Blinky works

2025-01-14 17:58:11 +08:00 · 2021-05-11 18:05:03 +01:00 · 2021-05-11 18:05:03 +01:00 · c44549bfa5
commit c44549bfa5
parent d6852f5e74
8 changed files with 109 additions and 111 deletions
--- a/examples/stm32/Makefile
+++ b/examples/stm32/Makefile
@ -2,44 +2,58 @@
 PROG = firmware
 ARCH ?= stm32f1
 ROOT = $(realpath $(CURDIR)/../..)
-ENV ?= docker run -it --rm -v $(ROOT):$(ROOT) -w $(CURDIR) mdashnet/armgcc
-MFLAGS = -DMG_ENABLE_LINES=1 -DMG_ARCH=MG_ARCH_FREERTOS_TCP -DMG_ENABLE_FS=0
+DOCKER ?= docker run -it --rm -v $(ROOT):$(ROOT) -w $(CURDIR) mdashnet/armgcc
+MONGOOSE_OPTS = -DMG_ENABLE_LINES=1 -DMG_ARCH=MG_ARCH_FREERTOS_TCP -DMG_ENABLE_FS=0
 ifeq "$(ARCH)" "stm32f1"
 MCU = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
 else ifeq "$(ARCH)" "stm32f7"
 MCU = -mcpu=cortex-m7 -mthumb -mfpu=fpv5-sp-d16 -mfloat-abi=hard
 endif
 INCS = -I$(ARCH) -I. -I../.. -Ifreertos-kernel/include -Ifreertos-tcp/include -Ifreertos-tcp/portable/Compiler/GCC
-CFLAGS = -W -Wall -Og $(MCU) -fdata-sections -ffunction-sections $(INCS) $(MFLAGS) $(EXTRA)
-AFLAGS = --warn --fatal-warnings $(MCU)
-LDFLAGS = $(MCU) -specs=nano.specs -T$(ARCH)/link.ld -nostartfiles -nostdlib -lc -lm -lnosys -lgcc #-Wl,-Map=obj/$(PROG).map,--cref -Wl,--gc-sections
-A_SRC = $(ARCH)/boot.s
-C_SRC = main.c # $(wildcard freertos-tcp/*.c)
-C_SRC += freertos-kernel/portable/MemMang/heap_4.c $(ARCH)/port.c
-C_SRC += freertos-kernel/list.c freertos-kernel/tasks.c freertos-kernel/queue.c
-OBJS := $(C_SRC:%.c=obj/%.o) $(A_SRC:%.s=obj/%.o) #obj/mongoose.o
+CFLAGS = -W -Wall -Os -g $(MCU) -fdata-sections -ffunction-sections $(INCS) $(MONGOOSE_OPTS) $(EXTRA)
+LDFLAGS = $(MCU) -specs=nano.specs -Tobj/link.ld -nostartfiles -nostdlib -lc -lm -lnosys -lgcc #-Wl,-Map=obj/$(PROG).map,--cref -Wl,--gc-sections
+SRCS = main.c # $(wildcard freertos-tcp/*.c)
+# SRCS += freertos-kernel/portable/MemMang/heap_4.c $(ARCH)/port.c
+# SRCS += freertos-kernel/list.c freertos-kernel/tasks.c freertos-kernel/queue.c
+OBJS = obj/boot.o $(SRCS:%.c=obj/%.o) #obj/mongoose.o  # ORDER MATTERS - boot (vector table) first!

 all: $(PROG).hex

 $(PROG).bin: $(PROG).elf
-	$(ENV) arm-none-eabi-objcopy -O binary $< $@
+	$(DOCKER) arm-none-eabi-objcopy -O binary $< $@

 $(PROG).hex: $(PROG).bin
-	$(ENV) arm-none-eabi-objcopy -I binary -O ihex --change-address 0x8000000 $< $@
+	$(DOCKER) arm-none-eabi-objcopy -I binary -O ihex --change-address 0x8000000 $< $@

-$(PROG).elf: $(OBJS)
-	$(ENV) arm-none-eabi-gcc $^ $(LDFLAGS) -o $@
+obj/link.ld: $(ARCH)/link.ld
+	$(DOCKER) arm-none-eabi-cpp -P -imacros $(ARCH)/device.h $< > $@
+
+$(PROG).elf: $(OBJS) obj/link.ld
+	$(DOCKER) arm-none-eabi-gcc $(OBJS) $(LDFLAGS) -o $@

 obj/%.o: %.c
 	@mkdir -p $(dir $@)
-	$(ENV) arm-none-eabi-gcc $(CFLAGS) -c $< -o $@
+	$(DOCKER) arm-none-eabi-gcc $(CFLAGS) -c $< -o $@

-obj/%.o: %.s
+obj/boot.o:
 	@mkdir -p $(dir $@)
-	$(ENV) arm-none-eabi-as $(AFLAGS) $< -o $@
+	$(DOCKER) arm-none-eabi-as --warn --fatal-warnings $(MCU) $(ARCH)/boot.s -o $@

 obj/mongoose.o: 
-	$(ENV) arm-none-eabi-gcc $(CFLAGS) -c ../../mongoose.c -o $@
+	$(DOCKER) arm-none-eabi-gcc $(CFLAGS) -c ../../mongoose.c -o $@
+
+flash: $(PROG).bin
+	st-flash write $< 0x8000000
+
+gdb: $(PROG).elf
+	arm-none-eabi-gdb \
+		-ex 'set confirm off' \
+        -ex 'target extended-remote :4242' \
+        -ex 'monitor reset halt' \
+        -ex 'monitor reset init' \
+		-ex 'b main' \
+		-ex 'r' \
+        $<

 clean:
 	@rm -rf *.{bin,elf,map,lst,tgz,zip,hex} obj
--- a/examples/stm32/README.md
+++ b/examples/stm32/README.md
@ -0,0 +1,3 @@
+# Mongoose with STM32, FreeRTOS kernel and FreeRTOS-TCP network stack
+
+The `-DMG_ARCH=MG_ARCH_FREERTOS_TCP` compilation flag enables FreeRTOS+TCP support.
--- a/examples/stm32/main.c
+++ b/examples/stm32/main.c
@ -33,7 +33,8 @@ static void fn(void *args) {
  // int delay_ms = *(int *) args;
  for (;;) {
    led_toggle();
-    vTaskDelay(pdMS_TO_TICKS(300));
+    spin(500000);
+    // vTaskDelay(pdMS_TO_TICKS(0));
  };
  (void) args;
 }
@ -41,7 +42,8 @@ static void fn(void *args) {
 int main(void) {
  init_ram();
  init_hardware();
-  xTaskCreate(fn, "server", 512, NULL, configMAX_PRIORITIES - 1, NULL);
-  vTaskStartScheduler();
+  fn(NULL);
+  // xTaskCreate(fn, "server", 512, NULL, configMAX_PRIORITIES - 1, NULL);
+  // vTaskStartScheduler();
  return 0;
 }
--- a/examples/stm32/stm32f1/FreeRTOSConfig.h
+++ b/examples/stm32/stm32f1/FreeRTOSConfig.h
@ -22,36 +22,29 @@
 #define configENABLE_BACKWARD_COMPATIBILITY 0
 #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5

-/* Memory allocation related definitions. */
 #define configSUPPORT_STATIC_ALLOCATION 0
 #define configSUPPORT_DYNAMIC_ALLOCATION 1
 #define configTOTAL_HEAP_SIZE ((size_t)(8 * 1024))
 #define configAPPLICATION_ALLOCATED_HEAP 0

-/* Hook function related definitions. */
 #define configUSE_IDLE_HOOK 0
 #define configUSE_TICK_HOOK 0
 #define configCHECK_FOR_STACK_OVERFLOW 0
 #define configUSE_MALLOC_FAILED_HOOK 0
 #define configUSE_DAEMON_TASK_STARTUP_HOOK 0

-/* Run time and task stats gathering related definitions. */
 #define configGENERATE_RUN_TIME_STATS 0
 #define configUSE_TRACE_FACILITY 0
 #define configUSE_STATS_FORMATTING_FUNCTIONS 0

-/* Co-routine related definitions. */
 #define configUSE_CO_ROUTINES 0
 #define configMAX_CO_ROUTINE_PRIORITIES 1

-/* Software timer related definitions. */
 #define configUSE_TIMERS 0
 #define configTIMER_TASK_PRIORITY 3
 #define configTIMER_QUEUE_LENGTH 10
 #define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE

-/* Interrupt nesting behaviour configuration. */
-/* Cortex-M specific definitions. */
 #ifdef __NVIC_PRIO_BITS
 #define configPRIO_BITS __NVIC_PRIO_BITS
 #else
@ -61,34 +54,29 @@
 #define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
 #define configKERNEL_INTERRUPT_PRIORITY \
  (configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
-/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
-See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
 #define configMAX_SYSCALL_INTERRUPT_PRIORITY \
  (configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))

-/* FreeRTOS MPU specific definitions. */
 #define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0

-/* Optional functions - most linkers will remove unused functions anyway. */
-#define INCLUDE_vTaskPrioritySet 0
-#define INCLUDE_uxTaskPriorityGet 0
-#define INCLUDE_vTaskDelete 0
-#define INCLUDE_vTaskSuspend 0
-#define INCLUDE_xResumeFromISR 0
-#define INCLUDE_vTaskDelayUntil 0
+#define INCLUDE_vTaskPrioritySet 1
+#define INCLUDE_uxTaskPriorityGet 1
+#define INCLUDE_vTaskDelete 1
+#define INCLUDE_vTaskSuspend 1
+#define INCLUDE_xResumeFromISR 1
+#define INCLUDE_vTaskDelayUntil 1
 #define INCLUDE_vTaskDelay 1
-#define INCLUDE_xTaskGetSchedulerState 0
-#define INCLUDE_xTaskGetCurrentTaskHandle 0
-#define INCLUDE_uxTaskGetStackHighWaterMark 0
-#define INCLUDE_xTaskGetIdleTaskHandle 0
-#define INCLUDE_eTaskGetState 0
-#define INCLUDE_xEventGroupSetBitFromISR 0
-#define INCLUDE_xTimerPendFunctionCall 0
-#define INCLUDE_xTaskAbortDelay 0
-#define INCLUDE_xTaskGetHandle 0
-#define INCLUDE_xTaskResumeFromISR 0
+#define INCLUDE_xTaskGetSchedulerState 1
+#define INCLUDE_xTaskGetCurrentTaskHandle 1
+#define INCLUDE_uxTaskGetStackHighWaterMark 1
+#define INCLUDE_xTaskGetIdleTaskHandle 1
+#define INCLUDE_eTaskGetState 1
+#define INCLUDE_xEventGroupSetBitFromISR 1
+#define INCLUDE_xTimerPendFunctionCall 1
+#define INCLUDE_xTaskAbortDelay 1
+#define INCLUDE_xTaskGetHandle 1
+#define INCLUDE_xTaskResumeFromISR 1

-/* Redirect FreeRTOS port interrupts. */
 #define vPortSVCHandler SVC_handler
 #define xPortPendSVHandler pending_SV_handler
 #define xPortSysTickHandler SysTick_handler
--- a/examples/stm32/stm32f1/boot.s
+++ b/examples/stm32/stm32f1/boot.s
@ -1,4 +1,4 @@
-.cpu cortex-m0
+.cpu cortex-m3
 .thumb

 .word   _estack     /* stack top address */
--- a/examples/stm32/stm32f1/device.h
+++ b/examples/stm32/stm32f1/device.h
@ -1,67 +1,18 @@
 // Copyright (c) 2018-2021 Cesanta Software Limited
 // All rights reserved
-//
-// TRM: https://www.st.com/resource/en/reference_manual/cd00171190.pdf

-#include <stdint.h>
-#include <string.h>
+#include "mcu.h"

-#define LED_PIN 13  // PC13
-#define TX_PIN 9    // PA9
-#define RX_PIN 10   // PA10
-#define BIT(x) ((uint32_t) 1 << (x))
-
-// RCC registers, TRM section 7.3
-struct rcc {
-  volatile uint32_t CR, CFGR, CIR, APB2RSTR, APB1RSTR, AHBENR;
-  volatile uint32_t APB2ENR, APB1ENR, BDCR, CSR;
-};
-#define RCC ((struct rcc *) 0x40021000)
-
-// GPIO registers, TRM section 9.2
-struct gpio {
-  volatile uint32_t CRL, CRH, IDR, ODR, BSRR, BRR, LCKR;
-};
-#define GPIOA ((struct gpio *) 0x40010800)
-#define GPIOB ((struct gpio *) 0x4001c000)
-#define GPIOC ((struct gpio *) 0x40011000)
-// enum { MODE_INPUT = 0, MODE_OUTPUT_1, MODE_OUTPUT_2, MODE_OUTPUT_3 };
-
-// UART registers, TRM section 27.6
-struct uart {
-  volatile uint32_t SR, DR, BRR, CR1, CR2, CR3, GTPR;
-};
-#define UART1 ((struct uart *) 0x40013800)
-#define UART2 ((struct uart *) 0x40004400)
-#define UART3 ((struct uart *) 0x40004800)
-#define UART4 ((struct uart *) 0x40004c00)
-#define UART5 ((struct uart *) 0x40005000)
-#define UART_HAS_DATA(u) ((u)->SR & BIT(5))  // RXNE
-#define UART_READ(u) ((u)->DR & 255)
-
-static inline void setreg(uint32_t r, uint32_t clear_mask, uint32_t set_mask) {
-  r &= ~(clear_mask);
-  r |= (set_mask);
-}
-
-static inline void pinmode(struct gpio *gpio, uint32_t pin, uint32_t mode) {
-  uint32_t shift = ((pin) -8) * 4;
-  setreg(gpio->CRH, 0xf << shift, mode << shift);
-}
-
-static inline void init_ram(void) {
-  extern uint32_t _bss_start, _bss_end;
-  extern uint32_t _data_start, _data_end, _data_flash_start;
-  memset(&_bss_start, 0, ((char *) &_bss_end - (char *) &_bss_start));
-  memcpy(&_data_start, &_data_flash_start,
-         ((char *) &_data_end - (char *) &_data_start));
-}
+// These are NUCLEO-F103RB settings - adjust for your specific board
+#define RAM_SIZE 20480    // RAM size on this device, needed by link.ld
+#define ROM_SIZE 131072   // Flash size for this device, needed by link.ld
+#define LED1 PIN('A', 5)  // On-board LED pin

 static inline void led_toggle(void) {
-  GPIOC->ODR ^= (1 << LED_PIN);
+  gpio_toggle(LED1);
 }

 static inline void init_hardware(void) {
-  RCC->APB2ENR |= BIT(4);           // GPIOC, for LED on PC13
-  pinmode(GPIOC, LED_PIN, 0b0110);  // open drain, output 2
+  RCC->APB2ENR |= BIT(2) | BIT(3) | BIT(4);  // Init GPIO banks A,B,C
+  gpio_init(LED1, OUTPUT);                   // Set LED
 }
--- a/examples/stm32/stm32f1/link.ld
+++ b/examples/stm32/stm32f1/link.ld
@ -1,9 +1,9 @@
-ENTRY(_reset)
-_estack = 0x20001000;
+ENTRY(_reset);
 MEMORY {
-  rom(rx)   : ORIGIN = 0x08000000, LENGTH = 128k
-  ram(rwx)  : ORIGIN = 0x20000000, LENGTH = 20k
+  ram(rwx)  : ORIGIN = 0x20000000, LENGTH = RAM_SIZE
+  rom(rx)   : ORIGIN = 0x08000000, LENGTH = ROM_SIZE
 }
+_estack = 0x20000000 + RAM_SIZE;
 SECTIONS {
  .text : { *(.text*) } > rom
  .rodata : { *(.rodata*) } > rom
--- a/examples/stm32/stm32f1/mcu.h
+++ b/examples/stm32/stm32f1/mcu.h
@ -0,0 +1,40 @@
+// Copyright (c) 2018-2021 Cesanta Software Limited
+// All rights reserved
+// TRM: https://www.st.com/resource/en/reference_manual/cd00171190.pdf
+// clang-format off
+
+#include <stdint.h>
+#include <string.h>
+
+static inline void spin(uint32_t count) { while (count--) asm("nop"); }
+static inline void setreg(volatile uint32_t *r, uint32_t clear_mask, uint32_t set_mask) { *r &= ~clear_mask; *r |= set_mask; }
+
+#define BIT(x) ((uint32_t) 1 << (x))
+#define PIN(bank, num) ((((bank) - 'A') << 8) | (num))
+
+// RCC registers, TRM section 7.3, memory map section 3.3
+struct rcc { volatile uint32_t CR, CFGR, CIR, APB2RSTR, APB1RSTR, AHBENR, APB2ENR, APB1ENR, BDCR, CSR; };
+#define RCC ((struct rcc *) 0x40021000)
+
+static inline void init_ram(void) {
+  extern uint32_t _bss_start, _bss_end;
+  extern uint32_t _data_start, _data_end, _data_flash_start;
+  memset(&_bss_start, 0, ((char *) &_bss_end - (char *) &_bss_start));
+  memcpy(&_data_start, &_data_flash_start, ((char *) &_data_end - (char *) &_data_start));
+}
+
+// GPIO registers, TRM section 9.2, memory map section 3.3, regs 9.1.0
+enum { GPIO_OUT_PP, GPIO_OUT_OD, GPIO_AF_PP, GPIO_AF_OD, GPIO_ANA = 0, GPIO_FLOATING, GPIO_PULLED };  // 9.1.0
+enum { GPIO_IN, GPIO_OUT_10MHZ, GPIO_OUT_2MHZ, GPIO_OUT_50MHZ };  // 9.1.0
+enum { OUTPUT = (GPIO_OUT_PP << 2) | GPIO_OUT_2MHZ, INPUT = (GPIO_FLOATING << 2) | GPIO_IN, INPUT_PULLUP = (GPIO_PULLED << 2) | GPIO_IN};
+struct gpio { volatile uint32_t CRL, CRH, IDR, ODR, BSRR, BRR, LCKR; };
+static inline struct gpio *gpio_bank(uint16_t pin) { return (struct gpio *) (0x40010800 + 0x400 * (pin >> 8)); }
+static inline void gpio_on(uint16_t pin)      { gpio_bank(pin)->ODR |= BIT(pin & 255); }
+static inline void gpio_off(uint16_t pin)     { gpio_bank(pin)->ODR &= ~BIT(pin & 255); }
+static inline void gpio_toggle(uint16_t pin)  { gpio_bank(pin)->ODR ^= BIT(pin & 255); }
+static inline void gpio_init(uint16_t pin, uint32_t mode) {
+  uint8_t n = pin & 255, shift = (n < 8 ? n : (n - 8)) * 4;
+  volatile uint32_t *reg = n < 8 ? &gpio_bank(pin)->CRL : &gpio_bank(pin)->CRH;
+  setreg(reg, 15 << shift, mode << shift);
+}
+// clang-format on