rtimer implementation (not well tested)
sprintf that use strformat, so there's no need to pull in the newlib implementation. Build system improvements.
This commit is contained in:
parent
1ca82694f5
commit
792eae91c6
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@ -123,7 +123,7 @@ SECTIONS
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_end = .;
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PROVIDE (end = .);
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.stack ORIGIN(DATA) + LENGTH(DATA) - 0x0c0c :
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.stack ORIGIN(DATA) + LENGTH(DATA) - 0x0a0c :
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{
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__stack_start__ = . ;
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*(.stack)
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|
|
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@ -1,32 +1,28 @@
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# Adapted from Makefile.msp430
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### Check if we are running under Windows
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ifndef WINDIR
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ifdef OS
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ifneq (,$(findstring Windows,$(OS)))
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WINDIR := Windows
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endif
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endif
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endif
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ifdef nodeid
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CFLAGS += -DNODEID=$(nodeid)
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endif
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### Define the CPU directory
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### Defin the CPU directory
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CONTIKI_CPU=$(CONTIKI)/cpu/at91sam7s
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### Define the source files we have in the MSP430 port
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### Define the source files we have in the AT91SAM7S port
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AT91SAM7S = clock.c debug-uart.c interrupt_utils.c newlib-syscalls.c sys-interrupt.c
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CONTIKI_CPU_DIRS = . dbg-io loader
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CONTIKI_TARGET_SOURCEFILES += $(AT91SAM7S)
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AT91SAM7S = clock.c debug-uart.c interrupt-utils.c newlib-syscalls.c sys-interrupt.c rtimer-arch.c rtimer-arch-interrupt.c uip-log.c
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SYSAPPS = codeprop-otf.c
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APPDIRS += $(CONTIKI)/cpu/at91sam7s/loader
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ELFLOADER = elfloader-otf.c elfloader-arm.c symtab.c cfs-ram.c
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TARGETLIBS = random.c dbg-printf.c dbg-puts.c dbg-putchar.c dbg-sprintf.c strformat.c
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CONTIKI_TARGET_SOURCEFILES += $(AT91SAM7S) $(SYSAPPS) $(ELFLOADER) \
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$(TARGETLIBS) $(UIPDRIVERS)
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CONTIKI_SOURCEFILES += $(CONTIKI_TARGET_SOURCEFILES)
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CONTIKIDIRS=$(CONTIKI)/core/sys:$(CONTIKI)/core/dev:$(CONTIKI)/core/cfs:$(CONTIKI)/core/loader:$(CONTIKI)/core/net:$(CONTIKI)/core/lib
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THREADS =
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### Compiler definitions
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CC = arm-elf-gcc
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@ -37,9 +33,11 @@ NM = arm-elf-nm
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OBJCOPY = arm-elf-objcopy
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STRIP = arm-elf-strip
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PROJECT_OBJECTFILES += ${addprefix $(OBJECTDIR)/,$(CONTIKI_TARGET_MAIN:.c=.o)}
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LINKERSCRIPT = $(CONTIKI_CPU)/AT91SAM7S64-ROM.ld
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STARTUP=startup-SAM7S.o
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STARTUP=${addprefix $(OBJECTDIR)/,startup-SAM7S.o}
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# JTAG program upload
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OPENOCD = openocd
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@ -50,9 +48,9 @@ OPENOCD_RESET = arm7_wig_reset.cfg
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SAMIAM=Sam_I_Am
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SAMIAM_TTY=/dev/ttyACM0
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ARCH_FLAGS= -mcpu=arm7tdmi
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THUMB_FLAGS=-mthumb -mthumb-interwork
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ARM_FLAGS=-mthumb-interwork
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ARCH_FLAGS= -mcpu=arm7tdmi -mthumb-interwork
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THUMB_FLAGS=-mthumb
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ARM_FLAGS=
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CFLAGSNO = -I. -I$(CONTIKI)/core -I$(CONTIKI_CPU) -I$(CONTIKI_CPU)/loader \
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@ -63,58 +61,94 @@ CFLAGSNO = -I. -I$(CONTIKI)/core -I$(CONTIKI_CPU) -I$(CONTIKI_CPU)/loader \
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-Wall $(ARCH_FLAGS) -g
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CFLAGS += $(CFLAGSNO) -O -DRUN_AS_SYSTEM -DROM_RUN
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LDFLAGS += $(ARCH_FLAGS) -T $(LINKERSCRIPT)
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LDFLAGS += -T $(LINKERSCRIPT) -nostartfiles
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CDEPFLAGS = $(CFLAGS) -D __MAKING_DEPS__
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PROJECT_OBJECTFILES += ${addprefix $(OBJECTDIR)/,$(CONTIKI_TARGET_MAIN:.c=.o)}
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### Setup directory search path for source files
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CONTIKI_TARGET_DIRS_CONCAT = ${addprefix $(CONTIKI)/platform/$(TARGET)/, \
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$(CONTIKI_TARGET_DIRS)}
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vpath %.c $(PROJECTDIRS) \
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$(CONTIKIDIRS) $(APPDIRS) $(CONTIKI_TARGET_DIRS_CONCAT) \
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$(CONTIKI_CPU) $(CONTIKI_CPU)/loader $(CONTIKI_CPU)/dbg-io
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vpath %.S $(CONTIKI_CPU)
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CUSTOM_RULE_C_TO_OBJECTDIR_O=yes
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CUSTOM_RULE_C_TO_O=yes
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%-interrupt.o: %-interrupt.c
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$(CC) $(CFLAGS) $(ARM_FLAGS) $< -c
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$(OBJECTDIR)/%-interrupt.o: %-interrupt.c
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$(CC) $(CFLAGS) $(ARM_FLAGS) -c $< -o $@
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%-arm.o: %-arm.c
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$(CC) $(CFLAGS) $(ARM_FLAGS) $< -c
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interrupt-utils.o: interrupt-utils.c
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$(CC) $(CFLAGS) $(ARM_FLAGS) $< -c
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$(OBJECTDIR)/%-arm.o: %-arm.c
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$(CC) $(CFLAGS) $(ARM_FLAGS) -c $< -o $@
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$(OBJECTDIR)/interrupt-utils.o: interrupt-utils.c
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$(CC) $(CFLAGS) $(ARM_FLAGS) $< -c -o $@
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%.o: %.c
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$(CC) $(CFLAGS) $(THUMB_FLAGS) $< -c
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$(OBJECTDIR)/%.o: %.c
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$(CC) $(CFLAGS) $(THUMB_FLAGS) -c $< -o $@
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%.o: %.S
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$(CC) $(CFLAGS) $(ARM_FLAGS) $< -c
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%.ko: %.o
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$(LD) --relocatable -T $(CONTIKI_CPU)/merge-rodata.ld $< -o $@
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$(OBJECTDIR)/%.o: %.S
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$(CC) $(CFLAGS) $(ARM_FLAGS) $< -c -o $@
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CUSTOM_RULE_C_TO_CO=yes
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%.co: %.c
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$(CC) $(CFLAGS) $(THUMB_FLAGS) $< -c -o $@
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CUSTOM_RULE_C_TO_CE=yes
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%.ce: %.o
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$(LD) $(LDFLAGS) --relocatable -T $(CONTIKI_CPU)/merge-rodata.ld $< -o $@
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$(STRIP) -K _init -K _fini --strip-unneeded -g -x $@
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CUSTOM_RULE_LINK=yes
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# Add a namelist to the kernel
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%-syms.elf: $^ $(STARTUP)
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: | awk -f $(CONTIKI)/tools/mknmlist > $*-tmp.c && mv $*-tmp.c $*-nm.c
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$(CC) $(LDFLAGS) $(CFLAGS) $(THUMB_FLAGS) -nostartfiles -o $@ $^ $*-nm.c
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$(NM) $@ | awk -f $(CONTIKI)/tools/mknmlist > $*-tmp.c && mv $*-tmp.c $*-nm.c
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-test -r $*.exclude && grep -v -f $*.exclude $*-nm.c >$*-tmp.c && mv $*-tmp.c $*-nm.c
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$(CC) $(LDFLAGS) $(CFLAGS) $(THUMB_FLAGS) -nostartfiles -o $*-syms.elf $^ $*-nm.c
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%-stripped.o: %.c
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$(CC) $(CFLAGS) -c $< -o $@
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$(STRIP) --strip-unneeded -g -x $@
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%.elf: $^ $(STARTUP)
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$(CC) $(LDFLAGS) $(CFLAGS) $(THUMB_FLAGS) -nostartfiles -o $@ $^
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%-stripped.o: %.o
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$(STRIP) --strip-unneeded -g -x -o $@ $<
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%.ihx: %.elf
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$(OBJCOPY) -O ihex $< $@
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%.o: ${CONTIKI_TARGET}/loader/%.S
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$(AS) -o $(notdir $(<:.S=.o)) $<
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%.bin: %.elf
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%-nosyms.$(TARGET): %.co $(PROJECT_OBJECTFILES) contiki-$(TARGET).a $(STARTUP) $(OBJECTDIR)/empty-symbols.o
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$(CC) $(LDFLAGS) $(CFLAGS) -nostartfiles -o $@ $(filter-out %.a,$^) $(filter %.a,$^) -lc $(filter %.a,$^)
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%.ihex: %.$(TARGET)
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$(OBJCOPY) $^ -O ihex $@
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%.bin: %.$(TARGET)
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$(OBJCOPY) -O binary $< $@
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.PHONY: symbols.c
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ifdef CORE
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%.$(TARGET): %.co $(PROJECT_OBJECTFILES) contiki-$(TARGET).a $(STARTUP) $(OBJECTDIR)/symbols.o
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$(CC) $(LDFLAGS) $(CFLAGS) -nostartfiles -o $@ $(filter-out %.a,$^) $(filter %.a,$^) -lc $(filter %.a,$^)
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symbols.c: $(CORE)
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$(NM) $< | awk -f ../../tools/mknmlist > symbols.c
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else
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%.$(TARGET): %-nosyms.$(TARGET)
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ln -sf $< $@
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endif
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empty-symbols.c:
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@${CONTIKI}/tools/make-empty-symbols
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upload_ocd_%: %.bin
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cp $< /tmp/openocd_write.bin
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@ -123,7 +157,7 @@ upload_ocd_%: %.bin
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-rm /tmp/openocd_write.bin
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upload_%: %.ihx
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upload_%: %.ihex
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# Clear lock bits
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$(SAMIAM) "open $(SAMIAM_TTY) , writew 0xffffff64 5a000004"
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$(SAMIAM) "open $(SAMIAM_TTY) , writew 0xffffff64 5a002004"
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@ -132,10 +166,8 @@ upload_%: %.ihx
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ocd_reset:
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cd $(CONTIKI_CPU)/openocd;$(OPENOCD) -f $(OPENOCD_RESET)
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clean:
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-rm *.o
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-rm *.elf
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-rm *.ihx
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-rm *.bin
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-rm *-nm.c
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-rm *.ko
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# Don't use core/loader/elfloader.c, use elfloader-otf.c instead
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$(OBJECTDIR)/elfloader.o:
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echo -n >$@
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.PRECIOUS: %-nosyms.$(TARGET)
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@ -47,6 +47,8 @@ clock_time(void)
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#define SPIN_TIME 2 /* us */
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#define SPIN_COUNT (((MCK*SPIN_TIME/1000000)-5)/4)
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#ifndef __MAKING_DEPS__
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void
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clock_delay(unsigned int t)
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{
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|
@ -56,3 +58,5 @@ clock_delay(unsigned int t)
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#error Must be compiled in thumb mode
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#endif
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}
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#endif /* __MAKING_DEPS__ */
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|
|
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@ -3,7 +3,7 @@
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#include <string.h>
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#include <strformat.h>
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StrFormatResult
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static StrFormatResult
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write_str(void *user_data, const char *data, unsigned int len)
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{
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dbg_send_bytes((unsigned char*)data, len);
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@ -19,10 +19,12 @@ static StrFormatContext ctxt =
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int
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printf(const char *fmt, ...)
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{
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int res;
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va_list ap;
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va_start(ap, fmt);
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return format_str_v(&ctxt, fmt, ap);
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res = format_str_v(&ctxt, fmt, ap);
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va_end(ap);
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return res;
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}
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|
|
26
cpu/at91sam7s/dbg-io/dbg-sprintf.c
Normal file
26
cpu/at91sam7s/dbg-io/dbg-sprintf.c
Normal file
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@ -0,0 +1,26 @@
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#include <stdio.h>
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#include <strformat.h>
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#include <string.h>
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static StrFormatResult
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buffer_str(void *user_data, const char *data, unsigned int len)
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{
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memcpy(*(char**)user_data, data, len);
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(*(char**)user_data) += len;
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return STRFORMAT_OK;
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}
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int
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sprintf(char *str, const char *format, ...)
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||||
{
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StrFormatContext ctxt;
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int res;
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va_list ap;
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va_start(ap, format);
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ctxt.write_str = buffer_str;
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ctxt.user_data = &str;
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res = format_str_v(&ctxt, format, ap);
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*str = '\0';
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va_end(ap);
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return res;
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}
|
|
@ -74,7 +74,10 @@ dbg_send_bytes(const unsigned char *seq, unsigned int len)
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unsigned short current_count;
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||||
unsigned short left;
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||||
unsigned int save = disableIRQ();
|
||||
if (mutex) return 0; /* Buffer being updated */
|
||||
if (mutex) {
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restoreIRQ(save);
|
||||
return 0; /* Buffer being updated */
|
||||
}
|
||||
mutex = 1; /* Prevent interrupts from messing up the transmission */
|
||||
*AT91C_DBGU_PTCR =AT91C_PDC_TXTDIS; /* Stop transmitting */
|
||||
while(*AT91C_DBGU_PTSR & AT91C_PDC_TXTEN); /* Wait until stopped */
|
||||
|
|
|
@ -1,3 +1,4 @@
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|||
#include <stdlib.h>
|
||||
#include <malloc.h>
|
||||
#include <loader/elfloader-arch-otf.h>
|
||||
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
/******************************************************************************
|
||||
*
|
||||
* $RCSfile: interrupt-utils.c,v $
|
||||
* $Revision: 1.1 $
|
||||
* $Revision: 1.2 $
|
||||
*
|
||||
* This module provides the interface routines for setting up and
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* controlling the various interrupt modes present on the ARM processor.
|
||||
|
@ -26,7 +26,7 @@ static inline unsigned __get_cpsr(void)
|
|||
|
||||
static inline void __set_cpsr(unsigned val)
|
||||
{
|
||||
asm volatile (" msr cpsr, %0" : /* no outputs */ : "r" (val) );
|
||||
asm volatile (" msr cpsr_c, %0" : /* no outputs */ : "r" (val) );
|
||||
}
|
||||
|
||||
unsigned disableIRQ(void)
|
||||
|
|
3
cpu/at91sam7s/loader/empty-symbols.c
Normal file
3
cpu/at91sam7s/loader/empty-symbols.c
Normal file
|
@ -0,0 +1,3 @@
|
|||
#include "symbols.h"
|
||||
const int symbols_nelts = 0;
|
||||
const struct symbols symbols[] = {{0,0}};
|
|
@ -94,3 +94,30 @@ fsync(int fd)
|
|||
errno = EBADF;
|
||||
return -1;
|
||||
}
|
||||
|
||||
void
|
||||
_exit(int status)
|
||||
{
|
||||
while(1);
|
||||
}
|
||||
|
||||
void
|
||||
_abort()
|
||||
{
|
||||
while(1);
|
||||
}
|
||||
|
||||
void
|
||||
_kill()
|
||||
{
|
||||
while(1);
|
||||
}
|
||||
|
||||
pid_t
|
||||
_getpid(void)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
|
||||
const unsigned long
|
||||
bkpt_instr = 0xe1200070;
|
||||
|
|
34
cpu/at91sam7s/rtimer-arch-interrupt.c
Normal file
34
cpu/at91sam7s/rtimer-arch-interrupt.c
Normal file
|
@ -0,0 +1,34 @@
|
|||
#include "rtimer-arch-interrupt.h"
|
||||
#include "rtimer-arch.h"
|
||||
#include <interrupt-utils.h>
|
||||
#include <AT91SAM7S64.h>
|
||||
|
||||
#define DEBUG 1
|
||||
#if DEBUG
|
||||
#include <stdio.h>
|
||||
#define PRINTF(...) printf(__VA_ARGS__)
|
||||
#else
|
||||
#define PRINTF(...)
|
||||
#endif
|
||||
|
||||
/* Here we have a proper stack frame and can use local variables */
|
||||
static void rtimer_int_safe() __attribute((noinline));
|
||||
static void
|
||||
rtimer_int_safe()
|
||||
{
|
||||
unsigned int status;
|
||||
status = RTIMER_ARCH_TIMER_BASE->TC_SR;
|
||||
if (status & AT91C_TC_CPAS) {
|
||||
rtimer_run_next();
|
||||
}
|
||||
*AT91C_AIC_EOICR = 0;
|
||||
}
|
||||
|
||||
void NACKEDFUNC
|
||||
rtimer_interrupt (void) {
|
||||
ISR_STORE();
|
||||
ISR_ENABLE_NEST();
|
||||
rtimer_int_safe();
|
||||
ISR_DISABLE_NEST();
|
||||
ISR_RESTORE();
|
||||
}
|
6
cpu/at91sam7s/rtimer-arch-interrupt.h
Normal file
6
cpu/at91sam7s/rtimer-arch-interrupt.h
Normal file
|
@ -0,0 +1,6 @@
|
|||
#ifndef __RTIMER_ARCH_INTERRUPT_H__P0PXG70757__
|
||||
#define __RTIMER_ARCH_INTERRUPT_H__P0PXG70757__
|
||||
|
||||
void rtimer_interrupt (void);
|
||||
|
||||
#endif /* __RTIMER_ARCH_INTERRUPT_H__P0PXG70757__ */
|
49
cpu/at91sam7s/rtimer-arch.c
Normal file
49
cpu/at91sam7s/rtimer-arch.c
Normal file
|
@ -0,0 +1,49 @@
|
|||
#include "rtimer-arch.h"
|
||||
#include <AT91SAM7S64.h>
|
||||
#include "rtimer-arch-interrupt.h"
|
||||
|
||||
#define DEBUG 1
|
||||
#if DEBUG
|
||||
#include <stdio.h>
|
||||
#define PRINTF(...) printf(__VA_ARGS__)
|
||||
#else
|
||||
#define PRINTF(...)
|
||||
#endif
|
||||
|
||||
static rtimer_clock_t offset;
|
||||
|
||||
void
|
||||
rtimer_arch_init(void)
|
||||
{
|
||||
offset = 0;
|
||||
RTIMER_ARCH_TIMER_BASE->TC_CMR =
|
||||
(AT91C_TC_WAVE | AT91C_TC_WAVESEL_UP | AT91C_TC_CLKS_TIMER_DIV5_CLOCK);
|
||||
RTIMER_ARCH_TIMER_BASE->TC_RA = 0xffff;
|
||||
RTIMER_ARCH_TIMER_BASE->TC_IER = AT91C_TC_CPAS;
|
||||
*AT91C_PMC_PCER = (1 << RTIMER_ARCH_TIMER_ID);
|
||||
AT91C_AIC_SMR[RTIMER_ARCH_TIMER_ID] =
|
||||
AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE | 6;
|
||||
AT91C_AIC_SVR[RTIMER_ARCH_TIMER_ID] = (unsigned long)rtimer_interrupt;
|
||||
*AT91C_AIC_IECR = (1 << RTIMER_ARCH_TIMER_ID);
|
||||
RTIMER_ARCH_TIMER_BASE->TC_CCR = AT91C_TC_SWTRG | AT91C_TC_CLKEN;
|
||||
PRINTF("rtimer_arch_init: Done\n");
|
||||
}
|
||||
|
||||
void
|
||||
rtimer_arch_schedule(rtimer_clock_t t)
|
||||
{
|
||||
RTIMER_ARCH_TIMER_BASE->TC_RA = t + offset;
|
||||
PRINTF("rtimer_arch_schedule: %d\n",t);
|
||||
}
|
||||
|
||||
void
|
||||
rtimer_arch_set(rtimer_clock_t t)
|
||||
{
|
||||
offset = t - RTIMER_ARCH_TIMER_BASE->TC_CV;
|
||||
}
|
||||
|
||||
rtimer_clock_t
|
||||
rtimer_arch_now(void)
|
||||
{
|
||||
return RTIMER_ARCH_TIMER_BASE->TC_CV + offset;
|
||||
}
|
21
cpu/at91sam7s/rtimer-arch.h
Normal file
21
cpu/at91sam7s/rtimer-arch.h
Normal file
|
@ -0,0 +1,21 @@
|
|||
/**
|
||||
* \file
|
||||
* Header file for the AT91SAM7S-specific rtimer code
|
||||
* \author
|
||||
* Simon Berg <ksb@users.sourceforge.net>
|
||||
*/
|
||||
|
||||
#ifndef __RTIMER_ARCH_H__
|
||||
#define __RTIMER_ARCH_H__
|
||||
|
||||
#include "sys/rtimer.h"
|
||||
|
||||
#define RTIMER_ARCH_TIMER_ID AT91C_ID_TC1
|
||||
#define RTIMER_ARCH_TIMER_BASE AT91C_BASE_TC1
|
||||
|
||||
#define RTIMER_ARCH_SECOND (MCK/1024)
|
||||
|
||||
void rtimer_arch_set(rtimer_clock_t t);
|
||||
|
||||
|
||||
#endif /* __RTIMER_ARCH_H__ */
|
|
@ -71,7 +71,7 @@
|
|||
*/
|
||||
.equ Top_Stack, 0x00204000
|
||||
.equ UND_Stack_Size, 0x00000004
|
||||
.equ SVC_Stack_Size, 0x00000400
|
||||
.equ SVC_Stack_Size, 0x00000200
|
||||
.equ ABT_Stack_Size, 0x00000004
|
||||
.equ FIQ_Stack_Size, 0x00000004
|
||||
.equ IRQ_Stack_Size, 0x00000400
|
||||
|
@ -207,6 +207,11 @@ UND_Stack_End:
|
|||
.equ RSTC_MR_Val, 0xa5000001 /* Enable user reset */
|
||||
|
||||
|
||||
/* Advanced interrupt controller */
|
||||
.equ AIC_SETUP, 1
|
||||
.equ AIC_BASE, 0xfffff000
|
||||
.equ AIC_EOICR, 0x130
|
||||
.equ AIC_SPU, 0x134
|
||||
|
||||
#if (defined(VECTORS_IN_RAM) && defined(ROM_RUN)) || defined(USE_SAMBA)
|
||||
|
||||
|
@ -299,7 +304,16 @@ DAbt_Handler: B DAbt_Handler
|
|||
IRQ_Handler: B IRQ_Handler
|
||||
FIQ_Handler: B FIQ_Handler
|
||||
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// Spurious interrupt handler
|
||||
SPU_Handler:
|
||||
STMDB SP!, {R0}
|
||||
LDR R0, =AIC_BASE
|
||||
STR R0, [R0, #AIC_EOICR]
|
||||
LDMIA SP!, {R0}
|
||||
SUBS PC, LR, #4
|
||||
|
||||
|
||||
// Starupt Code must be linked first at Address at which it expects to run.
|
||||
|
||||
|
@ -395,7 +409,7 @@ PLL_Loop: LDR R2, [R0, #PMC_SR]
|
|||
LDR SP, =SVC_Stack_End
|
||||
|
||||
// Enter User Mode and set its Stack Pointer
|
||||
#ifndef RUN_AS_SYSTEM
|
||||
#ifdef RUN_AS_SYSTEM
|
||||
MSR CPSR_c, #Mode_SYS
|
||||
#else
|
||||
MSR CPSR_c, #Mode_USR
|
||||
|
@ -453,6 +467,11 @@ LoopVectCopy: CMP R2, R3
|
|||
BLO LoopVectCopy
|
||||
#endif
|
||||
|
||||
.if AIC_SETUP
|
||||
LDR R1, =AIC_BASE
|
||||
LDR R0, = SPU_Handler
|
||||
STR R0, [R1, #AIC_SPU]
|
||||
.endif
|
||||
|
||||
/*
|
||||
Call C++ constructors (for objects in "global scope")
|
||||
|
|
Loading…
Reference in a new issue