From fd20f0fa17bfdf81dc28e7d30f13ca80264b7c78 Mon Sep 17 00:00:00 2001 From: Andrew Wygle Date: Fri, 8 Apr 2016 01:43:46 -0700 Subject: Initial MSP430X Port. This port includes hal, pal, serial, and st drivers. It supports both large and small model code and data for MSP430X-class CPUs. It has only been tested on the EXP430FR5969 LaunchPad board. --- os/common/ports/MSP430X/chcore.c | 103 ++++++ os/common/ports/MSP430X/chcore.h | 437 +++++++++++++++++++++++ os/common/ports/MSP430X/chcore_timer.h | 119 ++++++ os/common/ports/MSP430X/compilers/GCC/chtypes.h | 99 +++++ os/common/ports/MSP430X/compilers/GCC/mk/port.mk | 7 + 5 files changed, 765 insertions(+) create mode 100644 os/common/ports/MSP430X/chcore.c create mode 100644 os/common/ports/MSP430X/chcore.h create mode 100644 os/common/ports/MSP430X/chcore_timer.h create mode 100644 os/common/ports/MSP430X/compilers/GCC/chtypes.h create mode 100644 os/common/ports/MSP430X/compilers/GCC/mk/port.mk (limited to 'os/common/ports/MSP430X') 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 directly 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 +#include + +/*===========================================================================*/ +/* 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 directly 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 +#include +#include + +/** + * @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 -- cgit v1.2.3