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Merge https://github.com/navaro/atomthreads into navaro branch. Remove tests/ folder changes as they were based on an old Atomthreads API. Remove some binaries and other unnecessary files.

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This commit is contained in:
Kelvin Lawson
2012-09-21 01:30:09 +01:00
parent 5181143343
commit 0d07f0274d
32 changed files with 3782 additions and 0 deletions
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ports/cortex_m/Makefile
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ATOMTHREADS_PORT = $(ATOMTHREADS)/ports/cortex_m
ATOMTHREADS_KERNEL = $(ATOMTHREADS)/kernel
INCLUDES := $(INCLUDES) \
-I$(ATOMTHREADS_KERNEL) \
-I$(ATOMTHREADS_PORT)
SRCS := $(SRCS) \
$(ATOMTHREADS_KERNEL)/atomkernel.c \
$(ATOMTHREADS_KERNEL)/atommutex.c \
$(ATOMTHREADS_KERNEL)/atomqueue.c \
$(ATOMTHREADS_KERNEL)/atomsem.c \
$(ATOMTHREADS_KERNEL)/atomtimer.c \
$(ATOMTHREADS_PORT)/atomport.c
ASMS := $(ASMS) \
$(ATOMTHREADS_PORT)/atomport_s.S
ports/cortex_m/README
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---------------------------------------------------------------------------
Library: Atomthreads CortexM3 Port
Author: Natie van Rooyen <natie@navaro.nl>
License: BSD Revised
---------------------------------------------------------------------------
ARM CortexM3 PORT
This folder contains a port of the Atomthreads real time kernel for the
ARM CortexM3 processor architecture.
To Use:
1. Install the "pendSV_Handler" and "tick_Handler" implemented in the file
"atomport_arm.asm" in your platforms interrupt vectors.
2. Complete the function "archTickInit()" implemented in "atomport.c" to
initialize your platforms timer tick interrupt. If you use the build in
SysTick of the CortexM3 you also have to add code here to start it.
3. If required, add code to acknowledge your timer hardware's interrupt in
the function "archTickHandler()" also implemented in "atomport.c".
4. During your platform initialization call the function "archTickInit()"
exported from "atomport_private.h" to initialize the CortexM3
"PendSV_Handler".
5. After your platforms c-runtime initialization has completed, start
Atomthreads from your runtime's "main()" function.
ports/cortex_m/atomport-tests.h
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/*
* Copyright (c) 2012, Natie van Rooyen. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. No personal names or organizations' names associated with the
* Atomthreads project may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE ATOMTHREADS PROJECT AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE PROJECT OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef __ATOMPORT_TEST_H__
#define __ATOMPORT_TEST_H__
/* Include Atomthreads kernel API */
#include "atom.h"
extern void dbg_format_msg (char *format, ...) ;
#define TEST_THREAD_STACK_SIZE 1024
#define ATOMLOG dbg_format_msg
#define _STR(x) x
/* API for starting each test */
extern uint32_t test_start (void);
#endif /* __ATOMPORT_TEST_H__ */
ports/cortex_m/atomport.c
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/*
* Copyright (c) 2012, Natie van Rooyen. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. No personal names or organizations' names associated with the
* Atomthreads project may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE ATOMTHREADS PROJECT AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE PROJECT OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include "atom.h"
#include "atomport.h"
#include "types.h"
/* *
*
* Functions defined in atomport_s.S
*
*/
typedef void * SYSCONTEXT ;
extern void contextInit (void) ;
extern void contextSwitch (SYSCONTEXT* save_context, SYSCONTEXT* new_context) ;
extern void contextStart (SYSCONTEXT* context) ;
extern void contextEnableInterrupts (void) ;
/**
* \b thread_shell
*
* Documented in atomThreads.
*
*/
void
thread_shell (void)
{
ATOM_TCB *curr_tcb;
/* Get the TCB of the thread being started */
curr_tcb = atomCurrentContext();
/**
* Enable interrupts - these will not be enabled when a thread
* is first restored.
*/
// sei();
contextEnableInterrupts () ;
/* Call the thread entry point */
if (curr_tcb && curr_tcb->entry_point)
{
curr_tcb->entry_point(curr_tcb->entry_param);
}
/* Not reached - threads should never return from the entry point */
}
/**
* \b archThreadContextInit
*
* Documented in atomThreads.
*
*/
void
archThreadContextInit (ATOM_TCB *tcb_ptr, void *stack_top, void (*entry_point)(uint32_t), uint32_t entry_param)
{
uint32_t * stack_ptr ;
tcb_ptr->sp_save_ptr = stack_top;
tcb_ptr->entry_param = entry_param ;
tcb_ptr->entry_point = entry_point ;
stack_ptr = (uint32_t *)stack_top; //-- Load stack pointer
*stack_ptr = 0x01000000L; //-- xPSR
stack_ptr--;
*stack_ptr = ((uint32_t)thread_shell) | 1; //-- Entry Point (1 for THUMB mode)
stack_ptr--;
*stack_ptr = ((uint32_t)/*exit*/0) | 1; //-- R14 (LR) (1 for THUMB mode)
stack_ptr--;
*stack_ptr = 0x00121212L; //-- R12
stack_ptr--;
*stack_ptr = 0x00030303L; //-- R3
stack_ptr--;
*stack_ptr = 0x00020202L; //-- R2
stack_ptr--;
*stack_ptr = 0x00010101L; //-- R1
stack_ptr--;
*stack_ptr = entry_param ; //-- R0 - task's function argument
stack_ptr--;
*stack_ptr = 0x00111111L; //-- R11
stack_ptr--;
*stack_ptr = 0x00101010L; //-- R10
stack_ptr--;
*stack_ptr = 0x00090909L; //-- R9
stack_ptr--;
*stack_ptr = 0x00080808L; //-- R8
stack_ptr--;
*stack_ptr = 0x00070707L; //-- R7
stack_ptr--;
*stack_ptr = 0x00060606L; //-- R6
stack_ptr--;
*stack_ptr = 0x00050505L; //-- R5
stack_ptr--;
*stack_ptr = 0x00040404L; //-- R4
tcb_ptr->sp_save_ptr = stack_ptr ;
}
/**
* \b archFirstThreadRestore
*
* Documented in atomThreads.
*
*/
void
archFirstThreadRestore(ATOM_TCB * p_sp_new)
{
contextStart (&p_sp_new->sp_save_ptr) ;
}
/**
* \b archContextSwitch
*
* Documented in atomThreads.
*
*/
void
archContextSwitch (ATOM_TCB * p_sp_old, ATOM_TCB * p_sp_new)
{
contextSwitch (&p_sp_old->sp_save_ptr, &p_sp_new->sp_save_ptr) ;
}
/**
* \b archTimerTickIrqHandler
*
* System timer tick interrupt handler.
*
*/
void
archTickHandler (void)
{
atomIntEnter();
/* Call the OS system tick handler */
atomTimerTick();
/* ack the interrupt if needed */
/* ... */
/* Call the interrupt exit routine */
atomIntExit(TRUE);
}
/**
* \b archTickInit
*
* System timer initialization.
*
*/
void
archTickInit (void)
{
/* Initialize NVIC PendSV */
contextInit () ;
/* Initializa Timer Hardware */
/* ... */
}
ports/cortex_m/atomport.h
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/*
* Copyright (c) 2012, Natie van Rooyen. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. No personal names or organizations' names associated with the
* Atomthreads project may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE ATOMTHREADS PROJECT AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE PROJECT OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef __ATOM_PORT_H__
#define __ATOM_PORT_H__
#include "types.h"
#define SYSTEM_TICKS_PER_SEC 100
/**
* Architecture-specific types.
* Most of these are available from types.h on this platform, which is
* included above.
*/
#define POINTER void *
/* *
*
* Functions defined in atomport_arm.asm
*
*/
extern uint32_t contextEnterCritical (void) ;
extern void contextExitCritical (uint32_t posture) ;
/* Critical region protection */
#define CRITICAL_STORE uint32_t __atom_critical
#define CRITICAL_START() __atom_critical = contextEnterCritical()
#define CRITICAL_END() contextExitCritical(__atom_critical)
#endif /* __ATOM_PORT_H__ */
ports/cortex_m/atomport_private.h
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/*
* Copyright (c) 2012, Natie van Rooyen. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. No personal names or organizations' names associated with the
* Atomthreads project may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE ATOMTHREADS PROJECT AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE PROJECT OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef __ATOM_PORT_PRIVATE_H__
#define __ATOM_PORT_PRIVATE_H__
/* Function prototypes */
extern void archTickHandler (void) ;
extern void archTickInit (void) ;
#endif /* __ATOM_PORT_PRIVATE_H__ */
ports/cortex_m/atomport_s.S
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/*
Copyright (c) 2012, Natie van Rooyen. All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. No personal names or organizations' names associated with the
Atomthreads project may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE ATOMTHREADS PROJECT AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE PROJECT OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
*/
.global contextInit
.global contextSwitch
.global contextStart
.global contextEnableInterrupts
.global contextEnterCritical
.global contextExitCritical
.global pendSV_Handler
.global tick_Handler
.global archTickHandler
/**/
.equ NVIC_INT_CTRL, 0xE000ED04 // Interrupt control state register
.equ NVIC_PENDSVSET, 0x10000000 // Value to trigger PendSV exception
.equ NVIC_PR_12_15_ADDR, 0xE000ED20 // System Handlers 12-15 Priority Register Address
.equ NVIC_PENDS_VPRIORITY, 0x00FF0000 // PendSV priority is minimal (0xFF)
.syntax unified
.text
.thumb
/**
* \b contextInit
*
* Architecture-specific one time initialization.
*
* Configures PendSV priority to lowest.
*
* @return None
*/
contextInit:
LDR r1, =NVIC_PR_12_15_ADDR // Load the System 12-15 Priority Register
LDR r0, [r1]
ORR r0, r0, #NVIC_PENDS_VPRIORITY // set PRI_14 (PendSV) to 0xFF - minimal
STR r0, [r1]
BX lr
/**
* \b contextSwitch
*
* Architecture-specific context switch routine.
*
* Note that interrupts are always locked out when this routine is
* called. For cooperative switches, the scheduler will have entered
* a critical region. For preemptions (called from an ISR), the
* interrupts will have disabled in the tick_Handler.
*
* @param[in] [r0] -> Address to save old stack pointer
* @param[in] [r1] -> Address where new stack pointer is stored
*
* @return None
*/
contextSwitch:
LDR r2, =context_new_stack_ptr
STR r1, [r2]
LDR r2, =context_save_stack_ptr
LDR r1, [r2]
CMP r1, #0 // if contextSwitch is going to be called again before pend_sv
IT EQ
STREQ r0, [r2]
LDR R0, =NVIC_INT_CTRL // Trigger the PendSV exception (causes context switch)
LDR R1, =NVIC_PENDSVSET
STR R1, [R0]
BX lr
/**
* \b contextStart
*
* Architecture-specific context start routine.
*
* @param[in] [r0] -> Address where stack pointer is stored
*
* @return Does not return
*/
contextStart:
LDR r1, =context_new_stack_ptr
STR r0, [r1]
LDR r1, =context_save_stack_ptr
MOV r0, #0
STR r0, [r1]
LDR r0, =NVIC_INT_CTRL // Trigger the PendSV exception (causes context switch)
LDR r1, =NVIC_PENDSVSET
STR r1, [r0]
BX lr
/**
* \b contextEnableInterrupts
*
* Enables interrupts on the processor
*
* @return None
*/
contextEnableInterrupts:
CPSIE i
BX lr
/**
* \b contextExitCritical
*
* Exit critical section (restores interrupt posture)
*
* @param[in] r0 Interrupt Posture
*
* @return None
*/
contextExitCritical:
MSR PRIMASK, r0
BX lr
/**
* \b contextEnterCritical
*
* Enter critical section (disables interrupts)
*
* @return Current interrupt posture
*/
contextEnterCritical:
MRS r0, PRIMASK
CPSID i
BX lr
/**
* \b PendSV_Handler
*
* CortexM3 PendSV_Handler. Switch context to a new stack.
*
* @return None
*/
pendSV_Handler:
CPSID i // Disable core int
LDR r1, =context_save_stack_ptr
LDR r0, [r1] // Load old (current) stack pointer address
LDR r2, =context_new_stack_ptr
LDR r2, [r2] // Load new stack pointer address
CMP r0, r2
BEQ pendsv_handler_exit
CMP r0, #0
BEQ pendsv_handler_new_stack
// Save context
MRS r3, PSP // Get PSP point
STMDB r3!, {R4-R11} // Store r4-r11
STR r3, [r0] // Save old stack pointer
MOV r3, #0
STR r3, [r1]
pendsv_handler_new_stack:
// Restore context
LDR r2, [r2] // Load new stack pointer
LDMIA r2!, {r4-r11} // Restore context
MSR PSP, r2 // Mov new stack point to PSP
pendsv_handler_exit:
CPSIE i // Enable core int
ORR lr, lr, #0x04 // Ensure exception return uses process stack
BX lr // Exit interrupt
/**
* \b Tick_Handler
*
* System timer tick interrupt handler.
*
* @return None
*/
tick_Handler:
PUSH {r4-r11, lr}
cpsid I // Disable core int
BL archTickHandler
cpsie I // Enable core int
POP {r4-r11, pc}
/**/
context_new_stack_ptr: .long 0x00000000
context_save_stack_ptr: .long 0x00000000
ports/cortex_m/types.h
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/*
* Copyright (c) 2012, Natie van Rooyen. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. No personal names or organizations' names associated with the
* Atomthreads project may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE ATOMTHREADS PROJECT AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE PROJECT OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef __TYPES_H__
#define __TYPES_H__
typedef unsigned int uintptr_t ;
typedef int intptr_t ;
typedef unsigned long long uint64_t ;
typedef unsigned int uint32_t ;
typedef unsigned short uint16_t ;
typedef unsigned char uint8_t ;
typedef int int32_t ;
typedef short int16_t ;
typedef char int8_t ;
#endif /* __TYPES_H__ */