diff options
| -rw-r--r-- | .gitignore | 1 | ||||
| -rw-r--r-- | CMakeLists.txt | 74 | ||||
| -rw-r--r-- | apps/CMakeLists.txt | 1 | ||||
| -rw-r--r-- | apps/dma1/CMakeLists.txt | 19 | ||||
| -rw-r--r-- | apps/dma1/dma1.cpp | 207 | ||||
| -rw-r--r-- | cmake/stm32.toolchain.cmake | 20 | ||||
| -rw-r--r-- | gdb-start | 35 | ||||
| -rw-r--r-- | host/CMakeLists.txt | 28 | ||||
| -rw-r--r-- | host/elfinfo.cpp | 257 | ||||
| -rw-r--r-- | include/debug.h (renamed from debug.h) | 0 | ||||
| -rw-r--r-- | include/playground.h | 12 | ||||
| -rw-r--r-- | init_high.cpp | 6 | ||||
| -rw-r--r-- | os1.cpp | 22 | ||||
| -rw-r--r-- | os2.cpp | 341 | ||||
| -rw-r--r-- | os2_cm3.s | 56 | ||||
| -rw-r--r-- | playground.h | 6 | ||||
| -rw-r--r-- | serial1.cpp | 3 |
17 files changed, 1042 insertions, 46 deletions
@@ -1,2 +1,3 @@ .idea build +.gdb_history diff --git a/CMakeLists.txt b/CMakeLists.txt index 3094ff5..48a5736 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -4,6 +4,15 @@ set(CMAKE_TOOLCHAIN_FILE "${CMAKE_SOURCE_DIR}/cmake/stm32.toolchain.cmake") project(stm32f103-playground C CXX ASM) +include(ExternalProject) +ExternalProject_Add(host-utils + SOURCE_DIR "${CMAKE_SOURCE_DIR}/host" + CONFIGURE_COMMAND cmake "-GUnix Makefiles" <SOURCE_DIR> -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR> + BUILD_COMMAND "make" + INSTALL_DIR "${CMAKE_BINARY_DIR}/host-utils" + INSTALL_COMMAND make install +) + function(add_extra_commands target_name) add_custom_command(TARGET ${target_name} POST_BUILD COMMAND mkdir -p ${target_name}-info && arm-none-eabi-objdump -D ${target_name} > ${target_name}-info/${target_name}.asm) @@ -17,13 +26,16 @@ function(add_extra_commands target_name) COMMAND mkdir -p ${target_name}-info && arm-none-eabi-objcopy -O ihex ${target_name} ${target_name}-info/${target_name}.hex) add_custom_command(TARGET ${target_name} POST_BUILD COMMAND mkdir -p ${target_name}-info && arm-none-eabi-objcopy -O binary ${target_name} ${target_name}-info/${target_name}.bin) + + add_custom_command(TARGET ${target_name} DEPENDS host-utils POST_BUILD + COMMAND "${CMAKE_BINARY_DIR}/host-utils/bin/elfinfo" -f ${target_name} -t 0x08000000:20k -d 0x20000000:5k) endfunction() # https://github.com/cjlano/tinyprintf add_library(tinyprintf STATIC tinyprintf/tinyprintf.c tinyprintf/tinyprintf.h) target_include_directories(tinyprintf PUBLIC tinyprintf) -set(STM32F10X_STDPERIPH_LIB tmp/STM32F10x_StdPeriph_Lib_V3.5.0) +set(STM32F10X_STDPERIPH_LIB ${CMAKE_SOURCE_DIR}/tmp/STM32F10x_StdPeriph_Lib_V3.5.0) set(STM32F10X_STDPERIPH_DEFINES STM32F10X_MD USE_STDPERIPH_DRIVER) ######################################################################################################### @@ -32,7 +44,7 @@ set(STM32F10X_STDPERIPH_DEFINES STM32F10X_MD USE_STDPERIPH_DRIVER) add_executable(test1.elf test1.cpp init_low.s init_high.cpp include/init_high.h include/stm32f10x_conf.h # http://www.sparetimelabs.com/tinyprintf/tinyprintf.php tinyprintf/tinyprintf.c tinyprintf/tinyprintf.h - debug.cpp debug.h + debug.cpp include/debug.h ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c @@ -55,7 +67,7 @@ add_extra_commands(test1.elf) # serial1 add_executable(serial1.elf serial1.cpp init_low.s init_high.cpp include/init_high.h include/stm32f10x_conf.h - debug.cpp debug.h + debug.cpp include/debug.h # http://www.sparetimelabs.com/tinyprintf/tinyprintf.php tinyprintf/tinyprintf.c tinyprintf/tinyprintf.h ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c @@ -79,8 +91,8 @@ add_extra_commands(serial1.elf) # serial2 add_executable(serial2.elf serial2.cpp init_low.s init_high.cpp include/init_high.h include/stm32f10x_conf.h - playground.h - debug.cpp debug.h + include/playground.h + debug.cpp include/debug.h ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c @@ -104,8 +116,8 @@ add_extra_commands(serial2.elf) # os1 add_executable(os1.elf os1.cpp os1_cm3.s init_low.s init_high.cpp include/init_high.h include/stm32f10x_conf.h - playground.h - debug.cpp debug.h + include/playground.h + debug.cpp include/debug.h ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c @@ -124,3 +136,51 @@ target_compile_definitions(os1.elf PUBLIC ${STM32F10X_STDPERIPH_DEFINES}) set_target_properties(os1.elf PROPERTIES LINK_FLAGS "-nostartfiles -T${CMAKE_SOURCE_DIR}/cmake/stm32.ld") add_extra_commands(os1.elf) + +######################################################################################################### +# os2 + +add_executable(os2.elf os2.cpp os2_cm3.s init_low.s init_high.cpp include/init_high.h include/stm32f10x_conf.h + include/playground.h + debug.cpp include/debug.h + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c + ) +target_link_libraries(os2.elf tinyprintf) + +target_include_directories(os2.elf PUBLIC + include + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/inc) +target_compile_definitions(os2.elf PUBLIC ${STM32F10X_STDPERIPH_DEFINES}) + +set_target_properties(os2.elf PROPERTIES LINK_FLAGS "-nostartfiles -T${CMAKE_SOURCE_DIR}/cmake/stm32.ld") +add_extra_commands(os2.elf) + +add_subdirectory(apps) + +## + +add_library(playground OBJECT + init_low.s init_high.cpp + include/init_high.h + + include/stm32f10x_conf.h + + include/playground.h + + debug.cpp + include/debug.h) +target_include_directories(playground PUBLIC + include + tinyprintf + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/inc + ) +target_compile_definitions(playground PUBLIC ${STM32F10X_STDPERIPH_DEFINES}) diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt new file mode 100644 index 0000000..57fb795 --- /dev/null +++ b/apps/CMakeLists.txt @@ -0,0 +1 @@ +add_subdirectory(dma1) diff --git a/apps/dma1/CMakeLists.txt b/apps/dma1/CMakeLists.txt new file mode 100644 index 0000000..689e437 --- /dev/null +++ b/apps/dma1/CMakeLists.txt @@ -0,0 +1,19 @@ +add_executable(dma1.elf dma1.cpp + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c + $<TARGET_OBJECTS:playground> + ) + +target_include_directories(dma1.elf PUBLIC + $<TARGET_PROPERTY:playground,INTERFACE_INCLUDE_DIRECTORIES> + ) +target_compile_definitions(dma1.elf PUBLIC ${STM32F10X_STDPERIPH_DEFINES}) +target_link_libraries(dma1.elf tinyprintf) + +set_target_properties(dma1.elf PROPERTIES LINK_FLAGS "-nostartfiles -T${CMAKE_SOURCE_DIR}/cmake/stm32.ld") +add_extra_commands(dma1.elf) diff --git a/apps/dma1/dma1.cpp b/apps/dma1/dma1.cpp new file mode 100644 index 0000000..4179c65 --- /dev/null +++ b/apps/dma1/dma1.cpp @@ -0,0 +1,207 @@ +#include <stdint.h> +#include <stm32f10x.h> +#include <stm32f10x_rcc.h> +#include <stm32f10x_gpio.h> +#include <stm32f10x_spi.h> +#include <stm32f10x_dma.h> +#include <misc.h> + +#include "debug.h" +#include "tinyprintf.h" +#include "playground.h" + +extern "C" +__attribute__((naked, used)) +void HardFault_Handler_C(uint32_t *hardfault_args) { + dbg_printf("r0 = 0x%08lx (%lu)\n", hardfault_args[0], hardfault_args[0]); + dbg_printf("r1 = 0x%08lx (%lu)\n", hardfault_args[1], hardfault_args[1]); + dbg_printf("r2 = 0x%08lx (%lu)\n", hardfault_args[2], hardfault_args[2]); + dbg_printf("r3 = 0x%08lx (%lu)\n", hardfault_args[3], hardfault_args[3]); + dbg_printf("r12 = 0x%08lx (%lu)\n", hardfault_args[4], hardfault_args[4]); + dbg_printf("lr = 0x%08lx (%lu)\n", hardfault_args[5], hardfault_args[5]); + dbg_printf("pc = 0x%08lx (%lu)\n", hardfault_args[6], hardfault_args[6]); + dbg_printf("psr = 0x%08lx (%lu)\n", hardfault_args[7], hardfault_args[7]); + dbg_printf("\n"); + + halt(); +} + +volatile bool run = true; + +void manual_spi_write(char &c); + +void dma_spi_write(); + +volatile bool manual = false; +volatile bool dma_busy; + +static uint8_t dma_buffer[256]; + +/* + * When we get there the stack pointer is set + */ +int main() { + SystemInit(); + + init_printf(nullptr, dbg_putc); + + dbg_printf("DMA with SPI sample\n"); + + for (uint16_t i = 0; i < SizeOfArray(dma_buffer); i++) { + dma_buffer[i] = uint8_t(i); + } + + RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); + + NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0); + NVIC_InitTypeDef NVIC_InitStruct = { + NVIC_IRQChannel: DMA1_Channel3_IRQn, + NVIC_IRQChannelPreemptionPriority: 0, + NVIC_IRQChannelSubPriority: 0, + NVIC_IRQChannelCmd: ENABLE, + }; + NVIC_Init(&NVIC_InitStruct); + NVIC_EnableIRQ(DMA1_Channel3_IRQn); + + + RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO + | RCC_APB2Periph_SPI1 + | RCC_APB2Periph_GPIOA + | RCC_APB2Periph_GPIOB + | RCC_APB2Periph_GPIOC, + ENABLE); + + /* ***************************************** */ + + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOB, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOB, DISABLE); + + GPIO_ResetBits(GPIOB, GPIO_Pin_5); + GPIO_InitTypeDef gpioInit; + GPIO_StructInit(&gpioInit); + gpioInit.GPIO_Pin = GPIO_Pin_5; + gpioInit.GPIO_Mode = GPIO_Mode_Out_PP; + gpioInit.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_Init(GPIOB, &gpioInit); + + // ---------------------------------------------------- + // SPI Configuration + // Configure SPI MOSI to be on pin PA7, SCK on PA5 and NSS on PA15 + + SPI_InitTypeDef spiInit; + SPI_StructInit(&spiInit); + spiInit.SPI_Direction = SPI_Direction_1Line_Tx; + spiInit.SPI_Mode = SPI_Mode_Master; + spiInit.SPI_DataSize = SPI_DataSize_8b; + spiInit.SPI_CPOL = SPI_CPOL_Low; + spiInit.SPI_CPHA = SPI_CPHA_1Edge; + spiInit.SPI_NSS = SPI_NSS_Soft; + spiInit.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64; + spiInit.SPI_FirstBit = SPI_FirstBit_MSB; + SPI_I2S_DeInit(SPI1); + SPI_Init(SPI1, &spiInit); + SPI_Cmd(SPI1, ENABLE); + SPI_I2S_DMACmd(SPI1, SPI_I2S_DMAReq_Tx, ENABLE); + + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOA, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOA, DISABLE); + GPIO_StructInit(&gpioInit); + gpioInit.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_7 | GPIO_Pin_15; + gpioInit.GPIO_Mode = GPIO_Mode_AF_PP; + gpioInit.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_Init(GPIOA, &gpioInit); + + if (manual) { + char c = 'a'; + while (run) { + manual_spi_write(c); + } + } else { + while (run) { + dma_spi_write(); + } + } + + return 0; +} + +/** + * Test code to ensure that the SPI part is configured correctly + */ +void manual_spi_write(char &c) { + while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE) == RESET); + + GPIO_SetBits(GPIOB, GPIO_Pin_5); + SPI_I2S_SendData(SPI1, (uint16_t) c); + + if (c == 'Z') { + while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_BSY) == SET); + + GPIO_ResetBits(GPIOB, GPIO_Pin_5); + for (int count = 100; count > 0; count--) { + __NOP(); + } + GPIO_SetBits(GPIOB, GPIO_Pin_5); + + c = 'a'; + } else if (c == 'z') { + c = '0'; + } else if (c == '9') { + c = '\n'; + } else if (c == '\n') { + c = 'A'; + } else { + c++; + } +} + +void dma_spi_write() { + dma_busy = true; + + DMA_InitTypeDef dmaInit; + DMA_StructInit(&dmaInit); + dmaInit.DMA_M2M = DMA_M2M_Disable; + dmaInit.DMA_Mode = DMA_Mode_Normal; + dmaInit.DMA_Priority = DMA_Priority_Low; + dmaInit.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; + dmaInit.DMA_PeripheralInc = DMA_PeripheralInc_Disable; + dmaInit.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; + dmaInit.DMA_MemoryInc = DMA_MemoryInc_Enable; + dmaInit.DMA_DIR = DMA_DIR_PeripheralDST; + dmaInit.DMA_BufferSize = SizeOfArray(dma_buffer); + dmaInit.DMA_PeripheralBaseAddr = reinterpret_cast<uint32_t>(&SPI1->DR); + dmaInit.DMA_MemoryBaseAddr = reinterpret_cast<uint32_t>(dma_buffer); + DMA_DeInit(DMA1_Channel3); + DMA_Init(DMA1_Channel3, &dmaInit); + DMA_ITConfig(DMA1_Channel3, DMA_IT_TC | DMA_IT_TE, ENABLE); + + + GPIO_SetBits(GPIOB, GPIO_Pin_5); + DMA_Cmd(DMA1_Channel3, ENABLE); + +// dbg_printf("HT=%d, TE=%d, TC=%d\n", DMA_GetFlagStatus(DMA1_IT_HT3), DMA_GetFlagStatus(DMA1_IT_TE3), +// DMA_GetFlagStatus(DMA1_IT_TC3)); + +// dbg_printf("HT=%d, TE=%d, TC=%d\n", DMA_GetFlagStatus(DMA1_IT_HT3), DMA_GetFlagStatus(DMA1_IT_TE3), +// DMA_GetFlagStatus(DMA1_IT_TC3)); + + while (dma_busy) { + __NOP(); + +// dbg_printf("HT=%d, TE=%d, TC=%d\n", DMA_GetFlagStatus(DMA1_IT_HT3), DMA_GetFlagStatus(DMA1_IT_TE3), +// DMA_GetFlagStatus(DMA1_IT_TC3)); + } + GPIO_ResetBits(GPIOB, GPIO_Pin_5); +} + +extern "C" +void DMA1_Channel3_IRQHandler() { + ITStatus tc = DMA_GetITStatus(DMA1_IT_TC3); + ITStatus te = DMA_GetITStatus(DMA1_IT_TE3); + ITStatus ht = DMA_GetITStatus(DMA1_IT_HT3); + + if (tc || te || ht) { + DMA_ClearITPendingBit(DMA1_IT_GL3); + dma_busy = false; + } +} diff --git a/cmake/stm32.toolchain.cmake b/cmake/stm32.toolchain.cmake index fb1cc57..ab73d90 100644 --- a/cmake/stm32.toolchain.cmake +++ b/cmake/stm32.toolchain.cmake @@ -27,21 +27,15 @@ set(BASE_FLAGS "-Wall -g -ffunction-sections -fdata-sections ${TARGET_FLAGS}") set(CMAKE_C_FLAGS "${BASE_FLAGS}" CACHE STRING "c flags") # XXX Generate TIME_T dynamically. set(CMAKE_CXX_FLAGS "${BASE_FLAGS} -fno-exceptions -fno-rtti -felide-constructors -std=c++14" CACHE STRING "c++ flags") -#set(LINKER_FLAGS "-Os -Wl,--gc-sections ${TARGET_FLAGS} -T${TEENSY_ROOT}/mk20dx256.ld") -#set(LINKER_FLAGS "-Os -Wl,--gc-sections ${TARGET_FLAGS}") -set(LINKER_FLAGS "-O0 -Wl,--gc-sections ${TARGET_FLAGS}") -set(LINKER_FLAGS "-O0 ${TARGET_FLAGS}") +set(LINKER_FLAGS "-O3 ${TARGET_FLAGS}") set(LINKER_LIBS "-larm_cortexM4l_math -lm") -#set(CMAKE_SHARED_LINKER_FLAGS "${LINKER_FLAGS}" CACHE STRING "linker flags" FORCE) -#set(CMAKE_MODULE_LINKER_FLAGS "${LINKER_FLAGS}" CACHE STRING "linker flags" FORCE) + set(CMAKE_EXE_LINKER_FLAGS "${LINKER_FLAGS}" CACHE STRING "linker flags" FORCE) -CMAKE_FORCE_C_COMPILER("${TOOLCHAIN_ROOT}/bin/${TRIPLE}-gcc" GNU) -CMAKE_FORCE_CXX_COMPILER("${TOOLCHAIN_ROOT}/bin/${TRIPLE}-g++" GNU) +cmake_force_c_compiler("${TOOLCHAIN_ROOT}/bin/${TRIPLE}-gcc" GNU) +cmake_force_cxx_compiler("${TOOLCHAIN_ROOT}/bin/${TRIPLE}-g++" GNU) # search for programs in the build host directories -SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) +set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) # for libraries and headers in the target directories -SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) -SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) - -# add_definitions(-MMD) +set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) +set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) @@ -1,4 +1,5 @@ target remote tcp:localhost:3333 +monitor reset halt define flash_test1 shell cd build && make test1.elf @@ -62,4 +63,36 @@ define flash_os1 echo Run this if first run:\n hbreak halt\n hbreak job1\n hbreak PendSV_Handler\n end -monitor reset halt +define flash_os2 + shell cd build && make os2.elf + + monitor arm semihosting enable + monitor reset halt + + set confirm off + file build/os2.elf + load build/os2.elf + set confirm on + + set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12 + monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480 + + echo Run this if first run:\n hbreak halt\n hbreak job1\n hbreak PendSV_Handler\n +end + +define flash_dma1 + shell cd build && make dma1.elf + + monitor arm semihosting enable + monitor reset halt + + set confirm off + file build/apps/dma1/dma1.elf + load build/apps/dma1/dma1.elf + set confirm on + + set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12 + monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480 + + echo Run this if first run:\n hbreak halt\n +end diff --git a/host/CMakeLists.txt b/host/CMakeLists.txt new file mode 100644 index 0000000..d3bfe17 --- /dev/null +++ b/host/CMakeLists.txt @@ -0,0 +1,28 @@ +cmake_minimum_required(VERSION 3.2) + +project(host C CXX ASM) + +add_executable(host1.elf host1.cpp + ../tinyprintf/tinyprintf.h ../tinyprintf/tinyprintf.c + ) + +target_include_directories(host1.elf PUBLIC + ../tinyprintf + ../include) +target_compile_definitions(host1.elf PUBLIC TINYPRINTF_DEFINE_TFP_SPRINTF=0 TINYPRINTF_OVERRIDE_LIBC=0) + +add_executable(elf3 elf3.cpp) +target_link_libraries(elf3 elf) + +add_executable(elf4 elf4.cpp) +target_link_libraries(elf4 elf bsd) + +add_executable(elfinfo elfinfo.cpp) +target_compile_options(elfinfo PUBLIC "--std=c++14") +target_link_libraries(elfinfo elf) + +INSTALL(TARGETS elfinfo + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib +) diff --git a/host/elfinfo.cpp b/host/elfinfo.cpp new file mode 100644 index 0000000..11fe192 --- /dev/null +++ b/host/elfinfo.cpp @@ -0,0 +1,257 @@ +#include <cstdlib> +#include <gelf.h> +#include <err.h> +#include <sysexits.h> +#include <fcntl.h> +#include <cstdio> +#include <cstring> +#include <vector> +#include <algorithm> +#include <getopt.h> +#include <inttypes.h> +#include <elf.h> + +using std::vector; + +enum class SectionType { + TEXT, DATA +}; + +const char *to_str(const SectionType &type) { + switch (type) { + case SectionType::TEXT: + return "text"; + case SectionType::DATA: + return "data"; + } +} + +struct Section { + SectionType type; + const Elf64_Addr start; + const Elf64_Addr end; + const Elf64_Xword size; + Elf64_Addr used; + + Section(SectionType type, Elf64_Addr start, Elf64_Xword size) : type(type), start(start), size(size), + end(start + size), used(0) { + } + + bool contains(Elf64_Addr address, Elf64_Xword size) const { + return contains(address) && contains(address + size); + } + + bool contains(Elf64_Addr address) const { + return start <= address && address < end; + } +}; + +vector<Section> sections; + +char *filename = NULL; + +char *program; + +__attribute__((noreturn)) +void usage(const char *reason = NULL) { + if (reason != NULL) { + fprintf(stderr, "%s\n", reason); + } + fprintf(stderr, "usage: %s -f file [-t start:size] [-d start:size]\n", program); + fprintf(stderr, " -t/-d/-b: add text/data section\n"); + fprintf(stderr, "At least one section has to be specified\n"); + exit(EX_USAGE); +} + +void parse_start_size(char *input, Elf64_Addr &start, Elf64_Xword &size) { + char *str_size = strchr(input, ':'); + + if (str_size == NULL) { + usage("bad section specification, missing ':'"); + } + + *str_size = '\0'; + str_size++; + + if (sscanf(input, "%" SCNi64, &start) != 1) { + usage("bad section specification, could not parse start number"); + } + + size_t str_size_len = strlen(str_size); + + if (str_size_len < 1) { + usage("bad section specification"); + } + + char suffix = str_size[str_size_len - 1]; + int modifier; + + if (!isdigit(suffix)) { + switch (suffix) { + case 'k': + case 'K': + modifier = 1024; + break; + case 'm': + case 'M': + modifier = 1024 * 1024; + break; + default: + usage("bad size modifier, only 'k' and 'M' are allowed"); + } + } else { + modifier = 1; + } + + if (sscanf(str_size, "%" SCNi64, &size) != 1) { + usage("bad section specification, could not parse size number"); + } + size = size * modifier; +} + +bool debug = false; + +void parse_args(int argc, char **argv) { + int c; + + while ((c = getopt(argc, argv, "Df:t:d:")) != -1) { + switch (c) { + case 'D': + debug = true; + break; + case 't': + case 'd': { + Elf64_Addr start; + Elf64_Xword size; + parse_start_size(optarg, start, size); + SectionType type = c == 't' ? SectionType::TEXT : SectionType::DATA; + sections.push_back(Section(type, start, size)); + break; + } + case 'f': + filename = optarg; + break; + case '?': + if (optopt == 'c') + errx(EX_USAGE, "Option -%c requires an argument.\n", optopt); + else + errx(EX_USAGE, "Unknown option `-%c'.\n", optopt); + default: + abort(); + } + } + + if (filename == NULL || sections.empty()) { + usage(); + } +} + +void to_iso(Elf64_Addr i, char *buf) { + const char *suffix; + if (i > 1024 * 1024) { + i /= 1024 * 1024; + suffix = "M"; + } else if (i > 1024) { + i /= 1024; + suffix = "k"; + } else { + suffix = ""; + } + sprintf(buf, "%" PRIu64 "%s", i, suffix); +} + +int main(int argc, char **argv) { + program = argv[0]; + parse_args(argc, argv); + + if (elf_version(EV_CURRENT) == EV_NONE) + errx(EX_SOFTWARE, "ELF library initialization failed: %s", elf_errmsg(-1)); + + int fd; + if ((fd = open(filename, O_RDONLY, 0)) < 0) + err(EX_NOINPUT, "open \"%s\" failed", argv[1]); + + Elf *e; + if ((e = elf_begin(fd, ELF_C_READ, NULL)) == NULL) + errx(EX_SOFTWARE, "elf_begin() failed: %s.", elf_errmsg(-1)); + if (elf_kind(e) != ELF_K_ELF) + errx(EX_DATAERR, "%s is not an ELF object.", argv[1]); + + size_t shstrndx; + if (elf_getshdrstrndx(e, &shstrndx) != 0) + errx(EX_SOFTWARE, "elf_getshdrstrndx() failed: %s.", elf_errmsg(-1)); + + size_t program_header_count; + if (elf_getphdrnum(e, &program_header_count) != 0) + errx(EX_DATAERR, "elf_getphdrnum() failed: %s.", elf_errmsg(-1)); + + size_t text_size = 0, data_size = 0, bss_size = 0; + for (int i = 0; i < program_header_count; i++) { + GElf_Phdr phdr; + + if (gelf_getphdr(e, i, &phdr) != &phdr) + errx(EX_SOFTWARE, "getphdr() failed: %s.", elf_errmsg(-1)); + + if (phdr.p_type == PT_LOAD) { + SectionType expectedType; + size_t *size; + + if (phdr.p_flags == (PF_X | PF_R | PF_W)) { + if (debug) { + printf("Adding PH #%d as text\n", i); + } + + expectedType = SectionType::TEXT; + size = &text_size; + } else if (phdr.p_flags == (PF_R | PF_W)) { + expectedType = SectionType::DATA; + if (phdr.p_filesz > 0) { + if (debug) { + printf("Adding PH #%d as data\n", i); + } + size = &data_size; + } + else { + if (debug) { + printf("Adding PH #%d as bss\n", i); + } + size = &bss_size; + } + } else { + errx(EX_DATAERR, "Unknown flag combination: 0x%02x", phdr.p_flags); + } + + auto s = std::find_if(sections.begin(), sections.end(), [&](Section §ion) { + return section.type == expectedType && section.contains(phdr.p_vaddr, phdr.p_memsz); + }); + + if (s == sections.end()) { + fprintf(stderr, + "Could not find a section for elf header #%d of type %s, at address %" PRIx64 " with size %" PRId64 "\n", + i, to_str(expectedType), phdr.p_vaddr, phdr.p_memsz); + } + else { + (*s).used += phdr.p_memsz; + + *size += phdr.p_memsz; + } + } else { + // ignored + }; + } + + printf("Size by sections\n"); + printf("Type Start End Size Used\n"); + std::for_each(sections.begin(), sections.end(), [&](Section &s) { + char size[100]; + to_iso(s.size, size); + int used_pct = (int) (double(s.used) / double(s.size) * 100.0); + printf("%4s %08" PRIx64 " %08" PRIx64 " %5s %6" PRId64 " %d%%\n", to_str(s.type), s.start, s.end, size, s.used, + used_pct); + }); + + printf("\n"); + printf("Size by type\n"); + printf("text=%zu, data=%zu, bss=%zu\n", text_size, data_size, bss_size); + return EXIT_SUCCESS; +} diff --git a/debug.h b/include/debug.h index d2926b3..d2926b3 100644 --- a/debug.h +++ b/include/debug.h diff --git a/include/playground.h b/include/playground.h new file mode 100644 index 0000000..c224908 --- /dev/null +++ b/include/playground.h @@ -0,0 +1,12 @@ +#ifndef PLAYGROUND_H +#define PLAYGROUND_H + +extern "C" void halt(); + +template<typename T, size_t N> +static inline +size_t SizeOfArray(const T(&)[N]) { + return N; +} + +#endif diff --git a/init_high.cpp b/init_high.cpp index e1e7a12..700d17a 100644 --- a/init_high.cpp +++ b/init_high.cpp @@ -13,12 +13,6 @@ extern uint32_t _bss_start, _bss_end; extern int main(); -template<typename T, size_t N> -static inline -size_t SizeOfArray(const T(&)[N]) { - return N; -} - void init_high() { // Copy data from flash to ram uint32_t *src = &_copy_data_load; @@ -122,9 +122,9 @@ void idle_task(const void *const) { } static -void create_thread(void (task)(void const *const), bool create_sw); +void os_create_thread(void (task)(void const *const), bool create_sw); -void osKernelInitialize() { +void os_init() { NVIC_SetPriority(SysTick_IRQn, 0xff); NVIC_SetPriority(PendSV_IRQn, 0xff); @@ -142,16 +142,16 @@ void osKernelInitialize() { tasks[i].flags = 0; } - create_thread(idle_task, false); + os_create_thread(idle_task, false); current_task = 0; } -void create_thread(void (task)(void const *const)) { - create_thread(task, true); +void os_create_thread(void (task)(void const *const)) { + os_create_thread(task, true); } static -void create_thread(void (task)(void const *const), bool create_sw) { +void os_create_thread(void (task)(void const *const), bool create_sw) { uint8_t *s = stacks[task_count] + stack_size; s -= sizeof(hardware_frame_t); @@ -224,7 +224,7 @@ volatile bool run; extern "C" void do_first_context_switch(uint8_t *user_stack, void (task)(const void *const arg)); -void osKernelStart() { +void os_start() { run = true; task_t &t = tasks[0]; @@ -276,10 +276,10 @@ int main(void) { init.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_8; GPIO_Init(GPIOB, &init); - osKernelInitialize(); - create_thread(job1); - create_thread(job2); - osKernelStart(); + os_init(); + os_create_thread(job1); + os_create_thread(job2); + os_start(); return 0; } @@ -0,0 +1,341 @@ +#include <stdint.h> +#include <stm32f10x.h> +#include <stm32f10x_rcc.h> +#include <stm32f10x_gpio.h> + +#include "debug.h" +#include "tinyprintf.h" +#include "playground.h" + +namespace trygvis { +namespace os2 { + +namespace os { +extern "C" +__attribute__((naked, used)) +void HardFault_Handler_C(uint32_t *hardfault_args) { + dbg_printf("r0 = 0x%08lx (%lu)\n", hardfault_args[0], hardfault_args[0]); + dbg_printf("r1 = 0x%08lx (%lu)\n", hardfault_args[1], hardfault_args[1]); + dbg_printf("r2 = 0x%08lx (%lu)\n", hardfault_args[2], hardfault_args[2]); + dbg_printf("r3 = 0x%08lx (%lu)\n", hardfault_args[3], hardfault_args[3]); + dbg_printf("r12 = 0x%08lx (%lu)\n", hardfault_args[4], hardfault_args[4]); + dbg_printf("lr = 0x%08lx (%lu)\n", hardfault_args[5], hardfault_args[5]); + dbg_printf("pc = 0x%08lx (%lu)\n", hardfault_args[6], hardfault_args[6]); + dbg_printf("psr = 0x%08lx (%lu)\n", hardfault_args[7], hardfault_args[7]); + dbg_printf("\n"); + + halt(); +} + +enum class exc_return_t : uint32_t { + RETURN_TO_HANDLER_MODE_USE_MSP = 0xFFFFFFF1, + RETURN_TO_THREAD_MODE_USE_MSP = 0xFFFFFFF9, + RETURN_TO_THREAD_MODE_USE_PSP = 0xFFFFFFFD, +}; + +// This is used from assembly so order is important +struct task_t { + uint8_t *stack; + exc_return_t exc_return; + int flags; + + void init(uint8_t *stack) { + this->stack = stack; + flags = 0x01; + set_ready(); + } + + void deinit() { + flags = 0; + } + + bool is_ready() { + return (flags & 0x02) > 0; + } + + void set_ready() { + flags |= 0x02; + } +} __attribute__((packed)); + +const int max_task_count = 3; +const int stack_size = 100; + +task_t tasks[max_task_count]; +uint8_t stacks[max_task_count][stack_size]; +uint8_t task_count = 0; +int current_task; + +const unsigned int SYSTICK_FREQUENCY_HZ = 10; + +struct hardware_frame_t { + uint32_t r0; + uint32_t r1; + uint32_t r2; + uint32_t r3; + uint32_t r12; + uint32_t lr; + uint32_t pc; + uint32_t psr; +}; + +struct software_frame_t { + uint32_t r4; + uint32_t r5; + uint32_t r6; + uint32_t r7; + uint32_t r8; + uint32_t r9; + uint32_t r10; + uint32_t r11; +}; + +extern "C" +void SysTick_Handler() { + static bool on = true; + + if (on) { + GPIO_SetBits(GPIOB, GPIO_Pin_7); + } + else { + GPIO_ResetBits(GPIOB, GPIO_Pin_7); + } + + on = !on; + + SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; +} + +void thread_end() { +} + +volatile bool idle_task_run; + +void idle_task(const void *const) { + // trigger PendSV to run + SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; + + // wait for the PendSV handler to kick in. After the handler has completed it will do a context switch and + // this point shouldn't be reached. + + idle_task_run = true; + while (idle_task_run) { + GPIOB->BSRR = GPIO_Pin_6; + GPIOB->BRR = GPIO_Pin_6; + } +} + +static +void os_create_thread(void (task)(void const *const), bool create_sw); + +void os_init() { + NVIC_SetPriority(SysTick_IRQn, 0xff); + NVIC_SetPriority(PendSV_IRQn, 0xff); + + SysTick_Config(SystemCoreClock / SYSTICK_FREQUENCY_HZ); + + GPIO_InitTypeDef init; + GPIO_StructInit(&init); + init.GPIO_Mode = GPIO_Mode_Out_PP; + init.GPIO_Pin = GPIO_Pin_6; + GPIO_Init(GPIOB, &init); + init.GPIO_Pin = GPIO_Pin_7; + GPIO_Init(GPIOB, &init); + + for (int i = 0; i < max_task_count; i++) { + tasks[i].flags = 0; + } + + os_create_thread(idle_task, false); + current_task = 0; +} + +void os_create_thread(void (task)(void const *const)) { + os_create_thread(task, true); +} + +static +void os_create_thread(void (task)(void const *const), bool create_sw) { + uint8_t *s = stacks[task_count] + stack_size; + + s -= sizeof(hardware_frame_t); + hardware_frame_t *hw = reinterpret_cast<hardware_frame_t *>(s); + + hw->r0 = 0x00000000; + hw->r1 = 0x01010101; + hw->r2 = 0x02020202; + hw->r3 = 0x03030303; + hw->r12 = 0x0c0c0c0c; + hw->lr = reinterpret_cast<uint32_t>(thread_end); + + hw->pc = reinterpret_cast<uint32_t>(task); + hw->psr = 0x01000000; + + if (create_sw) { + s -= sizeof(software_frame_t); + software_frame_t *sw = reinterpret_cast<software_frame_t *>(s); + + sw->r4 = 0x04040404; + sw->r5 = 0x05050505; + sw->r6 = 0x06060606; + sw->r7 = 0x07070707; + sw->r8 = 0x08080808; + sw->r9 = 0x09090909; + sw->r10 = 0x0a0a0a0a; + sw->r11 = 0x0b0b0b0b; + } + + task_t *t = &tasks[task_count]; + t->init(s); + t->exc_return = exc_return_t::RETURN_TO_THREAD_MODE_USE_PSP; + + task_count++; +} + +static +int find_first_ready_task() { + task_t *t; + int idx = current_task + 1; + do { + if (idx == max_task_count) { + idx = 1; + } else if (idx == current_task) { + return 0; + } + + t = &tasks[idx]; + } while (!t->is_ready()); + + return idx; +} + +__attribute__((used)) +task_t *select_next_task(uint8_t *current_stack) { + + task_t *t = &tasks[current_task]; + int new_task = find_first_ready_task(); + + if (new_task != current_task) { + t->stack = current_stack; + t = &tasks[new_task]; + current_task = new_task; + } + + return t; +} + +volatile bool run; + +extern "C" void do_first_context_switch(uint8_t *user_stack, void (task)(const void *const arg)); + +void os_start() { + run = true; + + task_t &t = tasks[0]; + + do_first_context_switch(t.stack, idle_task); + + while (run) { + } +} + +class CriticalSection { +public: + CriticalSection() : primask(__get_PRIMASK()) { + __disable_irq(); + } + + ~CriticalSection() { + __set_PRIMASK(primask); + } + +private: + uint32_t primask; +}; + +//class Mutex { +//public: +// Mutex() : task(-1) { +// } +// +// void lock() { +// do { +// { +// CriticalSection cs; +// if (task == -1) { +// task = current_task; +// break; +// } +// } +// +// } while (true); +// } +// +//private: +// int task; +//}; + +} // namespace os + +namespace main { + +using namespace trygvis::os2::os; + +volatile bool run1 = true; + +void job1(void const *const) { + GPIO_InitTypeDef init; + GPIO_StructInit(&init); + init.GPIO_Mode = GPIO_Mode_Out_PP; + init.GPIO_Pin = GPIO_Pin_8; + GPIO_Init(GPIOB, &init); + + while (run1) { + GPIO_SetBits(GPIOB, GPIO_Pin_8); + GPIO_ResetBits(GPIOB, GPIO_Pin_8); + } +} + +volatile bool run2 = true; + +void job2(void const *const) { + GPIO_InitTypeDef init; + GPIO_StructInit(&init); + init.GPIO_Mode = GPIO_Mode_Out_PP; + init.GPIO_Pin = GPIO_Pin_5; + GPIO_Init(GPIOB, &init); + + while (run2) { + CriticalSection cs; + GPIO_SetBits(GPIOB, GPIO_Pin_5); + GPIO_ResetBits(GPIOB, GPIO_Pin_5); + } +} + +extern "C" +int main(void) { + SystemInit(); + + init_printf(nullptr, dbg_putc); + + RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO + | RCC_APB2Periph_USART1 + | RCC_APB2Periph_GPIOA + | RCC_APB2Periph_GPIOB + | RCC_APB2Periph_GPIOC, + ENABLE); + + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOB, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOB, DISABLE); + + os_init(); + os_create_thread(job1); + os_create_thread(job2); + os_start(); + + return 0; +} + +} // namespace main +} // namespace os2 +} // namespace trygvis diff --git a/os2_cm3.s b/os2_cm3.s new file mode 100644 index 0000000..dabdfe0 --- /dev/null +++ b/os2_cm3.s @@ -0,0 +1,56 @@ +.syntax unified +.cpu cortex-m3 +.thumb + +.section .text + +/* + +User threads use the process stack (PSP register), kernel and exception code use the main stack (MSP register). + +*/ + +.thumb_func +.global do_first_context_switch +// void do_first_context_switch(uint8_t *user_stack, void (task)(const void *arg)); +do_first_context_switch: + /* Set PSP to the user task's stack */ + msr psp, r0 + + // Set CONTROL.SPSEL=1 so that we run with two stacks + mov r0, #2 + msr control, r0 + isb + + // Restore the data from hardware_frame_t. + pop {r0 - r3, r12, lr} + // Pop PC and PSR. PSR is ignored, but we branch to the new PC + pop {r4, r5} + bx r4 + +/* +When this function is executed {r0-r3,r12,lr,pc} has been pushed to the stack pointed to by PSP. We push the rest of the +registers to the PSP. The current stack pointer is the MSP. + */ +.thumb_func +.global PendSV_Handler +PendSV_Handler: + // Save the rest of the context to the current process' stack + mrs r0, psp + stmdb r0!, {r4 - r11} + + // Call select_next_task_sp. after return, r0 points to a task_t + bl _ZN7trygvis3os22os16select_next_taskEPh // task_t *select_next_task(uint8_t *current_stack) + + // load task_t.stack and task_t.lr into r1 and lr + ldm r0, {r1, lr} + + ldmia r1!, {r4 - r11} + msr psp, r1 + + // Return, let the CPU restore the hardware part of the context + bx lr +.pool +.size PendSV_Handler,.-PendSV_Handler + +.end diff --git a/playground.h b/playground.h deleted file mode 100644 index 824157b..0000000 --- a/playground.h +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef PLAYGROUND_H -#define PLAYGROUND_H - -extern "C" void halt(); - -#endif diff --git a/serial1.cpp b/serial1.cpp index 85bd435..60e9bc9 100644 --- a/serial1.cpp +++ b/serial1.cpp @@ -1,12 +1,11 @@ -#include "tinyprintf.h" #include <stdint.h> #include <stm32f10x.h> #include <stm32f10x_rcc.h> #include <stm32f10x_gpio.h> #include <stddef.h> #include <stdarg.h> -#include "tinyprintf.h" #include "debug.h" +#include "tinyprintf.h" extern "C" void halt(); |