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custom-board-bundle-sample-fork-of-rusefi
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This commit is contained in:
rusEfi 2015-02-17 10:05:39 -06:00
parent 7b5638fe4a
commit 94f80d96ec
2 changed files with 497 additions and 32 deletions
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3
firmware/chibios/readme.txt
View File

@ -1,4 +1,5 @@
In this folder we have ChibiOS 2.6.1 with rusefi_chibios.patch applied
In this folder we have ChibiOS 2.6.6 with rusefi_chibios.patch applied.
http://chibios.org/
rusefi_chibios.patch is only about minor improvements to fatal error message - like __FILE__ info and maybe better messages.

526
firmware/chibios/rusefi_chibios.patch
View File

@ -1,7 +1,7 @@
Index: boards/ST_STM32F4_DISCOVERY/board.h
Index: chibios/boards/ST_STM32F4_DISCOVERY/board.h
===================================================================
--- boards/ST_STM32F4_DISCOVERY/board.h (revision 2723)
+++ boards/ST_STM32F4_DISCOVERY/board.h (working copy)
--- chibios/boards/ST_STM32F4_DISCOVERY/board.h (revision 6923)
+++ chibios/boards/ST_STM32F4_DISCOVERY/board.h (working copy)
@@ -27,6 +27,7 @@
#define BOARD_ST_STM32F4_DISCOVERY
#define BOARD_NAME "STMicroelectronics STM32F4-Discovery"
@ -10,10 +10,65 @@ Index: boards/ST_STM32F4_DISCOVERY/board.h
/*
* Board oscillators-related settings.
Index: os/kernel/src/chdebug.c
Index: chibios/os/hal/platforms/STM32F4xx/adc_lld.c
===================================================================
--- os/kernel/src/chdebug.c (revision 2723)
+++ os/kernel/src/chdebug.c (working copy)
--- chibios/os/hal/platforms/STM32F4xx/adc_lld.c (revision 6923)
+++ chibios/os/hal/platforms/STM32F4xx/adc_lld.c (working copy)
@@ -67,6 +67,8 @@
/* Driver local functions. */
/*===========================================================================*/
+#include "error_handling.h"
+
/**
* @brief ADC DMA ISR service routine.
*
@@ -75,6 +77,8 @@
*/
static void adc_lld_serve_rx_interrupt(ADCDriver *adcp, uint32_t flags) {
+ efiAssertVoid(getRemainingStack(chThdSelf()) > 64, "sys_adc");
+
/* DMA errors handling.*/
if ((flags & (STM32_DMA_ISR_TEIF | STM32_DMA_ISR_DMEIF)) != 0) {
/* DMA, this could help only if the DMA tries to access an unmapped
Index: chibios/os/kernel/include/chdebug.h
===================================================================
--- chibios/os/kernel/include/chdebug.h (revision 6923)
+++ chibios/os/kernel/include/chdebug.h (working copy)
@@ -59,6 +59,17 @@
#define CH_TRACE_BUFFER_SIZE 64
#endif
+#ifdef __cplusplus
+extern "C"
+{
+#endif /* __cplusplus */
+
+void chDbgPanic3(const char *msg, const char * file, int line);
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
/**
* @brief Fill value for thread stack area in debug mode.
*/
@@ -98,8 +109,8 @@
#define chDbgCheckClassI()
#define chDbgCheckClassS()
#else
-#define dbg_enter_lock() (dbg_lock_cnt = 1)
-#define dbg_leave_lock() (dbg_lock_cnt = 0)
+#define dbg_enter_lock() {dbg_lock_cnt = 1;ON_LOCK_HOOK;}
+#define dbg_leave_lock() {dbg_lock_cnt = 0;ON_UNLOCK_HOOK;}
#endif
/*===========================================================================*/
Index: chibios/os/kernel/src/chdebug.c
===================================================================
--- chibios/os/kernel/src/chdebug.c (revision 6923)
+++ chibios/os/kernel/src/chdebug.c (working copy)
@@ -114,7 +114,7 @@
void dbg_check_lock(void) {
@ -32,7 +87,32 @@ Index: os/kernel/src/chdebug.c
dbg_enter_lock();
}
@@ -193,7 +193,7 @@
@@ -154,6 +154,10 @@
dbg_leave_lock();
}
+void firmwareError(const char *fmt, ...);
+
+extern int maxNesting;
+
/**
* @brief Guard code for @p CH_IRQ_PROLOGUE().
*
@@ -160,11 +164,12 @@
* @notapi
*/
void dbg_check_enter_isr(void) {
-
port_lock_from_isr();
if ((dbg_isr_cnt < 0) || (dbg_lock_cnt != 0))
chDbgPanic("SV#8");
dbg_isr_cnt++;
+ if (dbg_isr_cnt > maxNesting)
+ maxNesting = dbg_isr_cnt;
port_unlock_from_isr();
}
@@ -193,7 +198,7 @@
void chDbgCheckClassI(void) {
if ((dbg_isr_cnt < 0) || (dbg_lock_cnt <= 0))
@ -41,12 +121,12 @@ Index: os/kernel/src/chdebug.c
}
/**
@@ -268,10 +268,11 @@
@@ -268,10 +273,11 @@
*
* @param[in] msg the pointer to the panic message string
*/
+
+void chDbgPanic3(const char *msg, char * file, int line);
+void chDbgPanic3(const char *msg, const char * file, int line);
+
void chDbgPanic(const char *msg) {
-
@ -56,51 +136,149 @@ Index: os/kernel/src/chdebug.c
}
#endif /* CH_DBG_ENABLED */
Index: os/ports/GCC/ARMCMx/chcore_v7m.h
Index: chibios/os/kernel/src/chvt.c
===================================================================
--- os/ports/GCC/ARMCMx/chcore_v7m.h (revision 2723)
+++ os/ports/GCC/ARMCMx/chcore_v7m.h (working copy)
@@ -36,6 +36,8 @@
#ifndef _CHCORE_V7M_H_
#define _CHCORE_V7M_H_
--- chibios/os/kernel/src/chvt.c (revision 6923)
+++ chibios/os/kernel/src/chvt.c (working copy)
@@ -77,6 +77,9 @@
VirtualTimer *p;
+#include "chdebug.h"
chDbgCheckClassI();
+ chDbgCheck(vtp != NULL, "chVTSetI 1");
+ chDbgCheck(vtfunc != NULL, "chVTSetI 2");
+ chDbgCheck(time != TIME_IMMEDIATE, "chVTSetI 3");
chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (time != TIME_IMMEDIATE),
"chVTSetI");
Index: chibios/os/ports/GCC/ARMCMx/chcore_v6m.h
===================================================================
--- chibios/os/ports/GCC/ARMCMx/chcore_v6m.h (revision 6923)
+++ chibios/os/ports/GCC/ARMCMx/chcore_v6m.h (working copy)
@@ -270,6 +270,8 @@
*/
#define PORT_FAST_IRQ_HANDLER(id) void id(void)
+int getRemainingStack(Thread *otp);
+
/*===========================================================================*/
/* Port constants. */
/*===========================================================================*/
@@ -486,6 +488,8 @@
/**
* @brief Port-related initialization code.
*/
Index: chibios/os/ports/GCC/ARMCMx/chcore_v7m.h
===================================================================
--- chibios/os/ports/GCC/ARMCMx/chcore_v7m.h (revision 6923)
+++ chibios/os/ports/GCC/ARMCMx/chcore_v7m.h (working copy)
@@ -486,6 +486,10 @@
#define port_wait_for_interrupt()
#endif
+void chDbgStackOverflowPanic(Thread *otp);
+
+int getRemainingStack(Thread *otp);
+
/**
* @brief Performs a context switch between two threads.
* @details This is the most critical code in any port, this function
@@ -502,7 +506,7 @@
@@ -500,9 +504,8 @@
#define port_switch(ntp, otp) _port_switch(ntp, otp)
#else
#define port_switch(ntp, otp) { \
register struct intctx *r13 asm ("r13"); \
if ((stkalign_t *)(r13 - 1) < otp->p_stklimit) \
- register struct intctx *r13 asm ("r13"); \
- if ((stkalign_t *)(r13 - 1) < otp->p_stklimit) \
- chDbgPanic("stack overflow"); \
+ if (getRemainingStack(otp) < 0) \
+ chDbgStackOverflowPanic(otp); \
_port_switch(ntp, otp); \
}
#endif
Index: os/ports/GCC/ARMCMx/rules.mk
Index: chibios/os/ports/GCC/ARMCMx/rules.mk
===================================================================
--- os/ports/GCC/ARMCMx/rules.mk (revision 2723)
+++ os/ports/GCC/ARMCMx/rules.mk (working copy)
@@ -60,7 +60,7 @@
--- chibios/os/ports/GCC/ARMCMx/rules.mk (revision 6923)
+++ chibios/os/ports/GCC/ARMCMx/rules.mk (working copy)
@@ -1,45 +1,5 @@
# ARM Cortex-Mx common makefile scripts and rules.
-##############################################################################
-# Processing options coming from the upper Makefile.
-#
-
-# Compiler options
-OPT = $(USE_OPT)
-COPT = $(USE_COPT)
-CPPOPT = $(USE_CPPOPT)
-
-# Garbage collection
-ifeq ($(USE_LINK_GC),yes)
- OPT += -ffunction-sections -fdata-sections -fno-common
- LDOPT := ,--gc-sections
-else
- LDOPT :=
-endif
-
-# Linker extra options
-ifneq ($(USE_LDOPT),)
- LDOPT := $(LDOPT),$(USE_LDOPT)
-endif
-
-# Link time optimizations
-ifeq ($(USE_LTO),yes)
- OPT += -flto
-endif
-
-# FPU-related options
-ifeq ($(USE_FPU),)
- USE_FPU = no
-endif
-ifneq ($(USE_FPU),no)
- OPT += -mfloat-abi=$(USE_FPU) -mfpu=fpv4-sp-d16 -fsingle-precision-constant
- DDEFS += -DCORTEX_USE_FPU=TRUE
- DADEFS += -DCORTEX_USE_FPU=TRUE
-else
- DDEFS += -DCORTEX_USE_FPU=FALSE
- DADEFS += -DCORTEX_USE_FPU=FALSE
-endif
-
# Output directory and files
ifeq ($(BUILDDIR),)
BUILDDIR = build
@@ -50,6 +10,14 @@
OUTFILES = $(BUILDDIR)/$(PROJECT).elf $(BUILDDIR)/$(PROJECT).hex \
$(BUILDDIR)/$(PROJECT).bin $(BUILDDIR)/$(PROJECT).dmp
+# Automatic compiler options
+OPT = $(USE_OPT)
+COPT = $(USE_COPT)
+CPPOPT = $(USE_CPPOPT)
+ifeq ($(USE_LINK_GC),yes)
+ OPT += -ffunction-sections -fdata-sections -fno-common
+endif
+
# Source files groups and paths
ifeq ($(USE_THUMB),yes)
TCSRC += $(CSRC)
@@ -92,8 +60,12 @@
ASFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.s=.lst)) $(ADEFS)
ASXFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.S=.lst)) $(ADEFS)
CFLAGS = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.c=.lst)) $(DEFS)
-CPPFLAGS = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.cpp=.lst)) $(DEFS)
-LDFLAGS = $(MCFLAGS) $(OPT) -nostartfiles $(LLIBDIR) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--library-path=$(RULESPATH),--script=$(LDSCRIPT)$(LDOPT)
+CPPFLAGS = $(MCFLAGS) $(CPPOPT) $(CPPWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.cpp=.lst)) $(DEFS)
ifeq ($(USE_LINK_GC),yes)
LDFLAGS = $(MCFLAGS) -nostartfiles -T$(LDSCRIPT) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--gc-sections $(LLIBDIR)
else
@@ -113,7 +113,7 @@
+ifeq ($(USE_LINK_GC),yes)
+ LDFLAGS = $(MCFLAGS) -nostartfiles -T$(LDSCRIPT) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--gc-sections $(LLIBDIR)
+else
+ LDFLAGS = $(MCFLAGS) -nostartfiles -T$(LDSCRIPT) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch $(LLIBDIR)
+endif
# Thumb interwork enabled only if needed because it kills performance.
ifneq ($(TSRC),)
@@ -122,7 +94,6 @@
endif
# Generate dependency information
-ASFLAGS += -MD -MP -MF .dep/$(@F).d
CFLAGS += -MD -MP -MF .dep/$(@F).d
CPPFLAGS += -MD -MP -MF .dep/$(@F).d
@@ -142,7 +113,7 @@
$(BUILDDIR) $(OBJDIR) $(LSTDIR):
ifneq ($(USE_VERBOSE_COMPILE),yes)
@echo Compiler Options
@ -109,3 +287,289 @@ Index: os/ports/GCC/ARMCMx/rules.mk
@echo
endif
mkdir -p $(OBJDIR)
@@ -195,7 +166,7 @@
$(ASMXOBJS) : $(OBJDIR)/%.o : %.S Makefile
ifeq ($(USE_VERBOSE_COMPILE),yes)
- @echo
+ @echo
$(CC) -c $(ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
else
@echo Compiling $(<F)
@@ -233,9 +204,6 @@
else
@echo Creating $@
@$(OD) $(ODFLAGS) $< > $@
- @echo
- @$(SZ) $<
- @echo
@echo Done
endif
@@ -242,7 +210,6 @@
clean:
@echo Cleaning
-rm -fR .dep $(BUILDDIR)
- @echo
@echo Done
#
Index: chibios/os/ports/IAR/ARMCMx/chcore_v7m.h
===================================================================
--- chibios/os/ports/IAR/ARMCMx/chcore_v7m.h (revision 6923)
+++ chibios/os/ports/IAR/ARMCMx/chcore_v7m.h (working copy)
@@ -470,6 +470,8 @@
#define port_wait_for_interrupt()
#endif
+int getRemainingStack(Thread *otp);
+
/**
* @brief Performs a context switch between two threads.
* @details This is the most critical code in any port, this function
@@ -484,7 +486,7 @@
#define port_switch(ntp, otp) _port_switch(ntp, otp)
#else
#define port_switch(ntp, otp) { \
- if ((stkalign_t *)(__get_SP() - sizeof(struct intctx)) < otp->p_stklimit) \
+ if (getRemainingStack(otp) < 0) \
chDbgPanic("stack overflow"); \
_port_switch(ntp, otp); \
}
Index: chibios/os/ports/IAR/ARMCMx/chcoreasm_v7m.s
===================================================================
--- chibios/os/ports/IAR/ARMCMx/chcoreasm_v7m.s (revision 6923)
+++ chibios/os/ports/IAR/ARMCMx/chcoreasm_v7m.s (working copy)
@@ -34,7 +34,7 @@
* Imports the Cortex-Mx configuration headers.
*/
#define _FROM_ASM_
-#include "chconf.h"
+#include "config\stm32f4ems\chconf.h"
#include "chcore.h"
CONTEXT_OFFSET SET 12
Index: chibios/os/ports/IAR/ARMCMx/cstartup.s
===================================================================
--- chibios/os/ports/IAR/ARMCMx/cstartup.s (revision 6923)
+++ chibios/os/ports/IAR/ARMCMx/cstartup.s (working copy)
@@ -37,6 +37,8 @@
SECTION .intvec:CODE:NOROOT(3)
+ SECTION .ccm:CODE:NOROOT(2)
+
SECTION CSTACK:DATA:NOROOT(3)
PUBLIC __main_thread_stack_base__
__main_thread_stack_base__:
Index: chibios/os/various/chprintf.c
===================================================================
--- chibios/os/various/chprintf.c (revision 6923)
+++ chibios/os/various/chprintf.c (working copy)
@@ -29,11 +29,13 @@
#include "ch.h"
#include "chprintf.h"
-#include "memstreams.h"
#define MAX_FILLER 11
-#define FLOAT_PRECISION 100000
-
+/**
+ * That's out default %f precision here. Two digits should be fine?
+ * That's important on the lcd screen
+ */
+#define FLOAT_PRECISION 100
static char *long_to_string_with_divisor(char *p,
long num,
unsigned radix,
@@ -73,10 +75,22 @@
}
#if CHPRINTF_USE_FLOAT
-static char *ftoa(char *p, double num) {
+char *ftoa(char *p, double num, unsigned long precision) {
+ if (num < 0) {
+ *p++ = '-';
+ return ftoa(p, -num, precision);
+ }
long l;
- unsigned long precision = FLOAT_PRECISION;
+ if (isnan(num)) {
+ *p++ = 'N';
+ *p++ = 'a';
+ *p++ = 'N';
+ return p;
+ }
+ if (precision == 0)
+ precision = FLOAT_PRECISION;
+
l = (long)num;
p = long_to_string_with_divisor(p, l, 10, 0);
*p++ = '.';
@@ -85,6 +99,9 @@
}
#endif
+#include "error_handling.h"
+int getRemainingStack(Thread *otp);
+
/**
* @brief System formatted output function.
* @details This function implements a minimal @p vprintf()-like functionality
@@ -121,6 +138,9 @@
char tmpbuf[MAX_FILLER + 1];
#endif
+ efiAssertVoid(getRemainingStack(chThdSelf()) > 64, "lowstck#1c");
+
+
while (TRUE) {
c = *fmt++;
if (c == 0)
@@ -129,6 +149,7 @@
chSequentialStreamPut(chp, (uint8_t)c);
continue;
}
+ // we are here if c == '%' meaning we have a control sequence
p = tmpbuf;
s = tmpbuf;
left_align = FALSE;
@@ -211,7 +232,7 @@
*p++ = '-';
f = -f;
}
- p = ftoa(p, f);
+ p = ftoa(p, f, precision);
break;
#endif
case 'X':
@@ -250,8 +271,8 @@
chSequentialStreamPut(chp, (uint8_t)filler);
} while (++width != 0);
}
- while (--i >= 0)
- chSequentialStreamPut(chp, (uint8_t)*s++);
+ chSequentialStreamWrite(chp, (uint8_t*)s, i);
+ s += i;
while (width) {
chSequentialStreamPut(chp, (uint8_t)filler);
@@ -260,48 +281,4 @@
}
}
-/**
- * @brief System formatted output function.
- * @details This function implements a minimal @p vprintf()-like functionality
- * with output on a @p BaseSequentialStream.
- * The general parameters format is: %[-][width|*][.precision|*][l|L]p.
- * The following parameter types (p) are supported:
- * - <b>x</b> hexadecimal integer.
- * - <b>X</b> hexadecimal long.
- * - <b>o</b> octal integer.
- * - <b>O</b> octal long.
- * - <b>d</b> decimal signed integer.
- * - <b>D</b> decimal signed long.
- * - <b>u</b> decimal unsigned integer.
- * - <b>U</b> decimal unsigned long.
- * - <b>c</b> character.
- * - <b>s</b> string.
- * .
- *
- * @param[in] str pointer to a buffer
- * @param[in] size maximum size of the buffer
- * @param[in] fmt formatting string
- * @return The size of the generated string.
- *
- * @api
- */
-int chsnprintf(char *str, size_t size, const char *fmt, ...) {
- va_list ap;
- MemoryStream ms;
- BaseSequentialStream *chp;
-
- /* Memory stream object to be used as a string writer.*/
- msObjectInit(&ms, (uint8_t *)str, size, 0);
-
- /* Performing the print operation using the common code.*/
- chp = (BaseSequentialStream *)&ms;
- va_start(ap, fmt);
- chvprintf(chp, fmt, ap);
- va_end(ap);
-
- /* Final zero and size return.*/
- chSequentialStreamPut(chp, 0);
- return ms.eos - 1;
-}
-
/** @} */
Index: chibios/os/various/chprintf.h
===================================================================
--- chibios/os/various/chprintf.h (revision 6923)
+++ chibios/os/various/chprintf.h (working copy)
@@ -26,6 +26,7 @@
#define _CHPRINTF_H_
#include <stdarg.h>
+#include <math.h>
/**
* @brief Float type support.
@@ -38,7 +39,7 @@
extern "C" {
#endif
void chvprintf(BaseSequentialStream *chp, const char *fmt, va_list ap);
- int chsnprintf(char *str, size_t size, const char *fmt, ...);
+ char *ftoa(char *p, double num, unsigned long precision);
#ifdef __cplusplus
}
#endif
@@ -66,7 +67,7 @@
*
* @api
*/
-static INLINE void chprintf(BaseSequentialStream *chp, const char *fmt, ...) {
+static inline void chprintf(BaseSequentialStream *chp, const char *fmt, ...) {
va_list ap;
va_start(ap, fmt);
Index: chibios/os/various/fatfs_bindings/fatfs_diskio.c
===================================================================
--- chibios/os/various/fatfs_bindings/fatfs_diskio.c (revision 6923)
+++ chibios/os/various/fatfs_bindings/fatfs_diskio.c (working copy)
@@ -5,11 +5,12 @@
/* disk I/O modules and attach it to FatFs module with common interface. */
/*-----------------------------------------------------------------------*/
-#include "ch.h"
-#include "hal.h"
+#include "main.h"
#include "ffconf.h"
#include "diskio.h"
+#if EFI_FILE_LOGGING || defined(__DOXYGEN__)
+
#if HAL_USE_MMC_SPI && HAL_USE_SDC
#error "cannot specify both MMC_SPI and SDC drivers"
#endif
@@ -250,5 +251,5 @@
#endif
}
+#endif
-
Index: chibios/readme.txt
===================================================================
--- chibios/readme.txt (revision 6921)
+++ chibios/readme.txt (working copy)
@@ -1,4 +1,5 @@
-In this folder we have ChibiOS 2.6.1 with rusefi_chibios.patch applied
+In this folder we have ChibiOS 2.6.6 with rusefi_chibios.patch applied.
+http://chibios.org/
rusefi_chibios.patch is only about minor improvements to fatal error message - like __FILE__ info and maybe better messages.
\ No newline at end of file