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chibios_with_elua
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port to cibios 3.0

This commit is contained in:
denis 2015-03-12 18:38:47 +03:00
parent 636f94d305
commit 5274ecbdc0
15 changed files with 300 additions and 2842 deletions
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43
Makefile
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@ -32,7 +32,7 @@ endif
# Enable this if you want link time optimizations (LTO) # Enable this if you want link time optimizations (LTO)
ifeq ($(USE_LTO),) ifeq ($(USE_LTO),)
USE_LTO = no USE_LTO = yes
endif endif
# If enabled, this option allows to compile the application in THUMB mode. # If enabled, this option allows to compile the application in THUMB mode.
@ -54,6 +54,18 @@ USE_VERBOSE_COMPILE = yes
# Architecture or project specific options # Architecture or project specific options
# #
# Stack size to be allocated to the Cortex-M process stack. This stack is
# the stack used by the main() thread.
ifeq ($(USE_PROCESS_STACKSIZE),)
USE_PROCESS_STACKSIZE = 0x400
endif
# Stack size to the allocated to the Cortex-M main/exceptions stack. This
# stack is used for processing interrupts and exceptions.
ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
USE_EXCEPTIONS_STACKSIZE = 0x400
endif
# Enables the use of FPU on Cortex-M4 (no, softfp, hard). # Enables the use of FPU on Cortex-M4 (no, softfp, hard).
ifeq ($(USE_FPU),) ifeq ($(USE_FPU),)
#requred for elua #requred for elua
@ -73,17 +85,16 @@ PROJECT = ch
CHIBIOSLUA ?= $(shell pwd) CHIBIOSLUA ?= $(shell pwd)
# Imported source files and paths # Imported source files and paths
CHIBIOS = $(CHIBIOSLUA)/../ChibiOS CHIBIOS = $(CHIBIOSLUA)/../ChibiOS
include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
include $(CHIBIOS)/os/hal/hal.mk include $(CHIBIOS)/os/hal/hal.mk
include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk include $(CHIBIOS)/os/hal/boards/ST_STM32F4_DISCOVERY/board.mk
include $(CHIBIOS)/os/kernel/kernel.mk include $(CHIBIOS)/os/hal/ports/STM32/STM32F4xx/platform.mk
include $(CHIBIOS)/test/test.mk include $(CHIBIOS)/os/hal/osal/rt/osal.mk
include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_stm32f4xx.mk
include $(CHIBIOS)/test/rt/test.mk
# Define linker script file here # Define linker script file here
#LDSCRIPT= $(PORTLD)/STM32F407xG.ld
LDSCRIPT= STM32F407xG.ld LDSCRIPT= STM32F407xG.ld
#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
# 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
# setting. # setting.
@ -91,11 +102,13 @@ CSRC = $(PORTSRC) \
$(KERNSRC) \ $(KERNSRC) \
$(TESTSRC) \ $(TESTSRC) \
$(HALSRC) \ $(HALSRC) \
$(OSALSRC) \
$(PLATFORMSRC) \ $(PLATFORMSRC) \
$(BOARDSRC) \ $(BOARDSRC) \
$(CHIBIOS)/os/various/devices_lib/accel/lis302dl.c \ $(CHIBIOS)/os/various/devices_lib/accel/lis302dl.c \
$(CHIBIOS)/os/various/shell.c \ $(CHIBIOS)/os/various/shell.c \
$(CHIBIOS)/os/various/chprintf.c \ $(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
@ -126,11 +139,11 @@ TCPPSRC =
ASMSRC = $(PORTASM) $(EXT_ASMSRC) ASMSRC = $(PORTASM) $(EXT_ASMSRC)
INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \ INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) \ $(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
$(CHIBIOSLUA) \ $(CHIBIOSLUA) \
$(EXT_INC) \ $(EXT_INC) \
$(CHIBIOS)/os/various/devices_lib/accel \ $(CHIBIOS)/os/various/devices_lib/accel \
$(CHIBIOS)/os/various $(CHIBIOS)/os/hal/lib/streams $(CHIBIOS)/os/various $(CHIBIOS)/os
# #
# Project, sources and paths # Project, sources and paths
@ -153,6 +166,7 @@ LD = $(TRGT)gcc
#LD = $(TRGT)g++ #LD = $(TRGT)g++
CP = $(TRGT)objcopy CP = $(TRGT)objcopy
AS = $(TRGT)gcc -x assembler-with-cpp AS = $(TRGT)gcc -x assembler-with-cpp
AR = $(TRGT)ar
OD = $(TRGT)objdump OD = $(TRGT)objdump
SZ = $(TRGT)size SZ = $(TRGT)size
HEX = $(CP) -O ihex HEX = $(CP) -O ihex
@ -179,7 +193,7 @@ CPPWARN = -Wall -Wextra
# #
# List all default C defines here, like -D_DEBUG=1 # List all default C defines here, like -D_DEBUG=1
DDEFS = -DELUA_CPU_HEADER="\"cpu_chibios_cpu.h\"" -DELUA_BOARD_HEADER="\"board_stm32f4chibios.h\"" -DUSE_GIT_REVISION -DELUA_CPU=CHIBIOS_CPU -DELUA_BOARD=STM32F4CHIBIOS -DELUA_PLATFORM=CHIBIOS -D__BUFSIZ__=128 -DELUA_CPU_CHIBIOS_CPU -DELUA_BOARD_STM32F4CHIBIOS -DELUA_PLATFORM_CHIBIOS -DLUA_PACK_VALUE -DELUA_ENDIAN_LITTLE -DLUA_OPTIMIZE_MEMORY=2 -DFORCHIBIOS_CPU DDEFS += -DELUA_CPU_HEADER="\"cpu_chibios_cpu.h\"" -DELUA_BOARD_HEADER="\"board_stm32f4chibios.h\"" -DUSE_GIT_REVISION -DELUA_CPU=CHIBIOS_CPU -DELUA_BOARD=STM32F4CHIBIOS -DELUA_PLATFORM=CHIBIOS -D__BUFSIZ__=128 -DELUA_CPU_CHIBIOS_CPU -DELUA_BOARD_STM32F4CHIBIOS -DELUA_PLATFORM_CHIBIOS -DLUA_PACK_VALUE -DELUA_ENDIAN_LITTLE -DLUA_OPTIMIZE_MEMORY=2 -DFORCHIBIOS_CPU
DDEFS += -DUSE_MULTIPLE_ALLOCATOR -DCHPRINTF_USE_FLOAT=TRUE DDEFS += -DUSE_MULTIPLE_ALLOCATOR -DCHPRINTF_USE_FLOAT=TRUE
#~ DDEFS += -DUSE_SIMPLE_ALLOCATOR #~ DDEFS += -DUSE_SIMPLE_ALLOCATOR
@ -222,11 +236,8 @@ ULIBS =
# End of user defines # End of user defines
############################################################################## ##############################################################################
#RULESPATH = $(CHIBIOS)/os/ports/GCC/ARMCMx #RULESPATH = $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC
#include $(RULESPATH)/rules.mk #include $(RULESPATH)/rules.mk
include $(CHIBIOSLUA)/ext/ext.mk include $(CHIBIOSLUA)/ext/ext.mk
include ./rules.mk include ./rules.mk
######## resource usage show ################

108
board/ST_STM32F4_DISCOVERY/board.c
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@ -1,108 +0,0 @@
/*
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.
*/
#include "ch.h"
#include "hal.h"
#if HAL_USE_PAL || defined(__DOXYGEN__)
/**
* @brief PAL setup.
* @details Digital I/O ports static configuration as defined in @p board.h.
* This variable is used by the HAL when initializing the PAL driver.
*/
const PALConfig pal_default_config =
{
{VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR,
VAL_GPIOA_ODR, VAL_GPIOA_AFRL, VAL_GPIOA_AFRH},
{VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR,
VAL_GPIOB_ODR, VAL_GPIOB_AFRL, VAL_GPIOB_AFRH},
{VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR,
VAL_GPIOC_ODR, VAL_GPIOC_AFRL, VAL_GPIOC_AFRH},
{VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR,
VAL_GPIOD_ODR, VAL_GPIOD_AFRL, VAL_GPIOD_AFRH},
{VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR,
VAL_GPIOE_ODR, VAL_GPIOE_AFRL, VAL_GPIOE_AFRH},
{VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR,
VAL_GPIOF_ODR, VAL_GPIOF_AFRL, VAL_GPIOF_AFRH},
{VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR,
VAL_GPIOG_ODR, VAL_GPIOG_AFRL, VAL_GPIOG_AFRH},
{VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR,
VAL_GPIOH_ODR, VAL_GPIOH_AFRL, VAL_GPIOH_AFRH},
{VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR,
VAL_GPIOI_ODR, VAL_GPIOI_AFRL, VAL_GPIOI_AFRH}
};
#endif
/**
* @brief Early initialization code.
* @details This initialization must be performed just after stack setup
* and before any other initialization.
*/
void __early_init(void) {
stm32_clock_init();
}
#if HAL_USE_SDC || defined(__DOXYGEN__)
/**
* @brief SDC card detection.
*/
bool_t sdc_lld_is_card_inserted(SDCDriver *sdcp) {
(void)sdcp;
/* TODO: Fill the implementation.*/
return TRUE;
}
/**
* @brief SDC card write protection detection.
*/
bool_t sdc_lld_is_write_protected(SDCDriver *sdcp) {
(void)sdcp;
/* TODO: Fill the implementation.*/
return FALSE;
}
#endif /* HAL_USE_SDC */
#if HAL_USE_MMC_SPI || defined(__DOXYGEN__)
/**
* @brief MMC_SPI card detection.
*/
bool_t mmc_lld_is_card_inserted(MMCDriver *mmcp) {
(void)mmcp;
/* TODO: Fill the implementation.*/
return TRUE;
}
/**
* @brief MMC_SPI card write protection detection.
*/
bool_t mmc_lld_is_write_protected(MMCDriver *mmcp) {
(void)mmcp;
/* TODO: Fill the implementation.*/
return FALSE;
}
#endif
/**
* @brief Board-specific initialization code.
* @todo Add your board-specific code, if any.
*/
void boardInit(void) {
}

1296
board/ST_STM32F4_DISCOVERY/board.h
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5
board/ST_STM32F4_DISCOVERY/board.mk
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@ -1,5 +0,0 @@
# List of all the board related files.
BOARDSRC = ${CHIBIOS}/boards/ST_STM32F4_DISCOVERY/board.c
# Required include directories
BOARDINC = ${CHIBIOS}/boards/ST_STM32F4_DISCOVERY

1192
board/ST_STM32F4_DISCOVERY/cfg/board.chcfg
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287
chconf.h
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@ -1,5 +1,5 @@
/* /*
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio ChibiOS - Copyright (C) 2006..2015 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.
@ -30,19 +30,42 @@
/*===========================================================================*/ /*===========================================================================*/
/** /**
* @name Kernel parameters and options * @name System timers settings
* @{ * @{
*/ */
/*===========================================================================*/ /*===========================================================================*/
/**
* @brief System time counter resolution.
* @note Allowed values are 16 or 32 bits.
*/
#define CH_CFG_ST_RESOLUTION 32
/** /**
* @brief System tick frequency. * @brief System tick frequency.
* @details Frequency of the system timer that drives the system ticks. This * @details Frequency of the system timer that drives the system ticks. This
* setting also defines the system tick time unit. * setting also defines the system tick time unit.
*/ */
#if !defined(CH_FREQUENCY) || defined(__DOXYGEN__) #define CH_CFG_ST_FREQUENCY 10000
#define CH_FREQUENCY 1000
#endif /**
* @brief Time delta constant for the tick-less mode.
* @note If this value is zero then the system uses the classic
* periodic tick. This value represents the minimum number
* of ticks that is safe to specify in a timeout directive.
* The value one is not valid, timeouts are rounded up to
* this value.
*/
#define CH_CFG_ST_TIMEDELTA 2
/** @} */
/*===========================================================================*/
/**
* @name Kernel parameters and options
* @{
*/
/*===========================================================================*/
/** /**
* @brief Round robin interval. * @brief Round robin interval.
@ -51,13 +74,12 @@
* disables the preemption for threads with equal priority and the * disables the preemption for threads with equal priority and the
* round robin becomes cooperative. Note that higher priority * round robin becomes cooperative. Note that higher priority
* threads can still preempt, the kernel is always preemptive. * threads can still preempt, the kernel is always preemptive.
*
* @note Disabling the round robin preemption makes the kernel more compact * @note Disabling the round robin preemption makes the kernel more compact
* and generally faster. * and generally faster.
* @note The round robin preemption is not supported in tickless mode and
* must be set to zero in that case.
*/ */
#if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__) #define CH_CFG_TIME_QUANTUM 0
#define CH_TIME_QUANTUM 20
#endif
/** /**
* @brief Managed RAM size. * @brief Managed RAM size.
@ -68,28 +90,17 @@
* *
* @note In order to let the OS manage the whole RAM the linker script must * @note In order to let the OS manage the whole RAM the linker script must
* provide the @p __heap_base__ and @p __heap_end__ symbols. * provide the @p __heap_base__ and @p __heap_end__ symbols.
* @note Requires @p CH_USE_MEMCORE. * @note Requires @p CH_CFG_USE_MEMCORE.
*/ */
#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__) #define CH_CFG_MEMCORE_SIZE 0
#define CH_MEMCORE_SIZE 0
#endif
/** /**
* @brief Idle thread automatic spawn suppression. * @brief Idle thread automatic spawn suppression.
* @details When this option is activated the function @p chSysInit() * @details When this option is activated the function @p chSysInit()
* does not spawn the idle thread automatically. The application has * does not spawn the idle thread. The application @p main()
* then the responsibility to do one of the following: * function becomes the idle thread and must implement an
* - Spawn a custom idle thread at priority @p IDLEPRIO. * infinite loop. */
* - Change the main() thread priority to @p IDLEPRIO then enter #define CH_CFG_NO_IDLE_THREAD FALSE
* an endless loop. In this scenario the @p main() thread acts as
* the idle thread.
* .
* @note Unless an idle thread is spawned the @p main() thread must not
* enter a sleep state.
*/
#if !defined(CH_NO_IDLE_THREAD) || defined(__DOXYGEN__)
#define CH_NO_IDLE_THREAD FALSE
#endif
/** @} */ /** @} */
@ -108,9 +119,7 @@
* @note This is not related to the compiler optimization options. * @note This is not related to the compiler optimization options.
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__) #define CH_CFG_OPTIMIZE_SPEED TRUE
#define CH_OPTIMIZE_SPEED TRUE
#endif
/** @} */ /** @} */
@ -121,15 +130,22 @@
*/ */
/*===========================================================================*/ /*===========================================================================*/
/**
* @brief Time Measurement APIs.
* @details If enabled then the time measurement APIs are included in
* the kernel.
*
* @note The default is @p TRUE.
*/
#define CH_CFG_USE_TM TRUE
/** /**
* @brief Threads registry APIs. * @brief Threads registry APIs.
* @details If enabled then the registry APIs are included in the kernel. * @details If enabled then the registry APIs are included in the kernel.
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__) #define CH_CFG_USE_REGISTRY TRUE
#define CH_USE_REGISTRY TRUE
#endif
/** /**
* @brief Threads synchronization APIs. * @brief Threads synchronization APIs.
@ -138,9 +154,7 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__) #define CH_CFG_USE_WAITEXIT TRUE
#define CH_USE_WAITEXIT TRUE
#endif
/** /**
* @brief Semaphores APIs. * @brief Semaphores APIs.
@ -148,33 +162,18 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__) #define CH_CFG_USE_SEMAPHORES TRUE
#define CH_USE_SEMAPHORES TRUE
#endif
/** /**
* @brief Semaphores queuing mode. * @brief Semaphores queuing mode.
* @details If enabled then the threads are enqueued on semaphores by * @details If enabled then the threads are enqueued on semaphores by
* priority rather than in FIFO order. * priority rather than in FIFO order.
* *
* @note The default is @p FALSE. Enable this if you have special requirements. * @note The default is @p FALSE. Enable this if you have special
* @note Requires @p CH_USE_SEMAPHORES. * requirements.
* @note Requires @p CH_CFG_USE_SEMAPHORES.
*/ */
#if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__) #define CH_CFG_USE_SEMAPHORES_PRIORITY FALSE
#define CH_USE_SEMAPHORES_PRIORITY FALSE
#endif
/**
* @brief Atomic semaphore API.
* @details If enabled then the semaphores the @p chSemSignalWait() API
* is included in the kernel.
*
* @note The default is @p TRUE.
* @note Requires @p CH_USE_SEMAPHORES.
*/
#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
#define CH_USE_SEMSW TRUE
#endif
/** /**
* @brief Mutexes APIs. * @brief Mutexes APIs.
@ -182,9 +181,17 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__) #define CH_CFG_USE_MUTEXES TRUE
#define CH_USE_MUTEXES TRUE
#endif /**
* @brief Enables recursive behavior on mutexes.
* @note Recursive mutexes are heavier and have an increased
* memory footprint.
*
* @note The default is @p FALSE.
* @note Requires @p CH_CFG_USE_MUTEXES.
*/
#define CH_CFG_USE_MUTEXES_RECURSIVE FALSE
/** /**
* @brief Conditional Variables APIs. * @brief Conditional Variables APIs.
@ -192,11 +199,9 @@
* in the kernel. * in the kernel.
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
* @note Requires @p CH_USE_MUTEXES. * @note Requires @p CH_CFG_USE_MUTEXES.
*/ */
#if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__) #define CH_CFG_USE_CONDVARS TRUE
#define CH_USE_CONDVARS TRUE
#endif
/** /**
* @brief Conditional Variables APIs with timeout. * @brief Conditional Variables APIs with timeout.
@ -204,11 +209,9 @@
* specification are included in the kernel. * specification are included in the kernel.
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
* @note Requires @p CH_USE_CONDVARS. * @note Requires @p CH_CFG_USE_CONDVARS.
*/ */
#if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__) #define CH_CFG_USE_CONDVARS_TIMEOUT TRUE
#define CH_USE_CONDVARS_TIMEOUT TRUE
#endif
/** /**
* @brief Events Flags APIs. * @brief Events Flags APIs.
@ -216,9 +219,7 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__) #define CH_CFG_USE_EVENTS TRUE
#define CH_USE_EVENTS TRUE
#endif
/** /**
* @brief Events Flags APIs with timeout. * @brief Events Flags APIs with timeout.
@ -226,11 +227,9 @@
* are included in the kernel. * are included in the kernel.
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
* @note Requires @p CH_USE_EVENTS. * @note Requires @p CH_CFG_USE_EVENTS.
*/ */
#if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__) #define CH_CFG_USE_EVENTS_TIMEOUT TRUE
#define CH_USE_EVENTS_TIMEOUT TRUE
#endif
/** /**
* @brief Synchronous Messages APIs. * @brief Synchronous Messages APIs.
@ -239,21 +238,18 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__) #define CH_CFG_USE_MESSAGES TRUE
#define CH_USE_MESSAGES TRUE
#endif
/** /**
* @brief Synchronous Messages queuing mode. * @brief Synchronous Messages queuing mode.
* @details If enabled then messages are served by priority rather than in * @details If enabled then messages are served by priority rather than in
* FIFO order. * FIFO order.
* *
* @note The default is @p FALSE. Enable this if you have special requirements. * @note The default is @p FALSE. Enable this if you have special
* @note Requires @p CH_USE_MESSAGES. * requirements.
* @note Requires @p CH_CFG_USE_MESSAGES.
*/ */
#if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__) #define CH_CFG_USE_MESSAGES_PRIORITY FALSE
#define CH_USE_MESSAGES_PRIORITY FALSE
#endif
/** /**
* @brief Mailboxes APIs. * @brief Mailboxes APIs.
@ -261,11 +257,9 @@
* included in the kernel. * included in the kernel.
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
* @note Requires @p CH_USE_SEMAPHORES. * @note Requires @p CH_CFG_USE_SEMAPHORES.
*/ */
#if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__) #define CH_CFG_USE_MAILBOXES TRUE
#define CH_USE_MAILBOXES TRUE
#endif
/** /**
* @brief I/O Queues APIs. * @brief I/O Queues APIs.
@ -273,9 +267,7 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__) #define CH_CFG_USE_QUEUES TRUE
#define CH_USE_QUEUES TRUE
#endif
/** /**
* @brief Core Memory Manager APIs. * @brief Core Memory Manager APIs.
@ -284,9 +276,7 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__) #define CH_CFG_USE_MEMCORE TRUE
#define CH_USE_MEMCORE TRUE
#endif
/** /**
* @brief Heap Allocator APIs. * @brief Heap Allocator APIs.
@ -294,27 +284,11 @@
* in the kernel. * in the kernel.
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
* @note Requires @p CH_USE_MEMCORE and either @p CH_USE_MUTEXES or * @note Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
* @p CH_USE_SEMAPHORES. * @p CH_CFG_USE_SEMAPHORES.
* @note Mutexes are recommended. * @note Mutexes are recommended.
*/ */
#if !defined(CH_USE_HEAP) || defined(__DOXYGEN__) #define CH_CFG_USE_HEAP TRUE
#define CH_USE_HEAP TRUE
#endif
/**
* @brief C-runtime allocator.
* @details If enabled the the heap allocator APIs just wrap the C-runtime
* @p malloc() and @p free() functions.
*
* @note The default is @p FALSE.
* @note Requires @p CH_USE_HEAP.
* @note The C-runtime may or may not require @p CH_USE_MEMCORE, see the
* appropriate documentation.
*/
#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
#define CH_USE_MALLOC_HEAP FALSE
#endif
/** /**
* @brief Memory Pools Allocator APIs. * @brief Memory Pools Allocator APIs.
@ -323,9 +297,7 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__) #define CH_CFG_USE_MEMPOOLS TRUE
#define CH_USE_MEMPOOLS TRUE
#endif
/** /**
* @brief Dynamic Threads APIs. * @brief Dynamic Threads APIs.
@ -333,12 +305,10 @@
* in the kernel. * in the kernel.
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
* @note Requires @p CH_USE_WAITEXIT. * @note Requires @p CH_CFG_USE_WAITEXIT.
* @note Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS. * @note Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
*/ */
#if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__) #define CH_CFG_USE_DYNAMIC TRUE
#define CH_USE_DYNAMIC TRUE
#endif
/** @} */ /** @} */
@ -349,6 +319,13 @@
*/ */
/*===========================================================================*/ /*===========================================================================*/
/**
* @brief Debug option, kernel statistics.
*
* @note The default is @p FALSE.
*/
#define CH_DBG_STATISTICS FALSE
/** /**
* @brief Debug option, system state check. * @brief Debug option, system state check.
* @details If enabled the correct call protocol for system APIs is checked * @details If enabled the correct call protocol for system APIs is checked
@ -356,9 +333,7 @@
* *
* @note The default is @p FALSE. * @note The default is @p FALSE.
*/ */
#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
#define CH_DBG_SYSTEM_STATE_CHECK FALSE #define CH_DBG_SYSTEM_STATE_CHECK FALSE
#endif
/** /**
* @brief Debug option, parameters checks. * @brief Debug option, parameters checks.
@ -367,9 +342,7 @@
* *
* @note The default is @p FALSE. * @note The default is @p FALSE.
*/ */
#if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
#define CH_DBG_ENABLE_CHECKS FALSE #define CH_DBG_ENABLE_CHECKS FALSE
#endif
/** /**
* @brief Debug option, consistency checks. * @brief Debug option, consistency checks.
@ -379,9 +352,7 @@
* *
* @note The default is @p FALSE. * @note The default is @p FALSE.
*/ */
#if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
#define CH_DBG_ENABLE_ASSERTS FALSE #define CH_DBG_ENABLE_ASSERTS FALSE
#endif
/** /**
* @brief Debug option, trace buffer. * @brief Debug option, trace buffer.
@ -390,9 +361,7 @@
* *
* @note The default is @p FALSE. * @note The default is @p FALSE.
*/ */
#if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
#define CH_DBG_ENABLE_TRACE FALSE #define CH_DBG_ENABLE_TRACE FALSE
#endif
/** /**
* @brief Debug option, stack checks. * @brief Debug option, stack checks.
@ -404,9 +373,7 @@
* @note The default failure mode is to halt the system with the global * @note The default failure mode is to halt the system with the global
* @p panic_msg variable set to @p NULL. * @p panic_msg variable set to @p NULL.
*/ */
#if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
#define CH_DBG_ENABLE_STACK_CHECK FALSE #define CH_DBG_ENABLE_STACK_CHECK FALSE
#endif
/** /**
* @brief Debug option, stacks initialization. * @brief Debug option, stacks initialization.
@ -416,22 +383,18 @@
* *
* @note The default is @p FALSE. * @note The default is @p FALSE.
*/ */
#if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
#define CH_DBG_FILL_THREADS FALSE #define CH_DBG_FILL_THREADS FALSE
#endif
/** /**
* @brief Debug option, threads profiling. * @brief Debug option, threads profiling.
* @details If enabled then a field is added to the @p Thread structure that * @details If enabled then a field is added to the @p thread_t structure that
* counts the system ticks occurred while executing the thread. * counts the system ticks occurred while executing the thread.
* *
* @note The default is @p TRUE. * @note The default is @p FALSE.
* @note This debug option is defaulted to TRUE because it is required by * @note This debug option is not currently compatible with the
* some test cases into the test suite. * tickless mode.
*/ */
#if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__) #define CH_DBG_THREADS_PROFILING FALSE
#define CH_DBG_THREADS_PROFILING TRUE
#endif
/** @} */ /** @} */
@ -444,12 +407,10 @@
/** /**
* @brief Threads descriptor structure extension. * @brief Threads descriptor structure extension.
* @details User fields added to the end of the @p Thread structure. * @details User fields added to the end of the @p thread_t structure.
*/ */
#if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__) #define CH_CFG_THREAD_EXTRA_FIELDS \
#define THREAD_EXT_FIELDS \
/* Add threads custom fields here.*/ /* Add threads custom fields here.*/
#endif
/** /**
* @brief Threads initialization hook. * @brief Threads initialization hook.
@ -458,11 +419,9 @@
* @note It is invoked from within @p chThdInit() and implicitly from all * @note It is invoked from within @p chThdInit() and implicitly from all
* the threads creation APIs. * the threads creation APIs.
*/ */
#if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__) #define CH_CFG_THREAD_INIT_HOOK(tp) { \
#define THREAD_EXT_INIT_HOOK(tp) { \
/* Add threads initialization code here.*/ \ /* Add threads initialization code here.*/ \
} }
#endif
/** /**
* @brief Threads finalization hook. * @brief Threads finalization hook.
@ -472,53 +431,61 @@
* @note It is also invoked when the threads simply return in order to * @note It is also invoked when the threads simply return in order to
* terminate. * terminate.
*/ */
#if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__) #define CH_CFG_THREAD_EXIT_HOOK(tp) { \
#define THREAD_EXT_EXIT_HOOK(tp) { \
/* Add threads finalization code here.*/ \ /* Add threads finalization code here.*/ \
} }
#endif
/** /**
* @brief Context switch hook. * @brief Context switch hook.
* @details This hook is invoked just before switching between threads. * @details This hook is invoked just before switching between threads.
*/ */
#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__) #define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) { \
#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) { \ /* Context switch code here.*/ \
/* System halt code here.*/ \ }
/**
* @brief Idle thread enter hook.
* @note This hook is invoked within a critical zone, no OS functions
* should be invoked from here.
* @note This macro can be used to activate a power saving mode.
*/
#define CH_CFG_IDLE_ENTER_HOOK() { \
}
/**
* @brief Idle thread leave hook.
* @note This hook is invoked within a critical zone, no OS functions
* should be invoked from here.
* @note This macro can be used to deactivate a power saving mode.
*/
#define CH_CFG_IDLE_LEAVE_HOOK() { \
} }
#endif
/** /**
* @brief Idle Loop hook. * @brief Idle Loop hook.
* @details This hook is continuously invoked by the idle thread loop. * @details This hook is continuously invoked by the idle thread loop.
*/ */
#if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__) #define CH_CFG_IDLE_LOOP_HOOK() { \
#define IDLE_LOOP_HOOK() { \
/* Idle loop code here.*/ \ /* Idle loop code here.*/ \
} }
#endif
/** /**
* @brief System tick event hook. * @brief System tick event hook.
* @details This hook is invoked in the system tick handler immediately * @details This hook is invoked in the system tick handler immediately
* after processing the virtual timers queue. * after processing the virtual timers queue.
*/ */
#if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__) #define CH_CFG_SYSTEM_TICK_HOOK() { \
#define SYSTEM_TICK_EVENT_HOOK() { \
/* System tick event code here.*/ \ /* System tick event code here.*/ \
} }
#endif
/** /**
* @brief System halt hook. * @brief System halt hook.
* @details This hook is invoked in case to a system halting error before * @details This hook is invoked in case to a system halting error before
* the system is halted. * the system is halted.
*/ */
#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__) #define CH_CFG_SYSTEM_HALT_HOOK(reason) { \
#define SYSTEM_HALT_HOOK() { \
/* System halt code here.*/ \ /* System halt code here.*/ \
} }
#endif
/** @} */ /** @} */

7
ext/ext.mk
View File

@ -94,8 +94,7 @@ ELUA_SHELL_CSRC = $(ELUA)/src/shell/shell.c \
$(ELUA)/src/shell/shell_mkdir.c \ $(ELUA)/src/shell/shell_mkdir.c \
$(ELUA)/src/shell/shell_recv.c \ $(ELUA)/src/shell/shell_recv.c \
$(ELUA)/src/shell/shell_ver.c \ $(ELUA)/src/shell/shell_ver.c \
$(ELUA)/src/shell/shell_wofmt.c \ $(ELUA)/src/shell/shell_wofmt.c
$(ELUA)/src/shell/vi.c
ELUA_uIP_CSRC = $(ELUA)/src/uip/uip_arp.c \ ELUA_uIP_CSRC = $(ELUA)/src/uip/uip_arp.c \
@ -112,7 +111,6 @@ ELUA_PLATFORM1_CSRC = $(CHIBIOSLUA)/ext/platform_chibios/platform.c
ELUA_PLATFORM2_CSRC = $(ELUA)/src/platform/arm_cortex_interrupts.c ELUA_PLATFORM2_CSRC = $(ELUA)/src/platform/arm_cortex_interrupts.c
ELUA_EXT_CSRC = $(CHIBIOSLUA)/ext/elua_chibios_mod.c \ ELUA_EXT_CSRC = $(CHIBIOSLUA)/ext/elua_chibios_mod.c \
$(CHIBIOSLUA)/ext/elua_zumo.c \
$(CHIBIOSLUA)/ext/ch_lua.c $(CHIBIOSLUA)/ext/ch_lua.c
# $(ELUA)/src/platform/arm_utils.s \ # $(ELUA)/src/platform/arm_utils.s \
@ -133,7 +131,7 @@ ELUA_SHELL_OBJS = $(addprefix $(BUILDDIR)/obj/, $(notdir $(ELUA_SHELL_CSRC:.c=
ELUA_uIP_OBJS = $(addprefix $(BUILDDIR)/obj/, $(notdir $(ELUA_uIP_CSRC:.c=.o.elua_uip))) ELUA_uIP_OBJS = $(addprefix $(BUILDDIR)/obj/, $(notdir $(ELUA_uIP_CSRC:.c=.o.elua_uip)))
ELUA_PLATFORM_OBJS= $(addprefix $(BUILDDIR)/obj/, $(notdir $(ELUA_PLATFORM_CSRC:.c=.o.elua_platform))) ELUA_PLATFORM_OBJS= $(addprefix $(BUILDDIR)/obj/, $(notdir $(ELUA_PLATFORM_CSRC:.c=.o.elua_platform)))
ELUA_FATFS_OBJS= $(addprefix $(BUILDDIR)/obj/, $(notdir $(ELUA_FATFS_CSRC:.c=.o.elua_fatfs))) ELUA_FATFS_OBJS= $(addprefix $(BUILDDIR)/obj/, $(notdir $(ELUA_FATFS_CSRC:.c=.o.elua_fatfs)))
ELUA_EXT_OBJS= $(BUILDDIR)/obj/ch_lua.o.ext $(BUILDDIR)/obj/elua_chibios_mod.o.ext $(BUILDDIR)/obj/elua_zumo.o.ext $(BUILDDIR)/obj/platform.o.PLATFORM1 $(BUILDDIR)/obj/arm_cortex_interrupts.o.PLATFORM2 ELUA_EXT_OBJS= $(BUILDDIR)/obj/ch_lua.o.ext $(BUILDDIR)/obj/elua_chibios_mod.o.ext $(BUILDDIR)/obj/platform.o.PLATFORM1 $(BUILDDIR)/obj/arm_cortex_interrupts.o.PLATFORM2
EXT_INC = $(CHIBIOSLUA)/ext \ EXT_INC = $(CHIBIOSLUA)/ext \
@ -152,6 +150,7 @@ EXT_ASMSRC = $(ELUA)/src/platform/cortex_utils.s
EXT_PREPROCESS_SHELL=$(warning EXT_PREPROCESS_SHELL) \ EXT_PREPROCESS_SHELL=$(warning EXT_PREPROCESS_SHELL) \
$(shell ln -s $(CHIBIOSLUA)/ext/stm32f4chibios.lua $(ELUA)/boards/known/stm32f4chibios.lua 2>/dev/null) \ $(shell ln -s $(CHIBIOSLUA)/ext/stm32f4chibios.lua $(ELUA)/boards/known/stm32f4chibios.lua 2>/dev/null) \
$(shell ls $(ELUA)/src/platform/chibios >/dev/null 2>&1 || ln -s $(CHIBIOSLUA)/ext/platform_chibios $(ELUA)/src/platform/chibios >/dev/null 2>&1) \
$(shell (cd ${ELUA} ; patch -N <$(CHIBIOSLUA)/ext/build_data.lua.diff ; ./build_elua.lua board=stm32f4chibios config_only=true; ./build_elua.lua board=stm32f4chibios) >>./build.log 2>&1) $(shell (cd ${ELUA} ; patch -N <$(CHIBIOSLUA)/ext/build_data.lua.diff ; ./build_elua.lua board=stm32f4chibios config_only=true; ./build_elua.lua board=stm32f4chibios) >>./build.log 2>&1)
#main link with rules.mk #main link with rules.mk

2
ext/platform_chibios/build_config.lua
View File

@ -15,7 +15,7 @@ end
function get_platform_modules( board, cpu ) function get_platform_modules( board, cpu )
return { return {
thd = { lib = '"thd"' }, thd = { lib = '"thd"' },
zumo = { lib = '"zumo"' } --~ zumo = { lib = '"zumo"' }
} }
end end

16
ext/platform_chibios/platform.c
View File

@ -34,14 +34,14 @@ int platform_init()
// **************************************************************************** // ****************************************************************************
// PIO functions // PIO functions
GPIO_TypeDef * const pio_port[] = { GPIOA, GPIOB, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, GPIOH, GPIOI }; stm32_gpio_t * const pio_port[] = { GPIOA, GPIOB, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, GPIOH, GPIOI };
uint16_t const ignore_pins[] = { 1<<2|1<<3|1<<11|1<<12, /*A2,A3,A11,A12 UART2 RX,TX,GPIOA_OTG_FS_DM,GPIOA_OTG_FS_DP */ uint16_t const ignore_pins[] = { 1<<2|1<<3|1<<11|1<<12, /*A2,A3,A11,A12 UART2 RX,TX,GPIOA_OTG_FS_DM,GPIOA_OTG_FS_DP */
0,0,0,0,0,0,0,0,0}; 0,0,0,0,0,0,0,0,0};
pio_type platform_pio_op( unsigned port, pio_type pinmask, int op ) pio_type platform_pio_op( unsigned port, pio_type pinmask, int op )
{ {
pio_type retval = 1;//ok , 0-error pio_type retval = 1;//ok , 0-error
GPIO_TypeDef * target_port = pio_port[ port ]; stm32_gpio_t * target_port = pio_port[ port ];
uint16_t new_state = 0xffff; uint16_t new_state = 0xffff;
switch( op ) switch( op )
@ -169,19 +169,19 @@ timer_data_type platform_s_timer_op( unsigned id, int op, timer_data_type data )
{ {
case PLATFORM_TIMER_OP_START: case PLATFORM_TIMER_OP_START:
//~ TIM_SetCounter( ptimer, 0 ); //~ TIM_SetCounter( ptimer, 0 );
res = chTimeNow(); res = chVTGetSystemTime();
break; break;
case PLATFORM_TIMER_OP_READ: case PLATFORM_TIMER_OP_READ:
res = chTimeNow();//TIM_GetCounter( ptimer ); res = chVTGetSystemTime();//TIM_GetCounter( ptimer );
break; break;
case PLATFORM_TIMER_OP_SET_CLOCK: case PLATFORM_TIMER_OP_SET_CLOCK:
res = CH_FREQUENCY;//platform_timer_set_clock( id, data ); res = CH_CFG_ST_FREQUENCY;//platform_timer_set_clock( id, data );
break; break;
case PLATFORM_TIMER_OP_GET_CLOCK: case PLATFORM_TIMER_OP_GET_CLOCK:
res = CH_FREQUENCY;//platform_timer_get_clock( id ); res = CH_CFG_ST_FREQUENCY;//platform_timer_get_clock( id );
break; break;
case PLATFORM_TIMER_OP_GET_MAX_CNT: case PLATFORM_TIMER_OP_GET_MAX_CNT:
@ -195,7 +195,7 @@ timer_data_type platform_s_timer_op( unsigned id, int op, timer_data_type data )
u64 platform_timer_sys_raw_read() u64 platform_timer_sys_raw_read()
{ {
return MS2ST(chTimeNow()); return MS2ST(chVTGetSystemTime());
} }
void platform_timer_sys_disable_int() void platform_timer_sys_disable_int()
@ -210,5 +210,5 @@ void platform_timer_sys_enable_int()
timer_data_type platform_timer_read_sys() timer_data_type platform_timer_read_sys()
{ {
return MS2ST(chTimeNow()); return MS2ST(chVTGetSystemTime());
} }

31
halconf.h
View File

@ -1,5 +1,5 @@
/* /*
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio ChibiOS - Copyright (C) 2006..2015 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.
@ -30,13 +30,6 @@
#include "mcuconf.h" #include "mcuconf.h"
/**
* @brief Enables the TM subsystem.
*/
#if !defined(HAL_USE_TM) || defined(__DOXYGEN__)
#define HAL_USE_TM FALSE
#endif
/** /**
* @brief Enables the PAL subsystem. * @brief Enables the PAL subsystem.
*/ */
@ -79,6 +72,13 @@
#define HAL_USE_I2C FALSE #define HAL_USE_I2C FALSE
#endif #endif
/**
* @brief Enables the I2S subsystem.
*/
#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__)
#define HAL_USE_I2S FALSE
#endif
/** /**
* @brief Enables the ICU subsystem. * @brief Enables the ICU subsystem.
*/ */
@ -287,6 +287,21 @@
#define SERIAL_BUFFERS_SIZE 16 #define SERIAL_BUFFERS_SIZE 16
#endif #endif
/*===========================================================================*/
/* SERIAL_USB driver related setting. */
/*===========================================================================*/
/**
* @brief Serial over USB buffers size.
* @details Configuration parameter, the buffer size must be a multiple of
* the USB data endpoint maximum packet size.
* @note The default is 64 bytes for both the transmission and receive
* buffers.
*/
#if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__)
#define SERIAL_USB_BUFFERS_SIZE 256
#endif
/*===========================================================================*/ /*===========================================================================*/
/* SPI driver related settings. */ /* SPI driver related settings. */
/*===========================================================================*/ /*===========================================================================*/

44
main.c
View File

@ -1,5 +1,5 @@
/* /*
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio ChibiOS - Copyright (C) 2006..2015 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.
@ -18,8 +18,8 @@
#include "hal.h" #include "hal.h"
#include "test.h" #include "test.h"
#include "various/chprintf.h" #include "chprintf.h"
#include "various/shell.h" //otherwise will comcflict with elua #include "various/shell.h"
#include "lis302dl.h" #include "lis302dl.h"
#include "usbcfg.h" #include "usbcfg.h"
@ -32,8 +32,8 @@ BaseSequentialStream *eLuaSDriver;
/* Command line related. */ /* Command line related. */
/*===========================================================================*/ /*===========================================================================*/
#define SHELL_WA_SIZE THD_WA_SIZE(2048) #define SHELL_WA_SIZE THD_WORKING_AREA_SIZE(2048)
#define TEST_WA_SIZE THD_WA_SIZE(256) #define TEST_WA_SIZE THD_WORKING_AREA_SIZE(256)
static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) { static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
size_t n, size; size_t n, size;
@ -44,40 +44,40 @@ static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
return; return;
} }
n = chHeapStatus(NULL, &size); n = chHeapStatus(NULL, &size);
chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus()); chprintf(chp, "core free memory : %u bytes\r\n", chCoreGetStatusX());
chprintf(chp, "heap fragments : %u\r\n", n); 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);
} }
static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) { static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
static const char *states[] = {THD_STATE_NAMES}; static const char *states[] = {CH_STATE_NAMES};
Thread *tp; thread_t *tp;
(void)argv; (void)argv;
if (argc > 0) { if (argc > 0) {
chprintf(chp, "Usage: threads\r\n"); chprintf(chp, "Usage: threads\r\n");
return; return;
} }
chprintf(chp, " addr stack prio refs state time\r\n"); chprintf(chp, " addr stack prio refs state\r\n");
tp = chRegFirstThread(); tp = chRegFirstThread();
do { do {
chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n", chprintf(chp, "%08lx %08lx %4lu %4lu %9s\r\n",
(uint32_t)tp, (uint32_t)tp->p_ctx.r13, (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], (uint32_t)tp->p_time); 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[]) { static void cmd_test(BaseSequentialStream *chp, int argc, char *argv[]) {
Thread *tp; thread_t *tp;
(void)argv; (void)argv;
if (argc > 0) { if (argc > 0) {
chprintf(chp, "Usage: test\r\n"); chprintf(chp, "Usage: test\r\n");
return; return;
} }
tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(), tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriorityX(),
TestThread, chp); TestThread, chp);
if (tp == NULL) { if (tp == NULL) {
chprintf(chp, "out of memory\r\n"); chprintf(chp, "out of memory\r\n");
@ -152,8 +152,8 @@ static const SPIConfig spi2cfg = {
* This is a periodic thread that reads accelerometer and outputs * This is a periodic thread that reads accelerometer and outputs
* result to SPI2 and PWM. * result to SPI2 and PWM.
*/ */
static WORKING_AREA(waThread1, 128); static THD_WORKING_AREA(waThread1, 128);
static msg_t Thread1(void *arg) { static THD_FUNCTION(Thread1, arg) {
static int8_t xbuf[4], ybuf[4]; /* Last accelerometer data.*/ static int8_t xbuf[4], ybuf[4]; /* Last accelerometer data.*/
systime_t time; /* Next deadline.*/ systime_t time; /* Next deadline.*/
@ -166,7 +166,7 @@ static msg_t Thread1(void *arg) {
lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG3, 0x00); lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG3, 0x00);
/* Reader thread loop.*/ /* Reader thread loop.*/
time = chTimeNow(); time = chVTGetSystemTime();
while (TRUE) { while (TRUE) {
int32_t x, y; int32_t x, y;
unsigned i; unsigned i;
@ -216,10 +216,10 @@ static msg_t Thread1(void *arg) {
} }
} }
static WORKING_AREA(waUSB_THREAD, 512); static THD_WORKING_AREA(waUSB_THREAD, 512);
static msg_t USB_THREAD(void *arg) { static THD_FUNCTION(USB_THREAD, arg) {
(void)arg; (void)arg;
Thread *shelltp = NULL; thread_t *shelltp = NULL;
/* /*
* Normal main() thread activity, in this demo it just performs * Normal main() thread activity, in this demo it just performs
@ -234,7 +234,7 @@ static msg_t USB_THREAD(void *arg) {
} }
else { else {
/* If the previous shell exited.*/ /* If the previous shell exited.*/
if (chThdTerminated(shelltp)) { if (chThdTerminatedX(shelltp)) {
/* Recovers memory of the previous shell.*/ /* Recovers memory of the previous shell.*/
chThdRelease(shelltp); chThdRelease(shelltp);
shelltp = NULL; shelltp = NULL;
@ -343,6 +343,10 @@ int main(void) {
main_lua();//while(1) !!! but could exit main_lua();//while(1) !!! but could exit
/*
* Normal main() thread activity, in this demo it just performs
* a shell respawn upon its termination.
*/
while (TRUE) { while (TRUE) {
chThdSleepMilliseconds(500); chThdSleepMilliseconds(500);
} }

33
mcuconf.h
View File

@ -1,5 +1,5 @@
/* /*
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio ChibiOS - Copyright (C) 2006..2015 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.
@ -14,6 +14,9 @@
limitations under the License. limitations under the License.
*/ */
#ifndef _MCUCONF_H_
#define _MCUCONF_H_
/* /*
* STM32F4xx drivers configuration. * STM32F4xx drivers configuration.
* The following settings override the default settings present in * The following settings override the default settings present in
@ -139,6 +142,7 @@
#define STM32_I2C_USE_I2C1 FALSE #define STM32_I2C_USE_I2C1 FALSE
#define STM32_I2C_USE_I2C2 FALSE #define STM32_I2C_USE_I2C2 FALSE
#define STM32_I2C_USE_I2C3 FALSE #define STM32_I2C_USE_I2C3 FALSE
#define STM32_I2C_BUSY_TIMEOUT 50
#define STM32_I2C_I2C1_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0) #define STM32_I2C_I2C1_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
#define STM32_I2C_I2C1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6) #define STM32_I2C_I2C1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
#define STM32_I2C_I2C2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2) #define STM32_I2C_I2C2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
@ -151,9 +155,7 @@
#define STM32_I2C_I2C1_DMA_PRIORITY 3 #define STM32_I2C_I2C1_DMA_PRIORITY 3
#define STM32_I2C_I2C2_DMA_PRIORITY 3 #define STM32_I2C_I2C2_DMA_PRIORITY 3
#define STM32_I2C_I2C3_DMA_PRIORITY 3 #define STM32_I2C_I2C3_DMA_PRIORITY 3
#define STM32_I2C_I2C1_DMA_ERROR_HOOK() chSysHalt() #define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
#define STM32_I2C_I2C2_DMA_ERROR_HOOK() chSysHalt()
#define STM32_I2C_I2C3_DMA_ERROR_HOOK() chSysHalt()
/* /*
* ICU driver system settings. * ICU driver system settings.
@ -203,6 +205,17 @@
#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
/*
* SDC driver system settings.
*/
#define STM32_SDC_SDIO_DMA_PRIORITY 3
#define STM32_SDC_SDIO_IRQ_PRIORITY 9
#define STM32_SDC_WRITE_TIMEOUT_MS 250
#define STM32_SDC_READ_TIMEOUT_MS 25
#define STM32_SDC_CLOCK_ACTIVATION_DELAY 10
#define STM32_SDC_SDIO_UNALIGNED_SUPPORT TRUE
#define STM32_SDC_SDIO_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
/* /*
* SERIAL driver system settings. * SERIAL driver system settings.
*/ */
@ -237,7 +250,13 @@
#define STM32_SPI_SPI1_IRQ_PRIORITY 10 #define STM32_SPI_SPI1_IRQ_PRIORITY 10
#define STM32_SPI_SPI2_IRQ_PRIORITY 10 #define STM32_SPI_SPI2_IRQ_PRIORITY 10
#define STM32_SPI_SPI3_IRQ_PRIORITY 10 #define STM32_SPI_SPI3_IRQ_PRIORITY 10
#define STM32_SPI_DMA_ERROR_HOOK(spip) chSysHalt() #define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure")
/*
* ST driver system settings.
*/
#define STM32_ST_IRQ_PRIORITY 8
#define STM32_ST_USE_TIMER 2
/* /*
* UART driver system settings. * UART driver system settings.
@ -272,7 +291,7 @@
#define STM32_UART_UART4_DMA_PRIORITY 0 #define STM32_UART_UART4_DMA_PRIORITY 0
#define STM32_UART_UART5_DMA_PRIORITY 0 #define STM32_UART_UART5_DMA_PRIORITY 0
#define STM32_UART_USART6_DMA_PRIORITY 0 #define STM32_UART_USART6_DMA_PRIORITY 0
#define STM32_UART_DMA_ERROR_HOOK(uartp) chSysHalt() #define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure")
/* /*
* USB driver system settings. * USB driver system settings.
@ -286,3 +305,5 @@
#define STM32_USB_OTG_THREAD_PRIO LOWPRIO #define STM32_USB_OTG_THREAD_PRIO LOWPRIO
#define STM32_USB_OTG_THREAD_STACK_SIZE 128 #define STM32_USB_OTG_THREAD_STACK_SIZE 128
#define STM32_USB_OTGFIFO_FILL_BASEPRI 0 #define STM32_USB_OTGFIFO_FILL_BASEPRI 0
#endif /* _MCUCONF_H_ */

54
rules.mk
View File

@ -40,6 +40,20 @@ else
DADEFS += -DCORTEX_USE_FPU=FALSE DADEFS += -DCORTEX_USE_FPU=FALSE
endif endif
# Process stack size
ifeq ($(USE_PROCESS_STACKSIZE),)
LDOPT := $(LDOPT),--defsym=__process_stack_size__=0x400
else
LDOPT := $(LDOPT),--defsym=__process_stack_size__=$(USE_PROCESS_STACKSIZE)
endif
# Exceptions stack size
ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
LDOPT := $(LDOPT),--defsym=__main_stack_size__=0x400
else
LDOPT := $(LDOPT),--defsym=__main_stack_size__=$(USE_EXCEPTIONS_STACKSIZE)
endif
# Output directory and files # Output directory and files
ifeq ($(BUILDDIR),) ifeq ($(BUILDDIR),)
BUILDDIR = build BUILDDIR = build
@ -47,8 +61,15 @@ endif
ifeq ($(BUILDDIR),.) ifeq ($(BUILDDIR),.)
BUILDDIR = build BUILDDIR = build
endif endif
OUTFILES = $(BUILDDIR)/$(PROJECT).elf $(BUILDDIR)/$(PROJECT).hex \ OUTFILES = $(BUILDDIR)/$(PROJECT).elf \
$(BUILDDIR)/$(PROJECT).bin $(BUILDDIR)/$(PROJECT).dmp $(BUILDDIR)/$(PROJECT).hex \
$(BUILDDIR)/$(PROJECT).bin \
$(BUILDDIR)/$(PROJECT).dmp \
$(BUILDDIR)/$(PROJECT).list
ifdef SREC
OUTFILES += $(BUILDDIR)/$(PROJECT).srec
endif
# Source files groups and paths # Source files groups and paths
ifeq ($(USE_THUMB),yes) ifeq ($(USE_THUMB),yes)
@ -60,9 +81,7 @@ else
endif endif
ASRC = $(ACSRC)$(ACPPSRC) ASRC = $(ACSRC)$(ACPPSRC)
TSRC = $(TCSRC)$(TCPPSRC) TSRC = $(TCSRC)$(TCPPSRC)
SRCPATHS = $(sort $(dir $(ASMXSRC)) $(dir $(ASMSRC)) $(dir $(ASRC)) $(dir $(TSRC)) ) SRCPATHS = $(sort $(dir $(ASMXSRC)) $(dir $(ASMSRC)) $(dir $(ASRC)) $(dir $(TSRC)))
#$(dir $(ELUA_ALL_CSRC))
# Various directories # Various directories
OBJDIR = $(BUILDDIR)/obj OBJDIR = $(BUILDDIR)/obj
@ -75,7 +94,6 @@ TCOBJS = $(addprefix $(OBJDIR)/, $(notdir $(TCSRC:.c=.o)))
TCPPOBJS = $(addprefix $(OBJDIR)/, $(notdir $(TCPPSRC:.cpp=.o))) TCPPOBJS = $(addprefix $(OBJDIR)/, $(notdir $(TCPPSRC:.cpp=.o)))
ASMOBJS = $(addprefix $(OBJDIR)/, $(notdir $(ASMSRC:.s=.o))) ASMOBJS = $(addprefix $(OBJDIR)/, $(notdir $(ASMSRC:.s=.o)))
ASMXOBJS = $(addprefix $(OBJDIR)/, $(notdir $(ASMXSRC:.S=.o))) ASMXOBJS = $(addprefix $(OBJDIR)/, $(notdir $(ASMXSRC:.S=.o)))
#ELUAOBJS = $(addprefix $(OBJDIR)/, $(notdir $(ELUA_CSRC:.c=_elua.o)))
OBJS = $(ASMXOBJS) $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS) $(ELUA_ALL_OBJS) OBJS = $(ASMXOBJS) $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS) $(ELUA_ALL_OBJS)
# Paths # Paths
@ -230,18 +248,42 @@ else
@$(BIN) $< $@ @$(BIN) $< $@
endif endif
%.srec: %.elf $(LDSCRIPT)
ifeq ($(USE_VERBOSE_COMPILE),yes)
$(SREC) $< $@
else
@echo Creating $@
@$(SREC) $< $@
endif
%.dmp: %.elf $(LDSCRIPT) %.dmp: %.elf $(LDSCRIPT)
ifeq ($(USE_VERBOSE_COMPILE),yes) ifeq ($(USE_VERBOSE_COMPILE),yes)
$(OD) $(ODFLAGS) $< > $@ $(OD) $(ODFLAGS) $< > $@
$(SZ) $<
else else
@echo Creating $@ @echo Creating $@
@$(OD) $(ODFLAGS) $< > $@ @$(OD) $(ODFLAGS) $< > $@
@echo @echo
@$(SZ) $< @$(SZ) $<
endif
%.list: %.elf $(LDSCRIPT)
ifeq ($(USE_VERBOSE_COMPILE),yes)
$(OD) -S $< > $@
else
@echo Creating $@
@$(OD) -S $< > $@
@echo @echo
@echo Done @echo Done
endif endif
lib: $(OBJS) $(BUILDDIR)/lib$(PROJECT).a
$(BUILDDIR)/lib$(PROJECT).a: $(OBJS)
@$(AR) -r $@ $^
@echo
@echo Done
clean: clean:
@echo Cleaning @echo Cleaning
-rm -fR .dep $(BUILDDIR) -rm -fR .dep $(BUILDDIR)

6
usbcfg.c
View File

@ -1,5 +1,5 @@
/* /*
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio ChibiOS - Copyright (C) 2006..2015 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.
@ -270,7 +270,7 @@ static void usb_event(USBDriver *usbp, usbevent_t event) {
case USB_EVENT_ADDRESS: case USB_EVENT_ADDRESS:
return; return;
case USB_EVENT_CONFIGURED: case USB_EVENT_CONFIGURED:
chSysLockFromIsr(); chSysLockFromISR();
/* Enables the endpoints specified into the configuration. /* Enables the endpoints specified into the configuration.
Note, this callback is invoked from an ISR so I-Class functions 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.*/ /* Resetting the state of the CDC subsystem.*/
sduConfigureHookI(&SDU1); sduConfigureHookI(&SDU1);
chSysUnlockFromIsr(); chSysUnlockFromISR();
return; return;
case USB_EVENT_SUSPEND: case USB_EVENT_SUSPEND:
return; return;

2
usbcfg.h
View File

@ -1,5 +1,5 @@
/* /*
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio ChibiOS - Copyright (C) 2006..2015 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.