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Add initial RT-3 AVR port 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@6998 35acf78f-673a-0410-8e92-d51de3d6d3f4
master
utzig 2014-06-29 23:03:23 +00:00
parent 852f75dabe
commit 5eb1ae8cc3
5 changed files with 607 additions and 1 deletions
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133
os/rt/ports/AVR/chcore.c Normal file
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013,2014 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file AVR/chcore.c
* @brief AVR architecture port code.
*
* @addtogroup AVR_CORE
* @{
*/
#include "ch.h"
/**
* @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.
* @note The function is declared as a weak symbol, it is possible to
* redefine it in your application code.
*
* @param[in] ntp the thread to be switched in
* @param[in] otp the thread to be switched out
*/
#if !defined(__DOXYGEN__)
__attribute__((naked, weak))
#endif
void port_switch(thread_t *ntp, thread_t *otp) {
asm volatile ("push r2");
asm volatile ("push r3");
asm volatile ("push r4");
asm volatile ("push r5");
asm volatile ("push r6");
asm volatile ("push r7");
asm volatile ("push r8");
asm volatile ("push r9");
asm volatile ("push r10");
asm volatile ("push r11");
asm volatile ("push r12");
asm volatile ("push r13");
asm volatile ("push r14");
asm volatile ("push r15");
asm volatile ("push r16");
asm volatile ("push r17");
asm volatile ("push r28");
asm volatile ("push r29");
asm volatile ("movw r30, r22");
asm volatile ("in r0, 0x3d");
asm volatile ("std Z+5, r0");
asm volatile ("in r0, 0x3e");
asm volatile ("std Z+6, r0");
asm volatile ("movw r30, r24");
asm volatile ("ldd r0, Z+5");
asm volatile ("out 0x3d, r0");
asm volatile ("ldd r0, Z+6");
asm volatile ("out 0x3e, r0");
asm volatile ("pop r29");
asm volatile ("pop r28");
asm volatile ("pop r17");
asm volatile ("pop r16");
asm volatile ("pop r15");
asm volatile ("pop r14");
asm volatile ("pop r13");
asm volatile ("pop r12");
asm volatile ("pop r11");
asm volatile ("pop r10");
asm volatile ("pop r9");
asm volatile ("pop r8");
asm volatile ("pop r7");
asm volatile ("pop r6");
asm volatile ("pop r5");
asm volatile ("pop r4");
asm volatile ("pop r3");
asm volatile ("pop r2");
asm volatile ("ret");
}
/**
* @brief Halts the system.
* @details This function is invoked by the operating system when an
* unrecoverable error is detected (for example because a programming
* error in the application code that triggers an assertion while in
* debug mode).
* @note The function is declared as a weak symbol, it is possible to
* redefine it in your application code.
*/
#if !defined(__DOXYGEN__)
__attribute__((weak))
#endif
void port_halt(void) {
port_disable();
while (TRUE) {
}
}
/**
* @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) {
chSysUnlock();
asm volatile ("movw r24, r4");
asm volatile ("movw r30, r2");
asm volatile ("icall");
asm volatile ("call chThdExit");
}
/** @} */

367
os/rt/ports/AVR/chcore.h Normal file
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013,2014 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file AVR/chcore.h
* @brief AVR architecture port macros and structures.
*
* @addtogroup AVR_CORE
* @{
*/
#ifndef _CHCORE_H_
#define _CHCORE_H_
#include <avr/io.h>
#include <avr/interrupt.h>
#if CH_DBG_ENABLE_STACK_CHECK
#error "option CH_DBG_ENABLE_STACK_CHECK not supported by this port"
#endif
/**
* @brief If enabled allows the idle thread to enter a low power mode.
*/
#ifndef ENABLE_WFI_IDLE
#define ENABLE_WFI_IDLE 0
#endif
/**
* @brief Macro defining the AVR architecture.
*/
#define PORT_ARCHITECTURE_AVR
/**
* @brief Name of the implemented architecture.
*/
#define PORT_ARCHITECTURE_NAME "AVR"
/**
* @brief Name of the architecture variant (optional).
*/
#define PORT_CORE_VARIANT_NAME "MegaAVR"
/**
* @brief Name of the compiler supported by this port.
*/
#define PORT_COMPILER_NAME "GCC " __VERSION__
/**
* @brief Port-specific information string.
*/
#define PORT_INFO "None"
/**
* @brief This port supports a realtime counter.
*/
#define PORT_SUPPORTS_RT FALSE
/**
* @brief 8 bits stack and memory alignment enforcement.
*/
typedef uint8_t stkalign_t;
/**
* @brief Interrupt saved context.
* @details This structure represents the stack frame saved during a
* preemption-capable interrupt handler.
* @note The field @p _next is not part of the context, it represents the
* offset of the structure relative to the stack pointer.
*/
struct port_extctx {
uint8_t _next;
uint8_t r31;
uint8_t r30;
uint8_t r27;
uint8_t r26;
uint8_t r25;
uint8_t r24;
uint8_t r23;
uint8_t r22;
uint8_t r21;
uint8_t r20;
uint8_t r19;
uint8_t r18;
uint8_t sr;
uint8_t r1;
uint8_t r0;
uint16_t pc;
};
/**
* @brief System saved context.
* @details This structure represents the inner stack frame during a context
* switching.
* @note The field @p _next is not part of the context, it represents the
* offset of the structure relative to the stack pointer.
*/
struct port_intctx {
uint8_t _next;
uint8_t r29;
uint8_t r28;
uint8_t r17;
uint8_t r16;
uint8_t r15;
uint8_t r14;
uint8_t r13;
uint8_t r12;
uint8_t r11;
uint8_t r10;
uint8_t r9;
uint8_t r8;
uint8_t r7;
uint8_t r6;
uint8_t r5;
uint8_t r4;
uint8_t r3;
uint8_t r2;
uint8_t pcl;
uint8_t pch;
};
/**
* @brief Platform dependent part of the @p thread_t structure.
* @details In the AVR port this structure just holds a pointer to the
* @p port_intctx structure representing the stack pointer at the time
* of the context switch.
*/
struct context {
struct port_intctx *sp;
};
/**
* @brief Platform dependent part of the @p chThdCreateI() API.
* @details This code usually setup the context switching frame represented
* by an @p port_intctx structure.
*/
#define PORT_SETUP_CONTEXT(tp, workspace, wsize, pf, arg) { \
tp->p_ctx.sp = (struct port_intctx*)((uint8_t *)workspace + wsize - \
sizeof(struct port_intctx)); \
tp->p_ctx.sp->r2 = (int)pf; \
tp->p_ctx.sp->r3 = (int)pf >> 8; \
tp->p_ctx.sp->r4 = (int)arg; \
tp->p_ctx.sp->r5 = (int)arg >> 8; \
tp->p_ctx.sp->pcl = (int)_port_thread_start >> 8; \
tp->p_ctx.sp->pch = (int)_port_thread_start; \
}
/**
* @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.
* This value can be zero on those architecture where there is a
* separate interrupt stack and the stack space between @p port_intctx
* and @p port_extctx is known to be zero.
* @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 Enforces a correct alignment for a stack area size value.
*/
#define STACK_ALIGN(n) ((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1)
/**
* @brief Computes the thread working area global size.
*/
#define PORT_WA_SIZE(n) STACK_ALIGN(sizeof(thread_t) + \
(sizeof(struct port_intctx) - 1) + \
(sizeof(struct port_extctx) - 1) + \
(n) + (PORT_INT_REQUIRED_STACK))
/**
* @brief Static working area allocation.
* @details This macro is used to allocate a static thread working area
* aligned as both position and size.
*/
#define WORKING_AREA(s, n) stkalign_t s[PORT_WA_SIZE(n) / sizeof(stkalign_t)]
/**
* @brief IRQ prologue code.
* @details This macro must be inserted at the start of all IRQ handlers
* enabled to invoke system APIs.
* @note This code tricks the compiler to save all the specified registers
* by "touching" them.
*/
#define PORT_IRQ_PROLOGUE() { \
asm ("" : : : "r18", "r19", "r20", "r21", "r22", "r23", "r24", \
"r25", "r26", "r27", "r30", "r31"); \
}
/**
* @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() { \
_dbg_check_lock(); \
if (chSchIsPreemptionRequired()) \
chSchDoReschedule(); \
_dbg_check_unlock(); \
}
/**
* @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) ISR(id)
/**
* @brief Port-related initialization code.
* @note This function is empty in this port.
*/
#define port_init()
/**
* @brief Returns a word encoding the current interrupts status.
*
* @return The interrupts status.
*/
static inline syssts_t port_get_irq_status(void) {
return SREG;
}
/**
* @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 (bool)((sts & 0x80) != 0);
}
/**
* @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) {
//TODO: is there any way to determine this?
return false;
}
/**
* @brief Kernel-lock action.
* @details Usually this function just disables interrupts but may perform more
* actions.
* @note Implemented as global interrupt disable.
*/
#define port_lock() asm volatile ("cli" : : : "memory")
/**
* @brief Kernel-unlock action.
* @details Usually this function just enables interrupts but may perform more
* actions.
* @note Implemented as global interrupt enable.
*/
#define port_unlock() asm volatile ("sei" : : : "memory")
/**
* @brief Kernel-lock action from an interrupt handler.
* @details This function is invoked before invoking I-class APIs from
* interrupt handlers. The implementation is architecture dependent,
* in its simplest form it is void.
* @note This function is empty in this port.
*/
#define port_lock_from_isr()
/**
* @brief Kernel-unlock action from an interrupt handler.
* @details This function is invoked after invoking I-class APIs from interrupt
* handlers. The implementation is architecture dependent, in its
* simplest form it is void.
* @note This function is empty in this port.
*/
#define port_unlock_from_isr()
/**
* @brief Disables all the interrupt sources.
* @note Of course non-maskable interrupt sources are not included.
* @note Implemented as global interrupt disable.
*/
#define port_disable() asm volatile ("cli" : : : "memory")
/**
* @brief Disables the interrupt sources below kernel-level priority.
* @note Interrupt sources above kernel level remains enabled.
* @note Same as @p port_disable() in this port, there is no difference
* between the two states.
*/
#define port_suspend() asm volatile ("cli" : : : "memory")
/**
* @brief Enables all the interrupt sources.
* @note Implemented as global interrupt enable.
*/
#define port_enable() asm volatile ("sei" : : : "memory")
/**
* @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.
* @note This port function is implemented as inlined code for performance
* reasons.
*/
#if ENABLE_WFI_IDLE != 0
#define port_wait_for_interrupt() { \
asm volatile ("sleep" : : : "memory"); \
}
#else
#define port_wait_for_interrupt()
#endif
#ifdef __cplusplus
extern "C" {
#endif
void port_switch(thread_t *ntp, thread_t *otp);
void port_halt(void);
void _port_thread_start(void);
#ifdef __cplusplus
}
#endif
#endif /* _CHCORE_H_ */
/** @} */

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os/rt/ports/AVR/compilers/GCC/chtypes.h Normal file
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013,2014 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file AVR/compilers/GCC/chtypes.h
* @brief AVR architecture port system types.
*
* @addtogroup AVR_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 (!FALSE)
#endif
/** @} */
typedef bool bool_t; /**< Fast boolean type. */
typedef uint8_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 uint8_t eventid_t; /**< Event Id. */
typedef uint8_t eventmask_t; /**< Event mask. */
typedef uint8_t eventflags_t; /**< Event flags. */
typedef uint16_t systime_t; /**< System time. */
typedef int8_t cnt_t; /**< Resources counter. */
/**
* @brief Inline function modifier.
*/
#define INLINE inline
/**
* @brief ROM constant modifier.
* @note It is set to use the "const" keyword in this port.
*/
#define ROMCONST const
/**
* @brief Packed structure modifier (within).
* @note It uses the "packed" GCC attribute.
*/
#define PACK_STRUCT_STRUCT __attribute__((packed))
/**
* @brief Packed structure modifier (before).
* @note Empty in this port.
*/
#define PACK_STRUCT_BEGIN
/**
* @brief Packed structure modifier (after).
* @note Empty in this port.
*/
#define PACK_STRUCT_END
#endif /* _CHTYPES_H_ */
/** @} */

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os/rt/ports/AVR/compilers/GCC/mk/port.mk Normal file
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# List of the ChibiOS/RT AVR port files.
PORTSRC = ${CHIBIOS}/os/rt/ports/AVR/chcore.c
PORTASM =
PORTINC = ${CHIBIOS}/os/rt/ports/AVR \
${CHIBIOS}/os/rt/ports/AVR/compilers/GCC

2
os/rt/ports/e200/chcore.h
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@ -257,7 +257,7 @@ struct port_intctx {
};
/**
* @brief Platform dependent part of the @p Thread structure.
* @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.
*/