From 1d8c29c017b98aa823230ce49e9dbae2911b1e02 Mon Sep 17 00:00:00 2001 From: gdisirio Date: Wed, 27 Feb 2008 15:36:56 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@206 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- demos/AVR-ATmega128-GCC/Makefile | 640 +++++++++++++++++++++++++++++++++++++++ demos/AVR-ATmega128-GCC/board.c | 81 +++++ demos/AVR-ATmega128-GCC/board.h | 89 ++++++ demos/AVR-ATmega128-GCC/chconf.h | 169 +++++++++++ demos/AVR-ATmega128-GCC/main.c | 54 ++++ ports/AVR/chcore.c | 121 ++++++++ ports/AVR/chcore.h | 127 ++++++++ ports/AVR/chtypes.h | 48 +++ 8 files changed, 1329 insertions(+) create mode 100644 demos/AVR-ATmega128-GCC/Makefile create mode 100644 demos/AVR-ATmega128-GCC/board.c create mode 100644 demos/AVR-ATmega128-GCC/board.h create mode 100644 demos/AVR-ATmega128-GCC/chconf.h create mode 100644 demos/AVR-ATmega128-GCC/main.c create mode 100644 ports/AVR/chcore.c create mode 100644 ports/AVR/chcore.h create mode 100644 ports/AVR/chtypes.h diff --git a/demos/AVR-ATmega128-GCC/Makefile b/demos/AVR-ATmega128-GCC/Makefile new file mode 100644 index 000000000..42104bc7a --- /dev/null +++ b/demos/AVR-ATmega128-GCC/Makefile @@ -0,0 +1,640 @@ +# Hey Emacs, this is a -*- makefile -*- +#---------------------------------------------------------------------------- +# WinAVR Makefile Template written by Eric B. Weddington, Jörg Wunsch, et al. +# +# Released to the Public Domain +# +# Additional material for this makefile was written by: +# Peter Fleury +# Tim Henigan +# Colin O'Flynn +# Reiner Patommel +# Markus Pfaff +# Sander Pool +# Frederik Rouleau +# Carlos Lamas +# +#---------------------------------------------------------------------------- +# On command line: +# +# make all = Make software. +# +# make clean = Clean out built project files. +# +# make coff = Convert ELF to AVR COFF. +# +# make extcoff = Convert ELF to AVR Extended COFF. +# +# make program = Download the hex file to the device, using avrdude. +# Please customize the avrdude settings below first! +# +# make debug = Start either simulavr or avarice as specified for debugging, +# with avr-gdb or avr-insight as the front end for debugging. +# +# make filename.s = Just compile filename.c into the assembler code only. +# +# make filename.i = Create a preprocessed source file for use in submitting +# bug reports to the GCC project. +# +# To rebuild project do "make clean" then "make all". +#---------------------------------------------------------------------------- + + +# MCU name +MCU = atmega128 + + +# Processor frequency. +# This will define a symbol, F_CPU, in all source code files equal to the +# processor frequency. You can then use this symbol in your source code to +# calculate timings. Do NOT tack on a 'UL' at the end, this will be done +# automatically to create a 32-bit value in your source code. +# Typical values are: +# F_CPU = 1000000 +# F_CPU = 1843200 +# F_CPU = 2000000 +# F_CPU = 3686400 +# F_CPU = 4000000 +# F_CPU = 7372800 +# F_CPU = 8000000 +# F_CPU = 11059200 +# F_CPU = 14745600 +# F_CPU = 16000000 +# F_CPU = 18432000 +# F_CPU = 20000000 +F_CPU = 16000000 + + +# Output format. (can be srec, ihex, binary) +FORMAT = ihex + + +# Target file name (without extension). +TARGET = ch + + +# Object files directory +# To put object files in current directory, use a dot (.), do NOT make +# this an empty or blank macro! +OBJDIR = . + + +# List C source files here. (C dependencies are automatically generated.) +SRC = ../../ports/AVR/chcore.c \ + ../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \ + ../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \ + ../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \ + ../../src/chserial.c \ + ../../src/lib/evtimer.c ../../test/test.c \ + board.c main.c + + + +# List C++ source files here. (C dependencies are automatically generated.) +CPPSRC = + + +# List Assembler source files here. +# Make them always end in a capital .S. Files ending in a lowercase .s +# will not be considered source files but generated files (assembler +# output from the compiler), and will be deleted upon "make clean"! +# Even though the DOS/Win* filesystem matches both .s and .S the same, +# it will preserve the spelling of the filenames, and gcc itself does +# care about how the name is spelled on its command-line. +ASRC = + + +# Optimization level, can be [0, 1, 2, 3, s]. +# 0 = turn off optimization. s = optimize for size. +# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) +OPT = s + + +# Debugging format. +# Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs. +# AVR Studio 4.10 requires dwarf-2. +# AVR [Extended] COFF format requires stabs, plus an avr-objcopy run. +DEBUG = dwarf-2 + + +# List any extra directories to look for include files here. +# Each directory must be seperated by a space. +# Use forward slashes for directory separators. +# For a directory that has spaces, enclose it in quotes. +EXTRAINCDIRS = ../../src/include ../../src/lib ../../ports/AVR + + +# 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=gnu99 + + +# 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=$(F_CPU)UL +#CPPDEFS += -D__STDC_LIMIT_MACROS +#CPPDEFS += -D__STDC_CONSTANT_MACROS + + + +#---------------- Compiler Options C ---------------- +# -g*: generate debugging information +# -O*: optimization level +# -f...: tuning, see GCC manual and avr-libc documentation +# -Wall...: warning level +# -Wa,...: tell GCC to pass this to the assembler. +# -adhlns...: create assembler listing +CFLAGS = -g$(DEBUG) +CFLAGS += $(CDEFS) +CFLAGS += -O$(OPT) +CFLAGS += -funsigned-char +CFLAGS += -funsigned-bitfields +CFLAGS += -fpack-struct +CFLAGS += -fshort-enums +CFLAGS += -fno-strict-aliasing +CFLAGS += -Wall +CFLAGS += -Wstrict-prototypes +#CFLAGS += -mshort-calls +#CFLAGS += -fno-unit-at-a-time +#CFLAGS += -Wundef +#CFLAGS += -Wunreachable-code +#CFLAGS += -Wsign-compare +CFLAGS += -Wa,-adhlns=$(<:%.c=$(OBJDIR)/%.lst) +CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) +CFLAGS += $(CSTANDARD) + + +#---------------- Compiler Options C++ ---------------- +# -g*: generate debugging information +# -O*: optimization level +# -f...: tuning, see GCC manual and avr-libc documentation +# -Wall...: warning level +# -Wa,...: tell GCC to pass this to the assembler. +# -adhlns...: create assembler listing +CPPFLAGS = -g$(DEBUG) +CPPFLAGS += $(CPPDEFS) +CPPFLAGS += -O$(OPT) +CPPFLAGS += -funsigned-char +CPPFLAGS += -funsigned-bitfields +CPPFLAGS += -fpack-struct +CPPFLAGS += -fshort-enums +CPPFLAGS += -fno-exceptions +CPPFLAGS += -Wall +CFLAGS += -Wundef +#CPPFLAGS += -mshort-calls +#CPPFLAGS += -fno-unit-at-a-time +#CPPFLAGS += -Wstrict-prototypes +#CPPFLAGS += -Wunreachable-code +#CPPFLAGS += -Wsign-compare +CPPFLAGS += -Wa,-adhlns=$(<:%.cpp=$(OBJDIR)/%.lst) +CPPFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) +#CPPFLAGS += $(CSTANDARD) + + +#---------------- 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 = $(SCANF_LIB_FLOAT) + + +MATH_LIB = -lm + + +# List any extra directories to look for libraries here. +# Each directory must be seperated by a space. +# Use forward slashes for directory separators. +# For a directory that has spaces, enclose it in quotes. +EXTRALIBDIRS = + + + +#---------------- External Memory Options ---------------- + +# 64 KB of external RAM, starting after internal RAM (ATmega128!), +# used for variables (.data/.bss) and heap (malloc()). +#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff + +# 64 KB of external RAM, starting after internal RAM (ATmega128!), +# only used for heap (malloc()). +#EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff + +EXTMEMOPTS = + + + +#---------------- Linker Options ---------------- +# -Wl,...: tell GCC to pass this to linker. +# -Map: create map file +# --cref: add cross reference to map file +LDFLAGS = -Wl,-Map=$(TARGET).map,--cref +LDFLAGS += $(EXTMEMOPTS) +LDFLAGS += $(patsubst %,-L%,$(EXTRALIBDIRS)) +LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) +#LDFLAGS += -T linker_script.x + + + +#---------------- Programming Options (avrdude) ---------------- + +# Programming hardware: alf avr910 avrisp bascom bsd +# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 +# +# Type: avrdude -c ? +# to get a full listing. +# +AVRDUDE_PROGRAMMER = stk500 + +# com1 = serial port. Use lpt1 to connect to parallel port. +AVRDUDE_PORT = com1 # programmer connected to serial device + +AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex +#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep + + +# Uncomment the following if you want avrdude's erase cycle counter. +# Note that this counter needs to be initialized first using -Yn, +# see avrdude manual. +#AVRDUDE_ERASE_COUNTER = -y + +# Uncomment the following if you do /not/ wish a verification to be +# performed after programming the device. +#AVRDUDE_NO_VERIFY = -V + +# Increase verbosity level. Please use this when submitting bug +# reports about avrdude. See +# to submit bug reports. +#AVRDUDE_VERBOSE = -v -v + +AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) +AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) +AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) +AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) + + + +#---------------- Debugging Options ---------------- + +# For simulavr only - target MCU frequency. +DEBUG_MFREQ = $(F_CPU) + +# Set the DEBUG_UI to either gdb or insight. +# DEBUG_UI = gdb +DEBUG_UI = insight + +# Set the debugging back-end to either avarice, simulavr. +DEBUG_BACKEND = avarice +#DEBUG_BACKEND = simulavr + +# GDB Init Filename. +GDBINIT_FILE = __avr_gdbinit + +# When using avarice settings for the JTAG +JTAG_DEV = /dev/com1 + +# Debugging port used to communicate between GDB / avarice / simulavr. +DEBUG_PORT = 4242 + +# Debugging host used to communicate between GDB / avarice / simulavr, normally +# just set to localhost unless doing some sort of crazy debugging when +# avarice is running on a different computer. +DEBUG_HOST = localhost + + + +#============================================================================ + + +# Define programs and commands. +SHELL = sh +CC = avr-gcc +OBJCOPY = avr-objcopy +OBJDUMP = avr-objdump +SIZE = avr-size +AR = avr-ar rcs +NM = avr-nm +AVRDUDE = avrdude +REMOVE = rm -f +REMOVEDIR = rm -rf +COPY = cp +WINSHELL = cmd + + +# Define Messages +# English +MSG_ERRORS_NONE = Errors: none +MSG_BEGIN = -------- begin -------- +MSG_END = -------- end -------- +MSG_SIZE_BEFORE = Size before: +MSG_SIZE_AFTER = Size after: +MSG_COFF = Converting to AVR COFF: +MSG_EXTENDED_COFF = Converting to AVR Extended COFF: +MSG_FLASH = Creating load file for Flash: +MSG_EEPROM = Creating load file for EEPROM: +MSG_EXTENDED_LISTING = Creating Extended Listing: +MSG_SYMBOL_TABLE = Creating Symbol Table: +MSG_LINKING = Linking: +MSG_COMPILING = Compiling C: +MSG_COMPILING_CPP = Compiling C++: +MSG_ASSEMBLING = Assembling: +MSG_CLEANING = Cleaning project: +MSG_CREATING_LIBRARY = Creating library: + + + + +# Define all object files. +OBJ = $(SRC:%.c=$(OBJDIR)/%.o) $(CPPSRC:%.cpp=$(OBJDIR)/%.o) $(ASRC:%.S=$(OBJDIR)/%.o) + +# Define all listing files. +LST = $(SRC:%.c=$(OBJDIR)/%.lst) $(CPPSRC:%.cpp=$(OBJDIR)/%.lst) $(ASRC:%.S=$(OBJDIR)/%.lst) + + +# Compiler flags to generate dependency files. +GENDEPFLAGS = -MMD -MP -MF .dep/$(@F).d + + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) +ALL_CPPFLAGS = -mmcu=$(MCU) -I. -x c++ $(CPPFLAGS) $(GENDEPFLAGS) +ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) + + + + + +# Default target. +all: begin gccversion sizebefore build sizeafter end + +# Change the build target to build a HEX file or a library. +build: elf hex bin eep lss sym +#build: lib + + +elf: $(TARGET).elf +hex: $(TARGET).hex +bin: $(TARGET).bin +eep: $(TARGET).eep +lss: $(TARGET).lss +sym: $(TARGET).sym +LIBNAME=lib$(TARGET).a +lib: $(LIBNAME) + + + +# Eye candy. +# AVR Studio 3.x does not check make's exit code but relies on +# the following magic strings to be generated by the compile job. +begin: + @echo + @echo $(MSG_BEGIN) + +end: + @echo $(MSG_END) + @echo + + +# Display size of file. +HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex +ELFSIZE = $(SIZE) --mcu=$(MCU) --format=avr $(TARGET).elf + +sizebefore: + @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \ + 2>/dev/null; echo; fi + +sizeafter: + @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \ + 2>/dev/null; echo; fi + + + +# Display compiler version information. +gccversion : + @$(CC) --version + + + +# Program the device. +program: $(TARGET).hex $(TARGET).eep + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) + + +# Generate avr-gdb config/init file which does the following: +# define the reset signal, load the target file, connect to target, and set +# a breakpoint at main(). +gdb-config: + @$(REMOVE) $(GDBINIT_FILE) + @echo define reset >> $(GDBINIT_FILE) + @echo SIGNAL SIGHUP >> $(GDBINIT_FILE) + @echo end >> $(GDBINIT_FILE) + @echo file $(TARGET).elf >> $(GDBINIT_FILE) + @echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) +ifeq ($(DEBUG_BACKEND),simulavr) + @echo load >> $(GDBINIT_FILE) +endif + @echo break main >> $(GDBINIT_FILE) + +debug: gdb-config $(TARGET).elf +ifeq ($(DEBUG_BACKEND), avarice) + @echo Starting AVaRICE - Press enter when "waiting to connect" message displays. + @$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ + $(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) + @$(WINSHELL) /c pause + +else + @$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \ + $(DEBUG_MFREQ) --port $(DEBUG_PORT) +endif + @$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE) + + + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT = $(OBJCOPY) --debugging +COFFCONVERT += --change-section-address .data-0x800000 +COFFCONVERT += --change-section-address .bss-0x800000 +COFFCONVERT += --change-section-address .noinit-0x800000 +COFFCONVERT += --change-section-address .eeprom-0x810000 + + + +coff: $(TARGET).elf + @echo + @echo $(MSG_COFF) $(TARGET).cof + $(COFFCONVERT) -O coff-avr $< $(TARGET).cof + + +extcoff: $(TARGET).elf + @echo + @echo $(MSG_EXTENDED_COFF) $(TARGET).cof + $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof + + + +# Create final output files (.hex, .eep) from ELF output file. +%.hex: %.elf + @echo + @echo $(MSG_FLASH) $@ + $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + +%.bin: %.elf + @echo + @echo $(MSG_FLASH) $@ + $(OBJCOPY) -O binary -R .eeprom $< $@ + +%.eep: %.elf + @echo + @echo $(MSG_EEPROM) $@ + -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 --no-change-warnings -O $(FORMAT) $< $@ || exit 0 + +# Create extended listing file from ELF output file. +%.lss: %.elf + @echo + @echo $(MSG_EXTENDED_LISTING) $@ + $(OBJDUMP) -h -S $< > $@ + +# Create a symbol table from ELF output file. +%.sym: %.elf + @echo + @echo $(MSG_SYMBOL_TABLE) $@ + $(NM) -n $< > $@ + + + +# Create library from object files. +.SECONDARY : $(TARGET).a +.PRECIOUS : $(OBJ) +%.a: $(OBJ) + @echo + @echo $(MSG_CREATING_LIBRARY) $@ + $(AR) $@ $(OBJ) + + +# Link: create ELF output file from object files. +.SECONDARY : $(TARGET).elf +.PRECIOUS : $(OBJ) +%.elf: $(OBJ) + @echo + @echo $(MSG_LINKING) $@ + $(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) + + +# Compile: create object files from C source files. +$(OBJDIR)/%.o : %.c + @echo + @echo $(MSG_COMPILING) $< + $(CC) -c $(ALL_CFLAGS) $< -o $@ + + +# Compile: create object files from C++ source files. +$(OBJDIR)/%.o : %.cpp + @echo + @echo $(MSG_COMPILING_CPP) $< + $(CC) -c $(ALL_CPPFLAGS) $< -o $@ + + +# Compile: create assembler files from C source files. +%.s : %.c + $(CC) -S $(ALL_CFLAGS) $< -o $@ + + +# Compile: create assembler files from C++ source files. +%.s : %.cpp + $(CC) -S $(ALL_CPPFLAGS) $< -o $@ + + +# Assemble: create object files from assembler source files. +$(OBJDIR)/%.o : %.S + @echo + @echo $(MSG_ASSEMBLING) $< + $(CC) -c $(ALL_ASFLAGS) $< -o $@ + + +# Create preprocessed source for use in sending a bug report. +%.i : %.c + $(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ + + +# Target: clean project. +clean: begin clean_list end + +clean_list : + @echo + @echo $(MSG_CLEANING) + $(REMOVE) $(TARGET).hex + $(REMOVE) $(TARGET).bin + $(REMOVE) $(TARGET).eep + $(REMOVE) $(TARGET).cof + $(REMOVE) $(TARGET).elf + $(REMOVE) $(TARGET).map + $(REMOVE) $(TARGET).sym + $(REMOVE) $(TARGET).lss + $(REMOVE) $(SRC:%.c=$(OBJDIR)/%.o) + $(REMOVE) $(SRC:%.c=$(OBJDIR)/%.lst) + $(REMOVE) $(SRC:.c=.s) + $(REMOVE) $(SRC:.c=.d) + $(REMOVE) $(SRC:.c=.i) + $(REMOVEDIR) .dep + + +# Create object files directory +$(shell mkdir $(OBJDIR) 2>/dev/null) + + +# Include the dependency files. +-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) + + +# Listing of phony targets. +.PHONY : all begin finish end sizebefore sizeafter gccversion \ +build elf hex bin eep lss sym coff extcoff \ +clean clean_list program debug gdb-config + + + + + + diff --git a/demos/AVR-ATmega128-GCC/board.c b/demos/AVR-ATmega128-GCC/board.c new file mode 100644 index 000000000..b0907d6c4 --- /dev/null +++ b/demos/AVR-ATmega128-GCC/board.c @@ -0,0 +1,81 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +#include + +#include +#include + +#include "board.h" + +ISR(TIMER0_OVF_vect) { + + chSysIRQEnterI(); + + chSysTimerHandlerI(); + + chSysIRQExitI(); +} + +/* + * Board initialization code. + */ +void hwinit(void) { + + /* + * I/O ports setup. + */ + DDRA = VAL_DDRA; + PORTA = VAL_PORTA; + DDRB = VAL_DDRB; + PORTB = VAL_PORTB; + DDRC = VAL_DDRC; + PORTC = VAL_PORTC; + DDRD = VAL_DDRD; + PORTD = VAL_PORTD; + DDRE = VAL_DDRE; + PORTE = VAL_PORTE; + DDRF = VAL_DDRF; + PORTF = VAL_PORTF; + DDRG = VAL_DDRG; + PORTG = VAL_PORTG; + + /* + * External interrupts setup, all disabled initially. + */ + EICRA = 0x00; + EICRB = 0x00; + EIMSK = 0x00; + + /* + * Enables Idle mode for SLEEP instruction. + */ + MCUCR = (1 << SE); + + /* + * Timer 0 setup. + */ + TCCR0 = (1 << WGM01) | (0 << WGM00) | // CTC mode. + (0 << COM01) | (0 << COM00) | // OC0A disabled (normal I/O). + (0 << CS02) | (1 << CS01) | (1 << CS00); // CLK/64 clock source. + OCR0 = F_CPU / 64 / CH_FREQUENCY - 1; + TCNT0 = 0; // Reset counter. + TIFR = (1 << OCF0); // Reset pending (if any). + TIMSK = (1 << OCIE0); // Interrupt on compare. +} diff --git a/demos/AVR-ATmega128-GCC/board.h b/demos/AVR-ATmega128-GCC/board.h new file mode 100644 index 000000000..ee0e9b624 --- /dev/null +++ b/demos/AVR-ATmega128-GCC/board.h @@ -0,0 +1,89 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +#ifndef _BOARD_H_ +#define _BOARD_H_ + +#define BOARD_OLIMEX_AVR_MT_128 + +/* PA7 RLY DS B5 B4 B3 B2 B1 + * IN OUT IN IN IN IN IN IN + * DDRA 0 1 0 0 0 0 0 0 + * PU VAL HiZ HiZ HiZ HiZ HiZ HiZ + * PORTA 1 0 0 0 0 0 0 0 + */ +#define VAL_DDRA 0x40 +#define VAL_PORTA 0x80 + +/* + * All inputs with pullups. + */ +#define VAL_DDRB 0x00 +#define VAL_PORTB 0xFF + +/* D7 D6 D5 D4 PC3 E R/W RS + * IN IN IN IN IN OUT OUT OUT + * DDRC 0 0 0 0 0 1 1 1 + * PU PU PU PU PU VAL VAL VAL + * PORTC 1 1 1 1 1 0 0 0 + */ +#define VAL_DDRC 0x03 +#define VAL_PORTC 0xF8 + +/* PD7 PD6 PD5 PD4 TXD RXD PD1 PD0 + * IN IN IN IN OUT IN IN IN + * DDRD 0 0 0 0 1 0 0 0 + * PU PU PU PU VAL HiZ HiZ HiZ + * PORTD 1 1 1 1 1 0 0 0 + */ +#define VAL_DDRD 0x08 +#define VAL_PORTD 0xF8 + +/* PE7 PE6 BZ2 BZ2 PE3 PE2 PE1 PE0 + * IN IN OUT OUT IN IN OUT IN + * DDRE 0 0 1 1 0 0 1 0 + * PU PU VAL VAL PU PU VAL PU + * PORTE 1 1 1 1 1 1 1 1 + */ +#define VAL_DDRE 0x32 +#define VAL_PORTE 0xFF + +/* TDI TDO TMS TCK PF3 PF2 PF1 PF0 + * x x x x IN IN IN IN + * DDRF 0 0 0 0 0 0 0 0 + * PU PU PU PU PU PU PU PU + * PORTF 1 1 1 1 1 1 1 1 + * + */ +#define VAL_DDRF 0x00 +#define VAL_PORTF 0xFF + +/* x x x x x PG2 PG1 PG0 + * x x x x x IN IN IN + * DDRG 0 0 0 0 0 0 0 0 + * x x x x x PU PU PU + * PORTG 0 0 0 0 0 1 1 1 + * + */ +#define VAL_DDRG 0x00 +#define VAL_PORTG 0x07 + +void hwinit(void); + +#endif /* _BOARD_H_ */ diff --git a/demos/AVR-ATmega128-GCC/chconf.h b/demos/AVR-ATmega128-GCC/chconf.h new file mode 100644 index 000000000..c8817f85c --- /dev/null +++ b/demos/AVR-ATmega128-GCC/chconf.h @@ -0,0 +1,169 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +/* + * Configuration file for LPC214x-GCC demo project. + */ + +/** + * @addtogroup Config + * @{ + */ + +#ifndef _CHCONF_H_ +#define _CHCONF_H_ + +/** Configuration option: if specified then time efficient rather than space + * efficient code is used when two possible implementations exist, note + * that this is not related to the compiler optimization options.*/ +#define CH_OPTIMIZE_SPEED + +/** Configuration option: if specified then the Virtual Timers subsystem is + * included in the kernel.*/ +#define CH_USE_VIRTUAL_TIMERS + +/** Configuration option: if specified then the System Timer subsystem is + * included in the kernel.*/ +#define CH_USE_SYSTEMTIME + +/** Configuration option: if specified then the \p chThdSleep() function is + * included in the kernel. + * @note requires \p CH_USE_VIRTUAL_TIMERS.*/ +#define CH_USE_SLEEP + +/** Configuration option: if specified then the \p chThdResume() + * function is included in the kernel.*/ +#define CH_USE_RESUME + +/** Configuration option: if specified then the \p chThdSuspend() + * function is included in the kernel.*/ +#define CH_USE_SUSPEND + +/** Configuration option: if specified then the \p chThdTerminate() + * and \p chThdShouldTerminate() functions are included in the kernel.*/ +#define CH_USE_TERMINATE + +/** Configuration option: if specified then the \p chThdWait() function + * is included in the kernel.*/ +#define CH_USE_WAITEXIT + +/** Configuration option: if specified then the Semaphores APIs are included + * in the kernel.*/ +#define CH_USE_SEMAPHORES + +/** Configuration option: if specified then the Semaphores atomic Signal+Wait + * APIs are included in the kernel.*/ +#define CH_USE_SEMSW + +/** Configuration option: if specified then the Semaphores with timeout APIs + * are included in the kernel. + * @note requires \p CH_USE_SEMAPHORES. + * @note requires \p CH_USE_VIRTUAL_TIMERS.*/ +#define CH_USE_SEMAPHORES_TIMEOUT + +/** Configuration option: if specified then the Mutexes APIs are included in + * the kernel.*/ +#define CH_USE_MUTEXES + +/** Configuration option: if specified then the Events APIs are included in + * the kernel.*/ +#define CH_USE_EVENTS + +/** Configuration option: if specified then the \p chEvtWaitTimeout() + * function is included in the kernel. + * @note requires \p CH_USE_EVENTS. + * @note requires \p CH_USE_VIRTUAL_TIMERS.*/ +#define CH_USE_EVENTS_TIMEOUT + +/** Configuration option: if specified then the Synchronous Messages APIs are + * included in the kernel.*/ +#define CH_USE_MESSAGES + +/** Configuration option: if specified then the \p chMsgSendWithEvent() + * function is included in the kernel. + * @note requires \p CH_USE_MESSAGES. + * @note requires \p CH_USE_VIRTUAL_TIMERS.*/ +#define CH_USE_MESSAGES_EVENT + +/** Configuration option: If enabled then the threads have an option to serve + * messages by priority instead of FIFO order. + * @note requires \p CH_USE_MESSAGES.*/ +//#define CH_USE_MESSAGES_PRIORITY + +/** Configuration option: if specified then the + * \p chThdGetExitEventSource() function is included in the kernel. + * @note requires \p CH_USE_MESSAGES. + * @note requires \p CH_USE_EVENTS.*/ +#define CH_USE_EXIT_EVENT + +/** Configuration option: if specified then the I/O queues APIs are included + * in the kernel.*/ +#define CH_USE_QUEUES + +/** Configuration option: if specified then the halfduplex queue APIs are + * included in the kernel.*/ +#define CH_USE_QUEUES_HALFDUPLEX + +/** Configuration option: if specified then the I/O queues with timeout + * APIs are included in the kernel. + * @note requires \p CH_USE_SEMAPHORES_TIMEOUT.*/ +#define CH_USE_QUEUES_TIMEOUT + +/** Configuration option: if specified then the full duplex serial driver APIs + * are included in the kernel.*/ +#define CH_USE_SERIAL_FULLDUPLEX + +/** Configuration option: if specified then the half duplex serial driver APIs + * are included in the kernel.*/ +#define CH_USE_SERIAL_HALFDUPLEX + +/** Configuration option: Frequency of the system timer that drives the system + * ticks. This also defines the system time unit.*/ +#define CH_FREQUENCY 1000 + +/** Configuration option: This constant is the number of ticks allowed for the + * threads before preemption occurs.*/ +#define CH_TIME_QUANTUM 20 + +/** Configuration option: Defines a CPU register to be used as storage for the + * global \p currp variable. Caching this variable in a register can greatly + * improve both space and time efficiency of the generated code. Another side + * effect is that one less register has to be saved during the context switch + * resulting in lower RAM usage and faster code. + * @note This option is only useable with the GCC compiler and is only useful + * on processors with many registers like ARM cores. + * @note If this option is enabled then ALL the libraries linked to the + * ChibiOS/RT code must be recompiled with the GCC option \p + * -ffixed-. + */ +//#define CH_CURRP_REGISTER_CACHE "r7" + +/** Configuration option: Includes basic debug support to the kernel. + * @note the debug support is port-dependent, it may be not present on some + * targets. In that case stub functions will be included. + */ +//#define CH_USE_DEBUG + +/** Debug option: Includes the threads context switch tracing feature. + */ +//#define CH_USE_TRACE + +#endif /* _CHCONF_H_ */ + +/** @} */ diff --git a/demos/AVR-ATmega128-GCC/main.c b/demos/AVR-ATmega128-GCC/main.c new file mode 100644 index 000000000..14c45cf47 --- /dev/null +++ b/demos/AVR-ATmega128-GCC/main.c @@ -0,0 +1,54 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +#include + +#include + +void hwinit(void); + +static WorkingArea(waThread1, 32); +static t_msg Thread1(void *arg) { + + while (TRUE) { + chThdSleep(800); + } + return 0; +} + +int main(int argc, char **argv) { + + hwinit(); + + /* + * The main() function becomes a thread here then the interrupts are + * enabled and ChibiOS/RT goes live. + */ + chSysInit(); + + /* + * Starts the LED blinker thread. + */ + chThdCreate(NORMALPRIO, 0, waThread1, sizeof(waThread1), Thread1, NULL); + + while(TRUE) + /* Do stuff*/ ; + + return 0; +} diff --git a/ports/AVR/chcore.c b/ports/AVR/chcore.c new file mode 100644 index 000000000..7907de1dd --- /dev/null +++ b/ports/AVR/chcore.c @@ -0,0 +1,121 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +#include + +#include + +void _IdleThread(void *p) { + + while (TRUE) { +// asm("sleep"); + } +} + +/* + * Threads start code. + */ +void threadstart(void) { + + asm volatile ("sei"); + asm volatile ("movw r24, r4"); + asm volatile ("movw r30, r2"); + asm volatile ("icall"); + asm volatile ("call chThdExit"); +} + +/* + * Context switch. + */ +void chSysSwitchI(Thread *otp, Thread *ntp) { + + asm volatile ("push r2"); + asm volatile ("push r3"); + asm volatile ("push r4"); + asm volatile ("push r5"); + asm volatile ("push r6"); + asm volatile ("push r7"); +#ifndef CH_CURRP_REGISTER_CACHE + asm volatile ("push r8"); + asm volatile ("push r9"); +#endif + 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, r24"); + asm volatile ("in r0, 0x3d"); + asm volatile ("std Z+8, r0"); + asm volatile ("in r0, 0x3e"); + asm volatile ("std Z+9, r0"); + + asm volatile ("movw r30, r22"); + asm volatile ("ldd r0, Z+8"); + asm volatile ("out 0x3d, r0"); + asm volatile ("ldd r0, Z+9"); + 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"); +#ifndef CH_CURRP_REGISTER_CACHE + asm volatile ("pop r9"); + asm volatile ("pop r8"); +#endif + 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"); +} + +/* + * System console message (not implemented). + */ +__attribute__((weak)) +void chSysPuts(char *msg) { +} + +/* + * System halt. + */ +__attribute__((noreturn, weak)) +void chSysHalt(void) { + + chSysLock(); + + while (TRUE) + ; +} diff --git a/ports/AVR/chcore.h b/ports/AVR/chcore.h new file mode 100644 index 000000000..3fd027951 --- /dev/null +++ b/ports/AVR/chcore.h @@ -0,0 +1,127 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +#ifndef _CHCORE_H_ +#define _CHCORE_H_ + +/* + * Interrupt saved context. + */ +struct extctx { + BYTE8 _next; + BYTE8 r31; + BYTE8 r30; + BYTE8 r27; + BYTE8 r26; + BYTE8 r25; + BYTE8 r24; + BYTE8 r23; + BYTE8 r22; + BYTE8 r21; + BYTE8 r20; + BYTE8 r19; + BYTE8 r18; + BYTE8 sr; + BYTE8 r1; + BYTE8 r0; + UWORD16 pc; +}; + +/* + * System saved context. + */ +struct intctx { + BYTE8 _next; + BYTE8 r29; + BYTE8 r28; + BYTE8 r17; + BYTE8 r16; + BYTE8 r15; + BYTE8 r14; + BYTE8 r13; + BYTE8 r12; + BYTE8 r11; + BYTE8 r10; +#ifndef CH_CURRP_REGISTER_CACHE + BYTE8 r9; + BYTE8 r8; +#endif + BYTE8 r7; + BYTE8 r6; + BYTE8 r5; + BYTE8 r4; + BYTE8 r3; + BYTE8 r2; + BYTE8 pcl; + BYTE8 pch; +}; + +/* + * Port dependent part of the Thread structure, you may add fields in + * this structure. + */ +typedef struct { + struct intctx *sp; +} Context; + +/** + * Platform dependent part of the \p chThdCreate() API. + */ +#define SETUP_CONTEXT(workspace, wsize, pf, arg) { \ + tp->p_ctx.sp = (struct intctx*)((BYTE8 *)workspace + wsize - 1 - \ + (sizeof(struct intctx) - 1)); \ + 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)threadstart >> 8; \ + tp->p_ctx.sp->pch = (int)threadstart; \ +} + +#define INT_REQUIRED_STACK 0x10 +#define StackAlign(n) (n) +#define UserStackSize(n) StackAlign(sizeof(Thread) + \ + (sizeof(struct intctx) - 1) + \ + (sizeof(struct extctx) - 1) + \ + (n) + (INT_REQUIRED_STACK)) +#define WorkingArea(s, n) BYTE8 s[UserStackSize(n)]; + +#define chSysLock() asm volatile ("cli") + +#define chSysUnlock() asm volatile ("sei") + +#define chSysIRQEnterI() \ + asm ("" : : : "r18", "r19", "r20", "r21", "r22", "r23", "r24", \ + "r25", "r26", "r27", "r30", "r31"); + + +#define chSysIRQExitI() { \ + if (chSchRescRequiredI()) \ + chSchDoRescheduleI(); \ +} + +#define IDLE_THREAD_STACK_SIZE 8 +void _IdleThread(void *p) __attribute__((noreturn)); + +void chSysHalt(void) __attribute__((noreturn)) ; +void chSysSwitchI(Thread *otp, Thread *ntp); +void chSysPuts(char *msg); +void threadstart(void) __attribute__((naked)); + +#endif /* _CHCORE_H_ */ diff --git a/ports/AVR/chtypes.h b/ports/AVR/chtypes.h new file mode 100644 index 000000000..60e16aaf4 --- /dev/null +++ b/ports/AVR/chtypes.h @@ -0,0 +1,48 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +#ifndef _CHTYPES_H_ +#define _CHTYPES_H_ + +/* + * Generic types often dependant on the compiler. + */ +#define BOOL char +#define BYTE8 unsigned char +#define SBYTE8 signed char +#define WORD16 int +#define UWORD16 unsigned int +#define LONG32 long +#define ULONG32 unsigned long +#define PTR_EQ int + +typedef BYTE8 t_tmode; +typedef BYTE8 t_tstate; +typedef BYTE8 t_tid; +typedef BYTE8 t_prio; +typedef WORD16 t_msg; +typedef BYTE8 t_eventid; +typedef BYTE8 t_eventmask; +typedef UWORD16 t_time; +typedef SBYTE8 t_cnt; +typedef UWORD16 t_size; + +#define INLINE inline + +#endif /* _CHTYPES_H_ */ -- cgit v1.2.3