From d4b4ad5873f415e8c8a8303ece579d0569becd2d Mon Sep 17 00:00:00 2001 From: Christian Pointner Date: Wed, 5 Oct 2022 19:13:25 +0200 Subject: add first chibios example (WIP) --- .gitignore | 6 + chibios-blink/.cproject | 108 ++++++ chibios-blink/.project | 48 +++ chibios-blink/Makefile | 196 +++++++++++ chibios-blink/c1_main.c | 100 ++++++ chibios-blink/cfg/chconf.h | 817 ++++++++++++++++++++++++++++++++++++++++++++ chibios-blink/cfg/halconf.h | 550 +++++++++++++++++++++++++++++ chibios-blink/cfg/mcuconf.h | 73 ++++ chibios-blink/main.c | 73 ++++ contrib/Makefile | 38 ++- defines.mk | 30 ++ rules.mk | 31 ++ 12 files changed, 2068 insertions(+), 2 deletions(-) create mode 100644 chibios-blink/.cproject create mode 100644 chibios-blink/.project create mode 100644 chibios-blink/Makefile create mode 100644 chibios-blink/c1_main.c create mode 100644 chibios-blink/cfg/chconf.h create mode 100644 chibios-blink/cfg/halconf.h create mode 100644 chibios-blink/cfg/mcuconf.h create mode 100644 chibios-blink/main.c create mode 100644 defines.mk create mode 100644 rules.mk diff --git a/.gitignore b/.gitignore index 6ea7dde..b61c547 100644 --- a/.gitignore +++ b/.gitignore @@ -1,2 +1,8 @@ /contrib/picoprobe.u2f /contrib/openocd +/contrib/ChibiOS_*/ +/contrib/ChibiOS_*.7z +/contrib/gcc-arm-none-eabi-*/ +/contrib/gcc-arm-none-eabi-*.tar.bz2 +/*/build/ +/*/.dep/ diff --git a/chibios-blink/.cproject b/chibios-blink/.cproject new file mode 100644 index 0000000..4b8e239 --- /dev/null +++ b/chibios-blink/.cproject @@ -0,0 +1,108 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/chibios-blink/.project b/chibios-blink/.project new file mode 100644 index 0000000..26dd8a0 --- /dev/null +++ b/chibios-blink/.project @@ -0,0 +1,48 @@ + + + RT-RP2040-PICO + + + + + + org.eclipse.cdt.managedbuilder.core.genmakebuilder + clean,full,incremental, + + + + + org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder + full,incremental, + + + + + + org.eclipse.cdt.core.cnature + org.eclipse.cdt.managedbuilder.core.managedBuildNature + org.eclipse.cdt.managedbuilder.core.ScannerConfigNature + + + + board + 2 + CHIBIOS/os/hal/boards/ST_NUCLEO64_G474RE + + + os + 2 + CHIBIOS/os + + + pico-sdk + 2 + CHIBIOS/ext/pico-sdk/src + + + test + 2 + CHIBIOS/test + + + diff --git a/chibios-blink/Makefile b/chibios-blink/Makefile new file mode 100644 index 0000000..4c08d58 --- /dev/null +++ b/chibios-blink/Makefile @@ -0,0 +1,196 @@ +############################################################################## +# Build global options +# NOTE: Can be overridden externally. +# + +include ../defines.mk + + +# Compiler options here. +ifeq ($(USE_OPT),) + USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16 +endif + +# C specific options here (added to USE_OPT). +ifeq ($(USE_COPT),) + USE_COPT = +endif + +# C++ specific options here (added to USE_OPT). +ifeq ($(USE_CPPOPT),) + USE_CPPOPT = -fno-rtti +endif + +# Enable this if you want the linker to remove unused code and data. +ifeq ($(USE_LINK_GC),) + USE_LINK_GC = yes +endif + +# Linker extra options here. +ifeq ($(USE_LDOPT),) + USE_LDOPT = +endif + +# Enable this if you want link time optimizations (LTO). +ifeq ($(USE_LTO),) + USE_LTO = yes +endif + +# Enable this if you want to see the full log while compiling. +ifeq ($(USE_VERBOSE_COMPILE),) + USE_VERBOSE_COMPILE = no +endif + +# If enabled, this option makes the build process faster by not compiling +# modules not used in the current configuration. +ifeq ($(USE_SMART_BUILD),) + USE_SMART_BUILD = yes +endif + +# +# Build global options +############################################################################## + +############################################################################## +# Architecture or project specific options +# + +# Stack size to be allocated to the Cortex-M process stack. This stack is +# the stack used by the main() thread. +ifeq ($(USE_PROCESS_STACKSIZE),) + USE_PROCESS_STACKSIZE = 0x200 +endif + +# Stack size to the allocated to the Cortex-M main/exceptions stack. This +# stack is used for processing interrupts and exceptions. +ifeq ($(USE_EXCEPTIONS_STACKSIZE),) + USE_EXCEPTIONS_STACKSIZE = 0x200 +endif + +# Enables the use of FPU (no, softfp, hard). +ifeq ($(USE_FPU),) + USE_FPU = no +endif + +# FPU-related options. +ifeq ($(USE_FPU_OPT),) + USE_FPU_OPT = -mfloat-abi=$(USE_FPU) -mfpu=fpv4-sp-d16 +endif + +# +# Architecture or project specific options +############################################################################## + +############################################################################## +# Project, target, sources and paths +# + +# Define project name here +PROJECT = ch + +# Target settings. +MCU = cortex-m0plus + +# Imported source files and paths. +CONFDIR := ./cfg +BUILDDIR := ./build +DEPDIR := ./.dep + +# Licensing files. +include $(CHIBIOS)/os/license/license.mk +# Startup files. +include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_rp2040.mk +# HAL-OSAL files (optional). +include $(CHIBIOS)/os/hal/hal.mk +include $(CHIBIOS)/os/hal/ports/RP/RP2040/platform.mk +include $(CHIBIOS)/os/hal/boards/RP_PICO_RP2040/board.mk +include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk +# RTOS files (optional). +include $(CHIBIOS)/os/rt/rt.mk +include $(CHIBIOS)/os/common/ports/ARMv6-M-RP2/compilers/GCC/mk/port.mk +# Auto-build files in ./source recursively. +include $(CHIBIOS)/tools/mk/autobuild.mk +# Other files (optional). +include $(CHIBIOS)/os/test/test.mk +include $(CHIBIOS)/test/rt/rt_test.mk +include $(CHIBIOS)/test/oslib/oslib_test.mk +include $(CHIBIOS)/os/various/pico_bindings/pico-sdk.mk +include $(CHIBIOS)/os/hal/lib/streams/streams.mk +include $(CHIBIOS)/os/various/shell/shell.mk + +# Define linker script file here +LDSCRIPT= $(STARTUPLD)/RP2040_RAM.ld + +# C sources that can be compiled in ARM or THUMB mode depending on the global +# setting. +CSRC = $(ALLCSRC) \ + $(TESTSRC) \ + main.c c1_main.c + +# C++ sources that can be compiled in ARM or THUMB mode depending on the global +# setting. +CPPSRC = $(ALLCPPSRC) + +# List ASM source files here. +ASMSRC = $(ALLASMSRC) + +# List ASM with preprocessor source files here. +ASMXSRC = $(ALLXASMSRC) + +# Inclusion directories. +INCDIR = $(CONFDIR) $(ALLINC) $(TESTINC) + +# Define C warning options here. +CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes + +# Define C++ warning options here. +CPPWARN = -Wall -Wextra -Wundef + +# +# Project, target, sources and paths +############################################################################## + +############################################################################## +# Start of user section +# + +# List all user C define here, like -D_DEBUG=1 +UDEFS = -DCRT0_VTOR_INIT=1 -DCRT0_EXTRA_CORES_NUMBER=1 -DPICO_NO_FPGA_CHECK -DNDEBUG + +# Define ASM defines here +UADEFS = -DCRT0_VTOR_INIT=1 -DCRT0_EXTRA_CORES_NUMBER=1 + +# List all user directories here +UINCDIR = + +# List the user directory to look for the libraries here +ULIBDIR = + +# List all user libraries here +ULIBS = + +# +# End of user section +############################################################################## + +############################################################################## +# Common rules +# + +RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk +include $(RULESPATH)/arm-none-eabi.mk +include $(RULESPATH)/rules.mk + +# +# Common rules +############################################################################## + +############################################################################## +# Custom rules +# + +include ../rules.mk + +# +# Custom rules +############################################################################## diff --git a/chibios-blink/c1_main.c b/chibios-blink/c1_main.c new file mode 100644 index 0000000..20364b1 --- /dev/null +++ b/chibios-blink/c1_main.c @@ -0,0 +1,100 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio + + 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. +*/ + +#include "ch.h" +#include "hal.h" + +#include "shell.h" +#include "chprintf.h" + +#define _offsetof(type, m) ((size_t)((char *)&((type)0)->m - (char *)0)) + +#define SHELL_WA_SIZE THD_WORKING_AREA_SIZE(2048) + +static const ShellCommand commands[] = { + {NULL, NULL} +}; + +static const ShellConfig shell_cfg1 = { + (BaseSequentialStream *)&SIOD0, + commands +}; + +/* + * Green LED blinker thread, times are in milliseconds. + */ +static CH_SYS_CORE1_MEMORY THD_WORKING_AREA(waThreadTimer, 128); +static THD_FUNCTION(ThreadTimer, arg) { + extern semaphore_t blinker_sem; + + (void)arg; + chRegSetThreadName("timer"); + while (true) { + chThdSleepMilliseconds(500); + chSemSignal(&blinker_sem); + } +} + +/** + * Core 1 entry point. + */ +void c1_main(void) { + + /* + * Starting a new OS instance running on this core, we need to wait for + * system initialization on the other side. + */ + chSysWaitSystemState(ch_sys_running); + chInstanceObjectInit(&ch1, &ch_core1_cfg); + + /* It is alive now.*/ + chSysUnlock(); + + /* + * Setting up GPIOs. + */ + palSetLineMode(0U, PAL_MODE_ALTERNATE_UART); + palSetLineMode(1U, PAL_MODE_ALTERNATE_UART); + + /* + * Activates the UART0 SIO driver using the default configuration. + */ + sioStart(&SIOD0, NULL); + sioStartOperation(&SIOD0, NULL); + + /* + * Creates the timer thread. + */ + chThdCreateStatic(waThreadTimer, sizeof(waThreadTimer), + NORMALPRIO + 10, ThreadTimer, NULL); + + /* + * Shell manager initialization. + */ + shellInit(); + + /* + * Normal main() thread activity, in this demo it does nothing except + * sleeping in a loop (re)spawning a shell. + */ + while (true) { + thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE, + "shell", NORMALPRIO + 1, + shellThread, (void *)&shell_cfg1); + chThdWait(shelltp); /* Waiting termination. */ + chThdSleepMilliseconds(500); + } +} diff --git a/chibios-blink/cfg/chconf.h b/chibios-blink/cfg/chconf.h new file mode 100644 index 0000000..ccaeb58 --- /dev/null +++ b/chibios-blink/cfg/chconf.h @@ -0,0 +1,817 @@ +/* + ChibiOS - Copyright (C) 2006..2020 Giovanni Di Sirio + + 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 rt/templates/chconf.h + * @brief Configuration file template. + * @details A copy of this file must be placed in each project directory, it + * contains the application specific kernel settings. + * + * @addtogroup config + * @details Kernel related settings and hooks. + * @{ + */ + +#ifndef CHCONF_H +#define CHCONF_H + +#define _CHIBIOS_RT_CONF_ +#define _CHIBIOS_RT_CONF_VER_7_0_ + +/*===========================================================================*/ +/** + * @name System settings + * @{ + */ +/*===========================================================================*/ + +/** + * @brief Handling of instances. + * @note If enabled then threads assigned to various instances can + * interact each other using the same synchronization objects. + * If disabled then each OS instance is a separate world, no + * direct interactions are handled by the OS. + */ +#if !defined(CH_CFG_SMP_MODE) +#define CH_CFG_SMP_MODE TRUE +#endif + +/** @} */ + +/*===========================================================================*/ +/** + * @name System timers settings + * @{ + */ +/*===========================================================================*/ + +/** + * @brief System time counter resolution. + * @note Allowed values are 16, 32 or 64 bits. + */ +#if !defined(CH_CFG_ST_RESOLUTION) +#define CH_CFG_ST_RESOLUTION 32 +#endif + +/** + * @brief System tick frequency. + * @details Frequency of the system timer that drives the system ticks. This + * setting also defines the system tick time unit. + */ +#if !defined(CH_CFG_ST_FREQUENCY) +#define CH_CFG_ST_FREQUENCY 1000000 +#endif + +/** + * @brief Time intervals data size. + * @note Allowed values are 16, 32 or 64 bits. + */ +#if !defined(CH_CFG_INTERVALS_SIZE) +#define CH_CFG_INTERVALS_SIZE 32 +#endif + +/** + * @brief Time types data size. + * @note Allowed values are 16 or 32 bits. + */ +#if !defined(CH_CFG_TIME_TYPES_SIZE) +#define CH_CFG_TIME_TYPES_SIZE 32 +#endif + +/** + * @brief Time delta constant for the tick-less mode. + * @note If this value is zero then the system uses the classic + * periodic tick. This value represents the minimum number + * of ticks that is safe to specify in a timeout directive. + * The value one is not valid, timeouts are rounded up to + * this value. + */ +#if !defined(CH_CFG_ST_TIMEDELTA) +#define CH_CFG_ST_TIMEDELTA 20 +#endif + +/** @} */ + +/*===========================================================================*/ +/** + * @name Kernel parameters and options + * @{ + */ +/*===========================================================================*/ + +/** + * @brief Round robin interval. + * @details This constant is the number of system ticks allowed for the + * threads before preemption occurs. Setting this value to zero + * disables the preemption for threads with equal priority and the + * round robin becomes cooperative. Note that higher priority + * threads can still preempt, the kernel is always preemptive. + * @note Disabling the round robin preemption makes the kernel more compact + * and generally faster. + * @note The round robin preemption is not supported in tickless mode and + * must be set to zero in that case. + */ +#if !defined(CH_CFG_TIME_QUANTUM) +#define CH_CFG_TIME_QUANTUM 0 +#endif + +/** + * @brief Idle thread automatic spawn suppression. + * @details When this option is activated the function @p chSysInit() + * does not spawn the idle thread. The application @p main() + * function becomes the idle thread and must implement an + * infinite loop. + */ +#if !defined(CH_CFG_NO_IDLE_THREAD) +#define CH_CFG_NO_IDLE_THREAD FALSE +#endif + +/** @} */ + +/*===========================================================================*/ +/** + * @name Performance options + * @{ + */ +/*===========================================================================*/ + +/** + * @brief OS optimization. + * @details If enabled then time efficient rather than space efficient code + * is used when two possible implementations exist. + * + * @note This is not related to the compiler optimization options. + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_OPTIMIZE_SPEED) +#define CH_CFG_OPTIMIZE_SPEED TRUE +#endif + +/** @} */ + +/*===========================================================================*/ +/** + * @name Subsystem options + * @{ + */ +/*===========================================================================*/ + +/** + * @brief Time Measurement APIs. + * @details If enabled then the time measurement APIs are included in + * the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_TM) +#define CH_CFG_USE_TM TRUE +#endif + +/** + * @brief Time Stamps APIs. + * @details If enabled then the time stamps APIs are included in the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_TIMESTAMP) +#define CH_CFG_USE_TIMESTAMP TRUE +#endif + +/** + * @brief Threads registry APIs. + * @details If enabled then the registry APIs are included in the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_REGISTRY) +#define CH_CFG_USE_REGISTRY TRUE +#endif + +/** + * @brief Threads synchronization APIs. + * @details If enabled then the @p chThdWait() function is included in + * the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_WAITEXIT) +#define CH_CFG_USE_WAITEXIT TRUE +#endif + +/** + * @brief Semaphores APIs. + * @details If enabled then the Semaphores APIs are included in the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_SEMAPHORES) +#define CH_CFG_USE_SEMAPHORES TRUE +#endif + +/** + * @brief Semaphores queuing mode. + * @details If enabled then the threads are enqueued on semaphores by + * priority rather than in FIFO order. + * + * @note The default is @p FALSE. Enable this if you have special + * requirements. + * @note Requires @p CH_CFG_USE_SEMAPHORES. + */ +#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY) +#define CH_CFG_USE_SEMAPHORES_PRIORITY FALSE +#endif + +/** + * @brief Mutexes APIs. + * @details If enabled then the mutexes APIs are included in the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_MUTEXES) +#define CH_CFG_USE_MUTEXES TRUE +#endif + +/** + * @brief Enables recursive behavior on mutexes. + * @note Recursive mutexes are heavier and have an increased + * memory footprint. + * + * @note The default is @p FALSE. + * @note Requires @p CH_CFG_USE_MUTEXES. + */ +#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE) +#define CH_CFG_USE_MUTEXES_RECURSIVE FALSE +#endif + +/** + * @brief Conditional Variables APIs. + * @details If enabled then the conditional variables APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_MUTEXES. + */ +#if !defined(CH_CFG_USE_CONDVARS) +#define CH_CFG_USE_CONDVARS TRUE +#endif + +/** + * @brief Conditional Variables APIs with timeout. + * @details If enabled then the conditional variables APIs with timeout + * specification are included in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_CONDVARS. + */ +#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT) +#define CH_CFG_USE_CONDVARS_TIMEOUT TRUE +#endif + +/** + * @brief Events Flags APIs. + * @details If enabled then the event flags APIs are included in the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_EVENTS) +#define CH_CFG_USE_EVENTS TRUE +#endif + +/** + * @brief Events Flags APIs with timeout. + * @details If enabled then the events APIs with timeout specification + * are included in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_EVENTS. + */ +#if !defined(CH_CFG_USE_EVENTS_TIMEOUT) +#define CH_CFG_USE_EVENTS_TIMEOUT TRUE +#endif + +/** + * @brief Synchronous Messages APIs. + * @details If enabled then the synchronous messages APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_MESSAGES) +#define CH_CFG_USE_MESSAGES TRUE +#endif + +/** + * @brief Synchronous Messages queuing mode. + * @details If enabled then messages are served by priority rather than in + * FIFO order. + * + * @note The default is @p FALSE. Enable this if you have special + * requirements. + * @note Requires @p CH_CFG_USE_MESSAGES. + */ +#if !defined(CH_CFG_USE_MESSAGES_PRIORITY) +#define CH_CFG_USE_MESSAGES_PRIORITY FALSE +#endif + +/** + * @brief Dynamic Threads APIs. + * @details If enabled then the dynamic threads creation APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_WAITEXIT. + * @note Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS. + */ +#if !defined(CH_CFG_USE_DYNAMIC) +#define CH_CFG_USE_DYNAMIC TRUE +#endif + +/** @} */ + +/*===========================================================================*/ +/** + * @name OSLIB options + * @{ + */ +/*===========================================================================*/ + +/** + * @brief Mailboxes APIs. + * @details If enabled then the asynchronous messages (mailboxes) APIs are + * included in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_SEMAPHORES. + */ +#if !defined(CH_CFG_USE_MAILBOXES) +#define CH_CFG_USE_MAILBOXES TRUE +#endif + +/** + * @brief Core Memory Manager APIs. + * @details If enabled then the core memory manager APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_MEMCORE) +#define CH_CFG_USE_MEMCORE TRUE +#endif + +/** + * @brief Managed RAM size. + * @details Size of the RAM area to be managed by the OS. If set to zero + * then the whole available RAM is used. The core memory is made + * available to the heap allocator and/or can be used directly through + * the simplified core memory allocator. + * + * @note In order to let the OS manage the whole RAM the linker script must + * provide the @p __heap_base__ and @p __heap_end__ symbols. + * @note Requires @p CH_CFG_USE_MEMCORE. + */ +#if !defined(CH_CFG_MEMCORE_SIZE) +#define CH_CFG_MEMCORE_SIZE 0 +#endif + +/** + * @brief Heap Allocator APIs. + * @details If enabled then the memory heap allocator APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or + * @p CH_CFG_USE_SEMAPHORES. + * @note Mutexes are recommended. + */ +#if !defined(CH_CFG_USE_HEAP) +#define CH_CFG_USE_HEAP TRUE +#endif + +/** + * @brief Memory Pools Allocator APIs. + * @details If enabled then the memory pools allocator APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_MEMPOOLS) +#define CH_CFG_USE_MEMPOOLS TRUE +#endif + +/** + * @brief Objects FIFOs APIs. + * @details If enabled then the objects FIFOs APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_OBJ_FIFOS) +#define CH_CFG_USE_OBJ_FIFOS TRUE +#endif + +/** + * @brief Pipes APIs. + * @details If enabled then the pipes APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_PIPES) +#define CH_CFG_USE_PIPES TRUE +#endif + +/** + * @brief Objects Caches APIs. + * @details If enabled then the objects caches APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_OBJ_CACHES) +#define CH_CFG_USE_OBJ_CACHES TRUE +#endif + +/** + * @brief Delegate threads APIs. + * @details If enabled then the delegate threads APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_DELEGATES) +#define CH_CFG_USE_DELEGATES TRUE +#endif + +/** + * @brief Jobs Queues APIs. + * @details If enabled then the jobs queues APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_JOBS) +#define CH_CFG_USE_JOBS TRUE +#endif + +/** @} */ + +/*===========================================================================*/ +/** + * @name Objects factory options + * @{ + */ +/*===========================================================================*/ + +/** + * @brief Objects Factory APIs. + * @details If enabled then the objects factory APIs are included in the + * kernel. + * + * @note The default is @p FALSE. + */ +#if !defined(CH_CFG_USE_FACTORY) +#define CH_CFG_USE_FACTORY TRUE +#endif + +/** + * @brief Maximum length for object names. + * @details If the specified length is zero then the name is stored by + * pointer but this could have unintended side effects. + */ +#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH) +#define CH_CFG_FACTORY_MAX_NAMES_LENGTH 8 +#endif + +/** + * @brief Enables the registry of generic objects. + */ +#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY) +#define CH_CFG_FACTORY_OBJECTS_REGISTRY TRUE +#endif + +/** + * @brief Enables factory for generic buffers. + */ +#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS) +#define CH_CFG_FACTORY_GENERIC_BUFFERS TRUE +#endif + +/** + * @brief Enables factory for semaphores. + */ +#if !defined(CH_CFG_FACTORY_SEMAPHORES) +#define CH_CFG_FACTORY_SEMAPHORES TRUE +#endif + +/** + * @brief Enables factory for mailboxes. + */ +#if !defined(CH_CFG_FACTORY_MAILBOXES) +#define CH_CFG_FACTORY_MAILBOXES TRUE +#endif + +/** + * @brief Enables factory for objects FIFOs. + */ +#if !defined(CH_CFG_FACTORY_OBJ_FIFOS) +#define CH_CFG_FACTORY_OBJ_FIFOS TRUE +#endif + +/** + * @brief Enables factory for Pipes. + */ +#if !defined(CH_CFG_FACTORY_PIPES) || defined(__DOXYGEN__) +#define CH_CFG_FACTORY_PIPES TRUE +#endif + +/** @} */ + +/*===========================================================================*/ +/** + * @name Debug options + * @{ + */ +/*===========================================================================*/ + +/** + * @brief Debug option, kernel statistics. + * + * @note The default is @p FALSE. + */ +#if !defined(CH_DBG_STATISTICS) +#define CH_DBG_STATISTICS FALSE +#endif + +/** + * @brief Debug option, system state check. + * @details If enabled the correct call protocol for system APIs is checked + * at runtime. + * + * @note The default is @p FALSE. + */ +#if !defined(CH_DBG_SYSTEM_STATE_CHECK) +#define CH_DBG_SYSTEM_STATE_CHECK FALSE +#endif + +/** + * @brief Debug option, parameters checks. + * @details If enabled then the checks on the API functions input + * parameters are activated. + * + * @note The default is @p FALSE. + */ +#if !defined(CH_DBG_ENABLE_CHECKS) +#define CH_DBG_ENABLE_CHECKS FALSE +#endif + +/** + * @brief Debug option, consistency checks. + * @details If enabled then all the assertions in the kernel code are + * activated. This includes consistency checks inside the kernel, + * runtime anomalies and port-defined checks. + * + * @note The default is @p FALSE. + */ +#if !defined(CH_DBG_ENABLE_ASSERTS) +#define CH_DBG_ENABLE_ASSERTS FALSE +#endif + +/** + * @brief Debug option, trace buffer. + * @details If enabled then the trace buffer is activated. + * + * @note The default is @p CH_DBG_TRACE_MASK_DISABLED. + */ +#if !defined(CH_DBG_TRACE_MASK) +#define CH_DBG_TRACE_MASK CH_DBG_TRACE_MASK_DISABLED +#endif + +/** + * @brief Trace buffer entries. + * @note The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is + * different from @p CH_DBG_TRACE_MASK_DISABLED. + */ +#if !defined(CH_DBG_TRACE_BUFFER_SIZE) +#define CH_DBG_TRACE_BUFFER_SIZE 128 +#endif + +/** + * @brief Debug option, stack checks. + * @details If enabled then a runtime stack check is performed. + * + * @note The default is @p FALSE. + * @note The stack check is performed in a architecture/port dependent way. + * It may not be implemented or some ports. + * @note The default failure mode is to halt the system with the global + * @p panic_msg variable set to @p NULL. + */ +#if !defined(CH_DBG_ENABLE_STACK_CHECK) +#define CH_DBG_ENABLE_STACK_CHECK FALSE +#endif + +/** + * @brief Debug option, stacks initialization. + * @details If enabled then the threads working area is filled with a byte + * value when a thread is created. This can be useful for the + * runtime measurement of the used stack. + * + * @note The default is @p FALSE. + */ +#if !defined(CH_DBG_FILL_THREADS) +#define CH_DBG_FILL_THREADS FALSE +#endif + +/** + * @brief Debug option, threads profiling. + * @details If enabled then a field is added to the @p thread_t structure that + * counts the system ticks occurred while executing the thread. + * + * @note The default is @p FALSE. + * @note This debug option is not currently compatible with the + * tickless mode. + */ +#if !defined(CH_DBG_THREADS_PROFILING) +#define CH_DBG_THREADS_PROFILING FALSE +#endif + +/** @} */ + +/*===========================================================================*/ +/** + * @name Kernel hooks + * @{ + */ +/*===========================================================================*/ + +/** + * @brief System structure extension. + * @details User fields added to the end of the @p ch_system_t structure. + */ +#define CH_CFG_SYSTEM_EXTRA_FIELDS \ + /* Add system custom fields here.*/ + +/** + * @brief System initialization hook. + * @details User initialization code added to the @p chSysInit() function + * just before interrupts are enabled globally. + */ +#define CH_CFG_SYSTEM_INIT_HOOK() { \ + /* Add system initialization code here.*/ \ +} + +/** + * @brief OS instance structure extension. + * @details User fields added to the end of the @p os_instance_t structure. + */ +#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS \ + /* Add OS instance custom fields here.*/ + +/** + * @brief OS instance initialization hook. + * + * @param[in] oip pointer to the @p os_instance_t structure + */ +#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) { \ + /* Add OS instance initialization code here.*/ \ +} + +/** + * @brief Threads descriptor structure extension. + * @details User fields added to the end of the @p thread_t structure. + */ +#define CH_CFG_THREAD_EXTRA_FIELDS \ + /* Add threads custom fields here.*/ + +/** + * @brief Threads initialization hook. + * @details User initialization code added to the @p _thread_init() function. + * + * @note It is invoked from within @p _thread_init() and implicitly from all + * the threads creation APIs. + * + * @param[in] tp pointer to the @p thread_t structure + */ +#define CH_CFG_THREAD_INIT_HOOK(tp) { \ + /* Add threads initialization code here.*/ \ +} + +/** + * @brief Threads finalization hook. + * @details User finalization code added to the @p chThdExit() API. + * + * @param[in] tp pointer to the @p thread_t structure + */ +#define CH_CFG_THREAD_EXIT_HOOK(tp) { \ + /* Add threads finalization code here.*/ \ +} + +/** + * @brief Context switch hook. + * @details This hook is invoked just before switching between threads. + * + * @param[in] ntp thread being switched in + * @param[in] otp thread being switched out + */ +#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) { \ + /* Context switch code here.*/ \ +} + +/** + * @brief ISR enter hook. + */ +#define CH_CFG_IRQ_PROLOGUE_HOOK() { \ + /* IRQ prologue code here.*/ \ +} + +/** + * @brief ISR exit hook. + */ +#define CH_CFG_IRQ_EPILOGUE_HOOK() { \ + /* IRQ epilogue code here.*/ \ +} + +/** + * @brief Idle thread enter hook. + * @note This hook is invoked within a critical zone, no OS functions + * should be invoked from here. + * @note This macro can be used to activate a power saving mode. + */ +#define CH_CFG_IDLE_ENTER_HOOK() { \ + /* Idle-enter code here.*/ \ +} + +/** + * @brief Idle thread leave hook. + * @note This hook is invoked within a critical zone, no OS functions + * should be invoked from here. + * @note This macro can be used to deactivate a power saving mode. + */ +#define CH_CFG_IDLE_LEAVE_HOOK() { \ + /* Idle-leave code here.*/ \ +} + +/** + * @brief Idle Loop hook. + * @details This hook is continuously invoked by the idle thread loop. + */ +#define CH_CFG_IDLE_LOOP_HOOK() { \ + /* Idle loop code here.*/ \ +} + +/** + * @brief System tick event hook. + * @details This hook is invoked in the system tick handler immediately + * after processing the virtual timers queue. + */ +#define CH_CFG_SYSTEM_TICK_HOOK() { \ + /* System tick event code here.*/ \ +} + +/** + * @brief System halt hook. + * @details This hook is invoked in case to a system halting error before + * the system is halted. + */ +#define CH_CFG_SYSTEM_HALT_HOOK(reason) { \ + /* System halt code here.*/ \ +} + +/** + * @brief Trace hook. + * @details This hook is invoked each time a new record is written in the + * trace buffer. + */ +#define CH_CFG_TRACE_HOOK(tep) { \ + /* Trace code here.*/ \ +} + +/** + * @brief Runtime Faults Collection Unit hook. + * @details This hook is invoked each time new faults are collected and stored. + */ +#define CH_CFG_RUNTIME_FAULTS_HOOK(mask) { \ + /* Faults handling code here.*/ \ +} + +/** @} */ + +/*===========================================================================*/ +/* Port-specific settings (override port settings defaulted in chcore.h). */ +/*===========================================================================*/ + +#endif /* CHCONF_H */ + +/** @} */ diff --git a/chibios-blink/cfg/halconf.h b/chibios-blink/cfg/halconf.h new file mode 100644 index 0000000..c1a106d --- /dev/null +++ b/chibios-blink/cfg/halconf.h @@ -0,0 +1,550 @@ +/* + ChibiOS - Copyright (C) 2006..2020 Giovanni Di Sirio + + 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 templates/halconf.h + * @brief HAL configuration header. + * @details HAL configuration file, this file allows to enable or disable the + * various device drivers from your application. You may also use + * this file in order to override the device drivers default settings. + * + * @addtogroup HAL_CONF + * @{ + */ + +#ifndef HALCONF_H +#define HALCONF_H + +#define _CHIBIOS_HAL_CONF_ +#define _CHIBIOS_HAL_CONF_VER_8_0_ + +#include "mcuconf.h" + +/** + * @brief Enables the PAL subsystem. + */ +#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__) +#define HAL_USE_PAL TRUE +#endif + +/** + * @brief Enables the ADC subsystem. + */ +#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__) +#define HAL_USE_ADC FALSE +#endif + +/** + * @brief Enables the CAN subsystem. + */ +#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__) +#define HAL_USE_CAN FALSE +#endif + +/** + * @brief Enables the cryptographic subsystem. + */ +#if !defined(HAL_USE_CRY) || defined(__DOXYGEN__) +#define HAL_USE_CRY FALSE +#endif + +/** + * @brief Enables the DAC subsystem. + */ +#if !defined(HAL_USE_DAC) || defined(__DOXYGEN__) +#define HAL_USE_DAC FALSE +#endif + +/** + * @brief Enables the EFlash subsystem. + */ +#if !defined(HAL_USE_EFL) || defined(__DOXYGEN__) +#define HAL_USE_EFL FALSE +#endif + +/** + * @brief Enables the GPT subsystem. + */ +#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__) +#define HAL_USE_GPT FALSE +#endif + +/** + * @brief Enables the I2C subsystem. + */ +#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__) +#define HAL_USE_I2C FALSE +#endif + +/** + * @brief Enables the I2S subsystem. + */ +#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__) +#define HAL_USE_I2S FALSE +#endif + +/** + * @brief Enables the ICU subsystem. + */ +#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__) +#define HAL_USE_ICU FALSE +#endif + +/** + * @brief Enables the MAC subsystem. + */ +#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__) +#define HAL_USE_MAC FALSE +#endif + +/** + * @brief Enables the MMC_SPI subsystem. + */ +#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__) +#define HAL_USE_MMC_SPI FALSE +#endif + +/** + * @brief Enables the PWM subsystem. + */ +#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__) +#define HAL_USE_PWM FALSE +#endif + +/** + * @brief Enables the RTC subsystem. + */ +#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__) +#define HAL_USE_RTC FALSE +#endif + +/** + * @brief Enables the SDC subsystem. + */ +#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__) +#define HAL_USE_SDC FALSE +#endif + +/** + * @brief Enables the SERIAL subsystem. + */ +#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__) +#define HAL_USE_SERIAL FALSE +#endif + +/** + * @brief Enables the SERIAL over USB subsystem. + */ +#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__) +#define HAL_USE_SERIAL_USB FALSE +#endif + +/** + * @brief Enables the SIO subsystem. + */ +#if !defined(HAL_USE_SIO) || defined(__DOXYGEN__) +#define HAL_USE_SIO TRUE +#endif + +/** + * @brief Enables the SPI subsystem. + */ +#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__) +#define HAL_USE_SPI FALSE +#endif + +/** + * @brief Enables the TRNG subsystem. + */ +#if !defined(HAL_USE_TRNG) || defined(__DOXYGEN__) +#define HAL_USE_TRNG FALSE +#endif + +/** + * @brief Enables the UART subsystem. + */ +#if !defined(HAL_USE_UART) || defined(__DOXYGEN__) +#define HAL_USE_UART FALSE +#endif + +/** + * @brief Enables the USB subsystem. + */ +#if !defined(HAL_USE_USB) || defined(__DOXYGEN__) +#define HAL_USE_USB FALSE +#endif + +/** + * @brief Enables the WDG subsystem. + */ +#if !defined(HAL_USE_WDG) || defined(__DOXYGEN__) +#define HAL_USE_WDG FALSE +#endif + +/** + * @brief Enables the WSPI subsystem. + */ +#if !defined(HAL_USE_WSPI) || defined(__DOXYGEN__) +#define HAL_USE_WSPI FALSE +#endif + +/*===========================================================================*/ +/* PAL driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables synchronous APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(PAL_USE_CALLBACKS) || defined(__DOXYGEN__) +#define PAL_USE_CALLBACKS FALSE +#endif + +/** + * @brief Enables synchronous APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(PAL_USE_WAIT) || defined(__DOXYGEN__) +#define PAL_USE_WAIT FALSE +#endif + +/*===========================================================================*/ +/* ADC driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables synchronous APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__) +#define ADC_USE_WAIT TRUE +#endif + +/** + * @brief Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) +#define ADC_USE_MUTUAL_EXCLUSION TRUE +#endif + +/*===========================================================================*/ +/* CAN driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Sleep mode related APIs inclusion switch. + */ +#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__) +#define CAN_USE_SLEEP_MODE TRUE +#endif + +/** + * @brief Enforces the driver to use direct callbacks rather than OSAL events. + */ +#if !defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__) +#define CAN_ENFORCE_USE_CALLBACKS FALSE +#endif + +/*===========================================================================*/ +/* CRY driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables the SW fall-back of the cryptographic driver. + * @details When enabled, this option, activates a fall-back software + * implementation for algorithms not supported by the underlying + * hardware. + * @note Fall-back implementations may not be present for all algorithms. + */ +#if !defined(HAL_CRY_USE_FALLBACK) || defined(__DOXYGEN__) +#define HAL_CRY_USE_FALLBACK FALSE +#endif + +/** + * @brief Makes the driver forcibly use the fall-back implementations. + */ +#if !defined(HAL_CRY_ENFORCE_FALLBACK) || defined(__DOXYGEN__) +#define HAL_CRY_ENFORCE_FALLBACK FALSE +#endif + +/*===========================================================================*/ +/* DAC driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables synchronous APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(DAC_USE_WAIT) || defined(__DOXYGEN__) +#define DAC_USE_WAIT TRUE +#endif + +/** + * @brief Enables the @p dacAcquireBus() and @p dacReleaseBus() APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(DAC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) +#define DAC_USE_MUTUAL_EXCLUSION TRUE +#endif + +/*===========================================================================*/ +/* I2C driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables the mutual exclusion APIs on the I2C bus. + */ +#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) +#define I2C_USE_MUTUAL_EXCLUSION TRUE +#endif + +/*===========================================================================*/ +/* MAC driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables the zero-copy API. + */ +#if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__) +#define MAC_USE_ZERO_COPY FALSE +#endif + +/** + * @brief Enables an event sources for incoming packets. + */ +#if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__) +#define MAC_USE_EVENTS TRUE +#endif + +/*===========================================================================*/ +/* MMC_SPI driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Delays insertions. + * @details If enabled this options inserts delays into the MMC waiting + * routines releasing some extra CPU time for the threads with + * lower priority, this may slow down the driver a bit however. + * This option is recommended also if the SPI driver does not + * use a DMA channel and heavily loads the CPU. + */ +#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__) +#define MMC_NICE_WAITING TRUE +#endif + +/*===========================================================================*/ +/* SDC driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Number of initialization attempts before rejecting the card. + * @note Attempts are performed at 10mS intervals. + */ +#if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__) +#define SDC_INIT_RETRY 100 +#endif + +/** + * @brief Include support for MMC cards. + * @note MMC support is not yet implemented so this option must be kept + * at @p FALSE. + */ +#if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__) +#define SDC_MMC_SUPPORT FALSE +#endif + +/** + * @brief Delays insertions. + * @details If enabled this options inserts delays into the MMC waiting + * routines releasing some extra CPU time for the threads with + * lower priority, this may slow down the driver a bit however. + */ +#if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__) +#define SDC_NICE_WAITING TRUE +#endif + +/** + * @brief OCR initialization constant for V20 cards. + */ +#if !defined(SDC_INIT_OCR_V20) || defined(__DOXYGEN__) +#define SDC_INIT_OCR_V20 0x50FF8000U +#endif + +/** + * @brief OCR initialization constant for non-V20 cards. + */ +#if !defined(SDC_INIT_OCR) || defined(__DOXYGEN__) +#define SDC_INIT_OCR 0x80100000U +#endif + +/*===========================================================================*/ +/* SERIAL driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Default bit rate. + * @details Configuration parameter, this is the baud rate selected for the + * default configuration. + */ +#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__) +#define SERIAL_DEFAULT_BITRATE 38400 +#endif + +/** + * @brief Serial buffers size. + * @details Configuration parameter, you can change the depth of the queue + * buffers depending on the requirements of your application. + * @note The default is 16 bytes for both the transmission and receive + * buffers. + */ +#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__) +#define SERIAL_BUFFERS_SIZE 16 +#endif + +/*===========================================================================*/ +/* SIO driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Default bit rate. + * @details Configuration parameter, this is the baud rate selected for the + * default configuration. + */ +#if !defined(SIO_DEFAULT_BITRATE) || defined(__DOXYGEN__) +#define SIO_DEFAULT_BITRATE 115200 +#endif + +/** + * @brief Support for thread synchronization API. + */ +#if !defined(SIO_USE_SYNCHRONIZATION) || defined(__DOXYGEN__) +#define SIO_USE_SYNCHRONIZATION TRUE +#endif + +/*===========================================================================*/ +/* SERIAL_USB driver related setting. */ +/*===========================================================================*/ + +/** + * @brief Serial over USB buffers size. + * @details Configuration parameter, the buffer size must be a multiple of + * the USB data endpoint maximum packet size. + * @note The default is 256 bytes for both the transmission and receive + * buffers. + */ +#if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__) +#define SERIAL_USB_BUFFERS_SIZE 256 +#endif + +/** + * @brief Serial over USB number of buffers. + * @note The default is 2 buffers. + */ +#if !defined(SERIAL_USB_BUFFERS_NUMBER) || defined(__DOXYGEN__) +#define SERIAL_USB_BUFFERS_NUMBER 2 +#endif + +/*===========================================================================*/ +/* SPI driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables synchronous APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__) +#define SPI_USE_WAIT TRUE +#endif + +/** + * @brief Inserts an assertion on function errors before returning. + */ +#if !defined(SPI_USE_ASSERT_ON_ERROR) || defined(__DOXYGEN__) +#define SPI_USE_ASSERT_ON_ERROR TRUE +#endif + +/** + * @brief Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) +#define SPI_USE_MUTUAL_EXCLUSION TRUE +#endif + +/** + * @brief Handling method for SPI CS line. + * @note Disabling this option saves both code and data space. + */ +#if !defined(SPI_SELECT_MODE) || defined(__DOXYGEN__) +#define SPI_SELECT_MODE SPI_SELECT_MODE_LINE +#endif + +/*===========================================================================*/ +/* UART driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables synchronous APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(UART_USE_WAIT) || defined(__DOXYGEN__) +#define UART_USE_WAIT FALSE +#endif + +/** + * @brief Enables the @p uartAcquireBus() and @p uartReleaseBus() APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(UART_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) +#define UART_USE_MUTUAL_EXCLUSION FALSE +#endif + +/*===========================================================================*/ +/* USB driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables synchronous APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(USB_USE_WAIT) || defined(__DOXYGEN__) +#define USB_USE_WAIT FALSE +#endif + +/*===========================================================================*/ +/* WSPI driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables synchronous APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(WSPI_USE_WAIT) || defined(__DOXYGEN__) +#define WSPI_USE_WAIT TRUE +#endif + +/** + * @brief Enables the @p wspiAcquireBus() and @p wspiReleaseBus() APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(WSPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) +#define WSPI_USE_MUTUAL_EXCLUSION TRUE +#endif + +#endif /* HALCONF_H */ + +/** @} */ diff --git a/chibios-blink/cfg/mcuconf.h b/chibios-blink/cfg/mcuconf.h new file mode 100644 index 0000000..a0f1e07 --- /dev/null +++ b/chibios-blink/cfg/mcuconf.h @@ -0,0 +1,73 @@ +/* + ChibiOS - Copyright (C) 2006..2021 Giovanni Di Sirio + + 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. +*/ + +#ifndef MCUCONF_H +#define MCUCONF_H + +/* + * RP2040_MCUCONF drivers configuration. + * + * IRQ priorities: + * 3...0 Lowest...Highest. + * + * DMA priorities: + * 0...1 Lowest...Highest. + */ + +#define RP2040_MCUCONF + +/* + * HAL driver system settings. + */ +#define RP_NO_INIT FALSE +#define RP_CORE1_START TRUE +#define RP_CORE1_VECTORS_TABLE _vectors +#define RP_CORE1_ENTRY_POINT _crt0_c1_entry +#define RP_CORE1_STACK_END __c1_main_stack_end__ + +/* + * IRQ system settings. + */ +#define RP_IRQ_SYSTICK_PRIORITY 2 +#define RP_IRQ_TIMER_ALARM0_PRIORITY 2 +#define RP_IRQ_TIMER_ALARM1_PRIORITY 2 +#define RP_IRQ_TIMER_ALARM2_PRIORITY 2 +#define RP_IRQ_TIMER_ALARM3_PRIORITY 2 +#define RP_IRQ_UART0_PRIORITY 3 +#define RP_IRQ_UART1_PRIORITY 3 +#define RP_IRQ_SPI0_PRIORITY 2 +#define RP_IRQ_SPI1_PRIORITY 2 + +/* + * SIO driver system settings. + */ +#define RP_SIO_USE_UART0 TRUE +#define RP_SIO_USE_UART1 TRUE + +/* + * SPI driver system settings. + */ +#define RP_SPI_USE_SPI0 FALSE +#define RP_SPI_USE_SPI1 FALSE +#define RP_SPI_SPI0_RX_DMA_CHANNEL RP_DMA_CHANNEL_ID_ANY +#define RP_SPI_SPI0_TX_DMA_CHANNEL RP_DMA_CHANNEL_ID_ANY +#define RP_SPI_SPI1_RX_DMA_CHANNEL RP_DMA_CHANNEL_ID_ANY +#define RP_SPI_SPI1_TX_DMA_CHANNEL RP_DMA_CHANNEL_ID_ANY +#define RP_SPI_SPI0_DMA_PRIORITY 1 +#define RP_SPI_SPI1_DMA_PRIORITY 1 +#define RP_SPI_DMA_ERROR_HOOK(spip) + +#endif /* MCUCONF_H */ diff --git a/chibios-blink/main.c b/chibios-blink/main.c new file mode 100644 index 0000000..c173cac --- /dev/null +++ b/chibios-blink/main.c @@ -0,0 +1,73 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio + + 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. +*/ + +#include "ch.h" +#include "hal.h" + +semaphore_t blinker_sem; + +/* + * Green LED blinker thread, times are in milliseconds. + */ +static CH_SYS_CORE0_MEMORY THD_WORKING_AREA(waThread1, 128); +static THD_FUNCTION(Thread1, arg) { + + (void)arg; + chRegSetThreadName("blinker"); + while (true) { + chSemWait(&blinker_sem); + palToggleLine(25U); + } +} + +/* + * Application entry point. + */ +int main(void) { + + /* + * Shared objects initialization. + */ + chSemObjectInit(&blinker_sem, 0); + + /* + * System initializations. + * - HAL initialization, this also initializes the configured device drivers + * and performs the board-specific initializations. + * - Kernel initialization, the main() function becomes a thread and the + * RTOS is active. + */ + halInit(); + chSysInit(); + + /* + * Setting up GPIOs. + */ + palSetLineMode(25U, PAL_MODE_OUTPUT_PUSHPULL | PAL_RP_PAD_DRIVE12); + + /* + * Creates the blinker thread. + */ + chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL); + + /* + * Normal main() thread activity, in this demo it does nothing except + * sleeping in a loop. + */ + while (true) { + chThdSleepMilliseconds(500); + } +} diff --git a/contrib/Makefile b/contrib/Makefile index 8535a11..15406b3 100644 --- a/contrib/Makefile +++ b/contrib/Makefile @@ -20,8 +20,17 @@ ## along with spreadspace rppico utils. If not, see . ## -all: download-picoprobe clone-openocd -clean: clean-picoprobe clean-openocd +CHIBIOS_VERSION := 21.11.2 +CHIBIOS_SHA256SUM := ba74eec6230b66d79c0f0a26e9af00ca46756cb47f7b4a229eb228cbff3a8b48 +FMPP_VERSION := 0.9.16 +FMPP_SHA256SUM := 86561e3f3a2ccb436f5f3df88d79a7dad72549a33191901f49d12a38b53759cd +GCC_VERSION := 10.3-2021.10 +GCC_HOST := $(shell uname -m)-$(shell uname | tr '[:upper:]' '[:lower:]') +GCC_SHA256SUM := 97dbb4f019ad1650b732faffcc881689cedc14e2b7ee863d390e0a41ef16c9a3 + + +all: download-picoprobe clone-openocd download-chibios download-gcc +clean: clean-picoprobe clean-openocd clean-chibios clean-gcc download-picoprobe: picoprobe.u2f @@ -41,3 +50,28 @@ clone-openocd: openocd/src/openocd clean-openocd: rm -rf openocd + + +download-chibios: ChibiOS_${CHIBIOS_VERSION}.7z + +ChibiOS_${CHIBIOS_VERSION}.7z: + wget "https://osdn.net/dl/chibios/$@" -O "$@" + echo "${CHIBIOS_SHA256SUM} $@" | sha256sum -c + 7z x $@ + 7z "-oChibiOS_${CHIBIOS_VERSION}/ext/" x "ChibiOS_${CHIBIOS_VERSION}/ext/pico-sdk *.7z" + +clean-chibios: + rm -f ChibiOS_${CHIBIOS_VERSION}.7z + rm -rf ChibiOS_${CHIBIOS_VERSION} + + +download-gcc: gcc-arm-none-eabi-${GCC_VERSION}-${GCC_HOST}.tar.bz2 + +gcc-arm-none-eabi-${GCC_VERSION}-${GCC_HOST}.tar.bz2: + wget "https://developer.arm.com/-/media/Files/downloads/gnu-rm/${GCC_VERSION}/$@" -O "$@" + echo "${GCC_SHA256SUM} $@" | sha256sum -c + tar -xjf $@ + +clean-gcc: + rm -f gcc-arm-none-eabi-${GCC_VERSION}-${GCC_HOST}.tar.bz2 + rm -rf gcc-arm-none-eabi-${GCC_VERSION} diff --git a/defines.mk b/defines.mk new file mode 100644 index 0000000..4aefee7 --- /dev/null +++ b/defines.mk @@ -0,0 +1,30 @@ +## +## spreadspace rppico utils +## +## +## Copyright (C) 2022 Christian Pointner +## +## This file is part of spreadspace rppico utils. +## +## spreadspace rppico utils 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 +## any later version. +## +## spreadspace rppico utils 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 spreadspace rppico utils. If not, see . +## + +ifndef SPREADRPPICO_PATH +SPREADRPPICO_PATH := .. +endif + +export PATH := $(SPREADRPPICO_PATH)/contrib/gcc-arm-none-eabi-10.3-2021.10/bin:$(PATH) +CHIBIOS := ../contrib/ChibiOS_21.11.2 +CHIBIOS_CONTRIB := $(CHIBIOS)/community +OPENOCD := $(SPREADRPPICO_PATH)/contrib/openocd diff --git a/rules.mk b/rules.mk new file mode 100644 index 0000000..f068838 --- /dev/null +++ b/rules.mk @@ -0,0 +1,31 @@ +## +## spreadspace rppico utils +## +## +## Copyright (C) 2022 Christian Pointner +## +## This file is part of spreadspace rppico utils. +## +## spreadspace rppico utils is free software: you can redistribute it and/or modify +## it under the terms of the GNU General Public License as published by +## the Free Software Foundation, either version 3 of the License, or +## any later version. +## +## spreadspace rppico utils is distributed in the hope that it will be useful, +## but WITHOUT ANY WARRANTY; without even the implied warranty of +## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +## GNU General Public License for more details. +## +## You should have received a copy of the GNU General Public License +## along with spreadspace rppico utils. If not, see . +## + +program: build/$(PROJECT).elf + $(OPENOCD)/src/openocd -s $(OPENOCD)/tcl -f interface/picoprobe.cfg -f target/rp2040.cfg -c "program build/$(PROJECT).elf verify reset exit" + +gdb-server: + $(OPENOCD)/src/openocd -s $(OPENOCD)/tcl -f interface/picoprobe.cfg -f target/rp2040.cfg -c "tcl_port disabled; telnet_port disabled; gdb_port 4242;" +# $(OPENOCD)/src/openocd -s $(OPENOCD)/tcl -f interface/picoprobe.cfg -f target/rp2040.cfg -c "tcl_port disabled; telnet_port disabled; gdb_port 4242; rp2040.core0 configure -rtos chibios; rp2040.core1 configure -rtos chibios;" + +gdb: + arm-none-eabi-gdb -se "build/$(PROJECT).elf" -ex "target extended-remote localhost:4242" -- cgit v1.2.3