Add initial RT-3 AVR port

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@6998 35acf78f-673a-0410-8e92-d51de3d6d3f4

5 files changed, 607 insertions, 1 deletions

diff --git a/os/rt/ports/AVR/chcore.c b/os/rt/ports/AVR/chcore.c
new file mode 100644
index 000000000..54bab0a84
--- /dev/null
+++ b/os/rt/ports/AVR/chcore.c
@@ -0,0 +1,133 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

+                 2011,2012,2013,2014 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT 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/RT 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.c

+ * @brief   AVR architecture port code.

+ *

+ * @addtogroup AVR_CORE

+ * @{

+ */

+

+#include "ch.h"

+

+/**

+ * @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.

+ * @note    The function is declared as a weak symbol, it is possible to

+ *          redefine it in your application code.

+ *

+ * @param[in] ntp       the thread to be switched in

+ * @param[in] otp       the thread to be switched out

+ */

+#if !defined(__DOXYGEN__)

+__attribute__((naked, weak))

+#endif

+void port_switch(thread_t *ntp, thread_t *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");

+

+  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");

+

+  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   Halts the system.

+ * @details This function is invoked by the operating system when an

+ *          unrecoverable error is detected (for example because a programming

+ *          error in the application code that triggers an assertion while in

+ *          debug mode).

+ * @note    The function is declared as a weak symbol, it is possible to

+ *          redefine it in your application code.

+ */

+#if !defined(__DOXYGEN__)

+__attribute__((weak))

+#endif

+void port_halt(void) {

+

+  port_disable();

+  while (TRUE) {

+  }

+}

+

+/**

+ * @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");

+}

+

+/** @} */

diff --git a/os/rt/ports/AVR/chcore.h b/os/rt/ports/AVR/chcore.h
new file mode 100644
index 000000000..e03b79b86
--- /dev/null
+++ b/os/rt/ports/AVR/chcore.h
@@ -0,0 +1,367 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

+                 2011,2012,2013,2014 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT 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/RT 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.h

+ * @brief   AVR architecture port macros and structures.

+ *

+ * @addtogroup AVR_CORE

+ * @{

+ */

+

+#ifndef _CHCORE_H_

+#define _CHCORE_H_

+

+#include <avr/io.h>

+#include <avr/interrupt.h>

+

+#if CH_DBG_ENABLE_STACK_CHECK

+#error "option CH_DBG_ENABLE_STACK_CHECK not supported by this port"

+#endif

+

+/**

+ * @brief   If enabled allows the idle thread to enter a low power mode.

+ */

+#ifndef ENABLE_WFI_IDLE

+#define ENABLE_WFI_IDLE                 0

+#endif

+

+/**

+ * @brief   Macro defining the AVR architecture.

+ */

+#define PORT_ARCHITECTURE_AVR

+

+/**

+ * @brief   Name of the implemented architecture.

+ */

+#define PORT_ARCHITECTURE_NAME          "AVR"

+

+/**

+ * @brief   Name of the architecture variant (optional).

+ */

+#define PORT_CORE_VARIANT_NAME          "MegaAVR"

+

+/**

+ * @brief   Name of the compiler supported by this port.

+ */

+#define PORT_COMPILER_NAME              "GCC " __VERSION__

+

+/**

+ * @brief   Port-specific information string.

+ */

+#define PORT_INFO                       "None"

+

+/**

+ * @brief   This port supports a realtime counter.

+ */

+#define PORT_SUPPORTS_RT                FALSE

+

+/**

+ * @brief   8 bits stack and memory alignment enforcement.

+ */

+typedef uint8_t stkalign_t;

+

+/**

+ * @brief   Interrupt saved context.

+ * @details This structure represents the stack frame saved during a

+ *          preemption-capable interrupt handler.

+ * @note    The field @p _next is not part of the context, it represents the

+ *          offset of the structure relative to the stack pointer.

+ */

+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;

+  uint16_t      pc;

+};

+

+/**

+ * @brief   System saved context.

+ * @details This structure represents the inner stack frame during a context

+ *          switching.

+ * @note    The field @p _next is not part of the context, it represents the

+ *          offset of the structure relative to the stack pointer.

+ */

+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;

+  uint8_t       pcl;

+  uint8_t       pch;

+};

+

+/**

+ * @brief   Platform dependent part of the @p thread_t structure.

+ * @details In the AVR port this structure just holds a pointer to the

+ *          @p port_intctx structure representing the stack pointer at the time

+ *          of the context switch.

+ */

+struct context {

+  struct port_intctx *sp;

+};

+

+/**

+ * @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.

+ */

+#define PORT_SETUP_CONTEXT(tp, workspace, wsize, pf, arg) {                 \

+  tp->p_ctx.sp = (struct port_intctx*)((uint8_t *)workspace + wsize  -      \

+                                  sizeof(struct port_intctx));              \

+  tp->p_ctx.sp->r2  = (int)pf;                                              \

+  tp->p_ctx.sp->r3  = (int)pf >> 8;                                         \

+  tp->p_ctx.sp->r4  = (int)arg;                                             \

+  tp->p_ctx.sp->r5  = (int)arg >> 8;                                        \

+  tp->p_ctx.sp->pcl = (int)_port_thread_start >> 8;                         \

+  tp->p_ctx.sp->pch = (int)_port_thread_start;                              \

+}

+

+/**

+ * @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.

+ * @note    In this port it is set to 8.

+ */

+#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.

+ *          This value can be zero on those architecture where there is a

+ *          separate interrupt stack and the stack space between @p port_intctx

+ *          and @p port_extctx is known to be zero.

+ * @note    In this port the default is 32 bytes per thread.

+ */

+#if !defined(PORT_INT_REQUIRED_STACK) || defined(__DOXYGEN__)

+#define PORT_INT_REQUIRED_STACK     32

+#endif

+

+/**

+ * @brief   Enforces a correct alignment for a stack area size value.

+ */

+#define STACK_ALIGN(n) ((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1)

+

+/**

+ * @brief   Computes the thread working area global size.

+ */

+#define PORT_WA_SIZE(n) STACK_ALIGN(sizeof(thread_t) +                       \

+                                    (sizeof(struct port_intctx) - 1) +       \

+                                    (sizeof(struct port_extctx) - 1) +       \

+                                    (n) + (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.

+ */

+#define WORKING_AREA(s, n) stkalign_t s[PORT_WA_SIZE(n) / sizeof(stkalign_t)]

+

+/**

+ * @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");                         \

+}

+

+/**

+ * @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() {                                               \

+  _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   Port-related initialization code.

+ * @note    This function is empty in this port.

+ */

+#define port_init()

+

+/**

+ * @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.

+ * @retvel false        the word specified a disabled interrupts status.

+ * @retvel 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) {

+

+  //TODO: is there any way to determine this?

+  return false;

+}

+

+/**

+ * @brief   Kernel-lock action.

+ * @details Usually this function just disables interrupts but may perform more

+ *          actions.

+ * @note    Implemented as global interrupt disable.

+ */

+#define port_lock() asm volatile ("cli" : : : "memory")

+

+/**

+ * @brief   Kernel-unlock action.

+ * @details Usually this function just enables interrupts but may perform more

+ *          actions.

+ * @note    Implemented as global interrupt enable.

+ */

+#define port_unlock() 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.

+ */

+#define port_lock_from_isr()

+

+/**

+ * @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.

+ */

+#define port_unlock_from_isr()

+

+/**

+ * @brief   Disables all the interrupt sources.

+ * @note    Of course non-maskable interrupt sources are not included.

+ * @note    Implemented as global interrupt disable.

+ */

+#define port_disable() asm volatile ("cli" : : : "memory")

+

+/**

+ * @brief   Disables the interrupt sources below kernel-level priority.

+ * @note    Interrupt sources above kernel level remains enabled.

+ * @note    Same as @p port_disable() in this port, there is no difference

+ *          between the two states.

+ */

+#define port_suspend() asm volatile ("cli" : : : "memory")

+

+/**

+ * @brief   Enables all the interrupt sources.

+ * @note    Implemented as global interrupt enable.

+ */

+#define port_enable() 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.

+ * @note    This port function is implemented as inlined code for performance

+ *          reasons.

+ */

+#if ENABLE_WFI_IDLE != 0

+#define port_wait_for_interrupt() {                                         \

+  asm volatile ("sleep" : : : "memory");                                    \

+}

+#else

+#define port_wait_for_interrupt()

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void port_switch(thread_t *ntp, thread_t *otp);

+  void port_halt(void);

+  void _port_thread_start(void);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* _CHCORE_H_ */

+

+/** @} */

diff --git a/os/rt/ports/AVR/compilers/GCC/chtypes.h b/os/rt/ports/AVR/compilers/GCC/chtypes.h
new file mode 100644
index 000000000..56880c08a
--- /dev/null
+++ b/os/rt/ports/AVR/compilers/GCC/chtypes.h
@@ -0,0 +1,99 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

+                 2011,2012,2013,2014 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT 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/RT 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    Common constants

+ */

+/**

+ * @brief   Generic 'false' boolean constant.

+ */

+#if !defined(FALSE) || defined(__DOXYGEN__)

+#define FALSE               0

+#endif

+

+/**

+ * @brief   Generic 'true' boolean constant.

+ */

+#if !defined(TRUE) || defined(__DOXYGEN__)

+#define TRUE                (!FALSE)

+#endif

+/** @} */

+

+typedef bool            bool_t;         /**< Fast boolean type.             */

+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 uint8_t         eventid_t;      /**< Event Id.                      */

+typedef uint8_t         eventmask_t;    /**< Event mask.                    */

+typedef uint8_t         eventflags_t;   /**< Event flags.                   */

+typedef uint16_t        systime_t;      /**< System time.                   */

+typedef int8_t          cnt_t;          /**< Resources counter.             */

+

+/**

+ * @brief   Inline function modifier.

+ */

+#define INLINE inline

+

+/**

+ * @brief   ROM constant modifier.

+ * @note    It is set to use the "const" keyword in this port.

+ */

+#define ROMCONST const

+

+/**

+ * @brief   Packed structure modifier (within).

+ * @note    It uses the "packed" GCC attribute.

+ */

+#define PACK_STRUCT_STRUCT __attribute__((packed))

+

+/**

+ * @brief   Packed structure modifier (before).

+ * @note    Empty in this port.

+ */

+#define PACK_STRUCT_BEGIN

+

+/**

+ * @brief   Packed structure modifier (after).

+ * @note    Empty in this port.

+ */

+#define PACK_STRUCT_END

+

+#endif /* _CHTYPES_H_ */

+

+/** @} */

diff --git a/os/rt/ports/AVR/compilers/GCC/mk/port.mk b/os/rt/ports/AVR/compilers/GCC/mk/port.mk
new file mode 100644
index 000000000..ff129b8e0
--- /dev/null
+++ b/os/rt/ports/AVR/compilers/GCC/mk/port.mk
@@ -0,0 +1,7 @@
+# List of the ChibiOS/RT AVR port files.

+PORTSRC = ${CHIBIOS}/os/rt/ports/AVR/chcore.c

+

+PORTASM = 

+

+PORTINC = ${CHIBIOS}/os/rt/ports/AVR \

+          ${CHIBIOS}/os/rt/ports/AVR/compilers/GCC

diff --git a/os/rt/ports/e200/chcore.h b/os/rt/ports/e200/chcore.h
index 0255a0f1d..6251005bb 100644
--- a/os/rt/ports/e200/chcore.h
+++ b/os/rt/ports/e200/chcore.h
@@ -257,7 +257,7 @@ struct port_intctx {
 };

 

 /**

- * @brief   Platform dependent part of the @p Thread structure.

+ * @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.

  */