diff options
| author | Clyne Sullivan <clyne@bitgloo.com> | 2021-01-22 21:43:36 -0500 |
|---|---|---|
| committer | Clyne Sullivan <clyne@bitgloo.com> | 2021-01-22 21:43:36 -0500 |
| commit | 48026bb824fd2d9cfb00ecd040db6ef3a416bae9 (patch) | |
| tree | c14713aedfe78ee8b34f2e1252408782e2e2ff5d /ChibiOS_20.3.2/os/common/ports/AVR | |
| parent | e080a26651f90c88176140d63a74c93c2f4041a2 (diff) | |
upload initial port
Diffstat (limited to 'ChibiOS_20.3.2/os/common/ports/AVR')
| -rw-r--r-- | ChibiOS_20.3.2/os/common/ports/AVR/chcore.c | 159 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/common/ports/AVR/chcore.h | 542 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/common/ports/AVR/chcore_timer.h | 126 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/common/ports/AVR/compilers/GCC/chtypes.h | 98 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/common/ports/AVR/compilers/GCC/mk/port.mk | 12 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/common/ports/AVR/compilers/GCC/rules.mk | 284 |
6 files changed, 1221 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/common/ports/AVR/chcore.c b/ChibiOS_20.3.2/os/common/ports/AVR/chcore.c new file mode 100644 index 0000000..f75b12e --- /dev/null +++ b/ChibiOS_20.3.2/os/common/ports/AVR/chcore.c @@ -0,0 +1,159 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file chcore.c
+ * @brief AVR architecture port code.
+ *
+ * @addtogroup AVR_CORE
+ * @{
+ */
+
+#include "ch.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/* Executing-in-ISR global flag.*/
+bool __avr_in_isr;
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Performs a context switch between two threads.
+ * @details This is the most critical code in any port, this function
+ * is responsible for the context switch between 2 threads.
+ * @note The implementation of this code affects <b>directly</b> the context
+ * switch performance so optimize here as much as you can.
+ *
+ * @param[in] ntp the thread to be switched in
+ * @param[in] otp the thread to be switched out
+ *
+ * @todo Put into an asm module, use of naked attribute is problematic.
+ */
+#if !defined(__DOXYGEN__)
+__attribute__((naked, weak))
+#endif
+void _port_switch(thread_t *ntp, thread_t *otp) {
+
+ (void)ntp;
+ (void)otp;
+
+ asm volatile ("push r2");
+ asm volatile ("push r3");
+ asm volatile ("push r4");
+ asm volatile ("push r5");
+ asm volatile ("push r6");
+ asm volatile ("push r7");
+ asm volatile ("push r8");
+ asm volatile ("push r9");
+ asm volatile ("push r10");
+ asm volatile ("push r11");
+ asm volatile ("push r12");
+ asm volatile ("push r13");
+ asm volatile ("push r14");
+ asm volatile ("push r15");
+ asm volatile ("push r16");
+ asm volatile ("push r17");
+ asm volatile ("push r28");
+ asm volatile ("push r29");
+
+#if defined(_CHIBIOS_RT_)
+ asm volatile ("movw r30, r22");
+ asm volatile ("in r0, 0x3d");
+ asm volatile ("std Z+5, r0");
+ asm volatile ("in r0, 0x3e");
+ asm volatile ("std Z+6, r0");
+
+ asm volatile ("movw r30, r24");
+ asm volatile ("ldd r0, Z+5");
+ asm volatile ("out 0x3d, r0");
+ asm volatile ("ldd r0, Z+6");
+ asm volatile ("out 0x3e, r0");
+#endif
+
+#if defined(_CHIBIOS_NIL_)
+ asm volatile ("movw r30, r22");
+ asm volatile ("in r0, 0x3d");
+ asm volatile ("std Z+0, r0");
+ asm volatile ("in r0, 0x3e");
+ asm volatile ("std Z+1, r0");
+
+ asm volatile ("movw r30, r24");
+ asm volatile ("ldd r0, Z+0");
+ asm volatile ("out 0x3d, r0");
+ asm volatile ("ldd r0, Z+1");
+ asm volatile ("out 0x3e, r0");
+#endif
+
+ asm volatile ("pop r29");
+ asm volatile ("pop r28");
+ asm volatile ("pop r17");
+ asm volatile ("pop r16");
+ asm volatile ("pop r15");
+ asm volatile ("pop r14");
+ asm volatile ("pop r13");
+ asm volatile ("pop r12");
+ asm volatile ("pop r11");
+ asm volatile ("pop r10");
+ asm volatile ("pop r9");
+ asm volatile ("pop r8");
+ asm volatile ("pop r7");
+ asm volatile ("pop r6");
+ asm volatile ("pop r5");
+ asm volatile ("pop r4");
+ asm volatile ("pop r3");
+ asm volatile ("pop r2");
+ asm volatile ("ret");
+}
+
+/**
+ * @brief Start a thread by invoking its work function.
+ * @details If the work function returns @p chThdExit() is automatically
+ * invoked.
+ */
+void _port_thread_start(void) {
+
+ chSysUnlock();
+ asm volatile ("movw r24, r4");
+ asm volatile ("movw r30, r2");
+ asm volatile ("icall");
+ asm volatile ("call chThdExit"); /* Used for avr5 Architecture. */
+}
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/common/ports/AVR/chcore.h b/ChibiOS_20.3.2/os/common/ports/AVR/chcore.h new file mode 100644 index 0000000..b5f70fc --- /dev/null +++ b/ChibiOS_20.3.2/os/common/ports/AVR/chcore.h @@ -0,0 +1,542 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file chcore.h
+ * @brief AVR port macros and structures.
+ *
+ * @addtogroup AVR_CORE
+ * @{
+ */
+
+#ifndef CHCORE_H
+#define CHCORE_H
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+extern bool __avr_in_isr;
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/**
+ * @name Port Capabilities and Constants
+ * @{
+ */
+/**
+ * @brief This port supports a realtime counter.
+ */
+#define PORT_SUPPORTS_RT FALSE
+
+/**
+ * @brief Natural alignment constant.
+ * @note It is the minimum alignment for pointer-size variables.
+ */
+#define PORT_NATURAL_ALIGN 1U
+
+/**
+ * @brief Stack alignment constant.
+ * @note It is the alignment required for the stack pointer.
+ */
+#define PORT_STACK_ALIGN 1U
+
+/**
+ * @brief Working Areas alignment constant.
+ * @note It is the alignment to be enforced for thread working areas.
+ */
+#define PORT_WORKING_AREA_ALIGN 1U
+/** @} */
+
+/**
+ * @name Architecture and Compiler
+ * @{
+ */
+/**
+ * @brief Macro defining an AVR architecture.
+ */
+#define PORT_ARCHITECTURE_AVR
+
+/**
+ * @brief Macro defining the specific AVR architecture.
+ */
+#define PORT_ARCHITECTURE_AVR_MEGAAVR
+
+/**
+ * @brief Name of the implemented architecture.
+ */
+#define PORT_ARCHITECTURE_NAME "MegaAVR"
+
+/**
+ * @brief Compiler name and version.
+ */
+#if defined(__GNUC__) || defined(__DOXYGEN__)
+#define PORT_COMPILER_NAME "GCC " __VERSION__
+
+#else
+#error "unsupported compiler"
+#endif
+
+/**
+ * @brief Port-specific information string.
+ */
+#define PORT_INFO "None"
+/** @} */
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Stack size for the system idle thread.
+ * @details This size depends on the idle thread implementation, usually
+ * the idle thread should take no more space than those reserved
+ * by @p PORT_INT_REQUIRED_STACK.
+ */
+#if !defined(PORT_IDLE_THREAD_STACK_SIZE) || defined(__DOXYGEN__)
+#define PORT_IDLE_THREAD_STACK_SIZE 8
+#endif
+
+/**
+ * @brief Per-thread stack overhead for interrupts servicing.
+ * @details This constant is used in the calculation of the correct working
+ * area size.
+ */
+#if !defined(PORT_INT_REQUIRED_STACK) || defined(__DOXYGEN__)
+#define PORT_INT_REQUIRED_STACK 32
+#endif
+
+/**
+ * @brief Enables an alternative timer implementation.
+ * @details Usually the port uses a timer interface defined in the file
+ * @p chcore_timer.h, if this option is enabled then the file
+ * @p chcore_timer_alt.h is included instead.
+ */
+#if !defined(PORT_USE_ALT_TIMER) || defined(__DOXYGEN__)
+#define PORT_USE_ALT_TIMER FALSE
+#endif
+
+/**
+ * @brief Enables a "wait for interrupt" instruction in the idle loop.
+ */
+#if !defined(PORT_AVR_WFI_SLEEP_IDLE) || defined(__DOXYGEN__)
+#define PORT_AVR_WFI_SLEEP_IDLE FALSE
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/* The following code is not processed when the file is included from an
+ asm module.*/
+#if !defined(_FROM_ASM_)
+
+/**
+ * @brief Type of stack and memory alignment enforcement.
+ * @note In this architecture the stack alignment is enforced to 8 bits.
+ */
+typedef uint8_t stkalign_t;
+
+/**
+ * @brief Interrupt saved context.
+ * @details This structure represents the stack frame saved during a
+ * preemption-capable interrupt handler.
+ * @note R2 and R13 are not saved because those are assumed to be immutable
+ * during the system life cycle.
+ */
+struct port_extctx {
+ uint8_t _next;
+ uint8_t r31;
+ uint8_t r30;
+ uint8_t r27;
+ uint8_t r26;
+ uint8_t r25;
+ uint8_t r24;
+ uint8_t r23;
+ uint8_t r22;
+ uint8_t r21;
+ uint8_t r20;
+ uint8_t r19;
+ uint8_t r18;
+ uint8_t sr;
+ uint8_t r1;
+ uint8_t r0;
+#if defined(__AVR_3_BYTE_PC__)
+ uint8_t pcx;
+#endif
+ uint16_t pc;
+};
+
+/**
+ * @brief System saved context.
+ * @details This structure represents the inner stack frame during a context
+ * switching.
+ * @note R2 and R13 are not saved because those are assumed to be immutable
+ * during the system life cycle.
+ * @note LR is stored in the caller context so it is not present in this
+ * structure.
+ */
+struct port_intctx {
+ uint8_t _next;
+ uint8_t r29;
+ uint8_t r28;
+ uint8_t r17;
+ uint8_t r16;
+ uint8_t r15;
+ uint8_t r14;
+ uint8_t r13;
+ uint8_t r12;
+ uint8_t r11;
+ uint8_t r10;
+ uint8_t r9;
+ uint8_t r8;
+ uint8_t r7;
+ uint8_t r6;
+ uint8_t r5;
+ uint8_t r4;
+ uint8_t r3;
+ uint8_t r2;
+#if defined(__AVR_3_BYTE_PC__)
+ uint8_t pcx;
+#endif
+ uint8_t pcl;
+ uint8_t pch;
+};
+
+/**
+ * @brief Platform dependent part of the @p thread_t structure.
+ * @details This structure usually contains just the saved stack pointer
+ * defined as a pointer to a @p port_intctx structure.
+ */
+struct port_context {
+ struct port_intctx *sp;
+};
+
+#endif /* !defined(_FROM_ASM_) */
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Platform dependent part of the @p chThdCreateI() API.
+ * @details This code usually setup the context switching frame represented
+ * by an @p port_intctx structure.
+ */
+#if defined(__AVR_3_BYTE_PC__) || defined(__DOXYGEN__)
+#define PORT_SETUP_CONTEXT(tp, wbase, wtop, pf, arg) { \
+ tp->ctx.sp = (struct port_intctx *)((uint8_t *)(wtop) - \
+ sizeof(struct port_intctx)); \
+ tp->ctx.sp->r2 = (uint8_t)(0xff & (uint16_t)pf); \
+ tp->ctx.sp->r3 = (uint8_t)((uint16_t)(pf) >> 8); \
+ tp->ctx.sp->r4 = (uint8_t)(0xff & (uint16_t)arg); \
+ tp->ctx.sp->r5 = (uint8_t)((uint16_t)(arg) >> 8); \
+ tp->ctx.sp->pcx = (uint8_t)0; \
+ tp->ctx.sp->pcl = (uint16_t)_port_thread_start >> 8; \
+ tp->ctx.sp->pch = (uint8_t)(0xff & (uint16_t)_port_thread_start); \
+}
+#else /* !__AVR_3_BYTE_PC__ */
+#define PORT_SETUP_CONTEXT(tp, wbase, wtop, pf, arg) { \
+ tp->ctx.sp = (struct port_intctx *)((uint8_t *)(wtop) - \
+ sizeof(struct port_intctx)); \
+ tp->ctx.sp->r2 = (uint8_t)(0xff & (uint16_t)pf); \
+ tp->ctx.sp->r3 = (uint8_t)((uint16_t)(pf) >> 8); \
+ tp->ctx.sp->r4 = (uint8_t)(0xff & (uint16_t)arg); \
+ tp->ctx.sp->r5 = (uint8_t)((uint16_t)(arg) >> 8); \
+ tp->ctx.sp->pcl = (uint16_t)_port_thread_start >> 8; \
+ tp->ctx.sp->pch = (uint8_t)(0xff & (uint16_t)_port_thread_start); \
+}
+#endif /* !__AVR_3_BYTE_PC__ */
+
+/**
+ * @brief Computes the thread working area global size.
+ * @note There is no need to perform alignments in this macro.
+ */
+#define PORT_WA_SIZE(n) ((sizeof(struct port_intctx) - 1) + \
+ (sizeof(struct port_extctx) - 1) + \
+ ((size_t)(n)) + ((size_t)(PORT_INT_REQUIRED_STACK)))
+
+/**
+ * @brief Static working area allocation.
+ * @details This macro is used to allocate a static thread working area
+ * aligned as both position and size.
+ *
+ * @param[in] s the name to be assigned to the stack array
+ * @param[in] n the stack size to be assigned to the thread
+ */
+#define PORT_WORKING_AREA(s, n) \
+ stkalign_t s[THD_WORKING_AREA_SIZE(n) / sizeof (stkalign_t)]
+
+/**
+ * @brief Priority level verification macro.
+ */
+#define PORT_IRQ_IS_VALID_PRIORITY(n) false
+
+/**
+ * @brief Priority level verification macro.
+ */
+#define PORT_IRQ_IS_VALID_KERNEL_PRIORITY(n) false
+
+/**
+ * @brief IRQ prologue code.
+ * @details This macro must be inserted at the start of all IRQ handlers
+ * enabled to invoke system APIs.
+ * @note This code tricks the compiler to save all the specified registers
+ * by "touching" them.
+ */
+#define PORT_IRQ_PROLOGUE() { \
+ asm ("" : : : "r18", "r19", "r20", "r21", "r22", "r23", "r24", \
+ "r25", "r26", "r27", "r30", "r31"); \
+ __avr_in_isr = true; \
+}
+
+/**
+ * @brief IRQ epilogue code.
+ * @details This macro must be inserted at the end of all IRQ handlers
+ * enabled to invoke system APIs.
+ */
+#define PORT_IRQ_EPILOGUE() { \
+ __avr_in_isr = false; \
+ _dbg_check_lock(); \
+ if (chSchIsPreemptionRequired()) \
+ chSchDoReschedule(); \
+ _dbg_check_unlock(); \
+}
+
+/**
+ * @brief IRQ handler function declaration.
+ * @note @p id can be a function name or a vector number depending on the
+ * port implementation.
+ */
+#define PORT_IRQ_HANDLER(id) ISR(id)
+
+/**
+ * @brief Fast IRQ handler function declaration.
+ * @note @p id can be a function name or a vector number depending on the
+ * port implementation.
+ */
+#define PORT_FAST_IRQ_HANDLER(id) ISR(id)
+
+/**
+ * @brief Performs a context switch between two threads.
+ * @details This is the most critical code in any port, this function
+ * is responsible for the context switch between 2 threads.
+ * @note The implementation of this code affects <b>directly</b> the context
+ * switch performance so optimize here as much as you can.
+ *
+ * @param[in] ntp the thread to be switched in
+ * @param[in] otp the thread to be switched out
+ */
+#define port_switch(ntp, otp) { \
+ _port_switch(ntp, otp); \
+ asm volatile ("" : : : "memory"); \
+}
+
+
+/**
+ * @brief Port-related initialization code.
+ * @note This function is empty in this port.
+ */
+#define port_init() { \
+ __avr_in_isr = true; \
+}
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+/* The following code is not processed when the file is included from an
+ asm module.*/
+#if !defined(_FROM_ASM_)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void _port_switch(thread_t *ntp, thread_t *otp);
+ void _port_thread_start(void);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* !defined(_FROM_ASM_) */
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+/* The following code is not processed when the file is included from an
+ asm module.*/
+#if !defined(_FROM_ASM_)
+
+/**
+ * @brief Returns a word encoding the current interrupts status.
+ *
+ * @return The interrupts status.
+ */
+static inline syssts_t port_get_irq_status(void) {
+
+ return SREG;
+}
+
+/**
+ * @brief Checks the interrupt status.
+ *
+ * @param[in] sts the interrupt status word
+ *
+ * @return The interrupt status.
+ * @retval false the word specified a disabled interrupts status.
+ * @retval true the word specified an enabled interrupts status.
+ */
+static inline bool port_irq_enabled(syssts_t sts) {
+
+ return (bool)((sts & 0x80) != 0);
+}
+
+/**
+ * @brief Determines the current execution context.
+ *
+ * @return The execution context.
+ * @retval false not running in ISR mode.
+ * @retval true running in ISR mode.
+ */
+static inline bool port_is_isr_context(void) {
+
+ return __avr_in_isr;
+}
+
+/**
+ * @brief Kernel-lock action.
+ * @details Usually this function just disables interrupts but may perform more
+ * actions.
+ */
+static inline void port_lock(void) {
+
+ asm volatile ("cli" : : : "memory");
+}
+
+/**
+ * @brief Kernel-unlock action.
+ * @details Usually this function just enables interrupts but may perform more
+ * actions.
+ */
+static inline void port_unlock(void) {
+
+ asm volatile ("sei" : : : "memory");
+}
+
+/**
+ * @brief Kernel-lock action from an interrupt handler.
+ * @details This function is invoked before invoking I-class APIs from
+ * interrupt handlers. The implementation is architecture dependent,
+ * in its simplest form it is void.
+ * @note This function is empty in this port.
+ */
+static inline void port_lock_from_isr(void) {
+
+}
+
+/**
+ * @brief Kernel-unlock action from an interrupt handler.
+ * @details This function is invoked after invoking I-class APIs from interrupt
+ * handlers. The implementation is architecture dependent, in its
+ * simplest form it is void.
+ * @note This function is empty in this port.
+ */
+static inline void port_unlock_from_isr(void) {
+
+}
+
+/**
+ * @brief Disables all the interrupt sources.
+ * @note Of course non-maskable interrupt sources are not included.
+ */
+static inline void port_disable(void) {
+
+ asm volatile ("cli" : : : "memory");
+}
+
+/**
+ * @brief Disables the interrupt sources below kernel-level priority.
+ * @note Interrupt sources above kernel level remains enabled.
+ */
+static inline void port_suspend(void) {
+
+ asm volatile ("cli" : : : "memory");
+}
+
+/**
+ * @brief Enables all the interrupt sources.
+ */
+static inline void port_enable(void) {
+
+ asm volatile ("sei" : : : "memory");
+}
+
+/**
+ * @brief Enters an architecture-dependent IRQ-waiting mode.
+ * @details The function is meant to return when an interrupt becomes pending.
+ * The simplest implementation is an empty function or macro but this
+ * would not take advantage of architecture-specific power saving
+ * modes.
+ */
+static inline void port_wait_for_interrupt(void) {
+
+#if PORT_AVR_WFI_SLEEP_IDLE
+ asm volatile ("sleep" : : : "memory");
+#endif
+}
+
+/**
+ * @brief Returns the current value of the realtime counter.
+ *
+ * @return The realtime counter value.
+ */
+static inline rtcnt_t port_rt_get_counter_value(void) {
+
+ return 0;
+}
+
+#endif /* !defined(_FROM_ASM_) */
+
+/*===========================================================================*/
+/* Module late inclusions. */
+/*===========================================================================*/
+
+/* The following code is not processed when the file is included from an
+ asm module.*/
+#if !defined(_FROM_ASM_)
+
+#if CH_CFG_ST_TIMEDELTA > 0
+#if !PORT_USE_ALT_TIMER
+#include "chcore_timer.h"
+#else /* PORT_USE_ALT_TIMER */
+#include "chcore_timer_alt.h"
+#endif /* PORT_USE_ALT_TIMER */
+#endif /* CH_CFG_ST_TIMEDELTA > 0 */
+
+#endif /* !defined(_FROM_ASM_) */
+
+#endif /* CHCORE_H */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/common/ports/AVR/chcore_timer.h b/ChibiOS_20.3.2/os/common/ports/AVR/chcore_timer.h new file mode 100644 index 0000000..826f24a --- /dev/null +++ b/ChibiOS_20.3.2/os/common/ports/AVR/chcore_timer.h @@ -0,0 +1,126 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file AVR/chcore_timer.h
+ * @brief System timer header file.
+ *
+ * @addtogroup AVR_TIMER
+ * @{
+ */
+
+#ifndef CHCORE_TIMER_H
+#define CHCORE_TIMER_H
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Starts the alarm.
+ * @note Makes sure that no spurious alarms are triggered after
+ * this call.
+ *
+ * @param[in] time the time to be set for the first alarm
+ *
+ * @notapi
+ */
+static inline void port_timer_start_alarm(systime_t time) {
+ void stStartAlarm(systime_t time);
+
+ stStartAlarm(time);
+}
+
+/**
+ * @brief Stops the alarm interrupt.
+ *
+ * @notapi
+ */
+static inline void port_timer_stop_alarm(void) {
+ void stStopAlarm(void);
+
+ stStopAlarm();
+}
+
+/**
+ * @brief Sets the alarm time.
+ *
+ * @param[in] time the time to be set for the next alarm
+ *
+ * @notapi
+ */
+static inline void port_timer_set_alarm(systime_t time) {
+ void stSetAlarm(systime_t time);
+
+ stSetAlarm(time);
+}
+
+/**
+ * @brief Returns the system time.
+ *
+ * @return The system time.
+ *
+ * @notapi
+ */
+static inline systime_t port_timer_get_time(void) {
+ systime_t stGetCounter(void);
+
+ return stGetCounter();
+}
+
+/**
+ * @brief Returns the current alarm time.
+ *
+ * @return The currently set alarm time.
+ *
+ * @notapi
+ */
+static inline systime_t port_timer_get_alarm(void) {
+ systime_t stGetAlarm(void);
+
+ return stGetAlarm();
+}
+
+#endif /* CHCORE_TIMER_H */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/common/ports/AVR/compilers/GCC/chtypes.h b/ChibiOS_20.3.2/os/common/ports/AVR/compilers/GCC/chtypes.h new file mode 100644 index 0000000..0bbb9ef --- /dev/null +++ b/ChibiOS_20.3.2/os/common/ports/AVR/compilers/GCC/chtypes.h @@ -0,0 +1,98 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file AVR/compilers/GCC/chtypes.h
+ * @brief AVR architecture port system types.
+ *
+ * @addtogroup AVR_CORE
+ * @{
+ */
+
+#ifndef CHTYPES_H
+#define CHTYPES_H
+
+#include <stddef.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+/**
+ * @name Kernel types
+ * @{
+ */
+typedef uint32_t rtcnt_t; /**< Realtime counter. */
+typedef uint64_t rttime_t; /**< Realtime accumulator. */
+typedef uint8_t syssts_t; /**< System status word. */
+typedef uint8_t tmode_t; /**< Thread flags. */
+typedef uint8_t tstate_t; /**< Thread state. */
+typedef uint8_t trefs_t; /**< Thread references counter. */
+typedef uint8_t tslices_t; /**< Thread time slices counter.*/
+typedef uint8_t tprio_t; /**< Thread priority. */
+typedef int16_t msg_t; /**< Inter-thread message. */
+typedef int32_t eventid_t; /**< Numeric event identifier. */
+typedef uint8_t eventmask_t; /**< Mask of event identifiers. */
+typedef uint8_t eventflags_t; /**< Mask of event flags. */
+typedef int8_t cnt_t; /**< Generic signed counter. */
+typedef uint8_t ucnt_t; /**< Generic unsigned counter. */
+typedef bool bool_t; /**< Fast boolean type. */
+/** @} */
+
+/**
+ * @brief ROM constant modifier.
+ * @note It is set to use the "const" keyword in this port.
+ */
+#define ROMCONST const
+
+/**
+ * @brief Makes functions not inlineable.
+ * @note If the compiler does not support such attribute then the
+ * realtime counter precision could be degraded.
+ */
+#define NOINLINE __attribute__((noinline))
+
+/**
+ * @brief Optimized thread function declaration macro.
+ */
+#define PORT_THD_FUNCTION(tname, arg) void tname(void *arg)
+
+/**
+ * @brief Packed variable specifier.
+ */
+#define PACKED_VAR __attribute__((packed))
+
+/**
+ * @brief Memory alignment enforcement for variables.
+ */
+#define ALIGNED_VAR(n) __attribute__((aligned(n)))
+
+/**
+ * @brief Size of a pointer.
+ * @note To be used where the sizeof operator cannot be used, preprocessor
+ * expressions for example.
+ */
+#define SIZEOF_PTR 2
+
+/**
+ * @brief True if alignment is low-high in current architecture.
+ */
+#define REVERSE_ORDER 1
+
+#endif /* CHTYPES_H */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/common/ports/AVR/compilers/GCC/mk/port.mk b/ChibiOS_20.3.2/os/common/ports/AVR/compilers/GCC/mk/port.mk new file mode 100644 index 0000000..160b402 --- /dev/null +++ b/ChibiOS_20.3.2/os/common/ports/AVR/compilers/GCC/mk/port.mk @@ -0,0 +1,12 @@ +# List of the ChibiOS/RT AVR port files.
+PORTSRC = ${CHIBIOS}/os/common/ports/AVR/chcore.c
+
+PORTASM =
+
+PORTINC = ${CHIBIOS}/os/common/ports/AVR \
+ ${CHIBIOS}/os/common/ports/AVR/compilers/GCC
+
+# Shared variables
+ALLXASMSRC += $(PORTASM)
+ALLCSRC += $(PORTSRC)
+ALLINC += $(PORTINC)
diff --git a/ChibiOS_20.3.2/os/common/ports/AVR/compilers/GCC/rules.mk b/ChibiOS_20.3.2/os/common/ports/AVR/compilers/GCC/rules.mk new file mode 100644 index 0000000..f5a105d --- /dev/null +++ b/ChibiOS_20.3.2/os/common/ports/AVR/compilers/GCC/rules.mk @@ -0,0 +1,284 @@ +# AVR common makefile scripts and rules.
+
+##############################################################################
+# Processing options coming from the upper Makefile.
+#
+
+# Compiler options
+OPT := $(USE_OPT)
+COPT := $(USE_COPT)
+CPPOPT := $(USE_CPPOPT)
+
+# Output directory and files
+ifeq ($(BUILDDIR),)
+ BUILDDIR = build
+endif
+ifeq ($(BUILDDIR),.)
+ BUILDDIR = build
+endif
+OUTFILES := $(BUILDDIR)/$(PROJECT).elf \
+ $(BUILDDIR)/$(PROJECT).hex \
+ $(BUILDDIR)/$(PROJECT).bin \
+ $(BUILDDIR)/$(PROJECT).eep \
+ $(BUILDDIR)/$(PROJECT).lss \
+ $(BUILDDIR)/$(PROJECT).sym
+
+ifdef SREC
+ OUTFILES += $(BUILDDIR)/$(PROJECT).srec
+endif
+
+# Source files groups and paths
+ASRC := $(CSRC) $(CPPSRC)
+SRCPATHS := $(sort $(dir $(ASMXSRC)) $(dir $(ASMSRC)) $(dir $(ASRC)))
+
+# Various directories
+OBJDIR := $(BUILDDIR)/obj
+LSTDIR := $(BUILDDIR)/lst
+
+# Object files groups
+ACOBJS := $(addprefix $(OBJDIR)/, $(notdir $(CSRC:.c=.o)))
+ACPPOBJS := $(addprefix $(OBJDIR)/, $(notdir $(CPPSRC:.cpp=.o)))
+ASMOBJS := $(addprefix $(OBJDIR)/, $(notdir $(ASMSRC:.s=.o)))
+ASMXOBJS := $(addprefix $(OBJDIR)/, $(notdir $(ASMXSRC:.S=.o)))
+OBJS := $(ASMXOBJS) $(ASMOBJS) $(ACOBJS) $(ACPPOBJS)
+
+# Paths
+IINCDIR := $(patsubst %, -I%,$(INCDIR) $(DINCDIR) $(UINCDIR))
+LLIBDIR := $(patsubst %, -L%,$(DLIBDIR) $(ULIBDIR))
+LLIBDIR += -L$(dir $(LDSCRIPT))
+
+# Macros
+DEFS := $(DDEFS) $(UDEFS)
+ADEFS := $(DADEFS) $(UADEFS)
+
+# Libs
+LIBS := $(DLIBS) $(ULIBS)
+
+# Compiler flag to set the C Standard level.
+# c89 = "ANSI" C
+# gnu89 = c89 plus GCC extensions
+# c99 = ISO C99 standard (not yet fully implemented)
+# gnu99 = c99 plus GCC extensions
+CSTANDARD = -std=gnu11
+
+# Place -D or -U options here for C sources
+CDEFS = -DF_CPU=$(F_CPU)UL
+
+# Place -D or -U options here for ASM sources
+ADEFS = -DF_CPU=$(F_CPU)
+
+# Place -D or -U options here for C++ sources
+CPPDEFS = -DF_CPU=$(F_CPU)UL
+
+# Paths where to search for sources
+VPATH = $(SRCPATHS)
+
+# Various settings
+MCFLAGS := -mmcu=$(MCU)
+CFLAGS = $(MCFLAGS) -I. -gdwarf-2 $(CDEFS) $(OPT) -funsigned-char
+CFLAGS += -funsigned-bitfields -fpack-struct -fshort-enums $(CWARN)
+CFLAGS += -Wa,-adhlns=$(LSTDIR)/$(notdir $(<:.c=.lst)) $(DEFS)
+CFLAGS += -std=gnu11 -mrelax -fdata-sections -ffunction-sections
+CFLAGS += -Wundef -MMD -MP #-MF
+
+#---------------- Assembler Options ----------------
+# -Wa,...: tell GCC to pass this to the assembler.
+# -adhlns: create listing
+# -gstabs: have the assembler create line number information; note that
+# for use in COFF files, additional information about filenames
+# and function names needs to be present in the assembler source
+# files -- see avr-libc docs [FIXME: not yet described there]
+# -listing-cont-lines: Sets the maximum number of continuation lines of hex
+# dump that will be displayed for a given single line of source input.
+ASFLAGS = $(ADEFS) -Wa,-adhlns=$(<:%.S=$(OBJDIR)/%.lst),-gstabs, \
+ --listing-cont-lines=100
+
+#---------------- Library Options ----------------
+# Minimalistic printf version
+PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
+
+# Floating point printf version (requires MATH_LIB = -lm below)
+PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
+
+# If this is left blank, then it will use the Standard printf version.
+PRINTF_LIB = $(PRINTF_LIB_MIN)
+#PRINTF_LIB = $(PRINTF_LIB_MIN)
+#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
+
+# Minimalistic scanf version
+SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
+
+# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
+SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
+
+# If this is left blank, then it will use the Standard scanf version.
+SCANF_LIB = $(SCANF_LIB_MIN)
+#SCANF_LIB = $(SCANF_LIB_MIN)
+#SCANF_LIB = $(SCANF_LIB_FLOAT)
+
+MATH_LIB = -lm
+
+#---------------- Linker Options ----------------
+# -Wl,...: tell GCC to pass this to linker.
+# -Map: create map file
+# --cref: add cross reference to map file
+
+#LDFLAGS = -Wl,-Map=$(TARGET).map,--cref,--gc-sections
+#LDFLAGS += $(EXTMEMOPTS)
+#LDFLAGS += $(patsubst %,-L%,$(EXTRALIBDIRS))
+#LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
+
+LDFLAGS = -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--gc-sections
+LDFLAGS += -Wl,-u,vfprintf -lprintf_min -Wl,-u,vfscanf -lscanf_min -lm
+
+#
+# Makefile rules
+#
+
+all: PRE_MAKE_ALL_RULE_HOOK $(OBJS) $(OUTFILES) POST_MAKE_ALL_RULE_HOOK
+
+PRE_MAKE_ALL_RULE_HOOK:
+
+POST_MAKE_ALL_RULE_HOOK:
+
+$(OBJS): | $(BUILDDIR) $(OBJDIR) $(LSTDIR)
+
+$(BUILDDIR):
+ifneq ($(USE_VERBOSE_COMPILE),yes)
+ @echo Compiler Options
+ @echo $(CC) -c $(CFLAGS) -I. $(IINCDIR) main.c -o main.o
+ @echo
+endif
+ @mkdir -p $(BUILDDIR)
+
+$(OBJDIR):
+ @mkdir -p $(OBJDIR)
+
+$(LSTDIR):
+ @mkdir -p $(LSTDIR)
+
+$(ACPPOBJS) : $(OBJDIR)/%.o : %.cpp Makefile
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ $(CPPC) -c $(CPPFLAGS) $(MOPT) $(IINCDIR) $< -o $@
+else
+ @echo Compiling $(<F)
+ @$(CPPC) -c $(CPPFLAGS) $(MOPT) $(IINCDIR) $< -o $@
+endif
+
+$(ACOBJS) : $(OBJDIR)/%.o : %.c Makefile
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ $(CC) -c $(CFLAGS) $(MOPT) $(IINCDIR) $< -o $@
+else
+ @echo Compiling $(<F)
+ @$(CC) -c $(CFLAGS) $(MOPT) $(IINCDIR) $< -o $@
+endif
+
+$(ASMOBJS) : $(OBJDIR)/%.o : %.s Makefile
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ $(AS) -c $(ASFLAGS) -I. $(IINCDIR) $< -o $@
+else
+ @echo Compiling $(<F)
+ @$(AS) -c $(ASFLAGS) -I. $(IINCDIR) $< -o $@
+endif
+
+$(ASMXOBJS) : $(OBJDIR)/%.o : %.S Makefile
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ $(CC) -c $(ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
+else
+ @echo Compiling $(<F)
+ @$(CC) -c $(ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
+endif
+
+$(BUILDDIR)/$(PROJECT).elf: $(OBJS)
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ $(CC) $(CFLAGS) $^ --output $@ $(LDFLAGS)
+else
+ @echo Linking $@
+ @$(CC) $(CFLAGS) $^ --output $@ $(LDFLAGS)
+endif
+
+%.hex: %.elf
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ $(HEX) $< $@
+else
+ @echo Creating $@
+ @$(HEX) $< $@
+endif
+
+%.bin: %.elf
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ $(BIN) $< $@
+else
+ @echo Creating $@
+ @$(BIN) $< $@
+endif
+
+%.eep: %.elf
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ -$(CP) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+ --change-section-lma .eeprom=0 --no-change-warnings -O $(FORMAT) \
+ $< $@ || exit 0
+else
+ @echo Creating $@
+ @-$(CP) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+ --change-section-lma .eeprom=0 --no-change-warnings -O $(FORMAT) \
+ $< $@ || exit 0
+endif
+
+%.lss: %.elf
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ $(OD) -h -S $< > $@
+else
+ @echo Creating $@
+ @$(OD) -h -S $< > $@
+endif
+
+%.sym: %.elf
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ $(NM) -n $< > $@
+ $(SZ) $<
+ @echo
+ if test -f $(BUILDDIR)/$(PROJECT).elf; then echo; echo $(MSG_SIZE_AFTER); \
+ $(ELFSIZE); 2>/dev/null; echo; fi
+ @echo Done
+else
+ @echo Creating $@
+ @$(NM) -n $< > $@
+ @echo
+ @$(SZ) $<
+ @if test -f $(BUILDDIR)/$(PROJECT).elf; then echo; echo $(MSG_SIZE_AFTER); \
+ $(ELFSIZE); 2>/dev/null; echo; fi
+ @echo Done
+endif
+
+lib: $(OBJS) $(BUILDDIR)/lib$(PROJECT).a
+
+$(BUILDDIR)/lib$(PROJECT).a: $(OBJS)
+ @$(AR) -r $@ $^
+ @echo
+ @echo Done
+
+clean: CLEAN_RULE_HOOK
+ @echo Cleaning
+ -rm -fR .dep $(BUILDDIR)
+ @echo
+ @echo Done
+
+CLEAN_RULE_HOOK:
+
+#
+# Include the dependency files, should be the last of the makefile
+#
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+
+# *** EOF ***
|