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ChibiOS 2.6.8, until I can figure out where to get it from git.

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Jared Boone
2015-07-08 08:40:23 -07:00
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firmware/chibios/os/ports/GCC/MSP430/chcore.h
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file MSP430/chcore.h
* @brief MSP430 architecture port macros and structures.
*
* @addtogroup MSP430_CORE
* @{
*/
#ifndef _CHCORE_H_
#define _CHCORE_H_
#include <iomacros.h>
#include <isr_compat.h>
#if CH_DBG_ENABLE_STACK_CHECK
#error "option CH_DBG_ENABLE_STACK_CHECK not supported by this port"
#endif
/**
* @brief Enables the use of a wait state in the idle thread loop.
*/
#ifndef ENABLE_WFI_IDLE
#define ENABLE_WFI_IDLE 0
#endif
/**
* @brief Macro defining the MSP430 architecture.
*/
#define CH_ARCHITECTURE_MSP430
/**
* @brief Name of the implemented architecture.
*/
#define CH_ARCHITECTURE_NAME "MSP430"
/**
* @brief Name of the architecture variant (optional).
*/
#define CH_CORE_VARIANT_NAME "MSP430"
/**
* @brief Name of the compiler supported by this port.
*/
#define CH_COMPILER_NAME "GCC " __VERSION__
/**
* @brief Port-specific information string.
*/
#define CH_PORT_INFO "None"
/**
* @brief 16 bits stack and memory alignment enforcement.
*/
typedef uint16_t stkalign_t;
/**
* @brief Generic MSP430 register.
*/
typedef void *regmsp_t;
/**
* @brief Interrupt saved context.
* @details This structure represents the stack frame saved during a
* preemption-capable interrupt handler.
*/
struct extctx {
regmsp_t r12;
regmsp_t r13;
regmsp_t r14;
regmsp_t r15;
regmsp_t sr;
regmsp_t pc;
};
/**
* @brief System saved context.
* @details This structure represents the inner stack frame during a context
* switching.
*/
struct intctx {
regmsp_t r4;
regmsp_t r5;
regmsp_t r6;
regmsp_t r7;
regmsp_t r8;
regmsp_t r9;
regmsp_t r10;
regmsp_t r11;
regmsp_t pc;
};
/**
* @brief Platform dependent part of the @p Thread structure.
* @details This structure usually contains just the saved stack pointer
* defined as a pointer to a @p intctx structure.
*/
struct context {
struct intctx *sp;
};
/**
* @brief Platform dependent part of the @p chThdCreateI() API.
* @details This code usually setup the context switching frame represented
* by an @p intctx structure.
*/
#define SETUP_CONTEXT(workspace, wsize, pf, arg) { \
tp->p_ctx.sp = (struct intctx *)((uint8_t *)workspace + \
wsize - \
sizeof(struct intctx)); \
tp->p_ctx.sp->r10 = pf; \
tp->p_ctx.sp->r11 = arg; \
tp->p_ctx.sp->pc = _port_thread_start; \
}
/**
* @brief Stack size for the system idle thread.
* @details This size depends on the idle thread implementation, usually
* the idle thread should take no more space than those reserved
* by @p PORT_INT_REQUIRED_STACK.
*/
#ifndef PORT_IDLE_THREAD_STACK_SIZE
#define PORT_IDLE_THREAD_STACK_SIZE 0
#endif
/**
* @brief Per-thread stack overhead for interrupts servicing.
* @details This constant is used in the calculation of the correct working
* area size.
* This value can be zero on those architecture where there is a
* separate interrupt stack and the stack space between @p intctx and
* @p extctx is known to be zero.
* @note In this port the default is 32 bytes per thread.
*/
#ifndef PORT_INT_REQUIRED_STACK
#define PORT_INT_REQUIRED_STACK 32
#endif
/**
* @brief Enforces a correct alignment for a stack area size value.
*/
#define STACK_ALIGN(n) ((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1)
/**
* @brief Computes the thread working area global size.
*/
#define THD_WA_SIZE(n) STACK_ALIGN(sizeof(Thread) + \
sizeof(struct intctx) + \
sizeof(struct extctx) + \
(n) + (PORT_INT_REQUIRED_STACK))
/**
* @brief Static working area allocation.
* @details This macro is used to allocate a static thread working area
* aligned as both position and size.
*/
#define WORKING_AREA(s, n) stkalign_t s[THD_WA_SIZE(n) / sizeof(stkalign_t)]
/**
* @brief IRQ prologue code.
* @details This macro must be inserted at the start of all IRQ handlers
* enabled to invoke system APIs.
*/
#define PORT_IRQ_PROLOGUE()
/**
* @brief IRQ epilogue code.
* @details This macro must be inserted at the end of all IRQ handlers
* enabled to invoke system APIs.
*/
#define PORT_IRQ_EPILOGUE() { \
dbg_check_lock(); \
if (chSchIsPreemptionRequired()) \
chSchDoReschedule(); \
dbg_check_unlock(); \
}
#define ISRNAME(pre, id) pre##id
/**
* @brief IRQ handler function declaration.
* @note @p id can be a function name or a vector number depending on the
* port implementation.
*/
#define PORT_IRQ_HANDLER(id) ISR(id, ISRNAME(vect, id))
/**
* @brief Port-related initialization code.
* @note This function is empty in this port.
*/
#define port_init()
/**
* @brief Kernel-lock action.
* @details Usually this function just disables interrupts but may perform more
* actions.
* @note Implemented as global interrupt disable.
*/
#define port_lock() asm volatile ("dint" : : : "memory")
/**
* @brief Kernel-unlock action.
* @details Usually this function just enables interrupts but may perform more
* actions.
* @note Implemented as global interrupt enable.
*/
#define port_unlock() asm volatile ("eint" : : : "memory")
/**
* @brief Kernel-lock action from an interrupt handler.
* @details This function is invoked before invoking I-class APIs from
* interrupt handlers. The implementation is architecture dependen#define PORT_IRQ_EPILOGUE() { \
if (chSchIsPreemptionRequired()) \
chSchDoReschedule(); \
}
* t,
* in its simplest form it is void.
* @note This function is empty in this port.
*/
#define port_lock_from_isr()
/**
* @brief Kernel-unlock action from an interrupt handler.
* @details This function is invoked after invoking I-class APIs from interrupt
* handlers. The implementation is architecture dependent, in its
* simplest form it is void.
* @note This function is empty in this port.
*/
#define port_unlock_from_isr()
/**
* @brief Disables all the interrupt sources.
* @note Of course non-maskable interrupt sources are not included.
* @note Implemented as global interrupt disable.
*/
#define port_disable() asm volatile ("dint" : : : "memory")
/**
* @brief Disables the interrupt sources below kernel-level priority.
* @note Interrupt sources above kernel level remains enabled.
* @note Same as @p port_disable() in this port, there is no difference
* between the two states.
*/
#define port_suspend() asm volatile ("dint" : : : "memory")
/**
* @brief Enables all the interrupt sources.
* @note Implemented as global interrupt enable.
*/
#define port_enable() asm volatile ("eint" : : : "memory")
/**
* @brief Enters an architecture-dependent IRQ-waiting mode.
* @details The function is meant to return when an interrupt becomes pending.
* The simplest implementation is an empty function or macro but this
* would not take advantage of architecture-specific power saving
* modes.
* @note This port function is implemented as inlined code for performance
* reasons.
* @note The port code does not define a low power mode, this macro has to
* be defined externally. The default implementation is a "nop", not
* a real low power mode.
*/
#if ENABLE_WFI_IDLE != 0
#ifndef port_wait_for_interrupt
#define port_wait_for_interrupt() { \
asm volatile ("nop" : : : "memory"); \
}
#endif
#else
#define port_wait_for_interrupt()
#endif
/**
* @brief Wrapper of the assembler @p _port_switch() function.
*/
#define port_switch(ntp, otp) _port_switch(ntp, otp)
/**
* @brief Wrapper of the assembler @p _port_halt() function.
*/
#define port_halt() _port_halt()
#ifdef __cplusplus
extern "C" {
#endif
void _port_switch(Thread *ntp, Thread *otp);
void _port_halt(void);
void _port_thread_start(void);
#ifdef __cplusplus
}
#endif
#endif /* _CHCORE_H_ */
/** @} */
firmware/chibios/os/ports/GCC/MSP430/chcoreasm.s
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
#include "chconf.h"
#define FALSE 0
#define TRUE 1
.text
.p2align 1, 0
.weak _port_switch
_port_switch:
push r11
push r10
push r9
push r8
push r7
push r6
push r5
push r4
mov r1, 6(r14)
mov 6(r15), r1
pop r4
pop r5
pop r6
pop r7
pop r8
pop r9
pop r10
pop r11
ret
.p2align 1, 0
.weak _port_thread_start
_port_thread_start:
#if CH_DBG_SYSTEM_STATE_CHECK
call #dbg_check_unlock
#endif
eint
mov r11, r15
call r10
call #chThdExit
; Falls into _port_halt
.p2align 1, 0
.weak _port_halt
_port_halt:
dint
.L1: jmp .L1
firmware/chibios/os/ports/GCC/MSP430/chtypes.h
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file MSP430/chtypes.h
* @brief MSP430 architecture port system types.
*
* @addtogroup MSP430_CORE
* @{
*/
#ifndef _CHTYPES_H_
#define _CHTYPES_H_
#include <stddef.h>
#include <stdint.h>
#include <stdbool.h>
typedef bool bool_t; /**< Fast boolean type. */
typedef uint8_t tmode_t; /**< Thread flags. */
typedef uint8_t tstate_t; /**< Thread state. */
typedef uint8_t trefs_t; /**< Thread references counter. */
typedef uint8_t tslices_t; /**< Thread time slices counter. */
typedef uint16_t tprio_t; /**< Thread priority. */
typedef int16_t msg_t; /**< Inter-thread message. */
typedef int16_t eventid_t; /**< Event Id. */
typedef uint16_t eventmask_t; /**< Event mask. */
typedef uint16_t flagsmask_t; /**< Event flags. */
typedef uint16_t systime_t; /**< System time. */
typedef int16_t cnt_t; /**< Resources counter. */
/**
* @brief Inline function modifier.
*/
#define INLINE inline
/**
* @brief ROM constant modifier.
* @note It is set to use the "const" keyword in this port.
*/
#define ROMCONST const
/**
* @brief Packed structure modifier (within).
* @note It uses the "packed" GCC attribute.
*/
#define PACK_STRUCT_STRUCT __attribute__((packed))
/**
* @brief Packed structure modifier (before).
* @note Empty in this port.
*/
#define PACK_STRUCT_BEGIN
/**
* @brief Packed structure modifier (after).
* @note Empty in this port.
*/
#define PACK_STRUCT_END
#endif /* _CHTYPES_H_ */
/** @} */
firmware/chibios/os/ports/GCC/MSP430/port.dox
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @defgroup MSP430 MSP430
* @details MSP430 port for the GCC compiler.
*
* @section MSP430_INTRO Introduction
* This port supports all the cores implementing the MSP430 architecture.
*
* @section MSP430_STATES Mapping of the System States in the MSP430 port
* The ChibiOS/RT logical @ref system_states are mapped as follow in the MSP430
* port:
* - <b>Init</b>. This state is represented by the startup code and the
* initialization code before @p chSysInit() is executed. It has not a
* special hardware state associated.
* - <b>Normal</b>. This is the state the system has after executing
* @p chSysInit(). Interrupts are enabled.
* - <b>Suspended</b>. Interrupts are disabled.
* - <b>Disabled</b>. Interrupts are disabled. This state is equivalent to the
* Suspended state because there are no fast interrupts in this architecture.
* - <b>Sleep</b>. Not yet implemented.
* - <b>S-Locked</b>. Interrupts are disabled.
* - <b>I-Locked</b>. This state is equivalent to the SRI state, the
* @p chSysLockI() and @p chSysUnlockI() APIs do nothing (still use them in
* order to formally change state because this may change).
* - <b>Serving Regular Interrupt</b>. Normal interrupt service code.
* - <b>Serving Fast Interrupt</b>. Not present in this architecture.
* - <b>Serving Non-Maskable Interrupt</b>. The MSP430 has several non
* maskable interrupt sources that can be associated to this state.
* - <b>Halted</b>. Implemented as an infinite loop with interrupts disabled.
* .
* @section MSP430_NOTES The MSP430 port notes
* - The MSP430 does not have a dedicated interrupt stack, make sure to reserve
* enough stack space for interrupts in each thread stack. This can be done
* by modifying the @p INT_REQUIRED_STACK configuration options.
* - The state of the hardware multiplier is not saved in the thread context,
* make sure to use it in <b>Suspended</b> state (interrupts masked).
* - The port code does not define the switch to a low power mode for the
* idle thread because the MSP430 has several low power modes. You can
* select the proper low power mode for you application by defining the
* macro @p port_wait_for_interrupt().
* .
* @ingroup gcc
*/
/**
* @defgroup MSP430_CONF Configuration Options
* @details MSP430 Configuration Options. The MSP430 port allows some
* architecture-specific configurations settings that can be overridden
* by redefining them in @p chconf.h. Usually there is no need to change
* the default values.
* - @p INT_REQUIRED_STACK, this value represent the amount of stack space
* used by the interrupt handlers.<br>
* The default for this value is @p 32, this space is allocated for each
* thread so be careful in order to not waste precious RAM space.
* - @p IDLE_THREAD_STACK_SIZE, stack area size to be assigned to the IDLE
* thread. Usually there is no need to change this value unless inserting
* code in the IDLE thread hook macro.
* .
* @ingroup MSP430
*/
/**
* @defgroup MSP430_CORE Core Port Implementation
* @details MSP430 specific port code, structures and macros.
*
* @ingroup MSP430
*/
/**
* @defgroup MSP430_STARTUP Startup Support
* @details ChibiOS/RT doed not provide startup files for the MSP430, there
* are no special startup requirement so the normal toolchain-provided
* startup files can be used.
*
* @ingroup MSP430
*/
firmware/chibios/os/ports/GCC/MSP430/port.mk
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# List of the ChibiOS/RT MSP430 port files.
PORTSRC =
PORTASM = ${CHIBIOS}/os/ports/GCC/MSP430/chcoreasm.s
PORTINC = ${CHIBIOS}/os/ports/GCC/MSP430
firmware/chibios/os/ports/GCC/MSP430/rules.mk
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# MSP430 makefile scripts and rules.
# Automatic compiler options
OPT = $(USE_OPT)
COPT = $(USE_COPT)
CPPOPT = $(USE_CPPOPT)
ifeq ($(USE_LINK_GC),yes)
OPT += -ffunction-sections -fdata-sections
endif
# Source files groups
SRC = $(CSRC)$(CPPSRC)
# Object files groups
COBJS = $(CSRC:.c=.o)
CPPOBJS = $(CPPSRC:.cpp=.o)
ASMOBJS = $(ASMSRC:.s=.o)
OBJS = $(ASMOBJS) $(COBJS) $(CPPOBJS)
# Paths
IINCDIR = $(patsubst %,-I%,$(INCDIR) $(DINCDIR) $(UINCDIR))
LLIBDIR = $(patsubst %,-L%,$(DLIBDIR) $(ULIBDIR))
# Macros
DEFS = $(DDEFS) $(UDEFS)
ADEFS = $(DADEFS) $(UADEFS)
# Libs
LIBS = $(DLIBS) $(ULIBS)
MCFLAGS = -mmcu=$(MCU)
ODFLAGS = -x --syms
ASFLAGS = $(MCFLAGS) -Wa,-amhls=$(<:.s=.lst) $(ADEFS)
CPFLAGS = $(MCFLAGS) $(OPT) $(COPT) $(WARN) -Wa,-alms=$(<:.c=.lst) $(DEFS)
ifeq ($(LINK_GC),yes)
LDFLAGS = $(MCFLAGS) -T$(LDSCRIPT) -Wl,-Map=$(PROJECT).map,--cref,--no-warn-mismatch,--gc-sections $(LLIBDIR)
else
LDFLAGS = $(MCFLAGS) -T$(LDSCRIPT) -Wl,-Map=$(PROJECT).map,--cref,--no-warn-mismatch $(LLIBDIR)
endif
# Generate dependency information
ASFLAGS += -MD -MP -MF .dep/$(@F).d
CPFLAGS += -MD -MP -MF .dep/$(@F).d
#
# Makefile rules
#
all: $(OBJS) $(PROJECT).elf $(PROJECT).hex $(PROJECT).bin $(PROJECT).dmp MAKE_ALL_RULE_HOOK
MAKE_ALL_RULE_HOOK:
$(CPPOBJS) : %.o : %.cpp
@echo
$(CPPC) -c $(CPPFLAGS) -I . $(IINCDIR) $< -o $@
$(COBJS) : %.o : %.c
@echo
$(CC) -c $(CPFLAGS) -I . $(IINCDIR) $< -o $@
$(ASMOBJS) : %.o : %.s
@echo
$(AS) -c $(ASFLAGS) -I . $(IINCDIR) $< -o $@
%elf: $(OBJS)
@echo
$(LD) $(OBJS) $(LDFLAGS) $(LIBS) -o $@
%hex: %elf
$(HEX) $< $@
%bin: %elf
$(BIN) $< $@
%dmp: %elf
$(OD) $(ODFLAGS) $< > $@
clean:
-rm -f $(OBJS)
-rm -f $(CSRC:.c=.lst) $(CPPSRC:.cpp=.lst) $(ASMSRC:.s=.lst)
-rm -f $(PROJECT).elf $(PROJECT).dmp $(PROJECT).map $(PROJECT).hex $(PROJECT).bin
-rm -fR .dep
#
# Include the dependency files, should be the last of the makefile
#
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
# *** EOF ***