Merge pull request #52 from awygle/msp430x

Initial MSP430X Port.

5 files changed, 765 insertions, 0 deletions

diff --git a/os/common/ports/MSP430X/chcore.c b/os/common/ports/MSP430X/chcore.c
new file mode 100644
index 0000000..4e09b8f
--- /dev/null
+++ b/os/common/ports/MSP430X/chcore.c
@@ -0,0 +1,103 @@
+/*

+    ChibiOS/HAL - Copyright (C) 2016 Andrew Wygle aka awygle

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    MSP430X/nilcore.c

+ * @brief   MSP430X port code.

+ *

+ * @addtogroup MSP430X_CORE

+ * @{

+ */

+

+#include "ch.h"

+

+/*===========================================================================*/

+/* Module local definitions.                                                 */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module exported variables.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* 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

+ */

+#if !defined(__DOXYGEN__) && defined(__OPTIMIZE__)

+__attribute__((naked))

+#endif

+void _port_switch(thread_t *ntp, thread_t *otp) {

+#if !defined(__OPTIMIZE__)

+  asm volatile ("add #4, r1");

+#endif

+  (void)(ntp);

+  (void)(otp);

+#if defined(__MSP430X_LARGE__)

+  asm volatile ("pushm.a #7, R10");

+  asm volatile ("mova r1, @R13");

+  asm volatile ("mova @R12, r1");

+  asm volatile ("popm.a #7, R10");

+  asm volatile ("reta");

+#else

+  asm volatile ("pushm.w #7, R10");

+  asm volatile ("mov r1, @R13");

+  asm volatile ("mov @R12, r1");

+  asm volatile ("popm.w #7, R10");

+  asm volatile ("ret");

+#endif

+}

+

+/**

+ * @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) {

+  

+  /* See PORT_SETUP_CONTEXT in nilcore.h */

+  chSysUnlock();

+#if defined(__MSP430X_LARGE__)

+  asm volatile ("mova R5, R12");

+  asm volatile ("calla R4");

+#else

+  asm volatile ("mov R5, R12");

+  asm volatile ("call R4");

+#endif

+  chSysHalt(0);

+}

+/** @} */

diff --git a/os/common/ports/MSP430X/chcore.h b/os/common/ports/MSP430X/chcore.h
new file mode 100644
index 0000000..09f87c4
--- /dev/null
+++ b/os/common/ports/MSP430X/chcore.h
@@ -0,0 +1,437 @@
+/*

+    ChibiOS/HAL - Copyright (C) 2016 Andrew Wygle aka awygle

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    MSP430X/nilcore.h

+ * @brief   MSP430X port macros and structures.

+ *

+ * @addtogroup MSP430X_CORE

+ * @{

+ */

+

+#ifndef CHCORE_H

+#define CHCORE_H

+

+#include <msp430.h>

+#include <in430.h>

+

+/*===========================================================================*/

+/* Module constants.                                                         */

+/*===========================================================================*/

+

+/**

+ * @name    Architecture and Compiler

+ * @{

+ */

+/**

+ * @brief   Macro defining the port architecture.

+ */

+#define PORT_ARCHITECTURE_MSP430X

+

+/**

+ * @brief   Name of the implemented architecture.

+ */

+#define PORT_ARCHITECTURE_NAME          "MSP430X"

+

+/**

+ * @brief   Name of the architecture variant.

+ */

+#define PORT_CORE_VARIANT_NAME          "MSP430Xv2"

+

+/* The following code is not processed when the file is included from an

+ * asm module because those intrinsic macrosa re not necessarily defined

+ * by the assembler too.*/

+#if !defined(_FROM_ASM_)

+

+/**

+ * @brief   Compiler name and version.

+ */

+#if defined(__GNUC__) || defined(__DOXYGEN__)

+#define PORT_COMPILER_NAME              "GCC " __VERSION__

+

+#else

+#error "unsupported compiler"

+#endif

+

+#endif /* !defined(_FROM_ASM_) */

+/**

+ * @brief   Port-specific information string.

+ */

+#define PORT_INFO                       "16 bits code addressing"

+

+/**

+ * @brief   This port supports a realtime counter.

+ */

+#define PORT_SUPPORTS_RT                FALSE

+/** @} */

+

+/*===========================================================================*/

+/* 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.

+ * @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.

+ * @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   Enables an alternative timer implementation.

+ * @details Usually the port uses a timer interface defined in the file

+ *          @p nilcore_timer.h, if this option is enabled then the file

+ *          @p nilcore_timer_alt.h is included instead.

+ */

+#if !defined(PORT_USE_ALT_TIMER)

+#define PORT_USE_ALT_TIMER              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.

+ */

+typedef uint16_t stkalign_t;

+

+/**

+ * @brief   Type of natural register size - depends on memory model.

+ */

+#if defined(__MSP430X_LARGE__)

+typedef unsigned __int20 reg_t;

+#else

+typedef uint16_t reg_t;

+#endif

+

+/**

+ * @brief   Natural alignment constant.

+ * @note    It is the minimum alignment for pointer-size variables.

+ */

+#define PORT_NATURAL_ALIGN              2U

+

+/**

+ * @brief   Stack alignment constant.

+ * @note    It is the alignement required for the stack pointer.

+ */

+#define PORT_STACK_ALIGN                2U

+

+/**

+ * @brief   Working Areas alignment constant.

+ * @note    It is the alignment to be enforced for thread working areas.

+ */

+#define PORT_WORKING_AREA_ALIGN         2U

+/** @} */

+

+/**

+ * @brief   System saved context.

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

+ *          switching.

+ */

+struct port_intctx {

+  reg_t       r4;

+  reg_t       r5;

+  reg_t       r6;

+  reg_t       r7;

+  reg_t       r8;

+  reg_t       r9;

+  reg_t       r10;

+  reg_t       r0; /* program counter */

+};

+

+/**

+ * @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 thread stack setup.

+ * @details This code usually setup the context switching frame represented

+ *          by an @p port_intctx structure.

+ */

+#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->r4  = (reg_t)pf;                                            \

+    (tp)->ctx.sp->r5  = (reg_t)arg;                                           \

+    (tp)->ctx.sp->r0  = (reg_t)_port_thread_start;                            \

+}

+

+/**

+ * @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   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) +                   \

+                         (n) + (PORT_INT_REQUIRED_STACK))

+

+/**

+ * @brief   IRQ prologue code.

+ * @details This macro must be inserted at the start of all IRQ handlers

+ *          enabled to invoke system APIs.

+ */

+#define PORT_IRQ_PROLOGUE() 

+

+/**

+ * @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() chSchRescheduleS()

+

+/**

+ * @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) __attribute__ ((interrupt(id)))                  \

+  void ISR_ ## id (void)

+

+/**

+ * @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) PORT_IRQ_HANDLER(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)

+

+/*===========================================================================*/

+/* 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_irq_epilogue(void);

+  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   Port-related initialization code.

+ */

+static inline void port_init(void) {

+

+}

+

+/**

+ * @brief   Returns a word encoding the current interrupts status.

+ *

+ * @return              The interrupts status.

+ */

+static inline syssts_t port_get_irq_status(void) {

+

+  return __get_SR_register();

+}

+

+/**

+ * @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 sts & GIE;

+}

+

+/**

+ * @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) {

+  /* Efficiency would be enhanced by not doing this, 

+   * because of implementation details */

+  return __get_SR_register() & GIE;

+}

+

+/**

+ * @brief   Kernel-lock action.

+ */

+static inline void port_lock(void) {

+

+  _disable_interrupts();

+  asm volatile("nop");

+}

+

+/**

+ * @brief   Kernel-unlock action.

+ */

+static inline void port_unlock(void) {

+  asm volatile("nop");

+  _enable_interrupts();

+}

+

+/**

+ * @brief   Kernel-lock action from an interrupt handler.

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

+ */

+static inline void port_lock_from_isr(void) {

+

+}

+

+/**

+ * @brief   Kernel-unlock action from an interrupt handler.

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

+ */

+static inline void port_unlock_from_isr(void) {

+

+}

+

+/**

+ * @brief   Disables all the interrupt sources.

+ */

+static inline void port_disable(void) {

+

+  _disable_interrupts();

+  asm volatile("nop");

+}

+

+/**

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

+ */

+static inline void port_suspend(void) {

+

+  _disable_interrupts();

+  asm volatile("nop");

+}

+

+/**

+ * @brief   Enables all the interrupt sources.

+ */

+static inline void port_enable(void) {

+

+  asm volatile("nop");

+  _enable_interrupts();

+}

+

+/**

+ * @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) {

+  

+}

+

+/**

+ * @brief   Returns the current value of the realtime counter.

+ *

+ * @return              The realtime counter value.

+ */

+static inline rtcnt_t port_rt_get_counter_value(void) {

+  /* TODO implement realtime counter */

+  return 0;

+}

+

+#endif /* !defined(_FROM_ASM_) */

+

+/*===========================================================================*/

+/* Module late inclusions.                                                   */

+/*===========================================================================*/

+

+#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/os/common/ports/MSP430X/chcore_timer.h b/os/common/ports/MSP430X/chcore_timer.h
new file mode 100644
index 0000000..87ea514
--- /dev/null
+++ b/os/common/ports/MSP430X/chcore_timer.h
@@ -0,0 +1,119 @@
+/*

+    ChibiOS/HAL - Copyright (C) 2016 Andrew Wygle aka awygle

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    MSP430X/chcore_timer.h

+ * @brief   System timer header file.

+ *

+ * @addtogroup MSP430X_TIMER

+ * @{

+ */

+

+#ifndef CHCORE_TIMER_H

+#define CHCORE_TIMER_H

+

+#include "hal_st.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] abstime   the time to be set for the first alarm

+ *

+ * @notapi

+ */

+static inline void port_timer_start_alarm(systime_t abstime) {

+

+  stStartAlarm(abstime);

+}

+

+/**

+ * @brief   Stops the alarm interrupt.

+ *

+ * @notapi

+ */

+static inline void port_timer_stop_alarm(void) {

+  stStopAlarm();

+}

+

+/**

+ * @brief   Sets the alarm time.

+ *

+ * @param[in] abstime   the time to be set for the next alarm

+ *

+ * @notapi

+ */

+static inline void port_timer_set_alarm(systime_t abstime) {

+

+  stSetAlarm(abstime);

+}

+

+/**

+ * @brief   Returns the system time.

+ *

+ * @return              The system time.

+ *

+ * @notapi

+ */

+static inline systime_t port_timer_get_time(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) {

+

+  return stGetAlarm();

+}

+

+#endif /* CHCORE_TIMER_H */

+

+/** @} */

diff --git a/os/common/ports/MSP430X/compilers/GCC/chtypes.h b/os/common/ports/MSP430X/compilers/GCC/chtypes.h
new file mode 100644
index 0000000..11cc980
--- /dev/null
+++ b/os/common/ports/MSP430X/compilers/GCC/chtypes.h
@@ -0,0 +1,99 @@
+/*

+    ChibiOS/HAL - Copyright (C) 2016 Andrew Wygle aka awygle

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    MSP430X/compilers/GCC/chtypes.h

+ * @brief   MSP430X port system types.

+ *

+ * @addtogroup MSP430X_GCC_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                    1

+#endif

+/** @} */

+

+/**

+ * @name    Kernel types

+ * @{

+ */

+typedef uint16_t            rtcnt_t;        /**< Realtime counter.          */

+typedef uint64_t            rttime_t;       /**< Realtime accumulator.      */

+typedef uint16_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 int16_t             cnt_t;          /**< Generic signed counter.    */

+typedef uint16_t            ucnt_t;         /**< Generic unsigned counter.  */

+

+/**

+ * @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)))

+

+#endif /* _NILTYPES_H_ */

+

+/** @} */

diff --git a/os/common/ports/MSP430X/compilers/GCC/mk/port.mk b/os/common/ports/MSP430X/compilers/GCC/mk/port.mk
new file mode 100644
index 0000000..0ef5378
--- /dev/null
+++ b/os/common/ports/MSP430X/compilers/GCC/mk/port.mk
@@ -0,0 +1,7 @@
+# List of the ChibiOS/RT MSP430X port files.

+PORTSRC = ${CHIBIOS_CONTRIB}/os/common/ports/MSP430X/chcore.c

+

+PORTASM = 

+

+PORTINC = ${CHIBIOS_CONTRIB}/os/common/ports/MSP430X \

+          ${CHIBIOS_CONTRIB}/os/common/ports/MSP430X/compilers/GCC