}
void abort() {
- serial_line.close();
- serial_line = null;
+ if (serial_line != null) {
+ serial_line.close();
+ serial_line = null;
+ }
JOptionPane.showMessageDialog(owner,
String.format("Connection to \"%s\" failed",
device.toShortString()),
-rm -f $@
makensis -Oaltos-windows.log "-XOutFile $@" "-DVERSION=$(VERSION)" altos-windows.nsi
-publish:
- scp launch-sites.txt gag.com:public_html
+++ /dev/null
-AHPRA BALLS:40.808333333333333:-119.15
-ARS Rio Rancho:35.33475:-106.75361
-HARA Bragg Farms:34.895875:-86.616211
-KLOUDBusters Rocket Pasture:37.167833333:-97.73975
-METRA Pine Island:41.31939:-74.47077
-NCR Pawnee:40.885955:-104.63793
-OPROC Discovery Bay:47.97808,-122.896383
-OROC Brothers:43.79949786336483:-120.6485810681392
-OROC Sheridan:45.044176:-123.314323
-QRS Cedar Grove:-27.8512283:152.9624000
-SCORE Hudson Ranch:38.155602777777778:-104.809119444444444
-Tripoli Colorado Hartsel:39.009247:-105.702338
-WAC Sportsman Club:47.815327777777778:-119.427186111111111
#define ao_arch_critical(b) do { cli(); do { b } while (0); sei(); } while (0)
+#define ao_arch_block_interrupts() cli()
+#define ao_arch_release_interrupts() sei()
+
#define AO_TELESCIENCE_NUM_ADC 12
#endif /* _AO_ARCH_H_ */
#define ao_arch_cpu_idle() (PCON = PCON_IDLE)
+#define ao_arch_block_interrupts() __asm clr ea __endasm
+#define ao_arch_release_interrupts() __asm setb ea __endasm
+#define cli() ao_arch_block_interrupts()
+#define sei() ao_arch_release_interrupts()
+
#define ao_arch_restore_stack() { \
uint8_t stack_len; \
__data uint8_t *stack_ptr; \
#define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
#define AO_PANIC_STACK 12 /* Stack overflow */
#define AO_PANIC_SPI 13 /* SPI communication failure */
+#define AO_PANIC_CRASH 14 /* Processor crashed */
#define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
#define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
#define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
/* Set the ADC interval */
void
-ao_timer_set_adc_interval(uint8_t interval) __critical;
+ao_timer_set_adc_interval(uint8_t interval);
/* Timer interrupt */
void
{
/* Set pad mode - we can fly! */
ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG
+#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
/* Disable the USB controller in flight mode
* to save power
*/
__xdata struct ao_ignition ao_ignition[2];
void
-ao_ignite(enum ao_igniter igniter) __critical
+ao_ignite(enum ao_igniter igniter)
{
+ cli();
ao_ignition[igniter].request = 1;
ao_wakeup(&ao_ignition);
+ sei();
}
#ifndef AO_SENSE_DROGUE
__pdata int16_t value;
__pdata uint8_t request, firing, fired;
- __critical {
+ ao_arch_critical(
ao_data_get(&packet);
request = ao_ignition[igniter].request;
fired = ao_ignition[igniter].fired;
firing = ao_ignition[igniter].firing;
- }
+ );
if (firing || (request && !fired))
return ao_igniter_active;
#endif
void
-ao_igniter_fire(enum ao_igniter igniter) __critical
+ao_igniter_fire(enum ao_igniter igniter)
{
ao_ignition[igniter].firing = 1;
switch(ao_config.ignite_mode) {
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_LIST_H_
+#define _AO_LIST_H_
+
+#include <stddef.h>
+
+struct ao_list {
+ struct ao_list *next, *prev;
+};
+
+static inline void
+ao_list_init(struct ao_list *list)
+{
+ list->next = list->prev = list;
+}
+
+static inline void
+__ao_list_add(struct ao_list *list, struct ao_list *prev, struct ao_list *next)
+{
+ next->prev = list;
+ list->next = next;
+ list->prev = prev;
+ prev->next = list;
+}
+
+/**
+ * Insert a new element after the given list head. The new element does not
+ * need to be initialised as empty list.
+ * The list changes from:
+ * head → some element → ...
+ * to
+ * head → new element → older element → ...
+ *
+ * Example:
+ * struct foo *newfoo = malloc(...);
+ * ao_list_add(&newfoo->entry, &bar->list_of_foos);
+ *
+ * @param entry The new element to prepend to the list.
+ * @param head The existing list.
+ */
+static inline void
+ao_list_insert(struct ao_list *entry, struct ao_list *head)
+{
+ __ao_list_add(entry, head, head->next);
+}
+
+/**
+ * Append a new element to the end of the list given with this list head.
+ *
+ * The list changes from:
+ * head → some element → ... → lastelement
+ * to
+ * head → some element → ... → lastelement → new element
+ *
+ * Example:
+ * struct foo *newfoo = malloc(...);
+ * ao_list_append(&newfoo->entry, &bar->list_of_foos);
+ *
+ * @param entry The new element to prepend to the list.
+ * @param head The existing list.
+ */
+static inline void
+ao_list_append(struct ao_list *entry, struct ao_list *head)
+{
+ __ao_list_add(entry, head->prev, head);
+}
+
+static inline void
+__ao_list_del(struct ao_list *prev, struct ao_list *next)
+{
+ next->prev = prev;
+ prev->next = next;
+}
+
+/**
+ * Remove the element from the list it is in. Using this function will reset
+ * the pointers to/from this element so it is removed from the list. It does
+ * NOT free the element itself or manipulate it otherwise.
+ *
+ * Using ao_list_del on a pure list head (like in the example at the top of
+ * this file) will NOT remove the first element from
+ * the list but rather reset the list as empty list.
+ *
+ * Example:
+ * ao_list_del(&foo->entry);
+ *
+ * @param entry The element to remove.
+ */
+static inline void
+ao_list_del(struct ao_list *entry)
+{
+ __ao_list_del(entry->prev, entry->next);
+ ao_list_init(entry);
+}
+
+/**
+ * Check if the list is empty.
+ *
+ * Example:
+ * ao_list_is_empty(&bar->list_of_foos);
+ *
+ * @return True if the list contains one or more elements or False otherwise.
+ */
+static inline uint8_t
+ao_list_is_empty(struct ao_list *head)
+{
+ return head->next == head;
+}
+
+/**
+ * Returns a pointer to the container of this list element.
+ *
+ * Example:
+ * struct foo* f;
+ * f = container_of(&foo->entry, struct foo, entry);
+ * assert(f == foo);
+ *
+ * @param ptr Pointer to the struct ao_list.
+ * @param type Data type of the list element.
+ * @param member Member name of the struct ao_list field in the list element.
+ * @return A pointer to the data struct containing the list head.
+ */
+#define ao_container_of(ptr, type, member) \
+ (type *)((char *)(ptr) - offsetof(type, member))
+
+/**
+ * Alias of ao_container_of
+ */
+#define ao_list_entry(ptr, type, member) \
+ ao_container_of(ptr, type, member)
+
+/**
+ * Retrieve the first list entry for the given list pointer.
+ *
+ * Example:
+ * struct foo *first;
+ * first = ao_list_first_entry(&bar->list_of_foos, struct foo, list_of_foos);
+ *
+ * @param ptr The list head
+ * @param type Data type of the list element to retrieve
+ * @param member Member name of the struct ao_list field in the list element.
+ * @return A pointer to the first list element.
+ */
+#define ao_list_first_entry(ptr, type, member) \
+ ao_list_entry((ptr)->next, type, member)
+
+/**
+ * Retrieve the last list entry for the given listpointer.
+ *
+ * Example:
+ * struct foo *first;
+ * first = ao_list_last_entry(&bar->list_of_foos, struct foo, list_of_foos);
+ *
+ * @param ptr The list head
+ * @param type Data type of the list element to retrieve
+ * @param member Member name of the struct ao_list field in the list element.
+ * @return A pointer to the last list element.
+ */
+#define ao_list_last_entry(ptr, type, member) \
+ ao_list_entry((ptr)->prev, type, member)
+
+/**
+ * Loop through the list given by head and set pos to struct in the list.
+ *
+ * Example:
+ * struct foo *iterator;
+ * ao_list_for_each_entry(iterator, &bar->list_of_foos, entry) {
+ * [modify iterator]
+ * }
+ *
+ * This macro is not safe for node deletion. Use ao_list_for_each_entry_safe
+ * instead.
+ *
+ * @param pos Iterator variable of the type of the list elements.
+ * @param head List head
+ * @param member Member name of the struct ao_list in the list elements.
+ *
+ */
+#define ao_list_for_each_entry(pos, head, type, member) \
+ for (pos = ao_container_of((head)->next, type, member); \
+ &pos->member != (head); \
+ pos = ao_container_of(pos->member.next, type, member))
+
+/**
+ * Loop through the list, keeping a backup pointer to the element. This
+ * macro allows for the deletion of a list element while looping through the
+ * list.
+ *
+ * See ao_list_for_each_entry for more details.
+ */
+#define ao_list_for_each_entry_safe(pos, tmp, head, type, member) \
+ for ((pos = ao_container_of((head)->next, type, member)), \
+ (tmp = ao_container_of(pos->member.next, type, member)); \
+ &pos->member != (head); \
+ (pos = tmp), (tmp = ao_container_of(pos->member.next, type, member)))
+
+#endif /* _AO_LIST_H_ */
{
if (*mutex == ao_cur_task->task_id)
ao_panic(AO_PANIC_MUTEX);
- __critical {
+ ao_arch_critical(
while (*mutex)
ao_sleep(mutex);
*mutex = ao_cur_task->task_id;
- }
+ );
}
void
{
if (*mutex != ao_cur_task->task_id)
ao_panic(AO_PANIC_MUTEX);
- __critical {
+ ao_arch_critical(
*mutex = 0;
ao_wakeup(mutex);
- }
+ );
}
extern __xdata uint8_t ao_packet_enable;
extern __xdata uint8_t ao_packet_master_sleeping;
extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
+extern __xdata uint8_t ao_packet_restart;
void
ao_packet_send(void);
ao_packet_putchar(char c) __reentrant;
char
-ao_packet_pollchar(void) __critical;
+ao_packet_pollchar(void);
#if PACKET_HAS_MASTER
/* ao_packet_master.c */
ao_cur_task = NULL;
printf ("panic %d\n", reason);
#endif
- __critical for (;;) {
+ ao_arch_block_interrupts();
+ for (;;) {
ao_panic_delay(20);
for (n = 0; n < 5; n++) {
ao_led_on(AO_LED_PANIC);
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_sample_profile.h>
+#include <ao_task.h>
+
+#ifndef AO_SAMPLE_PROFILE_LOW_PC
+#define AO_SAMPLE_PROFILE_LOW_PC 0x08000000
+#endif
+
+#ifndef AO_SAMPLE_PROFILE_HIGH_PC
+#define AO_SAMPLE_PROFILE_HIGH_PC (AO_SAMPLE_PROFILE_LOW_PC + 44 * 1024)
+#endif
+
+#ifndef AO_SAMPLE_PROFILE_SHIFT
+#define AO_SAMPLE_PROFILE_SHIFT 6
+#endif
+
+#define AO_SAMPLE_PROFILE_RANGE (AO_SAMPLE_PROFILE_HIGH_PC - AO_SAMPLE_PROFILE_LOW_PC)
+#define AO_SAMPLE_PROFILE_NUM (AO_SAMPLE_PROFILE_RANGE >> AO_SAMPLE_PROFILE_SHIFT)
+
+static uint16_t prev_tick;
+static uint16_t samples[AO_SAMPLE_PROFILE_NUM];
+static uint8_t missed[AO_SAMPLE_PROFILE_NUM/8];
+static uint16_t max_miss;
+static uint32_t task, isr, os, idle;
+
+extern uint8_t ao_idle_loc;
+
+void
+ao_sample_profile_point(uint32_t pc, uint16_t tick, uint8_t in_isr)
+{
+ uint16_t delta = tick - prev_tick;
+
+ if (pc < AO_SAMPLE_PROFILE_LOW_PC)
+ return;
+ if (pc >= AO_SAMPLE_PROFILE_HIGH_PC)
+ return;
+ if (ao_cur_task) {
+ uint8_t *sp;
+ int32_t sp_delta;
+
+ asm("mov %0,sp" : "=&r" (sp));
+ sp_delta = sp - (uint8_t *) ao_cur_task->stack;
+ if (-96 < sp_delta && sp_delta < 16)
+ ao_panic(AO_PANIC_STACK);
+ }
+
+ if (in_isr)
+ isr += delta;
+ else if (ao_cur_task) {
+ ao_cur_task->ticks += delta;
+ task += delta;
+ } else if (pc == (uint32_t) &ao_idle_loc)
+ idle += delta;
+ else
+ os += delta;
+
+ pc -= AO_SAMPLE_PROFILE_LOW_PC;
+ pc >>= AO_SAMPLE_PROFILE_SHIFT;
+ samples[pc] += delta;
+
+ if (delta > 1)
+ missed[pc >> 3] |= (1 << (pc & 7));
+ if (delta > max_miss)
+ max_miss = delta;
+ prev_tick = tick;
+}
+
+static void
+ao_sample_profile_start(void)
+{
+ prev_tick = ao_sample_profile_timer_start();
+}
+
+static void
+ao_sample_profile_stop(void)
+{
+ ao_sample_profile_timer_stop();
+}
+
+static void
+ao_sample_profile_dump(void)
+{
+ uint16_t a;
+ uint8_t t;
+
+ printf ("task %6d\n", task);
+ printf ("isr %6d\n", isr);
+ printf ("os %6d\n", os);
+ printf ("idle %6d\n", idle);
+ printf ("irq blocked %d\n", max_miss);
+ for (t = 0; t < ao_num_tasks; t++)
+ printf ("task %6d %6d %6d %s\n",
+ ao_tasks[t]->ticks,
+ ao_tasks[t]->yields,
+ ao_tasks[t]->max_run,
+ ao_tasks[t]->name);
+ for (a = 0; a < AO_SAMPLE_PROFILE_NUM; a++) {
+ if (samples[a])
+ printf ("%04x %c %u\n",
+ (a << AO_SAMPLE_PROFILE_SHIFT) + AO_SAMPLE_PROFILE_LOW_PC,
+ missed[a >> 3] & (1 << (a & 7)) ? '*' : ' ',
+ samples[a]);
+ }
+}
+
+static void
+ao_sample_profile_clear(void)
+{
+ int t;
+
+ task = isr = os = idle = 0;
+ max_miss = 0;
+ memset(samples, '\0', sizeof (samples));
+ memset(missed, '\0', sizeof (missed));
+ for (t = 0; t < ao_num_tasks; t++) {
+ ao_tasks[t]->ticks = 0;
+ ao_tasks[t]->yields = 0;
+ ao_tasks[t]->max_run = 0;
+ }
+}
+
+static void
+ao_sample_profile_cmd(void)
+{
+ ao_cmd_white();
+ switch (ao_cmd_lex_c) {
+ case '1':
+ ao_sample_profile_start();
+ break;
+ case '0':
+ ao_sample_profile_stop();
+ break;
+ case 'd':
+ ao_sample_profile_dump();
+ break;
+ case 'c':
+ ao_sample_profile_clear();
+ break;
+ default:
+ ao_cmd_status = ao_cmd_syntax_error;
+ break;
+ }
+}
+
+static __code struct ao_cmds ao_sample_profile_cmds[] = {
+ { ao_sample_profile_cmd, "S <1 start,0 stop, d dump,c clear>\0Sample profile" },
+ { 0, NULL }
+};
+
+void
+ao_sample_profile_init(void)
+{
+ ao_sample_profile_timer_init();
+ ao_cmd_register(&ao_sample_profile_cmds[0]);
+ ao_sample_profile_clear();
+}
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_SAMPLE_PROFILE_H_
+#define _AO_SAMPLE_PROFILE_H_
+
+#include <ao_sample_profile_timer.h>
+
+void
+ao_sample_profile_point(uint32_t pc, uint16_t tick, uint8_t in_isr);
+
+void
+ao_sample_profile_init(void);
+
+#endif /* _AO_SAMPLE_PROFILE_H_ */
__xdata uint8_t ao_stdin_ready;
char
-getchar(void) __reentrant __critical
+getchar(void) __reentrant
{
char c;
- int8_t stdio = ao_cur_stdio;
+ ao_arch_critical(
+ int8_t stdio = ao_cur_stdio;
- for (;;) {
- c = ao_stdios[stdio].pollchar();
- if (c != AO_READ_AGAIN)
- break;
- if (++stdio == ao_num_stdios)
- stdio = 0;
- if (stdio == ao_cur_stdio)
- ao_sleep(&ao_stdin_ready);
- }
- ao_cur_stdio = stdio;
+ for (;;) {
+ c = ao_stdios[stdio].pollchar();
+ if (c != AO_READ_AGAIN)
+ break;
+ if (++stdio == ao_num_stdios)
+ stdio = 0;
+ if (stdio == ao_cur_stdio)
+ ao_sleep(&ao_stdin_ready);
+ }
+ ao_cur_stdio = stdio;
+ );
return c;
}
*/
#include <ao.h>
+#include <ao_task.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+
+#define DEBUG 0
#define AO_NO_TASK_INDEX 0xff
__xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
__data uint8_t ao_num_tasks;
-__data uint8_t ao_cur_task_index;
__xdata struct ao_task *__data ao_cur_task;
+#if !HAS_TASK_QUEUE
+static __data uint8_t ao_cur_task_index;
+#endif
+
#ifdef ao_arch_task_globals
ao_arch_task_globals
#endif
#define ao_check_stack()
#endif
+#if HAS_TASK_QUEUE
+
+#define SLEEP_HASH_SIZE 17
+
+static struct ao_list run_queue;
+static struct ao_list alarm_queue;
+static struct ao_list sleep_queue[SLEEP_HASH_SIZE];
+
+static void
+ao_task_to_run_queue(struct ao_task *task)
+{
+ ao_list_del(&task->queue);
+ ao_list_append(&task->queue, &run_queue);
+}
+
+static struct ao_list *
+ao_task_sleep_queue(void *wchan)
+{
+ return &sleep_queue[(uintptr_t) wchan % SLEEP_HASH_SIZE];
+}
+
+static void
+ao_task_to_sleep_queue(struct ao_task *task, void *wchan)
+{
+ ao_list_del(&task->queue);
+ ao_list_append(&task->queue, ao_task_sleep_queue(wchan));
+}
+
+#if DEBUG
+static void
+ao_task_validate_alarm_queue(void)
+{
+ struct ao_task *alarm, *prev = NULL;
+ int i;
+
+ if (ao_list_is_empty(&alarm_queue))
+ return;
+ ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
+ if (prev) {
+ if ((int16_t) (alarm->alarm - prev->alarm) < 0) {
+ ao_panic(1);
+ }
+ }
+ prev = alarm;
+ }
+ for (i = 0; i < ao_num_tasks; i++) {
+ alarm = ao_tasks[i];
+ if (alarm->alarm) {
+ if (ao_list_is_empty(&alarm->alarm_queue))
+ ao_panic(2);
+ } else {
+ if (!ao_list_is_empty(&alarm->alarm_queue))
+ ao_panic(3);
+ }
+ }
+}
+#else
+#define ao_task_validate_alarm_queue()
+#endif
+
+static void
+ao_task_to_alarm_queue(struct ao_task *task)
+{
+ struct ao_task *alarm;
+ ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
+ if ((int16_t) (alarm->alarm - task->alarm) >= 0) {
+ ao_list_insert(&task->alarm_queue, alarm->alarm_queue.prev);
+ ao_task_validate_alarm_queue();
+ return;
+ }
+ }
+ ao_list_append(&task->alarm_queue, &alarm_queue);
+ ao_task_validate_alarm_queue();
+}
+
+static void
+ao_task_from_alarm_queue(struct ao_task *task)
+{
+ ao_list_del(&task->alarm_queue);
+ ao_task_validate_alarm_queue();
+}
+
+static void
+ao_task_init_queue(struct ao_task *task)
+{
+ ao_list_init(&task->queue);
+ ao_list_init(&task->alarm_queue);
+}
+
+static void
+ao_task_exit_queue(struct ao_task *task)
+{
+ ao_list_del(&task->queue);
+ ao_list_del(&task->alarm_queue);
+}
+
+void
+ao_task_check_alarm(uint16_t tick)
+{
+ struct ao_task *alarm, *next;
+ int i;
+
+ if (ao_num_tasks == 0)
+ return;
+ ao_list_for_each_entry_safe(alarm, next, &alarm_queue, struct ao_task, alarm_queue) {
+ if ((int16_t) (tick - alarm->alarm) < 0)
+ break;
+ alarm->alarm = 0;
+ ao_task_from_alarm_queue(alarm);
+ ao_task_to_run_queue(alarm);
+ }
+}
+
+void
+ao_task_init(void)
+{
+ uint8_t i;
+ ao_list_init(&run_queue);
+ ao_list_init(&alarm_queue);
+ for (i = 0; i < SLEEP_HASH_SIZE; i++)
+ ao_list_init(&sleep_queue[i]);
+}
+
+#if DEBUG
+static uint8_t
+ao_task_validate_queue(struct ao_task *task)
+{
+ uint32_t flags;
+ struct ao_task *m;
+ uint8_t ret = 0;
+ struct ao_list *queue;
+
+ flags = ao_arch_irqsave();
+ if (task->wchan) {
+ queue = ao_task_sleep_queue(task->wchan);
+ ret |= 2;
+ } else {
+ queue = &run_queue;
+ ret |= 4;
+ }
+ ao_list_for_each_entry(m, queue, struct ao_task, queue) {
+ if (m == task) {
+ ret |= 1;
+ break;
+ }
+ }
+ ao_arch_irqrestore(flags);
+ return ret;
+}
+
+static uint8_t
+ao_task_validate_alarm(struct ao_task *task)
+{
+ uint32_t flags;
+ struct ao_task *m;
+ uint8_t ret = 0;
+
+ flags = ao_arch_irqsave();
+ if (task->alarm == 0)
+ return 0xff;
+ ao_list_for_each_entry(m, &alarm_queue, struct ao_task, alarm_queue) {
+ if (m == task)
+ ret |= 1;
+ else {
+ if (!(ret&1)) {
+ if ((int16_t) (m->alarm - task->alarm) > 0)
+ ret |= 2;
+ } else {
+ if ((int16_t) (task->alarm - m->alarm) > 0)
+ ret |= 4;
+ }
+ }
+ }
+ ao_arch_irqrestore(flags);
+ return ret;
+}
+
+
+static void
+ao_task_validate(void)
+{
+ uint8_t i;
+ struct ao_task *task;
+ uint8_t ret;
+
+ for (i = 0; i < ao_num_tasks; i++) {
+ task = ao_tasks[i];
+ ret = ao_task_validate_queue(task);
+ if (!(ret & 1)) {
+ if (ret & 2)
+ printf ("sleeping task not on sleep queue %s %08x\n",
+ task->name, task->wchan);
+ else
+ printf ("running task not on run queue %s\n",
+ task->name);
+ }
+ ret = ao_task_validate_alarm(task);
+ if (ret != 0xff) {
+ if (!(ret & 1))
+ printf ("alarm task not on alarm queue %s %d\n",
+ task->name, task->alarm);
+ if (ret & 2)
+ printf ("alarm queue has sooner entries after %s %d\n",
+ task->name, task->alarm);
+ if (ret & 4)
+ printf ("alarm queue has later entries before %s %d\n",
+ task->name, task->alarm);
+ }
+ }
+}
+#else
+#define ao_task_validate()
+#endif
+
+#else
+#define ao_task_to_run_queue(task)
+#define ao_task_to_alarm_queue(task)
+#endif
+
void
ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
{
if (t == ao_num_tasks)
break;
}
- ao_tasks[ao_num_tasks++] = task;
task->task_id = task_id;
task->name = name;
task->wchan = NULL;
* to the start of the task
*/
ao_arch_init_stack(task, start);
+ ao_arch_critical(
+#if HAS_TASK_QUEUE
+ ao_task_init_queue(task);
+ ao_task_to_run_queue(task);
+#endif
+ ao_tasks[ao_num_tasks] = task;
+ ao_num_tasks++;
+ );
}
/* Task switching function. This must not use any stack variables */
{
ao_arch_save_regs();
+#if HAS_TASK_QUEUE
+ if (ao_cur_task == NULL)
+ ao_cur_task = ao_tasks[ao_num_tasks-1];
+#else
if (ao_cur_task_index == AO_NO_TASK_INDEX)
ao_cur_task_index = ao_num_tasks-1;
+#endif
else
{
+#if HAS_SAMPLE_PROFILE
+ uint16_t tick = ao_sample_profile_timer_value();
+ uint16_t run = tick - ao_cur_task->start;
+ if (run > ao_cur_task->max_run)
+ ao_cur_task->max_run = run;
+ ++ao_cur_task->yields;
+#endif
ao_arch_save_stack();
}
/* Find a task to run. If there isn't any runnable task,
* this loop will run forever, which is just fine
*/
+#if HAS_TASK_QUEUE
+ if (ao_cur_task->wchan == NULL) {
+ uint32_t flags;
+ flags = ao_arch_irqsave();
+ ao_task_to_run_queue(ao_cur_task);
+ ao_arch_irqrestore(flags);
+ }
+ ao_cur_task = NULL;
+
+ for (;;) {
+ ao_arch_memory_barrier();
+ if (!ao_list_is_empty(&run_queue))
+ break;
+ ao_arch_cpu_idle();
+ }
+
+ ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
+#else
{
__pdata uint8_t ao_last_task_index = ao_cur_task_index;
for (;;) {
if (ao_cur_task_index == ao_last_task_index)
ao_arch_cpu_idle();
}
+#if HAS_SAMPLE_PROFILE
+ ao_cur_task->start = ao_sample_profile_timer_value();
+#endif
}
+#endif
+#if HAS_STACK_GUARD
+ ao_mpu_stack_guard(ao_cur_task->stack);
+#endif
#if AO_CHECK_STACK
- cli();
+ ao_arch_block_interrupts();
in_yield = 0;
#endif
ao_arch_restore_stack();
uint8_t
ao_sleep(__xdata void *wchan)
{
+#if HAS_TASK_QUEUE
+ uint32_t flags;
+ flags = ao_arch_irqsave();
+#endif
ao_cur_task->wchan = wchan;
+#if HAS_TASK_QUEUE
+ ao_task_to_sleep_queue(ao_cur_task, wchan);
+ ao_arch_irqrestore(flags);
+#endif
ao_yield();
if (ao_cur_task->wchan) {
ao_cur_task->wchan = NULL;
void
ao_wakeup(__xdata void *wchan)
{
- uint8_t i;
+#if HAS_TASK_QUEUE
+ struct ao_task *sleep, *next;
+ struct ao_list *sleep_queue;
+ uint32_t flags;
- ao_check_stack();
+ if (ao_num_tasks == 0)
+ return;
+ sleep_queue = ao_task_sleep_queue(wchan);
+ flags = ao_arch_irqsave();
+ ao_list_for_each_entry_safe(sleep, next, sleep_queue, struct ao_task, queue) {
+ if (sleep->wchan == wchan) {
+ sleep->wchan = NULL;
+ ao_task_to_run_queue(sleep);
+ }
+ }
+ ao_arch_irqrestore(flags);
+#else
+ uint8_t i;
for (i = 0; i < ao_num_tasks; i++)
if (ao_tasks[i]->wchan == wchan)
ao_tasks[i]->wchan = NULL;
+#endif
+ ao_check_stack();
}
void
ao_alarm(uint16_t delay)
{
+#if HAS_TASK_QUEUE
+ uint32_t flags;
/* Make sure we sleep *at least* delay ticks, which means adding
* one to account for the fact that we may be close to the next tick
*/
+ flags = ao_arch_irqsave();
+#endif
if (!(ao_cur_task->alarm = ao_time() + delay + 1))
ao_cur_task->alarm = 1;
+#if HAS_TASK_QUEUE
+ ao_task_to_alarm_queue(ao_cur_task);
+ ao_arch_irqrestore(flags);
+#endif
}
void
ao_clear_alarm(void)
{
+#if HAS_TASK_QUEUE
+ uint32_t flags;
+
+ flags = ao_arch_irqsave();
+#endif
ao_cur_task->alarm = 0;
+#if HAS_TASK_QUEUE
+ ao_task_from_alarm_queue(ao_cur_task);
+ ao_arch_irqrestore(flags);
+#endif
}
static __xdata uint8_t ao_forever;
void
ao_exit(void)
{
- ao_arch_critical(
- uint8_t i;
- ao_num_tasks--;
- for (i = ao_cur_task_index; i < ao_num_tasks; i++)
- ao_tasks[i] = ao_tasks[i+1];
- ao_cur_task_index = AO_NO_TASK_INDEX;
- ao_yield();
- );
+ uint8_t i;
+ ao_arch_block_interrupts();
+ ao_num_tasks--;
+#if HAS_TASK_QUEUE
+ for (i = 0; i < ao_num_tasks; i++)
+ if (ao_tasks[i] == ao_cur_task)
+ break;
+ ao_task_exit_queue(ao_cur_task);
+#else
+ i = ao_cur_task_index;
+ ao_cur_task_index = AO_NO_TASK_INDEX;
+#endif
+ for (; i < ao_num_tasks; i++)
+ ao_tasks[i] = ao_tasks[i+1];
+ ao_cur_task = NULL;
+ ao_yield();
/* we'll never get back here */
}
task->name,
(int) task->wchan);
}
+#if HAS_TASK_QUEUE
+ ao_task_validate();
+#endif
}
void
ao_start_scheduler(void)
{
+#if !HAS_TASK_QUEUE
ao_cur_task_index = AO_NO_TASK_INDEX;
+#endif
ao_cur_task = NULL;
ao_yield();
}
#ifndef _AO_TASK_H_
#define _AO_TASK_H_
+#if HAS_TASK_QUEUE
+#include <ao_list.h>
+#endif
/* An AltOS task */
struct ao_task {
ao_arch_task_members /* any architecture-specific fields */
uint8_t task_id; /* unique id */
__code char *name; /* task name */
+#if HAS_TASK_QUEUE
+ struct ao_list queue;
+ struct ao_list alarm_queue;
+#endif
uint8_t stack[AO_STACK_SIZE]; /* saved stack */
+#if HAS_SAMPLE_PROFILE
+ uint32_t ticks;
+ uint32_t yields;
+ uint16_t start;
+ uint16_t max_run;
+#endif
};
-extern __xdata struct ao_task *__data ao_cur_task;
-
#define AO_NUM_TASKS 16 /* maximum number of tasks */
#define AO_NO_TASK 0 /* no task id */
+extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
+extern __data uint8_t ao_num_tasks;
+extern __xdata struct ao_task *__data ao_cur_task;
+
/*
ao_task.c
*/
void
ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
+#if HAS_TASK_QUEUE
+/* Called on timer interrupt to check alarms */
+void
+ao_task_check_alarm(uint16_t tick);
+#endif
+
/* Terminate the current task */
void
ao_exit(void);
void
ao_start_scheduler(void);
+#if HAS_TASK_QUEUE
+void
+ao_task_init(void);
+#else
+#define ao_task_init()
+#endif
+
#endif
#endif
void
-ao_btm_check_link() __critical
+ao_btm_check_link()
{
- /* Check the pin and configure the interrupt detector to wait for the
- * pin to flip the other way
- */
- if (BT_LINK_PIN) {
- ao_btm_connected = 0;
- PICTL |= BT_PICTL_ICON;
- } else {
- ao_btm_connected = 1;
- PICTL &= ~BT_PICTL_ICON;
- }
+ ao_arch_critical(
+ /* Check the pin and configure the interrupt detector to wait for the
+ * pin to flip the other way
+ */
+ if (BT_LINK_PIN) {
+ ao_btm_connected = 0;
+ PICTL |= BT_PICTL_ICON;
+ } else {
+ ao_btm_connected = 1;
+ PICTL &= ~BT_PICTL_ICON;
+ }
+ );
}
void
#include <ao_fec.h>
#include <ao_packet.h>
+#define AO_RADIO_MAX_RECV sizeof(struct ao_packet)
+#define AO_RADIO_MAX_SEND sizeof(struct ao_packet)
+
uint8_t ao_radio_wake;
uint8_t ao_radio_mutex;
uint8_t ao_radio_abort;
}
}
+static uint8_t tx_data[(AO_RADIO_MAX_SEND + 4) * 2];
+
void
ao_radio_send(const void *d, uint8_t size)
{
uint8_t marc_status;
- static uint8_t encode[256];
- uint8_t *e = encode;
+ uint8_t *e = tx_data;
uint8_t encode_len;
uint8_t this_len;
uint8_t started = 0;
uint8_t fifo_space;
- encode_len = ao_fec_encode(d, size, encode);
+ encode_len = ao_fec_encode(d, size, tx_data);
ao_radio_get(encode_len);
ao_radio_put();
}
-#define AO_RADIO_MAX_RECV 90
-
static uint8_t rx_data[(AO_RADIO_MAX_RECV + 4) * 2 * 8];
static uint16_t rx_data_count;
static uint16_t rx_data_consumed;
ao_radio_configured = 0;
ao_spi_init_cs (AO_CC1120_SPI_CS_PORT, (1 << AO_CC1120_SPI_CS_PIN));
+#if 0
AO_CC1120_SPI_CS_PORT->bsrr = ((uint32_t) (1 << AO_CC1120_SPI_CS_PIN));
for (i = 0; i < 10000; i++) {
if ((SPI_2_PORT->idr & (1 << SPI_2_MISO_PIN)) == 0)
AO_CC1120_SPI_CS_PORT->bsrr = (1 << AO_CC1120_SPI_CS_PIN);
if (i == 10000)
ao_panic(AO_PANIC_SELF_TEST_CC1120);
+#endif
/* Enable the EXTI interrupt for the appropriate pin */
ao_enable_port(AO_CC1120_INT_PORT);
ao_ms5607_get_sample(uint8_t cmd) {
uint8_t reply[3];
uint8_t read;
+ uint32_t loops;
ao_ms5607_done = 0;
#if AO_MS5607_PRIVATE_PINS
ao_spi_put(AO_MS5607_SPI_INDEX);
#endif
+// loops = 0;
cli();
- while (!ao_ms5607_done)
+ while (!ao_ms5607_done) {
+// loops++;
ao_sleep((void *) &ao_ms5607_done);
+ }
sei();
+// if (loops > 1)
+// printf ("ms5607 loops %d\n", loops);
#if AO_MS5607_PRIVATE_PINS
stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
#else
__xdata struct ao_task ao_packet_task;
__xdata uint8_t ao_packet_enable;
+__xdata uint8_t ao_packet_restart;
#if PACKET_HAS_MASTER
__xdata uint8_t ao_packet_master_sleeping;
/* Check for incoming data at the next sequence and
* for an empty data buffer
*/
- if (ao_rx_packet.packet.seq == (uint8_t) (rx_seq + (uint8_t) 1) &&
+ if ((ao_rx_packet.packet.seq == (uint8_t) (rx_seq + (uint8_t) 1) ||
+ ao_packet_restart) &&
ao_packet_rx_used == ao_packet_rx_len) {
/* Copy data to the receive data buffer and set up the
ao_wakeup(&ao_stdin_ready);
}
}
+ ao_packet_restart = 0;
/* If the other side has seen the latest data we queued,
* wake up any task waiting to send data and let them go again
void
ao_packet_putchar(char c) __reentrant
{
+ /* No need to block interrupts, all variables here
+ * are only manipulated in task context
+ */
while (ao_packet_tx_used == AO_PACKET_MAX && ao_packet_enable) {
#if PACKET_HAS_MASTER
ao_packet_flush();
}
char
-ao_packet_pollchar(void) __critical
+ao_packet_pollchar(void)
{
+ /* No need to block interrupts, all variables here
+ * are only manipulated in task context
+ */
if (!ao_packet_enable)
return AO_READ_AGAIN;
#include "ao.h"
static char
-ao_packet_getchar(void) __critical
+ao_packet_getchar(void)
{
char c;
while ((c = ao_packet_pollchar()) == AO_READ_AGAIN) {
{
ao_tx_packet.addr = ao_serial_number;
ao_tx_packet.len = AO_PACKET_SYN;
+ ao_packet_restart = 1;
while (ao_packet_enable) {
if (ao_packet_recv()) {
ao_xmemcpy(&ao_tx_packet.callsign, &ao_rx_packet.packet.callsign, AO_MAX_CALLSIGN);
ao_mma655x.h \
ao_cc1120_CC1120.h \
ao_profile.h \
+ ao_task.h \
ao_whiten.h \
- stm32l.h
+ ao_sample_profile.h \
+ ao_mpu.h \
+ stm32l.h \
+ Makefile
#
# Common AltOS sources
#
+# ao_hmc5883.c
#PROFILE=ao_profile.c
#PROFILE_DEF=-DAO_PROFILE=1
-# ao_hmc5883.c
+SAMPLE_PROFILE=ao_sample_profile.c \
+ ao_sample_profile_timer.c
+SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
+
+STACK_GUARD=ao_mpu_stm.c
+STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
ALTOS_SRC = \
ao_interrupt.c \
ao_packet.c \
ao_companion.c \
ao_pyro.c \
- $(PROFILE)
+ $(PROFILE) \
+ $(SAMPLE_PROFILE) \
+ $(STACK_GUARD)
PRODUCT=MegaMetrum-v0.1
PRODUCT_DEF=-DMEGAMETRUM
IDPRODUCT=0x0023
-CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) -Os -g
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
PROGNAME=megametrum-v0.1
PROG=$(PROGNAME)-$(VERSION).elf
#include <ao_packet.h>
#include <ao_companion.h>
#include <ao_profile.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
#include <ao_pyro.h>
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
int
main(void)
{
ao_clock_init();
+#if HAS_STACK_GUARD
+ ao_mpu_init();
+#endif
+
+ ao_task_init();
ao_serial_init();
ao_led_init(LEDS_AVAILABLE);
ao_led_on(AO_LED_GREEN);
#if AO_PROFILE
ao_profile_init();
#endif
+#if HAS_SAMPLE_PROFILE
+ ao_sample_profile_init();
+#endif
ao_start_scheduler();
return 0;
#ifndef _AO_PINS_H_
#define _AO_PINS_H_
+#define HAS_TASK_QUEUE 1
+
/* 8MHz High speed external crystal */
#define AO_HSE 8000000
C_LIB=$(PDCLIB)/lib/pdclib.a
C_INC=-I$(PDCLIB)/include
-DEF_CFLAGS=-g -std=gnu99 -Os -mlittle-endian -mthumb -ffreestanding -nostdlib -I../../src/stm $(C_INC)
+DEF_CFLAGS=-g -std=gnu99 -Os -mlittle-endian -mthumb -ffreestanding -nostdlib -I. -I../../src/stm $(C_INC)
# to run from SRAM
LD_FLAGS_RAM=-L../stm -Wl,-Taltos-ram.ld
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#define ao_panic(n) for(;;);
#define __xdata
#define __code const
#define __reentrant
-#define __critical
#define __interrupt(n)
#define __at(n)
#define ao_arch_task_members\
uint32_t *sp; /* saved stack pointer */
-#define cli() asm("cpsid i")
-#define sei() asm("cpsie i")
+#define ao_arch_block_interrupts() asm("cpsid i")
+#define ao_arch_release_interrupts() asm("cpsie i")
+
+#define cli() ao_arch_block_interrupts()
+#define sei() ao_arch_release_interrupts()
+
+static uint32_t
+ao_arch_irqsave(void) {
+ uint32_t primask;
+ asm("mrs %0,primask" : "=&r" (primask));
+ ao_arch_block_interrupts();
+ return primask;
+}
+
+static void
+ao_arch_irqrestore(uint32_t primask) {
+ asm("msr primask,%0" : : "r" (primask));
+}
+
+static void
+ao_arch_memory_barrier() {
+ asm volatile("" ::: "memory");
+}
#define ao_arch_init_stack(task, start) do { \
uint32_t *sp = (uint32_t *) (task->stack + AO_STACK_SIZE); \
#define ao_arch_cpu_idle() do { \
- asm("wfi"); \
+ asm(".global ao_idle_loc\n\twfi\nao_idle_loc:"); \
} while (0)
#define ao_arch_restore_stack() do { \
} else {
stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM3EN);
- stm_tim3.cr1 = ((STM_TIM234_CR1_CKD_1 << STM_TIM234_CR1_CKD) |
- (0 << STM_TIM234_CR1_ARPE) |
- (STM_TIM234_CR1_CMS_EDGE << STM_TIM234_CR1_CMS) |
- (0 << STM_TIM234_CR1_DIR) |
- (0 << STM_TIM234_CR1_OPM) |
- (0 << STM_TIM234_CR1_URS) |
- (0 << STM_TIM234_CR1_UDIS) |
- (0 << STM_TIM234_CR1_CEN));
-
stm_tim3.cr2 = ((0 << STM_TIM234_CR2_TI1S) |
(STM_TIM234_CR2_MMS_RESET << STM_TIM234_CR2_MMS) |
(0 << STM_TIM234_CR2_CCDS));
(0 << STM_TIM234_CR1_URS) |
(0 << STM_TIM234_CR1_UDIS) |
(1 << STM_TIM234_CR1_CEN));
+
+ /* Update the values */
+ stm_tim3.egr = (1 << STM_TIM234_EGR_UG);
}
}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
+#include <ao.h>
#include "stm32l.h"
#include <string.h>
void stm_halt_isr(void)
{
- for(;;);
+ ao_panic(AO_PANIC_CRASH);
}
void stm_ignore_isr(void)
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_MPU_H_
+#define _AO_MPU_H_
+
+extern uint32_t ao_mpu_dregion;
+
+void
+ao_mpu_stack_guard(void *stack);
+
+void
+ao_mpu_init(void);
+
+#endif /* _AO_MPU_H_ */
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_mpu.h>
+
+static uint32_t stm_mpu_dregion;
+
+void
+ao_mpu_init(void)
+{
+ uint32_t region;
+
+ /* Check to see how many regions we have */
+ stm_mpu_dregion = (stm_mpu.typer >> STM_MPU_TYPER_DREGION) & STM_MPU_TYPER_DREGION_MASK;
+
+ /* No MPU at all */
+ if (stm_mpu_dregion == 0)
+ return;
+
+ /* Disable MPU */
+ stm_mpu.cr = ((0 << STM_MPU_CR_PRIVDEFENA) |
+ (0 << STM_MPU_CR_HFNMIENA) |
+ (0 << STM_MPU_CR_ENABLE));
+
+ /* Disable all regions */
+ for (region = 0; region < stm_mpu_dregion; region++) {
+ /* Set the base address and RNR value */
+ stm_mpu.rbar = ((0 & (STM_MPU_RBAR_ADDR_MASK << STM_MPU_RBAR_ADDR)) |
+ (1 << STM_MPU_RBAR_VALID) |
+ (region << STM_MPU_RBAR_REGION));
+
+ /* Disable this region */
+ stm_mpu.rasr = 0;
+ }
+
+ region = 0;
+
+ /* Flash */
+ /* 0x00000000 - 0x1fffffff */
+ stm_mpu.rbar = (0x0000000 |
+ (1 << STM_MPU_RBAR_VALID) |
+ (region << STM_MPU_RBAR_REGION));
+
+ stm_mpu.rasr = ((0 << STM_MPU_RASR_XN) |
+ (STM_MPU_RASR_AP_RO_RO << STM_MPU_RASR_AP) |
+ (5 << STM_MPU_RASR_TEX) |
+ (0 << STM_MPU_RASR_C) |
+ (1 << STM_MPU_RASR_B) |
+ (0 << STM_MPU_RASR_S) |
+ (0 << STM_MPU_RASR_SRD) |
+ (28 << STM_MPU_RASR_SIZE) |
+ (1 << STM_MPU_RASR_ENABLE));
+ region++;
+
+ /* Ram */
+ /* 0x20000000 - 0x3fffffff */
+ stm_mpu.rbar = (0x20000000 |
+ (1 << STM_MPU_RBAR_VALID) |
+ (region << STM_MPU_RBAR_REGION));
+
+ stm_mpu.rasr = ((0 << STM_MPU_RASR_XN) |
+ (STM_MPU_RASR_AP_RW_RW << STM_MPU_RASR_AP) |
+ (5 << STM_MPU_RASR_TEX) |
+ (0 << STM_MPU_RASR_C) |
+ (1 << STM_MPU_RASR_B) |
+ (0 << STM_MPU_RASR_S) |
+ (0 << STM_MPU_RASR_SRD) |
+ (28 << STM_MPU_RASR_SIZE) |
+ (1 << STM_MPU_RASR_ENABLE));
+ region++;
+
+ /* Peripherals */
+
+ /* 0x4000000 - 0x7ffffff */
+ stm_mpu.rbar = (0x40000000 |
+ (1 << STM_MPU_RBAR_VALID) |
+ (region << STM_MPU_RBAR_REGION));
+
+ stm_mpu.rasr = ((1 << STM_MPU_RASR_XN) |
+ (STM_MPU_RASR_AP_RW_RW << STM_MPU_RASR_AP) |
+ (2 << STM_MPU_RASR_TEX) |
+ (0 << STM_MPU_RASR_C) |
+ (0 << STM_MPU_RASR_B) |
+ (0 << STM_MPU_RASR_S) |
+ (0 << STM_MPU_RASR_SRD) |
+ (29 << STM_MPU_RASR_SIZE) |
+ (1 << STM_MPU_RASR_ENABLE));
+ region++;
+
+ /* 0x8000000 - 0xffffffff */
+ stm_mpu.rbar = (0x80000000 |
+ (1 << STM_MPU_RBAR_VALID) |
+ (region << STM_MPU_RBAR_REGION));
+
+ stm_mpu.rasr = ((1 << STM_MPU_RASR_XN) |
+ (STM_MPU_RASR_AP_RW_RW << STM_MPU_RASR_AP) |
+ (2 << STM_MPU_RASR_TEX) |
+ (0 << STM_MPU_RASR_C) |
+ (0 << STM_MPU_RASR_B) |
+ (0 << STM_MPU_RASR_S) |
+ (0 << STM_MPU_RASR_SRD) |
+ (30 << STM_MPU_RASR_SIZE) |
+ (1 << STM_MPU_RASR_ENABLE));
+ region++;
+
+ /* Enable MPU */
+ stm_mpu.cr = ((0 << STM_MPU_CR_PRIVDEFENA) |
+ (0 << STM_MPU_CR_HFNMIENA) |
+ (1 << STM_MPU_CR_ENABLE));
+}
+
+/*
+ * Protect the base of the stack from CPU access
+ */
+
+void
+ao_mpu_stack_guard(void *base)
+{
+ uintptr_t addr = (uintptr_t) base;
+
+ /* Round up to cover the lowest possible 32-byte region */
+ addr = (addr + ~(STM_MPU_RBAR_ADDR_MASK << STM_MPU_RBAR_ADDR)) & (STM_MPU_RBAR_ADDR_MASK << STM_MPU_RBAR_ADDR);
+
+ stm_mpu.rbar = addr | (1 << STM_MPU_RBAR_VALID) | (7 << STM_MPU_RBAR_REGION);
+ stm_mpu.rasr = ((1 << STM_MPU_RASR_XN) |
+ (STM_MPU_RASR_AP_NONE_NONE << STM_MPU_RASR_AP) |
+ (5 << STM_MPU_RASR_TEX) |
+ (0 << STM_MPU_RASR_C) |
+ (1 << STM_MPU_RASR_B) |
+ (0 << STM_MPU_RASR_S) |
+ (0 << STM_MPU_RASR_SRD) |
+ (4 << STM_MPU_RASR_SIZE) |
+ (1 << STM_MPU_RASR_ENABLE));
+}
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_sample_profile.h>
+
+struct stm_exception {
+ uint32_t r0;
+ uint32_t r1;
+ uint32_t r2;
+ uint32_t r3;
+ uint32_t r12;
+ uint32_t lr;
+ uint32_t pc;
+ uint32_t psr;
+};
+
+void
+stm_tim10_isr(void)
+{
+ struct stm_exception *ex;
+
+ asm("mov %0,sp" : "=&r" (ex));
+
+ stm_tim10.sr = 0;
+ ao_sample_profile_point(ex->pc, stm_tim11.cnt, (ex->psr & 0xff) != 0);
+}
+
+uint16_t
+ao_sample_profile_timer_start(void)
+{
+ /* Reset counts */
+ stm_tim11.cnt = 0;
+ stm_tim10.cnt = 0;
+
+ /* Turn on timer 11 */
+ stm_tim11.cr1 = ((0 << STM_TIM1011_CR1_CKD) |
+ (0 << STM_TIM1011_CR1_ARPE) |
+ (1 << STM_TIM1011_CR1_URS) |
+ (0 << STM_TIM1011_CR1_UDIS) |
+ (1 << STM_TIM1011_CR1_CEN));
+
+ /* Turn on timer 10 */
+ stm_tim10.cr1 = ((0 << STM_TIM1011_CR1_CKD) |
+ (0 << STM_TIM1011_CR1_ARPE) |
+ (1 << STM_TIM1011_CR1_URS) |
+ (0 << STM_TIM1011_CR1_UDIS) |
+ (1 << STM_TIM1011_CR1_CEN));
+ return stm_tim11.cnt;
+}
+
+void
+ao_sample_profile_timer_stop(void)
+{
+ stm_tim10.cr1 = 0;
+ stm_tim11.cr1 = 0;
+}
+
+#if AO_APB2_PRESCALER > 1
+#define TIMER_91011_SCALER 2
+#else
+#define TIMER_91011_SCALER 1
+#endif
+
+#define TIMER_10kHz ((AO_PCLK2 * TIMER_91011_SCALER) / 10000)
+#define TIMER_1kHz ((AO_PCLK2 * TIMER_91011_SCALER) / 1000)
+
+void
+ao_sample_profile_timer_init(void)
+{
+ /* Turn on power for timer 10 and 11 */
+ stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_TIM10EN) | (1 << STM_RCC_APB2ENR_TIM11EN);
+
+ /* Timer 10 is the 1kHz interrupt */
+ stm_tim10.cr1 = 0;
+ stm_tim10.psc = TIMER_10kHz;
+ stm_tim10.arr = 9;
+ stm_tim10.cnt = 0;
+
+ /* Enable timer 10 update interrupt */
+ stm_tim10.dier = (1 << STM_TIM1011_DIER_UIE);
+
+ /* Poke timer to reload values */
+ stm_tim10.egr |= (1 << STM_TIM1011_EGR_UG);
+
+ /* Timer 11 is the 1kHz counter */
+ stm_tim11.cr1 = 0;
+ stm_tim11.psc = TIMER_1kHz;
+ stm_tim11.arr = 0xffff;
+ stm_tim11.cnt = 0;
+
+ /* Disable interrupts for timer 11 */
+ stm_tim11.dier = 0;
+
+ /* Poke timer to reload values */
+ stm_tim11.egr |= (1 << STM_TIM1011_EGR_UG);
+
+ stm_tim10.sr = 0;
+ stm_nvic_set_enable(STM_ISR_TIM10_POS);
+ stm_nvic_set_priority(STM_ISR_TIM10_POS, AO_STM_NVIC_HIGH_PRIORITY);
+}
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_SAMPLE_PROFILE_TIMER_H_
+#define _AO_SAMPLE_PROFILE_TIMER_H_
+
+uint16_t
+ao_sample_profile_timer_start(void);
+
+void
+ao_sample_profile_timer_stop(void);
+
+void
+ao_sample_profile_timer_init(void);
+
+#define ao_sample_profile_timer_value() ((uint16_t) stm_tim11.cnt)
+
+#endif /* _AO_SAMPLE_PROFILE_TIMER_H_ */
*/
#include "ao.h"
+#include <ao_task.h>
volatile __data AO_TICK_TYPE ao_tick_count;
if (stm_tim6.sr & (1 << STM_TIM67_SR_UIF)) {
stm_tim6.sr = 0;
++ao_tick_count;
+#if HAS_TASK_QUEUE
+ ao_task_check_alarm((uint16_t) ao_tick_count);
+#endif
#if AO_DATA_ALL
if (++ao_data_count == ao_data_interval) {
ao_data_count = 0;
#if HAS_ADC
void
-ao_timer_set_adc_interval(uint8_t interval) __critical
+ao_timer_set_adc_interval(uint8_t interval)
{
- ao_data_interval = interval;
- ao_data_count = 0;
+ ao_arch_critical(
+ ao_data_interval = interval;
+ ao_data_count = 0;
+ );
}
#endif
ao_usb_tx_count = 0;
}
-/* Wait for a free IN buffer */
+/* Wait for a free IN buffer. Interrupts are blocked */
static void
-ao_usb_in_wait(void)
+_ao_usb_in_wait(void)
{
for (;;) {
/* Check if the current buffer is writable */
if (ao_usb_tx_count < AO_USB_IN_SIZE)
break;
- cli();
/* Wait for an IN buffer to be ready */
while (ao_usb_in_pending)
ao_sleep(&ao_usb_in_pending);
- sei();
}
}
void
-ao_usb_flush(void) __critical
+ao_usb_flush(void)
{
if (!ao_usb_running)
return;
* packet was full, in which case we now
* want to send an empty packet
*/
+ ao_arch_block_interrupts();
if (!ao_usb_in_flushed) {
ao_usb_in_flushed = 1;
- cli();
/* Wait for an IN buffer to be ready */
while (ao_usb_in_pending)
ao_sleep(&ao_usb_in_pending);
- sei();
ao_usb_in_send();
}
+ ao_arch_release_interrupts();
}
void
-ao_usb_putchar(char c) __critical __reentrant
+ao_usb_putchar(char c)
{
if (!ao_usb_running)
return;
- ao_usb_in_wait();
+ ao_arch_block_interrupts();
+ _ao_usb_in_wait();
ao_usb_in_flushed = 0;
ao_usb_tx_buffer[ao_usb_tx_count++] = (uint8_t) c;
/* Send the packet when full */
if (ao_usb_tx_count == AO_USB_IN_SIZE)
ao_usb_in_send();
+ ao_arch_release_interrupts();
}
static void
-ao_usb_out_recv(void)
+_ao_usb_out_recv(void)
{
ao_usb_out_avail = 0;
/* Check to see if a packet has arrived */
if (!ao_usb_out_avail)
return AO_READ_AGAIN;
- ao_usb_out_recv();
+ _ao_usb_out_recv();
}
/* Pull a character out of the fifo */
ao_usb_pollchar(void)
{
char c;
- cli();
+ ao_arch_block_interrupts();
c = _ao_usb_pollchar();
- sei();
+ ao_arch_release_interrupts();
return c;
}
char
-ao_usb_getchar(void) __critical
+ao_usb_getchar(void)
{
char c;
- cli();
+ ao_arch_block_interrupts();
while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
ao_sleep(&ao_stdin_ready);
- sei();
+ ao_arch_release_interrupts();
return c;
}
void
ao_usb_disable(void)
{
+ ao_arch_block_interrupts();
stm_usb.cntr = (1 << STM_USB_CNTR_FRES);
stm_usb.istr = 0;
/* Disable the interface */
stm_rcc.apb1enr &+ ~(1 << STM_RCC_APB1ENR_USBEN);
+ ao_arch_release_interrupts();
}
void
* pulled low and doesn't work at all
*/
+ ao_arch_block_interrupts();
+
/* Route interrupts */
stm_nvic_set_priority(STM_ISR_USB_LP_POS, 3);
stm_nvic_set_enable(STM_ISR_USB_LP_POS);
(0 << STM_USB_CNTR_PDWN) |
(0 << STM_USB_CNTR_FRES));
+ ao_arch_release_interrupts();
+
for (t = 0; t < 1000; t++)
ao_arch_nop();
/* Enable USB pull-up */
stm_nvic = 0xe000e100;
+stm_mpu = 0xe000ed90;
+
/* calibration data in system memory */
stm_temp_cal = 0x1ff80078;
};
extern struct stm_tim stm_tim9;
-extern struct stm_tim stm_tim10;
-extern struct stm_tim stm_tim11;
+
+struct stm_tim1011 {
+ vuint32_t cr1;
+ uint32_t unused_4;
+ vuint32_t smcr;
+ vuint32_t dier;
+ vuint32_t sr;
+ vuint32_t egr;
+ vuint32_t ccmr1;
+ uint32_t unused_1c;
+ vuint32_t ccer;
+ vuint32_t cnt;
+ vuint32_t psc;
+ vuint32_t arr;
+ uint32_t unused_30;
+ vuint32_t ccr1;
+ uint32_t unused_38;
+ uint32_t unused_3c;
+ uint32_t unused_40;
+ uint32_t unused_44;
+ uint32_t unused_48;
+ uint32_t unused_4c;
+ vuint32_t or;
+};
+
+extern struct stm_tim1011 stm_tim10;
+extern struct stm_tim1011 stm_tim11;
+
+#define STM_TIM1011_CR1_CKD 8
+#define STM_TIM1011_CR1_CKD_1 0
+#define STM_TIM1011_CR1_CKD_2 1
+#define STM_TIM1011_CR1_CKD_4 2
+#define STM_TIM1011_CR1_CKD_MASK 3
+#define STM_TIM1011_CR1_ARPE 7
+#define STM_TIM1011_CR1_URS 2
+#define STM_TIM1011_CR1_UDIS 1
+#define STM_TIM1011_CR1_CEN 0
+
+#define STM_TIM1011_SMCR_ETP 15
+#define STM_TIM1011_SMCR_ECE 14
+#define STM_TIM1011_SMCR_ETPS 12
+#define STM_TIM1011_SMCR_ETPS_OFF 0
+#define STM_TIM1011_SMCR_ETPS_2 1
+#define STM_TIM1011_SMCR_ETPS_4 2
+#define STM_TIM1011_SMCR_ETPS_8 3
+#define STM_TIM1011_SMCR_ETPS_MASK 3
+#define STM_TIM1011_SMCR_ETF 8
+#define STM_TIM1011_SMCR_ETF_NONE 0
+#define STM_TIM1011_SMCR_ETF_CK_INT_2 1
+#define STM_TIM1011_SMCR_ETF_CK_INT_4 2
+#define STM_TIM1011_SMCR_ETF_CK_INT_8 3
+#define STM_TIM1011_SMCR_ETF_DTS_2_6 4
+#define STM_TIM1011_SMCR_ETF_DTS_2_8 5
+#define STM_TIM1011_SMCR_ETF_DTS_4_6 6
+#define STM_TIM1011_SMCR_ETF_DTS_4_8 7
+#define STM_TIM1011_SMCR_ETF_DTS_8_6 8
+#define STM_TIM1011_SMCR_ETF_DTS_8_8 9
+#define STM_TIM1011_SMCR_ETF_DTS_16_5 10
+#define STM_TIM1011_SMCR_ETF_DTS_16_6 11
+#define STM_TIM1011_SMCR_ETF_DTS_16_8 12
+#define STM_TIM1011_SMCR_ETF_DTS_32_5 13
+#define STM_TIM1011_SMCR_ETF_DTS_32_6 14
+#define STM_TIM1011_SMCR_ETF_DTS_32_8 15
+#define STM_TIM1011_SMCR_ETF_MASK 15
+
+#define STM_TIM1011_DIER_CC1E 1
+#define STM_TIM1011_DIER_UIE 0
+
+#define STM_TIM1011_SR_CC1OF 9
+#define STM_TIM1011_SR_CC1IF 1
+#define STM_TIM1011_SR_UIF 0
+
+#define STM_TIM1011_EGR_CC1G 1
+#define STM_TIM1011_EGR_UG 0
+
+#define STM_TIM1011_CCMR1_OC1CE 7
+#define STM_TIM1011_CCMR1_OC1M 4
+#define STM_TIM1011_CCMR1_OC1M_FROZEN 0
+#define STM_TIM1011_CCMR1_OC1M_SET_1_ACTIVE_ON_MATCH 1
+#define STM_TIM1011_CCMR1_OC1M_SET_1_INACTIVE_ON_MATCH 2
+#define STM_TIM1011_CCMR1_OC1M_TOGGLE 3
+#define STM_TIM1011_CCMR1_OC1M_FORCE_INACTIVE 4
+#define STM_TIM1011_CCMR1_OC1M_FORCE_ACTIVE 5
+#define STM_TIM1011_CCMR1_OC1M_PWM_MODE_1 6
+#define STM_TIM1011_CCMR1_OC1M_PWM_MODE_2 7
+#define STM_TIM1011_CCMR1_OC1M_MASK 7
+#define STM_TIM1011_CCMR1_OC1PE 3
+#define STM_TIM1011_CCMR1_OC1FE 2
+#define STM_TIM1011_CCMR1_CC1S 0
+#define STM_TIM1011_CCMR1_CC1S_OUTPUT 0
+#define STM_TIM1011_CCMR1_CC1S_INPUT_TI1 1
+#define STM_TIM1011_CCMR1_CC1S_INPUT_TI2 2
+#define STM_TIM1011_CCMR1_CC1S_INPUT_TRC 3
+#define STM_TIM1011_CCMR1_CC1S_MASK 3
+
+#define STM_TIM1011_CCMR1_IC1F_NONE 0
+#define STM_TIM1011_CCMR1_IC1F_CK_INT_2 1
+#define STM_TIM1011_CCMR1_IC1F_CK_INT_4 2
+#define STM_TIM1011_CCMR1_IC1F_CK_INT_8 3
+#define STM_TIM1011_CCMR1_IC1F_DTS_2_6 4
+#define STM_TIM1011_CCMR1_IC1F_DTS_2_8 5
+#define STM_TIM1011_CCMR1_IC1F_DTS_4_6 6
+#define STM_TIM1011_CCMR1_IC1F_DTS_4_8 7
+#define STM_TIM1011_CCMR1_IC1F_DTS_8_6 8
+#define STM_TIM1011_CCMR1_IC1F_DTS_8_8 9
+#define STM_TIM1011_CCMR1_IC1F_DTS_16_5 10
+#define STM_TIM1011_CCMR1_IC1F_DTS_16_6 11
+#define STM_TIM1011_CCMR1_IC1F_DTS_16_8 12
+#define STM_TIM1011_CCMR1_IC1F_DTS_32_5 13
+#define STM_TIM1011_CCMR1_IC1F_DTS_32_6 14
+#define STM_TIM1011_CCMR1_IC1F_DTS_32_8 15
+#define STM_TIM1011_CCMR1_IC1F_MASK 15
+#define STM_TIM1011_CCMR1_IC1PSC 2
+#define STM_TIM1011_CCMR1_IC1PSC_1 0
+#define STM_TIM1011_CCMR1_IC1PSC_2 1
+#define STM_TIM1011_CCMR1_IC1PSC_4 2
+#define STM_TIM1011_CCMR1_IC1PSC_8 3
+#define STM_TIM1011_CCMR1_IC1PSC_MASK 3
+#define STM_TIM1011_CCMR1_CC1S 0
+
+#define STM_TIM1011_CCER_CC1NP 3
+#define STM_TIM1011_CCER_CC1P 1
+#define STM_TIM1011_CCER_CC1E 0
+
+#define STM_TIM1011_OR_TI1_RMP_RI 3
+#define STM_TIM1011_ETR_RMP 2
+#define STM_TIM1011_TI1_RMP 0
+#define STM_TIM1011_TI1_RMP_GPIO 0
+#define STM_TIM1011_TI1_RMP_LSI 1
+#define STM_TIM1011_TI1_RMP_LSE 2
+#define STM_TIM1011_TI1_RMP_RTC 3
+#define STM_TIM1011_TI1_RMP_MASK 3
/* Flash interface */
return (stm_nvic.ipr[IRQ_PRIO_REG(irq)] >> IRQ_PRIO_BIT(irq)) & IRQ_PRIO_MASK(0);
}
+struct stm_mpu {
+ vuint32_t typer;
+ vuint32_t cr;
+ vuint32_t rnr;
+ vuint32_t rbar;
+
+ vuint32_t rasr;
+ vuint32_t rbar_a1;
+ vuint32_t rasr_a1;
+ vuint32_t rbar_a2;
+ vuint32_t rasr_a2;
+ vuint32_t rbar_a3;
+ vuint32_t rasr_a3;
+};
+
+extern struct stm_mpu stm_mpu;
+
+#define STM_MPU_TYPER_IREGION 16
+#define STM_MPU_TYPER_IREGION_MASK 0xff
+#define STM_MPU_TYPER_DREGION 8
+#define STM_MPU_TYPER_DREGION_MASK 0xff
+#define STM_MPU_TYPER_SEPARATE 0
+
+#define STM_MPU_CR_PRIVDEFENA 2
+#define STM_MPU_CR_HFNMIENA 1
+#define STM_MPU_CR_ENABLE 0
+
+#define STM_MPU_RNR_REGION 0
+#define STM_MPU_RNR_REGION_MASK 0xff
+
+#define STM_MPU_RBAR_ADDR 5
+#define STM_MPU_RBAR_ADDR_MASK 0x7ffffff
+
+#define STM_MPU_RBAR_VALID 4
+#define STM_MPU_RBAR_REGION 0
+#define STM_MPU_RBAR_REGION_MASK 0xf
+
+#define STM_MPU_RASR_XN 28
+#define STM_MPU_RASR_AP 24
+#define STM_MPU_RASR_AP_NONE_NONE 0
+#define STM_MPU_RASR_AP_RW_NONE 1
+#define STM_MPU_RASR_AP_RW_RO 2
+#define STM_MPU_RASR_AP_RW_RW 3
+#define STM_MPU_RASR_AP_RO_NONE 5
+#define STM_MPU_RASR_AP_RO_RO 6
+#define STM_MPU_RASR_AP_MASK 7
+#define STM_MPU_RASR_TEX 19
+#define STM_MPU_RASR_TEX_MASK 7
+#define STM_MPU_RASR_S 18
+#define STM_MPU_RASR_C 17
+#define STM_MPU_RASR_B 16
+#define STM_MPU_RASR_SRD 8
+#define STM_MPU_RASR_SRD_MASK 0xff
+#define STM_MPU_RASR_SIZE 1
+#define STM_MPU_RASR_SIZE_MASK 0x1f
+#define STM_MPU_RASR_ENABLE 0
+
#define isr(name) void stm_ ## name ## _isr(void);
isr(nmi)
#define STM_TIM234_SR_CC1IF 1
#define STM_TIM234_SR_UIF 0
+#define STM_TIM234_EGR_TG 6
+#define STM_TIM234_EGR_CC4G 4
+#define STM_TIM234_EGR_CC3G 3
+#define STM_TIM234_EGR_CC2G 2
+#define STM_TIM234_EGR_CC1G 1
+#define STM_TIM234_EGR_UG 0
+
#define STM_TIM234_CCMR1_OC2CE 15
#define STM_TIM234_CCMR1_OC2M 12
#define STM_TIM234_CCMR1_OC2M_FROZEN 0
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