** /**
* elua * @brief Handling method for SPI CS line.
* @note Disabling this option saves both code and data space.
*/ */
//~ #define CHIBILUA_SERIAL 1 #if !defined(SPI_SELECT_MODE) || defined(__DOXYGEN__)
#define CHIBILUA_USBSERIAL 1 #define SPI_SELECT_MODE SPI_SELECT_MODE_PAD
#endif
/*===========================================================================*/
/* UART driver related settings. */
/*===========================================================================*/
#endif /* _HALCONF_H_ */ /**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(UART_USE_WAIT) || defined(__DOXYGEN__)
#define UART_USE_WAIT FALSE
#endif
/**
* @brief Enables the @p uartAcquireBus() and @p uartReleaseBus() APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(UART_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define UART_USE_MUTUAL_EXCLUSION FALSE
#endif
/*===========================================================================*/
/* USB driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(USB_USE_WAIT) || defined(__DOXYGEN__)
#define USB_USE_WAIT FALSE
#endif
/*===========================================================================*/
/* WSPI driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(WSPI_USE_WAIT) || defined(__DOXYGEN__)
#define WSPI_USE_WAIT TRUE
#endif
/**
* @brief Enables the @p wspiAcquireBus() and @p wspiReleaseBus() APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(WSPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define WSPI_USE_MUTUAL_EXCLUSION TRUE
#endif
#endif /* HALCONF_H */
/** @} */ /** @} */

100
main.c
View File

@ -16,11 +16,9 @@
#include "ch.h" #include "ch.h"
#include "hal.h" #include "hal.h"
#include "test.h"
#include "chprintf.h" #include "chprintf.h"
#include "various/shell.h" #include "shell.h"
#include "lis302dl.h"
#include "usbcfg.h" #include "usbcfg.h"
@ -43,9 +41,7 @@ static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
chprintf(chp, "Usage: mem\r\n"); chprintf(chp, "Usage: mem\r\n");
return; return;
} }
n = chHeapStatus(NULL, &size);
chprintf(chp, "core free memory : %u bytes\r\n", chCoreGetStatusX()); chprintf(chp, "core free memory : %u bytes\r\n", chCoreGetStatusX());
chprintf(chp, "heap fragments : %u\r\n", n);
chprintf(chp, "heap free total : %u bytes\r\n", size); chprintf(chp, "heap free total : %u bytes\r\n", size);
} }
@ -61,35 +57,13 @@ static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
chprintf(chp, " addr stack prio refs state\r\n"); chprintf(chp, " addr stack prio refs state\r\n");
tp = chRegFirstThread(); tp = chRegFirstThread();
do { do {
chprintf(chp, "%08lx %08lx %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),
states[tp->p_state]);
tp = chRegNextThread(tp); tp = chRegNextThread(tp);
} while (tp != NULL); } while (tp != NULL);
} }
static void cmd_test(BaseSequentialStream *chp, int argc, char *argv[]) {
thread_t *tp;
(void)argv;
if (argc > 0) {
chprintf(chp, "Usage: test\r\n");
return;
}
tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriorityX(),
TestThread, chp);
if (tp == NULL) {
chprintf(chp, "out of memory\r\n");
return;
}
chThdWait(tp);
}
static const ShellCommand commands[] = { static const ShellCommand commands[] = {
{"mem", cmd_mem}, {"mem", cmd_mem},
{"threads", cmd_threads}, {"threads", cmd_threads},
{"test", cmd_test},
{NULL, NULL} {NULL, NULL}
}; };
@ -102,55 +76,9 @@ static const ShellConfig shell_cfg1 = {
/* Accelerometer related. */ /* Accelerometer related. */
/*===========================================================================*/ /*===========================================================================*/
/*
* PWM configuration structure.
* Cyclic callback enabled, channels 1 and 4 enabled without callbacks,
* the active state is a logic one.
*/
static const PWMConfig pwmcfg = {
100000, /* 100kHz PWM clock frequency. */
128, /* PWM period is 128 cycles. */
NULL,
{
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_ACTIVE_HIGH, NULL}
},
/* HW dependent part.*/
0,
0
};
/* /*
* SPI1 configuration structure. * This is a periodic thread that reads accelerometer and outputs.
* Speed 5.25MHz, CPHA=1, CPOL=1, 8bits frames, MSb transmitted first.
* The slave select line is the pin GPIOE_CS_SPI on the port GPIOE.
*/
static const SPIConfig spi1cfg = {
NULL,
/* HW dependent part.*/
GPIOE,
GPIOE_CS_SPI,
SPI_CR1_BR_0 | SPI_CR1_BR_1 | SPI_CR1_CPOL | SPI_CR1_CPHA
};
/*
* SPI2 configuration structure.
* Speed 21MHz, CPHA=0, CPOL=0, 8bits frames, MSb transmitted first.
* The slave select line is the pin 12 on the port GPIOA.
*/
static const SPIConfig spi2cfg = {
NULL,
/* HW dependent part.*/
GPIOB,
12,
0
};
/*
* This is a periodic thread that reads accelerometer and outputs
* result to SPI2 and PWM.
*/ */
static THD_WORKING_AREA(waThread1, 128); static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg) { static THD_FUNCTION(Thread1, arg) {
@ -160,10 +88,6 @@ static THD_FUNCTION(Thread1, arg) {
(void)arg; (void)arg;
chRegSetThreadName("reader"); chRegSetThreadName("reader");
/* LIS302DL initialization.*/
lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG1, 0x43);
lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG2, 0x00);
lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG3, 0x00);
/* Reader thread loop.*/ /* Reader thread loop.*/
time = chVTGetSystemTime(); time = chVTGetSystemTime();
@ -177,15 +101,6 @@ static THD_FUNCTION(Thread1, arg) {
ybuf[i] = ybuf[i - 1]; ybuf[i] = ybuf[i - 1];
} }
/* Reading MEMS accelerometer X and Y registers.*/
xbuf[0] = (int8_t)lis302dlReadRegister(&SPID1, LIS302DL_OUTX);
ybuf[0] = (int8_t)lis302dlReadRegister(&SPID1, LIS302DL_OUTY);
/* Transmitting accelerometer the data over SPI2.*/
spiSelect(&SPID2);
spiSend(&SPID2, 4, xbuf);
spiSend(&SPID2, 4, ybuf);
spiUnselect(&SPID2);
/* Calculating average of the latest four accelerometer readings.*/ /* Calculating average of the latest four accelerometer readings.*/
x = ((int32_t)xbuf[0] + (int32_t)xbuf[1] + x = ((int32_t)xbuf[0] + (int32_t)xbuf[1] +
@ -195,20 +110,12 @@ static THD_FUNCTION(Thread1, arg) {
/* Reprogramming the four PWM channels using the accelerometer data.*/ /* Reprogramming the four PWM channels using the accelerometer data.*/
if (y < 0) { if (y < 0) {
pwmEnableChannel(&PWMD4, 0, (pwmcnt_t)-y);
pwmEnableChannel(&PWMD4, 2, (pwmcnt_t)0);
} }
else { else {
pwmEnableChannel(&PWMD4, 2, (pwmcnt_t)y);
pwmEnableChannel(&PWMD4, 0, (pwmcnt_t)0);
} }
if (x < 0) { if (x < 0) {
pwmEnableChannel(&PWMD4, 1, (pwmcnt_t)-x);
pwmEnableChannel(&PWMD4, 3, (pwmcnt_t)0);
} }
else { else {
pwmEnableChannel(&PWMD4, 3, (pwmcnt_t)x);
pwmEnableChannel(&PWMD4, 1, (pwmcnt_t)0);
} }
/* Waiting until the next 250 milliseconds time interval.*/ /* Waiting until the next 250 milliseconds time interval.*/
@ -296,7 +203,6 @@ int main(void) {
* Initializes the SPI driver 1 in order to access the MEMS. The signals * Initializes the SPI driver 1 in order to access the MEMS. The signals
* are already initialized in the board file. * are already initialized in the board file.
*/ */
spiStart(&SPID1, &spi1cfg);
/* /*
* Initializes the SPI driver 2. The SPI2 signals are routed as follow: * Initializes the SPI driver 2. The SPI2 signals are routed as follow:
@ -305,7 +211,6 @@ int main(void) {
* PB14 - MISO. * PB14 - MISO.
* PB15 - MOSI. * PB15 - MOSI.
*/ */
spiStart(&SPID2, &spi2cfg);
palSetPad(GPIOB, 12); palSetPad(GPIOB, 12);
palSetPadMode(GPIOB, 12, PAL_MODE_OUTPUT_PUSHPULL | palSetPadMode(GPIOB, 12, PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST); /* NSS. */ PAL_STM32_OSPEED_HIGHEST); /* NSS. */
@ -318,7 +223,6 @@ int main(void) {
/* /*
* Initializes the PWM driver 4, routes the TIM4 outputs to the board LEDs. * Initializes the PWM driver 4, routes the TIM4 outputs to the board LEDs.
*/ */
pwmStart(&PWMD4, &pwmcfg);
palSetPadMode(GPIOD, GPIOD_LED4, PAL_MODE_ALTERNATE(2)); /* Green. */ palSetPadMode(GPIOD, GPIOD_LED4, PAL_MODE_ALTERNATE(2)); /* Green. */
palSetPadMode(GPIOD, GPIOD_LED3, PAL_MODE_ALTERNATE(2)); /* Orange. */ palSetPadMode(GPIOD, GPIOD_LED3, PAL_MODE_ALTERNATE(2)); /* Orange. */
palSetPadMode(GPIOD, GPIOD_LED5, PAL_MODE_ALTERNATE(2)); /* Red. */ palSetPadMode(GPIOD, GPIOD_LED5, PAL_MODE_ALTERNATE(2)); /* Red. */

103
mcuconf.h
View File

@ -1,5 +1,5 @@
/* /*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License"); Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License. you may not use this file except in compliance with the License.
@ -14,8 +14,8 @@
limitations under the License. limitations under the License.
*/ */
#ifndef _MCUCONF_H_ #ifndef MCUCONF_H
#define _MCUCONF_H_ #define MCUCONF_H
/* /*
* STM32F4xx drivers configuration. * STM32F4xx drivers configuration.
@ -32,11 +32,18 @@
*/ */
#define STM32F4xx_MCUCONF #define STM32F4xx_MCUCONF
#define STM32F405_MCUCONF
#define STM32F415_MCUCONF
#define STM32F407_MCUCONF
#define STM32F417_MCUCONF
/* /*
* HAL driver system settings. * HAL driver system settings.
*/ */
#define STM32_NO_INIT FALSE #define STM32_NO_INIT FALSE
#define STM32_PVD_ENABLE FALSE
#define STM32_PLS STM32_PLS_LEV0
#define STM32_BKPRAM_ENABLE FALSE
#define STM32_HSI_ENABLED TRUE #define STM32_HSI_ENABLED TRUE
#define STM32_LSI_ENABLED TRUE #define STM32_LSI_ENABLED TRUE
#define STM32_HSE_ENABLED TRUE #define STM32_HSE_ENABLED TRUE
@ -60,9 +67,24 @@
#define STM32_I2SSRC STM32_I2SSRC_CKIN #define STM32_I2SSRC STM32_I2SSRC_CKIN
#define STM32_PLLI2SN_VALUE 192 #define STM32_PLLI2SN_VALUE 192
#define STM32_PLLI2SR_VALUE 5 #define STM32_PLLI2SR_VALUE 5
#define STM32_PVD_ENABLE FALSE
#define STM32_PLS STM32_PLS_LEV0 /*
#define STM32_BKPRAM_ENABLE FALSE * IRQ system settings.
*/
#define STM32_IRQ_EXTI0_PRIORITY 6
#define STM32_IRQ_EXTI1_PRIORITY 6
#define STM32_IRQ_EXTI2_PRIORITY 6
#define STM32_IRQ_EXTI3_PRIORITY 6
#define STM32_IRQ_EXTI4_PRIORITY 6
#define STM32_IRQ_EXTI5_9_PRIORITY 6
#define STM32_IRQ_EXTI10_15_PRIORITY 6
#define STM32_IRQ_EXTI16_PRIORITY 6
#define STM32_IRQ_EXTI17_PRIORITY 15
#define STM32_IRQ_EXTI18_PRIORITY 6
#define STM32_IRQ_EXTI19_PRIORITY 6
#define STM32_IRQ_EXTI20_PRIORITY 6
#define STM32_IRQ_EXTI21_PRIORITY 15
#define STM32_IRQ_EXTI22_PRIORITY 15
/* /*
* ADC driver system settings. * ADC driver system settings.
@ -91,22 +113,17 @@
#define STM32_CAN_CAN2_IRQ_PRIORITY 11 #define STM32_CAN_CAN2_IRQ_PRIORITY 11
/* /*
* EXT driver system settings. * DAC driver system settings.
*/ */
#define STM32_EXT_EXTI0_IRQ_PRIORITY 6 #define STM32_DAC_DUAL_MODE FALSE
#define STM32_EXT_EXTI1_IRQ_PRIORITY 6 #define STM32_DAC_USE_DAC1_CH1 FALSE
#define STM32_EXT_EXTI2_IRQ_PRIORITY 6 #define STM32_DAC_USE_DAC1_CH2 FALSE
#define STM32_EXT_EXTI3_IRQ_PRIORITY 6 #define STM32_DAC_DAC1_CH1_IRQ_PRIORITY 10
#define STM32_EXT_EXTI4_IRQ_PRIORITY 6 #define STM32_DAC_DAC1_CH2_IRQ_PRIORITY 10
#define STM32_EXT_EXTI5_9_IRQ_PRIORITY 6 #define STM32_DAC_DAC1_CH1_DMA_PRIORITY 2
#define STM32_EXT_EXTI10_15_IRQ_PRIORITY 6 #define STM32_DAC_DAC1_CH2_DMA_PRIORITY 2
#define STM32_EXT_EXTI16_IRQ_PRIORITY 6 #define STM32_DAC_DAC1_CH1_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
#define STM32_EXT_EXTI17_IRQ_PRIORITY 15 #define STM32_DAC_DAC1_CH2_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
#define STM32_EXT_EXTI18_IRQ_PRIORITY 6
#define STM32_EXT_EXTI19_IRQ_PRIORITY 6
#define STM32_EXT_EXTI20_IRQ_PRIORITY 6
#define STM32_EXT_EXTI21_IRQ_PRIORITY 15
#define STM32_EXT_EXTI22_IRQ_PRIORITY 15
/* /*
* GPT driver system settings. * GPT driver system settings.
@ -157,6 +174,21 @@
#define STM32_I2C_I2C3_DMA_PRIORITY 3 #define STM32_I2C_I2C3_DMA_PRIORITY 3
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure") #define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
/*
* I2S driver system settings.
*/
#define STM32_I2S_USE_SPI2 FALSE
#define STM32_I2S_USE_SPI3 FALSE
#define STM32_I2S_SPI2_IRQ_PRIORITY 10
#define STM32_I2S_SPI3_IRQ_PRIORITY 10
#define STM32_I2S_SPI2_DMA_PRIORITY 1
#define STM32_I2S_SPI3_DMA_PRIORITY 1
#define STM32_I2S_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
#define STM32_I2S_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
#define STM32_I2S_SPI3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
#define STM32_I2S_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
#define STM32_I2S_DMA_ERROR_HOOK(i2sp) osalSysHalt("DMA failure")
/* /*
* ICU driver system settings. * ICU driver system settings.
*/ */
@ -193,7 +225,7 @@
#define STM32_PWM_USE_TIM1 FALSE #define STM32_PWM_USE_TIM1 FALSE
#define STM32_PWM_USE_TIM2 FALSE #define STM32_PWM_USE_TIM2 FALSE
#define STM32_PWM_USE_TIM3 FALSE #define STM32_PWM_USE_TIM3 FALSE
#define STM32_PWM_USE_TIM4 TRUE #define STM32_PWM_USE_TIM4 FALSE
#define STM32_PWM_USE_TIM5 FALSE #define STM32_PWM_USE_TIM5 FALSE
#define STM32_PWM_USE_TIM8 FALSE #define STM32_PWM_USE_TIM8 FALSE
#define STM32_PWM_USE_TIM9 FALSE #define STM32_PWM_USE_TIM9 FALSE
@ -205,13 +237,21 @@
#define STM32_PWM_TIM8_IRQ_PRIORITY 7 #define STM32_PWM_TIM8_IRQ_PRIORITY 7
#define STM32_PWM_TIM9_IRQ_PRIORITY 7 #define STM32_PWM_TIM9_IRQ_PRIORITY 7
/*
* RTC driver system settings.
*/
#define STM32_RTC_PRESA_VALUE 32
#define STM32_RTC_PRESS_VALUE 1024
#define STM32_RTC_CR_INIT 0
#define STM32_RTC_TAMPCR_INIT 0
/* /*
* SDC driver system settings. * SDC driver system settings.
*/ */
#define STM32_SDC_SDIO_DMA_PRIORITY 3 #define STM32_SDC_SDIO_DMA_PRIORITY 3
#define STM32_SDC_SDIO_IRQ_PRIORITY 9 #define STM32_SDC_SDIO_IRQ_PRIORITY 9
#define STM32_SDC_WRITE_TIMEOUT_MS 250 #define STM32_SDC_WRITE_TIMEOUT_MS 1000
#define STM32_SDC_READ_TIMEOUT_MS 25 #define STM32_SDC_READ_TIMEOUT_MS 1000
#define STM32_SDC_CLOCK_ACTIVATION_DELAY 10 #define STM32_SDC_CLOCK_ACTIVATION_DELAY 10
#define STM32_SDC_SDIO_UNALIGNED_SUPPORT TRUE #define STM32_SDC_SDIO_UNALIGNED_SUPPORT TRUE
#define STM32_SDC_SDIO_DMA_STREAM STM32_DMA_STREAM_ID(2, 3) #define STM32_SDC_SDIO_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
@ -235,8 +275,8 @@
/* /*
* SPI driver system settings. * SPI driver system settings.
*/ */
#define STM32_SPI_USE_SPI1 TRUE #define STM32_SPI_USE_SPI1 FALSE
#define STM32_SPI_USE_SPI2 TRUE #define STM32_SPI_USE_SPI2 FALSE
#define STM32_SPI_USE_SPI3 FALSE #define STM32_SPI_USE_SPI3 FALSE
#define STM32_SPI_SPI1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 0) #define STM32_SPI_SPI1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 0)
#define STM32_SPI_SPI1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 3) #define STM32_SPI_SPI1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
@ -302,8 +342,11 @@
#define STM32_USB_OTG2_IRQ_PRIORITY 14 #define STM32_USB_OTG2_IRQ_PRIORITY 14
#define STM32_USB_OTG1_RX_FIFO_SIZE 512 #define STM32_USB_OTG1_RX_FIFO_SIZE 512
#define STM32_USB_OTG2_RX_FIFO_SIZE 1024 #define STM32_USB_OTG2_RX_FIFO_SIZE 1024
#define STM32_USB_OTG_THREAD_PRIO LOWPRIO #define STM32_USB_HOST_WAKEUP_DURATION 2
#define STM32_USB_OTG_THREAD_STACK_SIZE 128
#define STM32_USB_OTGFIFO_FILL_BASEPRI 0
#endif /* _MCUCONF_H_ */ /*
* WDG driver system settings.
*/
#define STM32_WDG_USE_IWDG FALSE
#endif /* MCUCONF_H */