diff --git a/firmware/chibios/os/hal/platforms/Posix/console.c b/firmware/chibios/os/hal/platforms/Posix/console.c new file mode 100644 index 0000000000..53c2593e66 --- /dev/null +++ b/firmware/chibios/os/hal/platforms/Posix/console.c @@ -0,0 +1,128 @@ +/* + 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. +*/ + +/** + * @file console.c + * @brief Simulator console driver code. + * @{ + */ + +#include + +#include "ch.h" +#include "hal.h" +#include "console.h" + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/** + * @brief Console driver 1. + */ +BaseChannel CD1; + +/*===========================================================================*/ +/* Driver local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +static size_t write(void *ip, const uint8_t *bp, size_t n) { + size_t ret; + + (void)ip; + ret = fwrite(bp, 1, n, stdout); + fflush(stdout); + return ret; +} + +static size_t read(void *ip, uint8_t *bp, size_t n) { + + (void)ip; + return fread(bp, 1, n, stdin); +} + +static msg_t put(void *ip, uint8_t b) { + + (void)ip; + + fputc(b, stdout); + fflush(stdout); + return RDY_OK; +} + +static msg_t get(void *ip) { + + (void)ip; + + return fgetc(stdin); +} + +static msg_t putt(void *ip, uint8_t b, systime_t timeout) { + + (void)ip; + (void)timeout; + fputc(b, stdout); + fflush(stdout); + return RDY_OK; +} + +static msg_t gett(void *ip, systime_t timeout) { + + (void)ip; + (void)timeout; + return fgetc(stdin); +} + +static size_t writet(void *ip, const uint8_t *bp, size_t n, systime_t timeout) { + size_t ret; + + (void)ip; + (void)timeout; + ret = fwrite(bp, 1, n, stdout); + fflush(stdout); + return ret; +} + +static size_t readt(void *ip, uint8_t *bp, size_t n, systime_t timeout) { + + (void)ip; + (void)timeout; + return fread(bp, 1, n, stdin); +} + +static const struct BaseChannelVMT vmt = { + write, read, put, get, + putt, gett, writet, readt +}; + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +void conInit(void) { + + CD1.vmt = &vmt; +} + +/** @} */ diff --git a/firmware/chibios/os/hal/platforms/Posix/console.h b/firmware/chibios/os/hal/platforms/Posix/console.h new file mode 100644 index 0000000000..58f0f08ec9 --- /dev/null +++ b/firmware/chibios/os/hal/platforms/Posix/console.h @@ -0,0 +1,62 @@ +/* + 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. +*/ + +/** + * @file console.h + * @brief Simulator console driver header. + * @{ + */ + +#ifndef _CONSOLE_H_ +#define _CONSOLE_H_ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +extern BaseChannel CD1; + +#ifdef __cplusplus +extern "C" { +#endif + void conInit(void); +#ifdef __cplusplus +} +#endif + +#endif /* _CONSOLE_H_ */ + +/** @} */ diff --git a/firmware/chibios/os/hal/platforms/Posix/hal_lld.c b/firmware/chibios/os/hal/platforms/Posix/hal_lld.c new file mode 100644 index 0000000000..39e8003e10 --- /dev/null +++ b/firmware/chibios/os/hal/platforms/Posix/hal_lld.c @@ -0,0 +1,104 @@ +/* + 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. +*/ + +/** + * @file Posix/hal_lld.c + * @brief Posix HAL subsystem low level driver code. + * + * @addtogroup POSIX_HAL + * @{ + */ + +#include +#include +#include + +#include "ch.h" +#include "hal.h" + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +static struct timeval nextcnt; +static struct timeval tick = {0, 1000000 / CH_FREQUENCY}; + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level HAL driver initialization. + */ +void hal_lld_init(void) { + +#if defined(__APPLE__) + puts("ChibiOS/RT simulator (OS X)\n"); +#else + puts("ChibiOS/RT simulator (Linux)\n"); +#endif + gettimeofday(&nextcnt, NULL); + timeradd(&nextcnt, &tick, &nextcnt); +} + +/** + * @brief Interrupt simulation. + */ +void ChkIntSources(void) { + struct timeval tv; + +#if HAL_USE_SERIAL + if (sd_lld_interrupt_pending()) { + dbg_check_lock(); + if (chSchIsPreemptionRequired()) + chSchDoReschedule(); + dbg_check_unlock(); + return; + } +#endif + + gettimeofday(&tv, NULL); + if (timercmp(&tv, &nextcnt, >=)) { + timeradd(&nextcnt, &tick, &nextcnt); + + CH_IRQ_PROLOGUE(); + + chSysLockFromIsr(); + chSysTimerHandlerI(); + chSysUnlockFromIsr(); + + CH_IRQ_EPILOGUE(); + + dbg_check_lock(); + if (chSchIsPreemptionRequired()) + chSchDoReschedule(); + dbg_check_unlock(); + } +} + +/** @} */ diff --git a/firmware/chibios/os/hal/platforms/Posix/hal_lld.h b/firmware/chibios/os/hal/platforms/Posix/hal_lld.h new file mode 100644 index 0000000000..d038c542a4 --- /dev/null +++ b/firmware/chibios/os/hal/platforms/Posix/hal_lld.h @@ -0,0 +1,80 @@ +/* + 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. +*/ + +/** + * @file Posix/hal_lld.h + * @brief Posix simulator HAL subsystem low level driver header. + * + * @addtogroup POSIX_HAL + * @{ + */ + +#ifndef _HAL_LLD_H_ +#define _HAL_LLD_H_ + +#include +#include +#include + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @brief Defines the support for realtime counters in the HAL. + */ +#define HAL_IMPLEMENTS_COUNTERS FALSE + +/** + * @brief Platform name. + */ +#define PLATFORM_NAME "Linux" + +#define SOCKET int +#define INVALID_SOCKET -1 + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void hal_lld_init(void); + void ChkIntSources(void); +#ifdef __cplusplus +} +#endif + +#endif /* _HAL_LLD_H_ */ + +/** @} */ diff --git a/firmware/chibios/os/hal/platforms/Posix/pal_lld.c b/firmware/chibios/os/hal/platforms/Posix/pal_lld.c new file mode 100644 index 0000000000..6a6261b558 --- /dev/null +++ b/firmware/chibios/os/hal/platforms/Posix/pal_lld.c @@ -0,0 +1,95 @@ +/* + 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. +*/ + +/** + * @file Posix/pal_lld.c + * @brief Posix low level simulated PAL driver code. + * + * @addtogroup POSIX_PAL + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#if HAL_USE_PAL || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/** + * @brief VIO1 simulated port. + */ +sim_vio_port_t vio_port_1; + +/** + * @brief VIO2 simulated port. + */ +sim_vio_port_t vio_port_2; + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Pads mode setup. + * @details This function programs a pads group belonging to the same port + * with the specified mode. + * + * @param[in] port the port identifier + * @param[in] mask the group mask + * @param[in] mode the mode + * + * @note This function is not meant to be invoked directly by the application + * code. + * @note @p PAL_MODE_UNCONNECTED is implemented as push pull output with high + * state. + * @note This function does not alter the @p PINSELx registers. Alternate + * functions setup must be handled by device-specific code. + */ +void _pal_lld_setgroupmode(ioportid_t port, + ioportmask_t mask, + iomode_t mode) { + + switch (mode) { + case PAL_MODE_RESET: + case PAL_MODE_INPUT: + port->dir &= ~mask; + break; + case PAL_MODE_UNCONNECTED: + port->latch |= mask; + case PAL_MODE_OUTPUT_PUSHPULL: + port->dir |= mask; + break; + } +} + +#endif /* HAL_USE_PAL */ + +/** @} */ diff --git a/firmware/chibios/os/hal/platforms/Posix/pal_lld.h b/firmware/chibios/os/hal/platforms/Posix/pal_lld.h new file mode 100644 index 0000000000..d2d5942b87 --- /dev/null +++ b/firmware/chibios/os/hal/platforms/Posix/pal_lld.h @@ -0,0 +1,206 @@ +/* + 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. +*/ + +/** + * @file Posix/pal_lld.h + * @brief Posix low level simulated PAL driver header. + * + * @addtogroup POSIX_PAL + * @{ + */ + +#ifndef _PAL_LLD_H_ +#define _PAL_LLD_H_ + +#if HAL_USE_PAL || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Unsupported modes and specific modes */ +/*===========================================================================*/ + +#undef PAL_MODE_INPUT_PULLUP +#undef PAL_MODE_INPUT_PULLDOWN +#undef PAL_MODE_OUTPUT_OPENDRAIN +#undef PAL_MODE_INPUT_ANALOG + +/*===========================================================================*/ +/* I/O Ports Types and constants. */ +/*===========================================================================*/ + +/** + * @brief VIO port structure. + */ +typedef struct { + /** + * @brief VIO_LATCH register. + * @details This register represents the output latch of the VIO port. + */ + uint32_t latch; + /** + * @brief VIO_PIN register. + * @details This register represents the logical level at the VIO port + * pin level. + */ + uint32_t pin; + /** + * @brief VIO_DIR register. + * @details Direction of the VIO port bits, 0=input, 1=output. + */ + uint32_t dir; +} sim_vio_port_t; + +/** + * @brief Virtual I/O ports static initializer. + * @details An instance of this structure must be passed to @p palInit() at + * system startup time in order to initialized the digital I/O + * subsystem. This represents only the initial setup, specific pads + * or whole ports can be reprogrammed at later time. + */ +typedef struct { + /** + * @brief Virtual port 1 setup data. + */ + sim_vio_port_t VP1Data; + /** + * @brief Virtual port 2 setup data. + */ + sim_vio_port_t VP2Data; +} PALConfig; + +/** + * @brief Width, in bits, of an I/O port. + */ +#define PAL_IOPORTS_WIDTH 32 + +/** + * @brief Whole port mask. + * @brief This macro specifies all the valid bits into a port. + */ +#define PAL_WHOLE_PORT ((ioportmask_t)0xFFFFFFFF) + +/** + * @brief Digital I/O port sized unsigned type. + */ +typedef uint32_t ioportmask_t; + +/** + * @brief Digital I/O modes. + */ +typedef uint32_t iomode_t; + +/** + * @brief Port Identifier. + */ +typedef sim_vio_port_t *ioportid_t; + +/*===========================================================================*/ +/* I/O Ports Identifiers. */ +/*===========================================================================*/ + +/** + * @brief VIO port 1 identifier. + */ +#define IOPORT1 (&vio_port_1) + +/** + * @brief VIO port 2 identifier. + */ +#define IOPORT2 (&vio_port_2) + +/*===========================================================================*/ +/* Implementation, some of the following macros could be implemented as */ +/* functions, if so please put them in pal_lld.c. */ +/*===========================================================================*/ + +/** + * @brief Low level PAL subsystem initialization. + * + * @param[in] config architecture-dependent ports configuration + * + * @notapi + */ +#define pal_lld_init(config) \ + (vio_port_1 = (config)->VP1Data, \ + vio_port_2 = (config)->VP2Data) + +/** + * @brief Reads the physical I/O port states. + * + * @param[in] port port identifier + * @return The port bits. + * + * @notapi + */ +#define pal_lld_readport(port) ((port)->pin) + +/** + * @brief Reads the output latch. + * @details The purpose of this function is to read back the latched output + * value. + * + * @param[in] port port identifier + * @return The latched logical states. + * + * @notapi + */ +#define pal_lld_readlatch(port) ((port)->latch) + +/** + * @brief Writes a bits mask on a I/O port. + * + * @param[in] port port identifier + * @param[in] bits bits to be written on the specified port + * + * @notapi + */ +#define pal_lld_writeport(port, bits) ((port)->latch = (bits)) + +/** + * @brief Pads group mode setup. + * @details This function programs a pads group belonging to the same port + * with the specified mode. + * + * @param[in] port port identifier + * @param[in] mask group mask + * @param[in] offset group bit offset within the port + * @param[in] mode group mode + * + * @notapi + */ +#define pal_lld_setgroupmode(port, mask, offset, mode) \ + _pal_lld_setgroupmode(port, mask << offset, mode) + +#if !defined(__DOXYGEN__) +extern sim_vio_port_t vio_port_1; +extern sim_vio_port_t vio_port_2; +extern const PALConfig pal_default_config; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void _pal_lld_setgroupmode(ioportid_t port, + ioportmask_t mask, + iomode_t mode); +#ifdef __cplusplus +} +#endif + +#endif /* HAL_USE_PAL */ + +#endif /* _PAL_LLD_H_ */ + +/** @} */ diff --git a/firmware/chibios/os/hal/platforms/Posix/platform.mk b/firmware/chibios/os/hal/platforms/Posix/platform.mk new file mode 100644 index 0000000000..ea0c2e4ba0 --- /dev/null +++ b/firmware/chibios/os/hal/platforms/Posix/platform.mk @@ -0,0 +1,7 @@ +# List of all the Posix platform files. +PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/Posix/hal_lld.c \ + ${CHIBIOS}/os/hal/platforms/Posix/pal_lld.c \ + ${CHIBIOS}/os/hal/platforms/Posix/serial_lld.c + +# Required include directories +PLATFORMINC = ${CHIBIOS}/os/hal/platforms/Posix diff --git a/firmware/chibios/os/hal/platforms/Posix/serial_lld.c b/firmware/chibios/os/hal/platforms/Posix/serial_lld.c new file mode 100644 index 0000000000..5c8ea5f68c --- /dev/null +++ b/firmware/chibios/os/hal/platforms/Posix/serial_lld.c @@ -0,0 +1,287 @@ +/* + 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. +*/ + +/** + * @file Posix/serial_lld.c + * @brief Posix low level simulated serial driver code. + * + * @addtogroup POSIX_SERIAL + * @{ + */ + +#include +#include +#include +#include +#include +#include + +#include "ch.h" +#include "hal.h" + +#if HAL_USE_SERIAL || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/** @brief Serial driver 1 identifier.*/ +#if USE_SIM_SERIAL1 || defined(__DOXYGEN__) +SerialDriver SD1; +#endif +/** @brief Serial driver 2 identifier.*/ +#if USE_SIM_SERIAL2 || defined(__DOXYGEN__) +SerialDriver SD2; +#endif + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/** @brief Driver default configuration.*/ +static const SerialConfig default_config = { +}; + +static u_long nb = 1; + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +static void init(SerialDriver *sdp, uint16_t port) { + struct sockaddr_in sad; + struct protoent *prtp; + int sockval = 1; + socklen_t socklen = sizeof(sockval); + + + if ((prtp = getprotobyname("tcp")) == NULL) { + printf("%s: Error mapping protocol name to protocol number\n", sdp->com_name); + goto abort; + } + + sdp->com_listen = socket(PF_INET, SOCK_STREAM, prtp->p_proto); + if (sdp->com_listen == INVALID_SOCKET) { + printf("%s: Error creating simulator socket\n", sdp->com_name); + goto abort; + } + + + setsockopt(sdp->com_listen, SOL_SOCKET, SO_REUSEADDR, &sockval, socklen); + + if (ioctl(sdp->com_listen, FIONBIO, &nb) != 0) { + printf("%s: Unable to setup non blocking mode on socket\n", sdp->com_name); + goto abort; + } + + memset(&sad, 0, sizeof(sad)); + sad.sin_family = AF_INET; + sad.sin_addr.s_addr = INADDR_ANY; + sad.sin_port = htons(port); + if (bind(sdp->com_listen, (struct sockaddr *)&sad, sizeof(sad))) { + printf("%s: Error binding socket\n", sdp->com_name); + goto abort; + } + + if (listen(sdp->com_listen, 1) != 0) { + printf("%s: Error listening socket\n", sdp->com_name); + goto abort; + } + printf("Full Duplex Channel %s listening on port %d\n", sdp->com_name, port); + return; + +abort: + if (sdp->com_listen != INVALID_SOCKET) + close(sdp->com_listen); + exit(1); +} + +static bool_t connint(SerialDriver *sdp) { + + if (sdp->com_data == INVALID_SOCKET) { + struct sockaddr addr; + socklen_t addrlen = sizeof(addr); + + if ((sdp->com_data = accept(sdp->com_listen, &addr, &addrlen)) == INVALID_SOCKET) + return FALSE; + + if (ioctl(sdp->com_data, FIONBIO, &nb) != 0) { + printf("%s: Unable to setup non blocking mode on data socket\n", sdp->com_name); + goto abort; + } + chSysLockFromIsr(); + chnAddFlagsI(sdp, CHN_CONNECTED); + chSysUnlockFromIsr(); + return TRUE; + } + return FALSE; +abort: + if (sdp->com_listen != INVALID_SOCKET) + close(sdp->com_listen); + if (sdp->com_data != INVALID_SOCKET) + close(sdp->com_data); + exit(1); +} + +static bool_t inint(SerialDriver *sdp) { + + if (sdp->com_data != INVALID_SOCKET) { + int i; + uint8_t data[32]; + + /* + * Input. + */ + int n = recv(sdp->com_data, data, sizeof(data), 0); + switch (n) { + case 0: + close(sdp->com_data); + sdp->com_data = INVALID_SOCKET; + chSysLockFromIsr(); + chnAddFlagsI(sdp, CHN_DISCONNECTED); + chSysUnlockFromIsr(); + return FALSE; + case INVALID_SOCKET: + if (errno == EWOULDBLOCK) + return FALSE; + close(sdp->com_data); + sdp->com_data = INVALID_SOCKET; + return FALSE; + } + for (i = 0; i < n; i++) { + chSysLockFromIsr(); + sdIncomingDataI(sdp, data[i]); + chSysUnlockFromIsr(); + } + return TRUE; + } + return FALSE; +} + +static bool_t outint(SerialDriver *sdp) { + + if (sdp->com_data != INVALID_SOCKET) { + int n; + uint8_t data[1]; + + /* + * Input. + */ + chSysLockFromIsr(); + n = sdRequestDataI(sdp); + chSysUnlockFromIsr(); + if (n < 0) + return FALSE; + data[0] = (uint8_t)n; + n = send(sdp->com_data, data, sizeof(data), 0); + switch (n) { + case 0: + close(sdp->com_data); + sdp->com_data = INVALID_SOCKET; + chSysLockFromIsr(); + chnAddFlagsI(sdp, CHN_DISCONNECTED); + chSysUnlockFromIsr(); + return FALSE; + case INVALID_SOCKET: + if (errno == EWOULDBLOCK) + return FALSE; + close(sdp->com_data); + sdp->com_data = INVALID_SOCKET; + return FALSE; + } + return TRUE; + } + return FALSE; +} + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level serial driver initialization. + */ +void sd_lld_init(void) { + +#if USE_SIM_SERIAL1 + sdObjectInit(&SD1, NULL, NULL); + SD1.com_listen = INVALID_SOCKET; + SD1.com_data = INVALID_SOCKET; + SD1.com_name = "SD1"; +#endif + +#if USE_SIM_SERIAL2 + sdObjectInit(&SD2, NULL, NULL); + SD2.com_listen = INVALID_SOCKET; + SD2.com_data = INVALID_SOCKET; + SD2.com_name = "SD2"; +#endif +} + +/** + * @brief Low level serial driver configuration and (re)start. + * + * @param[in] sdp pointer to a @p SerialDriver object + */ +void sd_lld_start(SerialDriver *sdp, const SerialConfig *config) { + + if (config == NULL) + config = &default_config; + +#if USE_SIM_SERIAL1 + if (sdp == &SD1) + init(&SD1, SIM_SD1_PORT); +#endif + +#if USE_SIM_SERIAL2 + if (sdp == &SD2) + init(&SD2, SIM_SD2_PORT); +#endif +} + +/** + * @brief Low level serial driver stop. + * @details De-initializes the USART, stops the associated clock, resets the + * interrupt vector. + * + * @param[in] sdp pointer to a @p SerialDriver object + */ +void sd_lld_stop(SerialDriver *sdp) { + + (void)sdp; +} + +bool_t sd_lld_interrupt_pending(void) { + bool_t b; + + CH_IRQ_PROLOGUE(); + + b = connint(&SD1) || connint(&SD2) || + inint(&SD1) || inint(&SD2) || + outint(&SD1) || outint(&SD2); + + CH_IRQ_EPILOGUE(); + + return b; +} + +#endif /* HAL_USE_SERIAL */ + +/** @} */ diff --git a/firmware/chibios/os/hal/platforms/Posix/serial_lld.h b/firmware/chibios/os/hal/platforms/Posix/serial_lld.h new file mode 100644 index 0000000000..7c86d3cda3 --- /dev/null +++ b/firmware/chibios/os/hal/platforms/Posix/serial_lld.h @@ -0,0 +1,151 @@ +/* + 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. +*/ + +/** + * @file Posix/serial_lld.h + * @brief Posix low level simulated serial driver header. + * + * @addtogroup POSIX_SERIAL + * @{ + */ + +#ifndef _SERIAL_LLD_H_ +#define _SERIAL_LLD_H_ + +#if HAL_USE_SERIAL || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @brief Serial buffers size. + * @details Configuration parameter, you can change the depth of the queue + * buffers depending on the requirements of your application. + */ +#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__) +#define SERIAL_BUFFERS_SIZE 1024 +#endif + +/** + * @brief SD1 driver enable switch. + * @details If set to @p TRUE the support for SD1 is included. + * @note The default is @p TRUE. + */ +#if !defined(USE_SIM_SERIAL1) || defined(__DOXYGEN__) +#define USE_SIM_SERIAL1 TRUE +#endif + +/** + * @brief SD2 driver enable switch. + * @details If set to @p TRUE the support for SD2 is included. + * @note The default is @p TRUE. + */ +#if !defined(USE_SIM_SERIAL2) || defined(__DOXYGEN__) +#define USE_SIM_SERIAL2 TRUE +#endif + +/** + * @brief Listen port for SD1. + */ +#if !defined(SD1_PORT) || defined(__DOXYGEN__) +#define SIM_SD1_PORT 29001 +#endif + +/** + * @brief Listen port for SD2. + */ +#if !defined(SD2_PORT) || defined(__DOXYGEN__) +#define SIM_SD2_PORT 29002 +#endif + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Generic Serial Driver configuration structure. + * @details An instance of this structure must be passed to @p sdStart() + * in order to configure and start a serial driver operations. + * @note This structure content is architecture dependent, each driver + * implementation defines its own version and the custom static + * initializers. + */ +typedef struct { +} SerialConfig; + +/** + * @brief @p SerialDriver specific data. + */ +#define _serial_driver_data \ + _base_asynchronous_channel_data \ + /* Driver state.*/ \ + sdstate_t state; \ + /* Input queue.*/ \ + InputQueue iqueue; \ + /* Output queue.*/ \ + OutputQueue oqueue; \ + /* Input circular buffer.*/ \ + uint8_t ib[SERIAL_BUFFERS_SIZE]; \ + /* Output circular buffer.*/ \ + uint8_t ob[SERIAL_BUFFERS_SIZE]; \ + /* End of the mandatory fields.*/ \ + /* Listen socket for simulated serial port.*/ \ + SOCKET com_listen; \ + /* Data socket for simulated serial port.*/ \ + SOCKET com_data; \ + /* Port readable name.*/ \ + const char *com_name; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if USE_SIM_SERIAL1 && !defined(__DOXYGEN__) +extern SerialDriver SD1; +#endif +#if USE_SIM_SERIAL2 && !defined(__DOXYGEN__) +extern SerialDriver SD2; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void sd_lld_init(void); + void sd_lld_start(SerialDriver *sdp, const SerialConfig *config); + void sd_lld_stop(SerialDriver *sdp); + bool_t sd_lld_interrupt_pending(void); +#ifdef __cplusplus +} +#endif + +#endif /* HAL_USE_SERIAL */ + +#endif /* _SERIAL_LLD_H_ */ + +/** @} */ diff --git a/java_console/models/src/com/rusefi/AverageAngles.java b/java_console/models/src/com/rusefi/AverageAngles.java index 36ba3acf84..a24cc3eff2 100644 --- a/java_console/models/src/com/rusefi/AverageAngles.java +++ b/java_console/models/src/com/rusefi/AverageAngles.java @@ -59,7 +59,7 @@ public class AverageAngles { System.out.println("Skipping due to NaN"); return; } - current.add(new AngleEvent(angle)); + current.add(new AngleEvent(angle, signal)); } for (int i = 0; i < current.size(); i++) { @@ -73,7 +73,7 @@ public class AverageAngles { } public void printReport(Appendable stream) throws IOException { - List angles = new ArrayList<>(); + List angles = new ArrayList<>(); stream.append("Based on " + angleData.size() + " charts\r\n"); @@ -94,7 +94,7 @@ public class AverageAngles { StandardDeviation sd = new StandardDeviation(); double sdv = sd.evaluate(values, mean); - angles.add(mean); + angles.add(new AngleEvent(mean, v.get(0).signal)); double diff = mean - prev; prev = mean; @@ -102,19 +102,28 @@ public class AverageAngles { } if (angleData.isEmpty()) return; - Double lastValue = angles.get(angles.size() - 1); - stream.append("Last value = " + lastValue + "\r\n"); + Double lastValue = angles.get(angles.size() - 1).angle; + stream.append("Last value = " + lastValue + ", using it to offset...\r\n"); double delta = 720 - lastValue; - for (double v : angles) { - stream.append((delta + v) + "\r\n"); + stream.append("And the " + angles.size() + " angles are:\r\n"); + for (AngleEvent v : angles) { + stream.append((delta + v.angle) + "\r\n"); + } + + stream.append("And the " + angles.size() + " lines of code are:\r\n"); + for (AngleEvent v : angles) { + String signal = (v.signal / 1000) % 2 == 0 ? "TV_FALL" : "TV_RISE"; + stream.append("s->addEvent(" + (delta + v.angle) + ", ch, " + signal + ");\r\n"); } } private static class AngleEvent { private final double angle; + private final int signal; - public AngleEvent(double angle) { + public AngleEvent(double angle, int signal) { this.angle = angle; + this.signal = signal; } public double getAngle() { diff --git a/win32_functional_tests/Makefile b/win32_functional_tests/Makefile index beadfe8828..4d85d6dc6f 100644 --- a/win32_functional_tests/Makefile +++ b/win32_functional_tests/Makefile @@ -11,19 +11,39 @@ ifeq ($(USE_OPT),) # this config if debugging is needed, but the binary is about 50M # USE_OPT = -c -Wall -O0 -ggdb -g3 -Werror-implicit-function-declaration -Werror -Wno-error=pointer-sign -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=sign-compare -Wno-error=unused-parameter -Wno-error=missing-field-initializers -Wno-error=write-strings # this config producec a smaller binary file - USE_OPT = -c -Wall -O2 -Werror-implicit-function-declaration -Werror -Wno-error=pointer-sign -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=sign-compare -Wno-error=unused-parameter -Wno-error=missing-field-initializers -Wno-error=write-strings -Wno-error=strict-aliasing + USE_OPT = -c -Wall -O2 -Werror-implicit-function-declaration -Wno-error=pointer-sign -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=sign-compare -Wno-error=unused-parameter -Wno-error=missing-field-initializers -Wno-error=write-strings -Wno-error=strict-aliasing + + ifeq ($(OS),Windows_NT) + else + USE_OPT += -m32 + endif + endif # C specific options here (added to USE_OPT). ifeq ($(USE_COPT),) USE_COPT = -std=gnu99 -fgnu89-inline + + ifeq ($(OS),Windows_NT) + else + USE_COPT += -Wno-error=attributes -Wno-error=implicit-function-declaration -include stdio.h + endif + endif # C++ specific options here (added to USE_OPT). ifeq ($(USE_CPPOPT),) USE_CPPOPT = -std=c++11 -fno-rtti -fpermissive -fno-exceptions -fno-use-cxa-atexit + + + ifeq ($(OS),Windows_NT) + else + USE_CPPOPT += -include cstring -include cstdio -include cstdlib + endif + endif + # Enable this if you want the linker to remove unused code and data ifeq ($(USE_LINK_GC),) USE_LINK_GC = yes @@ -84,7 +104,13 @@ include $(PROJECT_DIR)/development/development.mk include $(CHIBIOS)/boards/simulator/board.mk include ${CHIBIOS}/os/hal/hal.mk -include ${CHIBIOS}/os/hal/platforms/Win32/platform.mk + +ifeq ($(OS),Windows_NT) + include ${CHIBIOS}/os/hal/platforms/Win32/platform.mk +else + include ${CHIBIOS}/os/hal/platforms/Posix/platform.mk +endif + include ${CHIBIOS}/os/ports/GCC/SIMIA32/port.mk include ${CHIBIOS}/os/kernel/kernel.mk @@ -239,7 +265,12 @@ DINCDIR = DLIBDIR = # List all default libraries here -DLIBS = -static-libgcc -static-libstdc++ -lws2_32 +ifeq ($(OS),Windows_NT) + DLIBS = -static-libgcc -static-libstdc++ -lws2_32 +else + DLIBS = -static-libgcc -lgcc -static-libstdc++ -m32 +endif + # # End of default section