kopia lustrzana https://github.com/OpenRTX/OpenRTX
Testing uC/OS-III on STM32F4 MCU
Silvano Seva
Niccolò Izzo
rodzic
65c0e18102
commit
ad8d89cd3e
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@ -0,0 +1,192 @@
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##
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## OpenDMR - Open Source Firmware for DMR Radios
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##
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##
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## List here your source files (both .s, .c and .cpp)
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##
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SRC := tests/platform/stm32f4_uC.c
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##
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## Drivers' source files and include directories
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##
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DRIVERS_INC := -Iplatform/mcu/STM32F4xx -Iplatform/mcu/STM32F4xx/drivers/usb
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DRIVERS_SRC := \
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platform/mcu/STM32F4xx/drivers/usb/usb_bsp.c \
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platform/mcu/STM32F4xx/drivers/usb/usb_core.c \
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platform/mcu/STM32F4xx/drivers/usb/usb_dcd.c \
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platform/mcu/STM32F4xx/drivers/usb/usb_dcd_int.c \
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platform/mcu/STM32F4xx/drivers/usb/usbd_desc.c \
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platform/mcu/STM32F4xx/drivers/usb/usbd_core.c \
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platform/mcu/STM32F4xx/drivers/usb/usbd_ioreq.c \
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platform/mcu/STM32F4xx/drivers/usb/usbd_req.c \
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platform/mcu/STM32F4xx/drivers/usb/usbd_usr.c \
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platform/mcu/STM32F4xx/drivers/gpio.c \
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platform/mcu/STM32F4xx/drivers/usb_vcom.c \
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platform/mcu/STM32F4xx/drivers/delays.c
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##
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## List here additional static libraries with relative path
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##
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LIBS :=
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##
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## List here additional include directories (in the form -Iinclude_dir)
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##
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INCLUDE_DIRS := -Iopenrtx/include/interfaces
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##
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## List here additional defines
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##
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DEFINES := $(DEFINES)
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##
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## Define used to select target processor
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##
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TARGET := -DSTM32F40_41xxx
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##
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## System clock frequency, in hertz. Must be defined and set to correct value
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## in order to make drivers working correctly
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##
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CLK_FREQ := -DHSE_VALUE=8000000
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##
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## Optimization level
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##
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OPTLEVEL := -O0
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#OPTLEVEL:= -O2
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#OPTLEVEL:= -O3
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#OPTLEVEL:= -Os
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##
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## Device-specific source files and include directories, e.g. startup code
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##
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DEVICE_INC := \
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-Iplatform/mcu/CMSIS/Include -Iplatform/mcu/CMSIS/Device/ST/STM32F4xx/Include
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DEVICE_SRC := \
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platform/mcu/STM32F4xx/boot/startup.c \
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platform/mcu/STM32F4xx/boot/libc_integration.cpp \
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platform/mcu/CMSIS/Device/ST/STM32F4xx/Source/system_stm32f4xx.c
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##
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## Operating system's source files and include directories
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##
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OS_INC := \
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-Irtos/uC-OS3/Ports/ARM-Cortex-M/ARMv7-M -Irtos/uC-OS3/Source -Irtos/uC-OS3/Cfg \
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-Irtos/uC-CPU/ARM-Cortex-M/ARMv7-M -Irtos/uC-CPU -Irtos/uC-CPU/Cfg \
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-Irtos/uC-LIB -Irtos/uC-LIB/Cfg
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OS_SRC := \
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rtos/uC-OS3/Source/__dbg_uCOS-III.c \
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rtos/uC-OS3/Source/os_cfg_app.c \
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rtos/uC-OS3/Source/os_core.c \
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rtos/uC-OS3/Source/os_dbg.c \
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rtos/uC-OS3/Source/os_flag.c \
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rtos/uC-OS3/Source/os_mem.c \
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rtos/uC-OS3/Source/os_msg.c \
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rtos/uC-OS3/Source/os_mutex.c \
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rtos/uC-OS3/Source/os_prio.c \
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rtos/uC-OS3/Source/os_q.c \
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rtos/uC-OS3/Source/os_sem.c \
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rtos/uC-OS3/Source/os_stat.c \
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rtos/uC-OS3/Source/os_task.c \
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rtos/uC-OS3/Source/os_tick.c \
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rtos/uC-OS3/Source/os_time.c \
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rtos/uC-OS3/Source/os_tmr.c \
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rtos/uC-OS3/Source/os_var.c \
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rtos/uC-OS3/Cfg/os_app_hooks.c \
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rtos/uC-CPU/cpu_core.c \
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rtos/uC-LIB/lib_ascii.c \
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rtos/uC-LIB/lib_math.c \
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rtos/uC-LIB/lib_mem.c \
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rtos/uC-LIB/lib_str.c \
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\
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rtos/uC-OS3/Ports/ARM-Cortex-M/ARMv7-M/os_cpu_c.c \
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rtos/uC-OS3/Ports/ARM-Cortex-M/ARMv7-M/os_cpu_a.S \
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rtos/uC-CPU/ARM-Cortex-M/ARMv7-M/cpu_c.c \
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rtos/uC-CPU/ARM-Cortex-M/ARMv7-M/cpu_a.s
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# rtos/uC-LIB/Ports/ARM-Cortex-M4/lib_mem_a.s \
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##
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## Exceptions support. Uncomment to disable them and save code size
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##
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#EXCEPT := -fno-exceptions -fno-rtti -D__NO_EXCEPTIONS
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##############################################################################
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## You should not need to modify anything below ##
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##############################################################################
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ALL_INC := -Iinclude $(OS_INC) $(DEVICE_INC) $(DRIVERS_INC) $(INCLUDE_DIRS)
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ALL_SRC := $(SRC) $(OS_SRC) $(DEVICE_SRC) $(DRIVERS_SRC)
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CONFIGS := $(TARGET) $(CLK_FREQ) $(OPTLEVEL) -DDONT_USE_CMSIS_INIT
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ifeq ("$(VERBOSE)","1")
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Q :=
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ECHO := @true
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else
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Q := @
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ECHO := @echo
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endif
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## Replaces both "foo.cpp"-->"foo.o" and "foo.c"-->"foo.o"
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OBJ := $(addsuffix .o, $(basename $(ALL_SRC)))
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CXXFLAGS := $(ALL_INC) -mcpu=cortex-m4 -mthumb -mfloat-abi=hard \
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-mfpu=fpv4-sp-d16 $(CONFIGS) $(DEFINES) $(EXCEPT) -c -g -std=c++11
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CFLAGS := $(ALL_INC) -mcpu=cortex-m4 -mthumb -mfloat-abi=hard \
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-mfpu=fpv4-sp-d16 $(CONFIGS) $(DEFINES) $(EXCEPT) -c -g
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AFLAGS := -mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16
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LFLAGS := -mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16 \
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-Wl,--gc-sections -Wl,-Map,main.map $(OPTLEVEL) -nostdlib \
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-Wl,-T./platform/mcu/STM32F4xx/linker_script.ld
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DFLAGS := -MMD -MP
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LINK_LIBS := $(LIBS) -Wl,--start-group -lc -lgcc -lm -Wl,--end-group
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CC := arm-none-eabi-gcc
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CXX := arm-none-eabi-g++
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AS := arm-none-eabi-as
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CP := arm-none-eabi-objcopy
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SZ := arm-none-eabi-size
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all: main.bin
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main.bin: main.elf
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$(ECHO) "[CP ] main.hex"
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$(Q)$(CP) -O ihex main.elf main.hex
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$(ECHO) "[CP ] main.bin"
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$(Q)$(CP) -O binary main.elf main.bin
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$(Q)$(SZ) main.elf
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main.elf: $(OBJ) #all-recursive
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$(ECHO) "[LD ] main.elf"
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$(Q)$(CXX) $(LFLAGS) -o main.elf $(OBJ) $(LINK_LIBS)
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%.o: %.s
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$(ECHO) "[AS ] $<"
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$(Q)$(AS) $(AFLAGS) $< -o $@
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%.o : %.c
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$(ECHO) "[CC ] $<"
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$(Q)$(CC) $(DFLAGS) $(CFLAGS) $< -o $@
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%.o : %.cpp
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$(ECHO) "[CXX ] $<"
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$(Q)$(CXX) $(DFLAGS) $(CXXFLAGS) $< -o $@
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flash: main_wrapped.bin
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$(ECHO) "[DFU ] $<"
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$(Q)./scripts/md380_dfu.py upgrade $<
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main_wrapped.bin: main.bin
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$(ECHO) "[WRAP] $<"
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$(Q)./scripts/md380_fw.py --wrap $< $@
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clean:
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-rm -f $(OBJ) main.elf main.hex main.bin main.map main_wrapped.bin $(OBJ:.o=.d)
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#pull in dependecy info for existing .o files
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-include $(OBJ:.o=.d)
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@ -0,0 +1,110 @@
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/***************************************************************************
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* Copyright (C) 2020 by Silvano Seva IU2KWO *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, see <http://www.gnu.org/licenses/> *
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***************************************************************************/
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#ifndef GPIO_H
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#define GPIO_H
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#include <stdint.h>
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#include "stm32f4xx.h"
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/**
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* GPIO functional modes.
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* For more details see microcontroller's reference manual.
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*/
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enum Mode
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{
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INPUT = 0, ///Floating Input
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INPUT_PULL_UP = 1, ///Pullup Input
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INPUT_PULL_DOWN = 2, ///Pulldown Input
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INPUT_ANALOG = 3, ///Analog Input
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OUTPUT = 4, ///Push Pull Output
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OPEN_DRAIN = 5, ///Open Drain Output
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ALTERNATE = 6, ///Alternate function
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ALTERNATE_OD = 7, ///Alternate Open Drain
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};
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/**
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* Maximum GPIO switching speed.
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* For more details see microcontroller's reference manual and datasheet.
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*/
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enum Speed
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{
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LOW = 0x0, /// 2MHz for STM32
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MEDIUM = 0x1, /// 25MHz for STM32
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FAST = 0x2, /// 50MHz for STM32
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HIGH = 0x3 /// 100MHz for STM32
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};
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/**
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* Configure GPIO pin functional mode.
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* @param port: GPIO port, it has to be equal to GPIOA_BASE, GPIOB_BASE, ...
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* @param pin: GPIO pin number, between 0 and 15.
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* @param mode: GPIO functional mode to be set.
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*/
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void gpio_setMode(GPIO_TypeDef *port, uint8_t pin, enum Mode mode);
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/**
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* Map alternate function to GPIO pin. The pin has to be configured in alternate
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* mode by calling 'gpio_setMode'.
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* @param port: GPIO port, it has to be equal to GPIOA_BASE, GPIOB_BASE, ...
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* @param pin: GPIO pin number, between 0 and 15.
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* @param afNum: alternate function number, retrieved from mapping table in
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* microcontroller's datasheet.
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*/
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void gpio_setAlternateFunction(GPIO_TypeDef *port, uint8_t pin, uint8_t afNum);
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/**
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* Configure GPIO pin maximum output speed.
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* @param port: GPIO port, it has to be equal to GPIOA_BASE, GPIOB_BASE, ...
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* @param pin: GPIO pin number, between 0 and 15.
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* @param spd: GPIO output speed to be set.
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*/
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void gpio_setOutputSpeed(GPIO_TypeDef *port, uint8_t pin, enum Speed spd);
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/**
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* Set GPIO pin to high logic level.
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* NOTE: this operation is performed atomically.
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* @param port: GPIO port, it has to be equal to GPIOA_BASE, GPIOB_BASE, ...
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* @param pin: GPIO pin number, between 0 and 15.
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*/
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void gpio_setPin(GPIO_TypeDef *port, uint8_t pin);
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/**
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* Set GPIO pin to low logic level.
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* NOTE: this operation is performed atomically.
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* @param port: GPIO port, it has to be equal to GPIOA_BASE, GPIOB_BASE, ...
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* @param pin: GPIO pin number, between 0 and 15.
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*/
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void gpio_clearPin(GPIO_TypeDef *port, uint8_t pin);
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/**
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* Toggle logic level of a GPIO pin, with respect to its state before calling
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* this function.
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* @param port: GPIO port, it has to be equal to GPIOA_BASE, GPIOB_BASE, ...
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* @param pin: GPIO pin number, between 0 and 15.
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*/
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void gpio_togglePin(GPIO_TypeDef *port, uint8_t pin);
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/**
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* Read GPIO pin's logic level.
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* @param port: GPIO port, it has to be equal to GPIOA_BASE, GPIOB_BASE, ...
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* @param pin: GPIO pin number, between 0 and 15.
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* @return 1 if pin is at high logic level, 0 if pin is at low logic level.
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*/
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uint8_t gpio_readPin(const GPIO_TypeDef *port, uint8_t pin);
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#endif /* GPIO_H */
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@ -1,5 +1,6 @@
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/***************************************************************************
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* Copyright (C) 2020 by Silvano Seva IU2KWO *
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* Copyright (C) 2020 by Federico Izzo IU2NUO, Niccolò Izzo IU2KIN and *
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* Silvano Seva IU2KWO *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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@ -27,6 +28,7 @@ int main(int argc, char *argv[]);
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void Reset_Handler() __attribute__((__interrupt__, noreturn));
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void Reset_Handler()
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{
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// Disable interrupts at startup, as the RTOS requires this.
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__disable_irq();
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// Call CMSIS init function, it's safe to do it here.
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@ -51,8 +53,6 @@ void Reset_Handler()
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memcpy(data, etext, edata-data);
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memset(bss_start, 0, bss_end-bss_start);
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__enable_irq();
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// General system configurations: enabling all GPIO ports.
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN
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| RCC_AHB1ENR_GPIOBEN
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@ -104,8 +104,9 @@ void __attribute__((weak)) BusFault_Handler();
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void __attribute__((weak)) UsageFault_Handler();
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void __attribute__((weak)) SVC_Handler();
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void __attribute__((weak)) DebugMon_Handler();
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void __attribute__((weak)) PendSV_Handler();
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void __attribute__((weak)) SysTick_Handler();
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void __attribute__((weak)) OS_CPU_PendSVHandler(); // uC/OS-III naming convention
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void __attribute__((weak)) OS_CPU_SysTickHandler();
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void __attribute__((weak)) WWDG_IRQHandler();
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void __attribute__((weak)) PVD_IRQHandler();
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@ -212,8 +213,8 @@ void (* const __Vectors[])() __attribute__ ((section(".isr_vector"))) =
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SVC_Handler,
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DebugMon_Handler,
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0,
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PendSV_Handler,
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SysTick_Handler,
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OS_CPU_PendSVHandler,
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OS_CPU_SysTickHandler,
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WWDG_IRQHandler,
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PVD_IRQHandler,
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|
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@ -175,9 +175,9 @@
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*********************************************************************************************************
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*/
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#if 0
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#define CPU_CFG_ENDIAN_TYPE CPU_ENDIAN_TYPE_BIG /* Defines CPU data word-memory order (see Note #2). */
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#endif
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// #if 0
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#define CPU_CFG_ENDIAN_TYPE CPU_ENDIAN_TYPE_LITTLE /* Defines CPU data word-memory order (see Note #2). */
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// #endif
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/*
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@ -239,9 +239,9 @@
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* implementing only bits[7:6].
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*********************************************************************************************************
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*/
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#if 0
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// #if 0
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#define CPU_CFG_NVIC_PRIO_BITS 4u
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#endif
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// #endif
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/*
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|
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|
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@ -0,0 +1,133 @@
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/***************************************************************************
|
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* Copyright (C) 2020 by Federico Izzo IU2NUO, Niccolò Izzo IU2KIN and *
|
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* Silvano Seva IU2KWO *
|
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* *
|
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* This program 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. *
|
||||
* *
|
||||
* This program 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/> *
|
||||
***************************************************************************/
|
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|
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <app_cfg.h>
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#include <os.h>
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#include <stdio.h>
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#include "stm32f4xx.h"
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#include "gpio.h"
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#include "delays.h"
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#include <lib_mem.h>
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|
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static OS_TCB startTCB;
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static CPU_STK_SIZE startStk[APP_CFG_TASK_START_STK_SIZE];
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static void startTask(void *arg);
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static OS_TCB t1TCB;
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static CPU_STK_SIZE t1Stk[128];
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static void t1(void *arg);
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|
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static OS_TCB t2TCB;
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static CPU_STK_SIZE t2Stk[128];
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static void t2(void *arg);
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|
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int main(void)
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{
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OS_ERR err;
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OSInit(&err);
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OSTaskCreate((OS_TCB *)&startTCB,
|
||||
(CPU_CHAR *)" ",
|
||||
(OS_TASK_PTR ) startTask,
|
||||
(void *) 0,
|
||||
(OS_PRIO ) APP_CFG_TASK_START_PRIO,
|
||||
(CPU_STK *)&startStk[0],
|
||||
(CPU_STK )startStk[APP_CFG_TASK_START_STK_SIZE / 10u],
|
||||
(CPU_STK_SIZE) APP_CFG_TASK_START_STK_SIZE,
|
||||
(OS_MSG_QTY ) 0,
|
||||
(OS_TICK ) 0,
|
||||
(void *) 0,
|
||||
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
|
||||
(OS_ERR *)&err);
|
||||
|
||||
OSStart(&err);
|
||||
|
||||
for(;;) ;
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void startTask(void* arg)
|
||||
{
|
||||
|
||||
(void) arg;
|
||||
OS_ERR err;
|
||||
|
||||
gpio_setMode(GPIOD, 13, OUTPUT);
|
||||
gpio_setMode(GPIOD, 14, OUTPUT);
|
||||
|
||||
CPU_Init();
|
||||
OS_CPU_SysTickInitFreq(SystemCoreClock);
|
||||
|
||||
OSTaskCreate((OS_TCB *)&t1TCB,
|
||||
(CPU_CHAR *)" ",
|
||||
(OS_TASK_PTR ) t1,
|
||||
(void *) 0,
|
||||
(OS_PRIO ) 5,
|
||||
(CPU_STK *)&t1Stk[0],
|
||||
(CPU_STK ) 0,
|
||||
(CPU_STK_SIZE) 128,
|
||||
(OS_MSG_QTY ) 0,
|
||||
(OS_TICK ) 0,
|
||||
(void *) 0,
|
||||
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
|
||||
(OS_ERR *)&err);
|
||||
|
||||
OSTaskCreate((OS_TCB *)&t2TCB,
|
||||
(CPU_CHAR *)" ",
|
||||
(OS_TASK_PTR ) t2,
|
||||
(void *) 0,
|
||||
(OS_PRIO ) 5,
|
||||
(CPU_STK *)&t2Stk[0],
|
||||
(CPU_STK ) 0,
|
||||
(CPU_STK_SIZE) 128,
|
||||
(OS_MSG_QTY ) 0,
|
||||
(OS_TICK ) 0,
|
||||
(void *) 0,
|
||||
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
|
||||
(OS_ERR *)&err);
|
||||
|
||||
while(1) ;
|
||||
}
|
||||
|
||||
static void t1(void *arg)
|
||||
{
|
||||
(void) arg;
|
||||
OS_ERR os_err;
|
||||
|
||||
while(1)
|
||||
{
|
||||
gpio_togglePin(GPIOD, 13);
|
||||
OSTimeDlyHMSM(0u, 0u, 1u, 0u, OS_OPT_TIME_HMSM_STRICT, &os_err);
|
||||
}
|
||||
}
|
||||
|
||||
static void t2(void *arg)
|
||||
{
|
||||
(void) arg;
|
||||
OS_ERR os_err;
|
||||
|
||||
while(1)
|
||||
{
|
||||
gpio_togglePin(GPIOD, 14);
|
||||
OSTimeDlyHMSM(0u, 0u, 2u, 0u, OS_OPT_TIME_HMSM_STRICT, &os_err);
|
||||
}
|
||||
}
|
||||
Ładowanie…
Reference in New Issue