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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@4307 35acf78f-673a-0410-8e92-d51de3d6d3f4

master
gdisirio 2012-06-19 16:47:09 +00:00
parent cbfc9a5396
commit de6bbbb9ef
29 changed files with 1803 additions and 65 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
demos/ARMCM4-STM32F407-DISCOVERY/Makefile
View File

@ -84,7 +84,7 @@ CSRC = $(PORTSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
$(CHIBIOS)/os/various/lis302dl.c \
$(CHIBIOS)/os/various/devices_lib/accel/lis302dl.c \
$(CHIBIOS)/os/various/chprintf.c \
main.c
@ -117,6 +117,7 @@ ASMSRC = $(PORTASM)
INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) \
$(CHIBIOS)/os/various/devices_lib/accel \
$(CHIBIOS)/os/various
#

10
os/hal/platforms/STM32/can_lld.c
View File

@ -184,9 +184,9 @@ void can_lld_start(CANDriver *canp) {
/* Clock activation.*/
#if STM32_CAN_USE_CAN1
if (&CAND1 == canp) {
nvicEnableVector(USB_HP_CAN1_TX_IRQn,
nvicEnableVector(CAN1_TX_IRQn,
CORTEX_PRIORITY_MASK(STM32_CAN_CAN1_IRQ_PRIORITY));
nvicEnableVector(USB_LP_CAN1_RX0_IRQn,
nvicEnableVector(CAN1_RX0_IRQn,
CORTEX_PRIORITY_MASK(STM32_CAN_CAN1_IRQ_PRIORITY));
nvicEnableVector(CAN1_RX1_IRQn,
CORTEX_PRIORITY_MASK(STM32_CAN_CAN1_IRQ_PRIORITY));
@ -217,7 +217,7 @@ void can_lld_start(CANDriver *canp) {
canp->can->FFA1R = 0;
cfp = canp->can->sFilterRegister;
fmask = 1;
for (i = 0; i < CAN_MAX_FILTERS; i++) {
for (i = 0; i < STM32_CAN_MAX_FILTERS; i++) {
if (i < canp->config->num) {
if (canp->config->filters[i].mode)
canp->can->FM1R |= fmask;
@ -272,8 +272,8 @@ void can_lld_stop(CANDriver *canp) {
if (&CAND1 == canp) {
CAN1->MCR = 0x00010002; /* Register reset value. */
CAN1->IER = 0x00000000; /* All sources disabled. */
nvicDisableVector(USB_HP_CAN1_TX_IRQn);
nvicDisableVector(USB_LP_CAN1_RX0_IRQn);
nvicDisableVector(CAN1_TX_IRQn);
nvicDisableVector(CAN1_RX0_IRQn);
nvicDisableVector(CAN1_RX1_IRQn);
nvicDisableVector(CAN1_SCE_IRQn);
rccDisableCAN1(FALSE);

10
os/hal/platforms/STM32/can_lld.h
View File

@ -51,14 +51,9 @@
#define CAN_SUPPORTS_SLEEP TRUE
/**
* @brief Minimum number of CAN filters.
* @name CAN registers helper macros
* @{
*/
#if defined(STM32F10X_CL) || defined(__DOXYGEN__)
#define CAN_MAX_FILTERS 28
#else
#define CAN_MAX_FILTERS 14
#endif
#define CAN_BTR_BRP(n) (n) /**< @brief BRP field macro.*/
#define CAN_BTR_TS1(n) ((n) << 16) /**< @brief TS1 field macro.*/
#define CAN_BTR_TS2(n) ((n) << 20) /**< @brief TS2 field macro.*/
@ -69,6 +64,7 @@
#define CAN_RTR_DATA 0 /**< @brief Data frame. */
#define CAN_RTR_REMOTE 1 /**< @brief Remote frame. */
/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */

10
os/hal/platforms/STM32/stm32.h
View File

@ -54,13 +54,17 @@
defined(__DOXYGEN__)
#include "stm32f10x.h"
#elif defined(STM32F2XX) || defined(__DOXYGEN__)
/* Resolving naming anomalies related to the STM32F1xx sub-family.*/
#define CAN1_TX_IRQn USB_HP_CAN1_TX_IRQn
#define CAN1_RX0_IRQn USB_LP_CAN1_RX0_IRQn
#elif defined(STM32F2XX)
#include "stm32f2xx.h"
#elif defined(STM32F4XX) || defined(__DOXYGEN__)
#elif defined(STM32F4XX)
#include "stm32f4xx.h"
#elif defined(STM32L1XX_MD) || defined(__DOXYGEN__)
#elif defined(STM32L1XX_MD)
#include "stm32l1xx.h"
#else

1
os/hal/platforms/STM32F0xx/hal_lld.h
View File

@ -238,6 +238,7 @@
/* CAN attributes.*/
#define STM32_HAS_CAN1 FALSE
#define STM32_HAS_CAN2 FALSE
#define STM32_CAN_MAX_FILTERS 0
/* DAC attributes.*/
#define STM32_HAS_DAC TRUE

2
os/hal/platforms/STM32F1xx/hal_lld_f100.h
View File

@ -199,6 +199,7 @@
/* CAN attributes.*/
#define STM32_HAS_CAN1 FALSE
#define STM32_HAS_CAN2 FALSE
#define STM32_CAN_MAX_FILTERS 0
/* DAC attributes.*/
#define STM32_HAS_DAC TRUE
@ -342,6 +343,7 @@
/* CAN attributes.*/
#define STM32_HAS_CAN1 FALSE
#define STM32_HAS_CAN2 FALSE
#define STM32_CAN_MAX_FILTERS 0
/* DAC attributes.*/
#define STM32_HAS_DAC TRUE

4
os/hal/platforms/STM32F1xx/hal_lld_f103.h
View File

@ -209,6 +209,7 @@
/* CAN attributes.*/
#define STM32_HAS_CAN1 TRUE
#define STM32_HAS_CAN2 FALSE
#define STM32_CAN_MAX_FILTERS 14
/* DAC attributes.*/
#define STM32_HAS_DAC FALSE
@ -352,6 +353,7 @@
/* CAN attributes.*/
#define STM32_HAS_CAN1 TRUE
#define STM32_HAS_CAN2 FALSE
#define STM32_CAN_MAX_FILTERS 14
/* DAC attributes.*/
#define STM32_HAS_DAC FALSE
@ -499,6 +501,7 @@
/* CAN attributes.*/
#define STM32_HAS_CAN1 TRUE
#define STM32_HAS_CAN2 FALSE
#define STM32_CAN_MAX_FILTERS 14
/* DAC attributes.*/
#define STM32_HAS_DAC TRUE
@ -646,6 +649,7 @@
/* CAN attributes.*/
#define STM32_HAS_CAN1 TRUE
#define STM32_HAS_CAN2 FALSE
#define STM32_CAN_MAX_FILTERS 14
/* DAC attributes.*/
#define STM32_HAS_DAC TRUE

1
os/hal/platforms/STM32F1xx/hal_lld_f105_f107.h
View File

@ -226,6 +226,7 @@
/* CAN attributes.*/
#define STM32_HAS_CAN1 TRUE
#define STM32_HAS_CAN2 TRUE
#define STM32_CAN_MAX_FILTERS 28
/* DAC attributes.*/
#define STM32_HAS_DAC TRUE

1
os/hal/platforms/STM32F2xx/hal_lld.h
View File

@ -287,6 +287,7 @@
/* CAN attributes.*/
#define STM32_HAS_CAN1 TRUE
#define STM32_HAS_CAN2 TRUE
#define STM32_CAN_MAX_FILTERS 28
/* DAC attributes.*/
#define STM32_HAS_DAC TRUE

1
os/hal/platforms/STM32F2xx/platform.mk
View File

@ -2,6 +2,7 @@
PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/STM32F2xx/stm32_dma.c \
${CHIBIOS}/os/hal/platforms/STM32F2xx/hal_lld.c \
${CHIBIOS}/os/hal/platforms/STM32F2xx/adc_lld.c \
${CHIBIOS}/os/hal/platforms/STM32/can_lld.c \
${CHIBIOS}/os/hal/platforms/STM32/ext_lld.c \
${CHIBIOS}/os/hal/platforms/STM32/gpt_lld.c \
${CHIBIOS}/os/hal/platforms/STM32/i2c_lld.c \

93
os/hal/platforms/STM32F2xx/stm32_rcc.h
View File

@ -391,12 +391,11 @@
/** @} */
/**
* @name PWR interface specific RCC operations
* @name PWR interface specific RCC operations
* @{
*/
/**
* @brief Enables the PWR interface clock.
* @note The @p lp parameter is ignored in this family.
*
* @param[in] lp low power enable flag
*
@ -406,7 +405,6 @@
/**
* @brief Disables PWR interface clock.
* @note The @p lp parameter is ignored in this family.
*
* @param[in] lp low power enable flag
*
@ -422,6 +420,62 @@
#define rccResetPWRInterface() rccResetAPB1(RCC_APB1RSTR_PWRRST)
/** @} */
/**
* @name CAN peripherals specific RCC operations
* @{
*/
/**
* @brief Enables the CAN1 peripheral clock.
*
* @param[in] lp low power enable flag
*
* @api
*/
#define rccEnableCAN1(lp) rccEnableAPB1(RCC_APB1ENR_CAN1EN, lp)
/**
* @brief Disables the CAN1 peripheral clock.
*
* @param[in] lp low power enable flag
*
* @api
*/
#define rccDisableCAN1(lp) rccDisableAPB1(RCC_APB1ENR_CAN1EN, lp)
/**
* @brief Resets the CAN1 peripheral.
*
* @api
*/
#define rccResetCAN1() rccResetAPB1(RCC_APB1RSTR_CAN1RST)
/**
* @brief Enables the CAN2 peripheral clock.
*
* @param[in] lp low power enable flag
*
* @api
*/
#define rccEnableCAN2(lp) rccEnableAPB1(RCC_APB1ENR_CAN2EN, lp)
/**
* @brief Disables the CAN2 peripheral clock.
*
* @param[in] lp low power enable flag
*
* @api
*/
#define rccDisableCAN2(lp) rccDisableAPB1(RCC_APB1ENR_CAN2EN, lp)
/**
* @brief Resets the CAN2 peripheral.
*
* @api
*/
#define rccResetCAN2() rccResetAPB1(RCC_APB1RSTR_CAN2RST)
/** @} */
/**
* @name ETH peripheral specific RCC operations
* @{
@ -568,6 +622,39 @@
#define rccResetOTG_FS() rccResetAHB2(RCC_AHB2RSTR_OTGFSRST)
/** @} */
/**
* @name SDIO peripheral specific RCC operations
* @{
*/
/**
* @brief Enables the SDIO peripheral clock.
* @note The @p lp parameter is ignored in this family.
*
* @param[in] lp low power enable flag
*
* @api
*/
#define rccEnableSDIO(lp) rccEnableAPB2(RCC_APB2ENR_SDIOEN, lp)
/**
* @brief Disables the SDIO peripheral clock.
* @note The @p lp parameter is ignored in this family.
*
* @param[in] lp low power enable flag
*
* @api
*/
#define rccDisableSDIO(lp) rccDisableAPB2(RCC_APB2ENR_SDIOEN, lp)
/**
* @brief Resets the SDIO peripheral.
* @note Not supported in this family, does nothing.
*
* @api
*/
#define rccResetSDIO() rccResetAPB2(RCC_APB2RSTR_SDIORST)
/** @} */
/**
* @name SPI peripherals specific RCC operations
* @{

1
os/hal/platforms/STM32F4xx/hal_lld.h
View File

@ -286,6 +286,7 @@
/* CAN attributes.*/
#define STM32_HAS_CAN1 TRUE
#define STM32_HAS_CAN2 TRUE
#define STM32_CAN_MAX_FILTERS 28
/* DAC attributes.*/
#define STM32_HAS_DAC TRUE

1
os/hal/platforms/STM32F4xx/platform.mk
View File

@ -2,6 +2,7 @@
PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/STM32F4xx/stm32_dma.c \
${CHIBIOS}/os/hal/platforms/STM32F4xx/hal_lld.c \
${CHIBIOS}/os/hal/platforms/STM32F4xx/adc_lld.c \
${CHIBIOS}/os/hal/platforms/STM32/can_lld.c \
${CHIBIOS}/os/hal/platforms/STM32/ext_lld.c \
${CHIBIOS}/os/hal/platforms/STM32/gpt_lld.c \
${CHIBIOS}/os/hal/platforms/STM32/i2c_lld.c \

58
os/hal/platforms/STM32F4xx/stm32_rcc.h
View File

@ -396,7 +396,6 @@
*/
/**
* @brief Enables the PWR interface clock.
* @note The @p lp parameter is ignored in this family.
*
* @param[in] lp low power enable flag
*
@ -406,7 +405,6 @@
/**
* @brief Disables PWR interface clock.
* @note The @p lp parameter is ignored in this family.
*
* @param[in] lp low power enable flag
*
@ -422,6 +420,62 @@
#define rccResetPWRInterface() rccResetAPB1(RCC_APB1RSTR_PWRRST)
/** @} */
/**
* @name CAN peripherals specific RCC operations
* @{
*/
/**
* @brief Enables the CAN1 peripheral clock.
*
* @param[in] lp low power enable flag
*
* @api
*/
#define rccEnableCAN1(lp) rccEnableAPB1(RCC_APB1ENR_CAN1EN, lp)
/**
* @brief Disables the CAN1 peripheral clock.
*
* @param[in] lp low power enable flag
*
* @api
*/
#define rccDisableCAN1(lp) rccDisableAPB1(RCC_APB1ENR_CAN1EN, lp)
/**
* @brief Resets the CAN1 peripheral.
*
* @api
*/
#define rccResetCAN1() rccResetAPB1(RCC_APB1RSTR_CAN1RST)
/**
* @brief Enables the CAN2 peripheral clock.
*
* @param[in] lp low power enable flag
*
* @api
*/
#define rccEnableCAN2(lp) rccEnableAPB1(RCC_APB1ENR_CAN2EN, lp)
/**
* @brief Disables the CAN2 peripheral clock.
*
* @param[in] lp low power enable flag
*
* @api
*/
#define rccDisableCAN2(lp) rccDisableAPB1(RCC_APB1ENR_CAN2EN, lp)
/**
* @brief Resets the CAN2 peripheral.
*
* @api
*/
#define rccResetCAN2() rccResetAPB1(RCC_APB1RSTR_CAN2RST)
/** @} */
/**
* @name ETH peripheral specific RCC operations
* @{

1
os/hal/platforms/STM32L1xx/hal_lld.h
View File

@ -186,6 +186,7 @@
/* CAN attributes.*/
#define STM32_HAS_CAN1 FALSE
#define STM32_HAS_CAN2 FALSE
#define STM32_CAN_MAX_FILTERS 0
/* DAC attributes.*/
#define STM32_HAS_DAC TRUE

20
os/various/lis302dl.c → os/various/devices_lib/accel/lis302dl.c
View File

@ -30,9 +30,29 @@
#include "hal.h"
#include "lis302dl.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables. */
/*===========================================================================*/
static uint8_t txbuf[2];
static uint8_t rxbuf[2];
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Reads a register value.
* @pre The SPI interface must be initialized and the driver started.

30
os/various/devices_lib/accel/lis302dl.dox Normal file
View File

@ -0,0 +1,30 @@
*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012 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/>.
*/
/**
* @defgroup lis302dl Interface module for LIS302DL MEMS
*
* @brief Interface module for LIS302DL MEMS.
* @details This module implements a generic interface for the LIS302DL
* STMicroelectronics MEMS device. The communication is performed
* through a standard SPI driver.
*
* @ingroup accel
*/

24
os/various/lis302dl.h → os/various/devices_lib/accel/lis302dl.h
View File

@ -29,6 +29,10 @@
#ifndef _LIS302DL_H_
#define _LIS302DL_H_
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @name LIS302DL register names
* @{
@ -59,6 +63,26 @@
#define LIS302DL_CLICK_WINDOW 0x3F
/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif

67
os/various/memstreams.c
View File

@ -31,17 +31,22 @@
#include "ch.h"
#include "memstreams.h"
/*
* @brief Write virtual method implementation.
*
* @param[in] ip pointer to a @p MemoryStream object
* @param[in] bp pointer to the data buffer
* @param[in] n the maximum amount of data to be transferred
* @return The number of bytes transferred. The return value can
* be less than the specified number of bytes if the
* stream reaches a physical end of file and cannot be
* extended.
*/
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
static size_t writes(void *ip, const uint8_t *bp, size_t n) {
MemoryStream *msp = ip;
@ -52,16 +57,6 @@ static size_t writes(void *ip, const uint8_t *bp, size_t n) {
return n;
}
/*
* @brief Read virtual method implementation.
*
* @param[in] ip pointer to a @p MemoryStream object
* @param[out] bp pointer to the data buffer
* @param[in] n the maximum amount of data to be transferred
* @return The number of bytes transferred. The return value can
* be less than the specified number of bytes if the
* stream reaches the end of the available data.
*/
static size_t reads(void *ip, uint8_t *bp, size_t n) {
MemoryStream *msp = ip;
@ -72,7 +67,32 @@ static size_t reads(void *ip, uint8_t *bp, size_t n) {
return n;
}
static const struct MemStreamVMT vmt = {writes, reads};
static msg_t put(void *ip, uint8_t b) {
MemoryStream *msp = ip;
if (msp->size - msp->eos <= 0)
return RDY_RESET;
*(msp->buffer + msp->eos) = b;
msp->eos += 1;
return RDY_OK;
}
static msg_t get(void *ip) {
uint8_t b;
MemoryStream *msp = ip;
if (msp->eos - msp->offset <= 0)
return RDY_RESET;
b = *(msp->buffer + msp->offset);
msp->offset += 1;
return b;
}
static const struct MemStreamVMT vmt = {writes, reads, put, get};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Memory stream object initialization.
@ -84,7 +104,8 @@ static const struct MemStreamVMT vmt = {writes, reads};
* put this to zero for RAM buffers or equal to @p size
* for ROM streams.
*/
void msObjectInit(MemoryStream *msp, uint8_t *buffer, size_t size, size_t eos) {
void msObjectInit(MemoryStream *msp, uint8_t *buffer,
size_t size, size_t eos) {
msp->vmt = &vmt;
msp->buffer = buffer;

24
os/various/memstreams.h
View File

@ -29,6 +29,22 @@
#ifndef _MEMSTREAMS_H_
#define _MEMSTREAMS_H_
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief @p RamStream specific data.
*/
@ -61,6 +77,14 @@ typedef struct {
_memory_stream_data
} MemoryStream;
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif

11
os/various/various.dox
View File

@ -91,14 +91,3 @@
*
* @ingroup various
*/
/**
* @defgroup lis302dl Interface module for LIS302DL MEMS
*
* @brief Interface module for LIS302DL MEMS.
* @details This module implements a generic interface for the LIS302DL
* STMicroelectronics MEMS device. The communication is performed
* through a standard SPI driver.
*
* @ingroup various
*/

1
readme.txt
View File

@ -152,6 +152,7 @@
3484947)(backported to 2.4.1).
- FIX: Fixed various minor documentation errors (bug 3484942)(backported
to 2.4.1).
- NEW: Validated CAN driver on STM32F2/F4.
- NEW: USB implementation for STM32F105/F107/2xx/F4xx devices.
- NEW: Improved SerialUSB driver using the new queued mode, much smaller
than the previous driver.

221
testhal/STM32F4xx/CAN/Makefile Normal file
View File

@ -0,0 +1,221 @@
##############################################################################
# Build global options
# NOTE: Can be overridden externally.
#
# Compiler options here.
ifeq ($(USE_OPT),)
USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
endif
# C specific options here (added to USE_OPT).
ifeq ($(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
# If enabled, this option allows to compile the application in THUMB mode.
ifeq ($(USE_THUMB),)
USE_THUMB = yes
endif
# Enable this if you want to see the full log while compiling.
ifeq ($(USE_VERBOSE_COMPILE),)
USE_VERBOSE_COMPILE = no
endif
#
# Build global options
##############################################################################
##############################################################################
# Architecture or project specific options
#
# Enables the use of FPU on Cortex-M4.
# Enable this if you really want to use the STM FWLib.
ifeq ($(USE_FPU),)
USE_FPU = no
endif
# Enable this if you really want to use the STM FWLib.
ifeq ($(USE_FWLIB),)
USE_FWLIB = no
endif
#
# Architecture or project specific options
##############################################################################
##############################################################################
# Project, sources and paths
#
# Define project name here
PROJECT = ch
# Imported source files and paths
CHIBIOS = ../../..
include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
include $(CHIBIOS)/os/hal/hal.mk
include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
include $(CHIBIOS)/os/kernel/kernel.mk
include $(CHIBIOS)/test/test.mk
# Define linker script file here
LDSCRIPT= $(PORTLD)/STM32F407xG.ld
#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
# C sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CSRC = $(PORTSRC) \
$(KERNSRC) \
$(TESTSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CPPSRC =
# C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
ACSRC =
# C++ sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
ACPPSRC =
# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
TCSRC =
# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
TCPPSRC =
# List ASM source files here
ASMSRC = $(PORTASM)
INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) \
$(CHIBIOS)/os/various
#
# Project, sources and paths
##############################################################################
##############################################################################
# Compiler settings
#
MCU = cortex-m4
#TRGT = arm-elf-
TRGT = arm-none-eabi-
CC = $(TRGT)gcc
CPPC = $(TRGT)g++
# Enable loading with g++ only if you need C++ runtime support.
# NOTE: You can use C++ even without C++ support if you are careful. C++
# runtime support makes code size explode.
LD = $(TRGT)gcc
#LD = $(TRGT)g++
CP = $(TRGT)objcopy
AS = $(TRGT)gcc -x assembler-with-cpp
OD = $(TRGT)objdump
HEX = $(CP) -O ihex
BIN = $(CP) -O binary
# ARM-specific options here
AOPT =
# THUMB-specific options here
TOPT = -mthumb -DTHUMB
# Define C warning options here
CWARN = -Wall -Wextra -Wstrict-prototypes
# Define C++ warning options here
CPPWARN = -Wall -Wextra
#
# Compiler settings
##############################################################################
##############################################################################
# Start of default section
#
# List all default C defines here, like -D_DEBUG=1
DDEFS =
# List all default ASM defines here, like -D_DEBUG=1
DADEFS =
# List all default directories to look for include files here
DINCDIR =
# List the default directory to look for the libraries here
DLIBDIR =
# List all default libraries here
DLIBS =
#
# End of default section
##############################################################################
##############################################################################
# Start of user section
#
# List all user C define here, like -D_DEBUG=1
UDEFS =
# Define ASM defines here
UADEFS =
# List all user directories here
UINCDIR =
# List the user directory to look for the libraries here
ULIBDIR =
# List all user libraries here
ULIBS =
#
# End of user defines
##############################################################################
ifeq ($(USE_FPU),yes)
USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
DDEFS += -DCORTEX_USE_FPU=TRUE
else
DDEFS += -DCORTEX_USE_FPU=FALSE
endif
ifeq ($(USE_FWLIB),yes)
include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
CSRC += $(STM32SRC)
INCDIR += $(STM32INC)
USE_OPT += -DUSE_STDPERIPH_DRIVER
endif
include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk

535
testhal/STM32F4xx/CAN/chconf.h Normal file
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@ -0,0 +1,535 @@
/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012 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 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_
/*===========================================================================*/
/**
* @name Kernel parameters and options
* @{
*/
/*===========================================================================*/
/**
* @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_FREQUENCY) || defined(__DOXYGEN__)
#define CH_FREQUENCY 1000
#endif
/**
* @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.
*/
#if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)
#define CH_TIME_QUANTUM 20
#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_USE_MEMCORE.
*/
#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)
#define CH_MEMCORE_SIZE 0
#endif
/**
* @brief Idle thread automatic spawn suppression.
* @details When this option is activated the function @p chSysInit()
* does not spawn the idle thread automatically. The application has
* then the responsibility to do one of the following:
* - Spawn a custom idle thread at priority @p IDLEPRIO.
* - Change the main() thread priority to @p IDLEPRIO then enter
* an endless loop. In this scenario the @p main() thread acts as
* the idle thread.
* .
* @note Unless an idle thread is spawned the @p main() thread must not
* enter a sleep state.
*/
#if !defined(CH_NO_IDLE_THREAD) || defined(__DOXYGEN__)
#define CH_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_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
#define CH_OPTIMIZE_SPEED TRUE
#endif
/** @} */
/*===========================================================================*/
/**
* @name Subsystem options
* @{
*/
/*===========================================================================*/
/**
* @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_USE_REGISTRY) || defined(__DOXYGEN__)
#define CH_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_USE_WAITEXIT) || defined(__DOXYGEN__)
#define CH_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_USE_SEMAPHORES) || defined(__DOXYGEN__)
#define CH_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_USE_SEMAPHORES.
*/
#if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
#define CH_USE_SEMAPHORES_PRIORITY FALSE
#endif
/**
* @brief Atomic semaphore API.
* @details If enabled then the semaphores the @p chSemSignalWait() API
* is included in the kernel.
*
* @note The default is @p TRUE.
* @note Requires @p CH_USE_SEMAPHORES.
*/
#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
#define CH_USE_SEMSW TRUE
#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_USE_MUTEXES) || defined(__DOXYGEN__)
#define CH_USE_MUTEXES TRUE
#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_USE_MUTEXES.
*/
#if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__)
#define CH_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_USE_CONDVARS.
*/
#if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
#define CH_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_USE_EVENTS) || defined(__DOXYGEN__)
#define CH_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_USE_EVENTS.
*/
#if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
#define CH_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_USE_MESSAGES) || defined(__DOXYGEN__)
#define CH_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_USE_MESSAGES.
*/
#if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
#define CH_USE_MESSAGES_PRIORITY FALSE
#endif
/**
* @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_USE_SEMAPHORES.
*/
#if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__)
#define CH_USE_MAILBOXES TRUE
#endif
/**
* @brief I/O Queues APIs.
* @details If enabled then the I/O queues APIs are included in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
#define CH_USE_QUEUES 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_USE_MEMCORE) || defined(__DOXYGEN__)
#define CH_USE_MEMCORE TRUE
#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_USE_MEMCORE and either @p CH_USE_MUTEXES or
* @p CH_USE_SEMAPHORES.
* @note Mutexes are recommended.
*/
#if !defined(CH_USE_HEAP) || defined(__DOXYGEN__)
#define CH_USE_HEAP TRUE
#endif
/**
* @brief C-runtime allocator.
* @details If enabled the the heap allocator APIs just wrap the C-runtime
* @p malloc() and @p free() functions.
*
* @note The default is @p FALSE.
* @note Requires @p CH_USE_HEAP.
* @note The C-runtime may or may not require @p CH_USE_MEMCORE, see the
* appropriate documentation.
*/
#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
#define CH_USE_MALLOC_HEAP FALSE
#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_USE_MEMPOOLS) || defined(__DOXYGEN__)
#define CH_USE_MEMPOOLS TRUE
#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_USE_WAITEXIT.
* @note Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS.
*/
#if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__)
#define CH_USE_DYNAMIC TRUE
#endif
/** @} */
/*===========================================================================*/
/**
* @name Debug options
* @{
*/
/*===========================================================================*/
/**
* @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) || defined(__DOXYGEN__)
#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) || defined(__DOXYGEN__)
#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) || defined(__DOXYGEN__)
#define CH_DBG_ENABLE_ASSERTS FALSE
#endif
/**
* @brief Debug option, trace buffer.
* @details If enabled then the context switch circular trace buffer is
* activated.
*
* @note The default is @p FALSE.
*/
#if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
#define CH_DBG_ENABLE_TRACE FALSE
#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) || defined(__DOXYGEN__)
#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) || defined(__DOXYGEN__)
#define CH_DBG_FILL_THREADS FALSE
#endif
/**
* @brief Debug option, threads profiling.
* @details If enabled then a field is added to the @p Thread structure that
* counts the system ticks occurred while executing the thread.
*
* @note The default is @p TRUE.
* @note This debug option is defaulted to TRUE because it is required by
* some test cases into the test suite.
*/
#if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)
#define CH_DBG_THREADS_PROFILING TRUE
#endif
/** @} */
/*===========================================================================*/
/**
* @name Kernel hooks
* @{
*/
/*===========================================================================*/
/**
* @brief Threads descriptor structure extension.
* @details User fields added to the end of the @p Thread structure.
*/
#if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__)
#define THREAD_EXT_FIELDS \
/* Add threads custom fields here.*/
#endif
/**
* @brief Threads initialization hook.
* @details User initialization code added to the @p chThdInit() API.
*
* @note It is invoked from within @p chThdInit() and implicitly from all
* the threads creation APIs.
*/
#if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__)
#define THREAD_EXT_INIT_HOOK(tp) { \
/* Add threads initialization code here.*/ \
}
#endif
/**
* @brief Threads finalization hook.
* @details User finalization code added to the @p chThdExit() API.
*
* @note It is inserted into lock zone.
* @note It is also invoked when the threads simply return in order to
* terminate.
*/
#if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__)
#define THREAD_EXT_EXIT_HOOK(tp) { \
/* Add threads finalization code here.*/ \
}
#endif
/**
* @brief Context switch hook.
* @details This hook is invoked just before switching between threads.
*/
#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) { \
/* System halt code here.*/ \
}
#endif
/**
* @brief Idle Loop hook.
* @details This hook is continuously invoked by the idle thread loop.
*/
#if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
#define IDLE_LOOP_HOOK() { \
/* Idle loop code here.*/ \
}
#endif
/**
* @brief System tick event hook.
* @details This hook is invoked in the system tick handler immediately
* after processing the virtual timers queue.
*/
#if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__)
#define SYSTEM_TICK_EVENT_HOOK() { \
/* System tick event code here.*/ \
}
#endif
/**
* @brief System halt hook.
* @details This hook is invoked in case to a system halting error before
* the system is halted.
*/
#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
#define SYSTEM_HALT_HOOK() { \
/* System halt code here.*/ \
}
#endif
/** @} */
/*===========================================================================*/
/* Port-specific settings (override port settings defaulted in chcore.h). */
/*===========================================================================*/
#endif /* _CHCONF_H_ */
/** @} */

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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012 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 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_
#include "mcuconf.h"
/**
* @brief Enables the TM subsystem.
*/
#if !defined(HAL_USE_TM) || defined(__DOXYGEN__)
#define HAL_USE_TM TRUE
#endif
/**
* @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 TRUE
#endif
/**
* @brief Enables the EXT subsystem.
*/
#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
#define HAL_USE_EXT 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 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 SPI subsystem.
*/
#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
#define HAL_USE_SPI 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
/*===========================================================================*/
/* 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
/*===========================================================================*/
/* 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 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 Block size for MMC transfers.
*/
#if !defined(MMC_SECTOR_SIZE) || defined(__DOXYGEN__)
#define MMC_SECTOR_SIZE 512
#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.
* 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
/**
* @brief Number of positive insertion queries before generating the
* insertion event.
*/
#if !defined(MMC_POLLING_INTERVAL) || defined(__DOXYGEN__)
#define MMC_POLLING_INTERVAL 10
#endif
/**
* @brief Interval, in milliseconds, between insertion queries.
*/
#if !defined(MMC_POLLING_DELAY) || defined(__DOXYGEN__)
#define MMC_POLLING_DELAY 10
#endif
/**
* @brief Uses the SPI polled API for small data transfers.
* @details Polled transfers usually improve performance because it
* saves two context switches and interrupt servicing. Note
* that this option has no effect on large transfers which
* are always performed using DMAs/IRQs.
*/
#if !defined(MMC_USE_SPI_POLLING) || defined(__DOXYGEN__)
#define MMC_USE_SPI_POLLING 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
/*===========================================================================*/
/* 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 64 bytes for both the transmission and receive
* buffers.
*/
#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
#define SERIAL_BUFFERS_SIZE 16
#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 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
#endif /* _HALCONF_H_ */
/** @} */

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testhal/STM32F4xx/CAN/main.c Normal file
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@ -0,0 +1,116 @@
/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012 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/>.
*/
#include "ch.h"
#include "hal.h"
/*
* Internal loopback mode, 500KBaud, automatic wakeup, automatic recover
* from abort mode.
* See section 22.7.7 on the STM32 reference manual.
*/
static const CANConfig cancfg = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_LBKM | CAN_BTR_SJW(0) | CAN_BTR_TS2(1) |
CAN_BTR_TS1(8) | CAN_BTR_BRP(6),
0,
NULL
};
/*
* Receiver thread.
*/
static WORKING_AREA(can_rx_wa, 256);
static msg_t can_rx(void *p) {
EventListener el;
CANRxFrame rxmsg;
(void)p;
chRegSetThreadName("receiver");
chEvtRegister(&CAND1.rxfull_event, &el, 0);
while(!chThdShouldTerminate()) {
if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
continue;
while (canReceive(&CAND1, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
/* Process message.*/
palTogglePad(GPIOD, GPIOD_LED5);
}
}
chEvtUnregister(&CAND1.rxfull_event, &el);
return 0;
}
/*
* Transmitter thread.
*/
static WORKING_AREA(can_tx_wa, 256);
static msg_t can_tx(void * p) {
CANTxFrame txmsg;
(void)p;
chRegSetThreadName("transmitter");
txmsg.IDE = CAN_IDE_EXT;
txmsg.EID = 0x01234567;
txmsg.RTR = CAN_RTR_DATA;
txmsg.DLC = 8;
txmsg.data32[0] = 0x55AA55AA;
txmsg.data32[1] = 0x00FF00FF;
while (!chThdShouldTerminate()) {
canTransmit(&CAND1, &txmsg, MS2ST(100));
chThdSleepMilliseconds(500);
}
return 0;
}
/*
* Application entry point.
*/
int main(void) {
/*
* 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();
/*
* Activates the CAN driver 1.
*/
canStart(&CAND1, &cancfg);
/*
* Starting the transmitter and receiver threads.
*/
chThdCreateStatic(can_rx_wa, sizeof(can_rx_wa), NORMALPRIO + 7, can_rx, NULL);
chThdCreateStatic(can_tx_wa, sizeof(can_tx_wa), NORMALPRIO + 7, can_tx, NULL);
/*
* Normal main() thread activity, in this demo it does nothing.
*/
while (TRUE) {
chThdSleepMilliseconds(500);
}
return 0;
}

234
testhal/STM32F4xx/CAN/mcuconf.h Normal file
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@ -0,0 +1,234 @@
/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012 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/>.
*/
/*
* STM32F4xx drivers configuration.
* The following settings override the default settings present in
* the various device driver implementation headers.
* Note that the settings for each driver only have effect if the whole
* driver is enabled in halconf.h.
*
* IRQ priorities:
* 15...0 Lowest...Highest.
*
* DMA priorities:
* 0...3 Lowest...Highest.
*/
/*
* HAL driver system settings.
*/
#define STM32_NO_INIT FALSE
#define STM32_HSI_ENABLED TRUE
#define STM32_LSI_ENABLED TRUE
#define STM32_HSE_ENABLED TRUE
#define STM32_LSE_ENABLED FALSE
#define STM32_CLOCK48_REQUIRED TRUE
#define STM32_SW STM32_SW_PLL
#define STM32_PLLSRC STM32_PLLSRC_HSE
#define STM32_PLLM_VALUE 8
#define STM32_PLLN_VALUE 336
#define STM32_PLLP_VALUE 2
#define STM32_PLLQ_VALUE 7
#define STM32_HPRE STM32_HPRE_DIV1
#define STM32_PPRE1 STM32_PPRE1_DIV4
#define STM32_PPRE2 STM32_PPRE2_DIV2
#define STM32_RTCSEL STM32_RTCSEL_LSI
#define STM32_RTCPRE_VALUE 8
#define STM32_MCO1SEL STM32_MCO1SEL_HSI
#define STM32_MCO1PRE STM32_MCO1PRE_DIV1
#define STM32_MCO2SEL STM32_MCO2SEL_SYSCLK
#define STM32_MCO2PRE STM32_MCO2PRE_DIV5
#define STM32_I2SSRC STM32_I2SSRC_CKIN
#define STM32_PLLI2SN_VALUE 192
#define STM32_PLLI2SR_VALUE 5
#define STM32_VOS STM32_VOS_HIGH
#define STM32_PVD_ENABLE FALSE
#define STM32_PLS STM32_PLS_LEV0
/*
* ADC driver system settings.
*/
#define STM32_ADC_ADCPRE ADC_CCR_ADCPRE_DIV4
#define STM32_ADC_USE_ADC1 TRUE
#define STM32_ADC_USE_ADC2 TRUE
#define STM32_ADC_USE_ADC3 TRUE
#define STM32_ADC_ADC1_DMA_STREAM STM32_DMA_STREAM_ID(2, 4)
#define STM32_ADC_ADC2_DMA_STREAM STM32_DMA_STREAM_ID(2, 2)
#define STM32_ADC_ADC3_DMA_STREAM STM32_DMA_STREAM_ID(2, 1)
#define STM32_ADC_ADC1_DMA_PRIORITY 2
#define STM32_ADC_ADC2_DMA_PRIORITY 2
#define STM32_ADC_ADC3_DMA_PRIORITY 2
#define STM32_ADC_IRQ_PRIORITY 5
#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY 5
#define STM32_ADC_ADC2_DMA_IRQ_PRIORITY 5
#define STM32_ADC_ADC3_DMA_IRQ_PRIORITY 5
/*
* CAN driver system settings.
*/
#define STM32_CAN_USE_CAN1 TRUE
#define STM32_CAN_CAN1_IRQ_PRIORITY 11
/*
* EXT driver system settings.
*/
#define STM32_EXT_EXTI0_IRQ_PRIORITY 6
#define STM32_EXT_EXTI1_IRQ_PRIORITY 6
#define STM32_EXT_EXTI2_IRQ_PRIORITY 6
#define STM32_EXT_EXTI3_IRQ_PRIORITY 6
#define STM32_EXT_EXTI4_IRQ_PRIORITY 6
#define STM32_EXT_EXTI5_9_IRQ_PRIORITY 6
#define STM32_EXT_EXTI10_15_IRQ_PRIORITY 6
#define STM32_EXT_EXTI16_IRQ_PRIORITY 6
#define STM32_EXT_EXTI17_IRQ_PRIORITY 15
#define STM32_EXT_EXTI18_IRQ_PRIORITY 6
#define STM32_EXT_EXTI19_IRQ_PRIORITY 6
#define STM32_EXT_EXTI20_IRQ_PRIORITY 6
#define STM32_EXT_EXTI21_IRQ_PRIORITY 15
#define STM32_EXT_EXTI22_IRQ_PRIORITY 15
/*
* GPT driver system settings.
*/
#define STM32_GPT_USE_TIM1 TRUE
#define STM32_GPT_USE_TIM2 TRUE
#define STM32_GPT_USE_TIM3 TRUE
#define STM32_GPT_USE_TIM4 TRUE
#define STM32_GPT_USE_TIM5 TRUE
#define STM32_GPT_USE_TIM8 TRUE
#define STM32_GPT_TIM1_IRQ_PRIORITY 7
#define STM32_GPT_TIM2_IRQ_PRIORITY 7
#define STM32_GPT_TIM3_IRQ_PRIORITY 7
#define STM32_GPT_TIM4_IRQ_PRIORITY 7
#define STM32_GPT_TIM5_IRQ_PRIORITY 7
#define STM32_GPT_TIM8_IRQ_PRIORITY 7
/*
* ICU driver system settings.
*/
#define STM32_ICU_USE_TIM1 FALSE
#define STM32_ICU_USE_TIM2 FALSE
#define STM32_ICU_USE_TIM3 FALSE
#define STM32_ICU_USE_TIM4 FALSE
#define STM32_ICU_USE_TIM5 FALSE
#define STM32_ICU_USE_TIM8 FALSE
#define STM32_ICU_TIM1_IRQ_PRIORITY 7
#define STM32_ICU_TIM2_IRQ_PRIORITY 7
#define STM32_ICU_TIM3_IRQ_PRIORITY 7
#define STM32_ICU_TIM4_IRQ_PRIORITY 7
#define STM32_ICU_TIM5_IRQ_PRIORITY 7
#define STM32_ICU_TIM8_IRQ_PRIORITY 7
/*
* PWM driver system settings.
*/
#define STM32_PWM_USE_ADVANCED FALSE
#define STM32_PWM_USE_TIM1 FALSE
#define STM32_PWM_USE_TIM2 FALSE
#define STM32_PWM_USE_TIM3 FALSE
#define STM32_PWM_USE_TIM4 FALSE
#define STM32_PWM_USE_TIM5 FALSE
#define STM32_PWM_USE_TIM8 FALSE
#define STM32_PWM_TIM1_IRQ_PRIORITY 7
#define STM32_PWM_TIM2_IRQ_PRIORITY 7
#define STM32_PWM_TIM3_IRQ_PRIORITY 7
#define STM32_PWM_TIM4_IRQ_PRIORITY 7
#define STM32_PWM_TIM5_IRQ_PRIORITY 7
#define STM32_PWM_TIM8_IRQ_PRIORITY 7
/*
* SERIAL driver system settings.
*/
#define STM32_SERIAL_USE_USART1 FALSE
#define STM32_SERIAL_USE_USART2 TRUE
#define STM32_SERIAL_USE_USART3 FALSE
#define STM32_SERIAL_USE_UART4 FALSE
#define STM32_SERIAL_USE_UART5 FALSE
#define STM32_SERIAL_USE_USART6 FALSE
#define STM32_SERIAL_USART1_PRIORITY 12
#define STM32_SERIAL_USART2_PRIORITY 12
#define STM32_SERIAL_USART3_PRIORITY 12
#define STM32_SERIAL_UART4_PRIORITY 12
#define STM32_SERIAL_UART5_PRIORITY 12
#define STM32_SERIAL_USART6_PRIORITY 12
/*
* SPI driver system settings.
*/
#define STM32_SPI_USE_SPI1 TRUE
#define STM32_SPI_USE_SPI2 TRUE
#define STM32_SPI_USE_SPI3 TRUE
#define STM32_SPI_SPI1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 0)
#define STM32_SPI_SPI1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
#define STM32_SPI_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
#define STM32_SPI_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
#define STM32_SPI_SPI3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
#define STM32_SPI_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
#define STM32_SPI_SPI1_DMA_PRIORITY 1
#define STM32_SPI_SPI2_DMA_PRIORITY 1
#define STM32_SPI_SPI3_DMA_PRIORITY 1
#define STM32_SPI_SPI1_IRQ_PRIORITY 10
#define STM32_SPI_SPI2_IRQ_PRIORITY 10
#define STM32_SPI_SPI3_IRQ_PRIORITY 10
#define STM32_SPI_DMA_ERROR_HOOK(spip) chSysHalt()
/*
* UART driver system settings.
*/
#define STM32_UART_USE_USART1 FALSE
#define STM32_UART_USE_USART2 TRUE
#define STM32_UART_USE_USART3 FALSE
#define STM32_UART_USART1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 5)
#define STM32_UART_USART1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 7)
#define STM32_UART_USART2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
#define STM32_UART_USART2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
#define STM32_UART_USART3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 1)
#define STM32_UART_USART3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
#define STM32_UART_USART1_IRQ_PRIORITY 12
#define STM32_UART_USART2_IRQ_PRIORITY 12
#define STM32_UART_USART3_IRQ_PRIORITY 12
#define STM32_UART_USART1_DMA_PRIORITY 0
#define STM32_UART_USART2_DMA_PRIORITY 0
#define STM32_UART_USART3_DMA_PRIORITY 0
#define STM32_UART_DMA_ERROR_HOOK(uartp) chSysHalt()
/*
* I2C driver system settings.
*/
#define STM32_I2C_USE_I2C1 FALSE
#define STM32_I2C_USE_I2C2 FALSE
#define STM32_I2C_USE_I2C3 FALSE
#define STM32_I2C_I2C1_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
#define STM32_I2C_I2C1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
#define STM32_I2C_I2C2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
#define STM32_I2C_I2C2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
#define STM32_I2C_I2C3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
#define STM32_I2C_I2C3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
#define STM32_I2C_I2C1_IRQ_PRIORITY 6
#define STM32_I2C_I2C2_IRQ_PRIORITY 6
#define STM32_I2C_I2C3_IRQ_PRIORITY 6
#define STM32_I2C_I2C1_DMA_PRIORITY 1
#define STM32_I2C_I2C2_DMA_PRIORITY 1
#define STM32_I2C_I2C3_DMA_PRIORITY 1
#define STM32_I2C_I2C1_DMA_ERROR_HOOK() chSysHalt()
#define STM32_I2C_I2C2_DMA_ERROR_HOOK() chSysHalt()
#define STM32_I2C_I2C3_DMA_ERROR_HOOK() chSysHalt()

26
testhal/STM32F4xx/CAN/readme.txt Normal file
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*****************************************************************************
** ChibiOS/RT HAL - CAN driver demo for STM32. **
*****************************************************************************
** TARGET **
The demo will on an STMicroelectronics STM32F4-Discovery board.
** The Demo **
The application demonstrates the use of the STM32 CAN driver.
** Build Procedure **
The demo has been tested using the free Codesourcery GCC-based toolchain
and YAGARTO.
Just modify the TRGT line in the makefile in order to use different GCC ports.
** Notes **
Some files used by the demo are not part of ChibiOS/RT but are copyright of
ST Microelectronics and are licensed under a different license.
Also note that not all the files present in the ST library are distributed
with ChibiOS/RT, you can find the whole library on the ST web site:
http://www.st.com

20
todo.txt
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@ -6,20 +6,23 @@ X = In progress, some work done.
N = Decided against.
Version 2.5.0
X Revision of the RTCv2 driver implementation.
X USB driver model revision.
X STM32 OTG USB cell support for CL, F2, F4 devices.
Within 2.5.x:
* SDC driver port to STM32F2 and STM32F4.
* Revision of scheduling strategy for threads at equal priority.
* Handling of Virtual Timer callbacks out of critical zone.
* Add normal API (not iclass) variants of the VT functions.
* MMC_SPI driver speedup.
* FatFs 0.9x integration.
- CAN2 support and CAN driver test on STM32F2/F4.
* USB driver model revision.
* STM32 OTG USB cell support for CL, F2, F4 devices.
* CAN driver test on STM32F2/F4.
Within 2.5.x:
X Revision of the RTCv2 driver implementation.
X File System infrastructure.
- FatFs wrapper.
X Streaming DAC/I2S driver model and STM32 implementation.
X STM32F0 support.
- STM32 CAN2 support.
- Unified LPC1xxx HAL.
- LPC11xx and LPC13xx HALs merged in the unified one.
- LPC17xx support.
@ -43,22 +46,19 @@ X STM32F0 support.
Within 2.x.x
- Software I2C implementation using a GPT instance for timings.
- Static memory allocation hook macros in kernel code.
X File System infrastructure.
X Implement the "transmission end" serial driver event on those platforms
supporting the feature, so far only done in STM32 driver.
- Test suite overhaul, the API should be more generic in order to be used
with different subsystems and not just the kernel.
- Reduce number of demos globally, add demos to a repository or on web site.
Required in order to reduce support effort.
- FatFs wrapper.
- New device driver models: Clock, Systick, WDG.
- Add UART4 support to the STM32 UART driver (CL line only, HD has a nasty
shared interrupt).
- Shared DMA channels support in the STM8L HAL.
- Device drivers for STM8/STM8L (ADC, PWM, bring them on par with STM32).
- Device drivers for LPC1xxx (ADC, PWM, bring them on par with STM32).
- Implement USB Mass Storage Class support and demo using the MMC_SPI driver
as back-end.
- Implement USB Mass Storage Class support.
- Batch testing of the ARM7/ARMCMx port using OpenOCD, with reports.
X Transactional flash file system implementation.
- Serial over UART complex driver driver, evaluate from the performance