Basic OS running on STM32L

This gets stm-demo working

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/Makefile b/src/Makefile
index e5d0c960503fadc3668289f7d91ee0a357eec114..3603c277291d38b5e53da0b0f5e8616cf4414b4a 100644 (file)
--- a/src/Makefile
+++ b/src/Makefile
@@ -13,6 +13,7 @@ vpath matrix.5c kalman
 include Version
 
 SUBDIRS=\
 include Version
 
 SUBDIRS=\

+       stm-bringup stm-demo \

        telemetrum-v1.2 telemetrum-v1.1 telemetrum-v1.0 \
        teledongle-v0.2 teledongle-v0.1 \
        telemini-v1.0 telenano-v0.1 \
        telemetrum-v1.2 telemetrum-v1.1 telemetrum-v1.0 \
        teledongle-v0.2 teledongle-v0.1 \
        telemini-v1.0 telenano-v0.1 \

diff --git a/src/stm-demo/Makefile b/src/stm-demo/Makefile
index e009c30cabc71a2c69d29709d7da59a9abc805bb..a675182e7a5c6a5199181fe4f70522d63977b23b 100644 (file)
--- a/src/stm-demo/Makefile
+++ b/src/stm-demo/Makefile
@@ -47,7 +47,7 @@ PRODUCT_DEF=-DSTM_DEMO
 IDPRODUCT=0x000a
 CPU=cortex-m3
 CFLAGS = $(PRODUCT_DEF) -I. -I../stm -I../core -I..
 IDPRODUCT=0x000a
 CPU=cortex-m3
 CFLAGS = $(PRODUCT_DEF) -I. -I../stm -I../core -I..

-CFLAGS += -g -std=gnu99 -Os -mlittle-endian -mcpu=cortex-m3 -mthumb -ffreestanding -nostdlib -I../stm $(CINC)
+CFLAGS += -g -std=gnu99 -O0 -mlittle-endian -mcpu=cortex-m3 -mthumb -ffreestanding -nostdlib -I../stm $(CINC)

 
 NICKLE=nickle
 
 
 NICKLE=nickle
 

diff --git a/src/stm-demo/ao_demo.c b/src/stm-demo/ao_demo.c
index 902165357a754da6be3fbfef53b63935b8e7e159..5fe0b1547764e43a48d66398a3b6ae1202a37200 100644 (file)
--- a/src/stm-demo/ao_demo.c
+++ b/src/stm-demo/ao_demo.c
@@ -42,8 +42,9 @@ main(void)
        
        ao_serial_init();
        ao_timer_init();
        
        ao_serial_init();
        ao_timer_init();

-       ao_cmd_init();
+//     ao_cmd_init();

        
        

-       ao_demo();
+       ao_add_task(&demo_task, ao_demo, "demo");
+       ao_start_scheduler();

        return 0;
 }
        return 0;
 }

diff --git a/src/stm-demo/ao_pins.h b/src/stm-demo/ao_pins.h
index 82d70bb631d09d2011ebd09c707e910f6d2c7454..f436e9c88b14abf901693c94cfd7409a7205e442 100644 (file)
--- a/src/stm-demo/ao_pins.h
+++ b/src/stm-demo/ao_pins.h
@@ -24,4 +24,6 @@
 #define HAS_BEEP               0
 #define PACKET_HAS_SLAVE       0
 
 #define HAS_BEEP               0
 #define PACKET_HAS_SLAVE       0
 

+#define LOW_LEVEL_DEBUG                1
+

 #endif /* _AO_PINS_H_ */
 #endif /* _AO_PINS_H_ */

diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h
index b3c0190da3f2f807ce60a8ac6d329fa8e479244e..205f95d7eb4d7c71e6e73e43721b48ce4d6128ef 100644 (file)
--- a/src/stm/ao_arch.h
+++ b/src/stm/ao_arch.h
@@ -25,7 +25,7 @@
  * STM32L definitions and code fragments for AltOS
  */
 
  * STM32L definitions and code fragments for AltOS
  */
 

-#define AO_STACK_SIZE  256
+#define AO_STACK_SIZE  1024

 
 /* Various definitions to make GCC look more like SDCC */
 
 
 /* Various definitions to make GCC look more like SDCC */
 


@@ -67,29 +67,26 @@ extern const uint16_t ao_serial_number;
 
 #define ao_arch_init_stack(task, start) do {                           \
                uint32_t        *sp = (uint32_t *) (task->stack + AO_STACK_SIZE); \
 
 #define ao_arch_init_stack(task, start) do {                           \
                uint32_t        *sp = (uint32_t *) (task->stack + AO_STACK_SIZE); \

-               uint16_t        a = (uint16_t) start;                   \
+               uint32_t        a = (uint32_t) start;                   \

                int             i;                                      \
                                                                        \
                int             i;                                      \
                                                                        \

-               /* Return address */                                    \
+               /* Return address (goes into LR) */                     \

                ARM_PUSH32(sp, a);                                      \
                                                                        \
                ARM_PUSH32(sp, a);                                      \
                                                                        \

-               /* Invalid link register */                             \
-               ARM_PUSH32(sp, 0xffffffff);                             \
-                                                                       \

                /* Clear register values  */                            \
                i = 13;                                                 \
                while (i--)                                             \
                        ARM_PUSH32(sp, 0);                              \
                                                                        \
                /* Clear register values  */                            \
                i = 13;                                                 \
                while (i--)                                             \
                        ARM_PUSH32(sp, 0);                              \
                                                                        \

-               /* PSR with interrupts enabled */                       \
-               ARM_PUSH32(sp, 0x01000000);                             \
+               /* APSR */                                              \
+               ARM_PUSH32(sp, 0);                                      \

                task->sp = sp;                                          \
 } while (0);
        
 #define ao_arch_save_regs() do {                                       \
                asm("push {r0-r12,lr}\n");                              \
                cli();                                                  \
                task->sp = sp;                                          \
 } while (0);
        
 #define ao_arch_save_regs() do {                                       \
                asm("push {r0-r12,lr}\n");                              \
                cli();                                                  \

-               asm("mrs r0,psr" "\n\t" "push {r0}");                   \
+               asm("mrs r0,apsr" "\n\t" "push {r0}");                  \

                sei();                                                  \
        } while (0)
 
                sei();                                                  \
        } while (0)
 


@@ -97,6 +94,8 @@ extern const uint16_t ao_serial_number;
                uint32_t        sp;                                     \
                asm("mov %0,sp" : "=&r" (sp) );                         \
                ao_cur_task->sp = (uint32_t *) (sp);                    \
                uint32_t        sp;                                     \
                asm("mov %0,sp" : "=&r" (sp) );                         \
                ao_cur_task->sp = (uint32_t *) (sp);                    \

+               if ((uint8_t *) ao_cur_task->sp < ao_cur_task->stack)   \
+                       ao_panic (AO_PANIC_STACK);                      \

        } while (0)
 
 #define ao_arch_isr_stack()    /* nothing */
        } while (0)
 
 #define ao_arch_isr_stack()    /* nothing */


@@ -110,7 +109,7 @@ extern const uint16_t ao_serial_number;
                sp = (uint32_t) ao_cur_task->sp;                        \
                cli();                                                  \
                asm("mov sp, %0" : : "r" (sp) );                        \
                sp = (uint32_t) ao_cur_task->sp;                        \
                cli();                                                  \
                asm("mov sp, %0" : : "r" (sp) );                        \

-               asm("pop {r0}" "\n\t" "msr psr,r0");                    \
+               asm("pop {r0}" "\n\t" "msr apsr,r0");                   \

                asm("pop {r0-r12,lr}\n");                               \
                asm("bx lr");                                           \
        } while(0)
                asm("pop {r0-r12,lr}\n");                               \
                asm("bx lr");                                           \
        } while(0)

diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c
index ead2570f4d983eee2e24c0bf1c0988c81e30bd38..38f16e5eb96d8042d17dc02b8e475fdbf4cd67e3 100644 (file)
--- a/src/stm/ao_serial_stm.c
+++ b/src/stm/ao_serial_stm.c
@@ -51,19 +51,20 @@ ao_serial_tx1_start(void)
 void stm_usart1_isr(void)
 {
        uint32_t        sr;
 void stm_usart1_isr(void)
 {
        uint32_t        sr;

-       cli();
+

        sr = stm_usart1.sr;
        stm_usart1.sr = 0;
        sr = stm_usart1.sr;
        stm_usart1.sr = 0;

-       sei();
+

        if (sr & (1 << STM_USART_SR_RXNE)) {
        if (sr & (1 << STM_USART_SR_RXNE)) {

+               char c = stm_usart1.dr;

                if (!ao_fifo_full(ao_usart1_rx_fifo))
                if (!ao_fifo_full(ao_usart1_rx_fifo))

-                       ao_fifo_insert(ao_usart1_rx_fifo, stm_usart1.dr);
+                       ao_fifo_insert(ao_usart1_rx_fifo, c);

                ao_wakeup(&ao_usart1_rx_fifo);
 #if USE_SERIAL_STDIN
                ao_wakeup(&ao_stdin_ready);
 #endif
        }
                ao_wakeup(&ao_usart1_rx_fifo);
 #if USE_SERIAL_STDIN
                ao_wakeup(&ao_stdin_ready);
 #endif
        }

-       if (sr & (1 << STM_USART_SR_TXE)) {
+       if (sr & (1 << STM_USART_SR_TC)) {

                ao_serial_tx1_started = 0;
                ao_serial_tx1_start();
                ao_wakeup(&ao_usart1_tx_fifo);
                ao_serial_tx1_started = 0;
                ao_serial_tx1_start();
                ao_wakeup(&ao_usart1_tx_fifo);


@@ -174,8 +175,8 @@ ao_serial_init(void)
                          (0 << STM_USART_CR1_PCE) |
                          (0 << STM_USART_CR1_PS) |
                          (0 << STM_USART_CR1_PEIE) |
                          (0 << STM_USART_CR1_PCE) |
                          (0 << STM_USART_CR1_PS) |
                          (0 << STM_USART_CR1_PEIE) |

-                         (1 << STM_USART_CR1_TXEIE) |
-                         (0 << STM_USART_CR1_TCIE) |
+                         (0 << STM_USART_CR1_TXEIE) |
+                         (1 << STM_USART_CR1_TCIE) |

                          (1 << STM_USART_CR1_RXNEIE) |
                          (0 << STM_USART_CR1_IDLEIE) |
                          (1 << STM_USART_CR1_TE) |
                          (1 << STM_USART_CR1_RXNEIE) |
                          (0 << STM_USART_CR1_IDLEIE) |
                          (1 << STM_USART_CR1_TE) |


@@ -210,12 +211,10 @@ ao_serial_init(void)
        ao_serial_set_speed(AO_SERIAL_SPEED_9600);
 
        printf ("serial initialized\n");
        ao_serial_set_speed(AO_SERIAL_SPEED_9600);
 
        printf ("serial initialized\n");

-#if 0

 #if USE_SERIAL_STDIN
        ao_add_stdio(ao_serial_pollchar,
                     ao_serial_putchar,
                     NULL);
 #if USE_SERIAL_STDIN
        ao_add_stdio(ao_serial_pollchar,
                     ao_serial_putchar,
                     NULL);

-#endif

 #endif
 
        stm_nvic_set_enable(STM_ISR_USART1_POS);
 #endif
 
        stm_nvic_set_enable(STM_ISR_USART1_POS);

diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index 76304f0e2b9fea2c590dbb55ab0c00c198a17eaf..387df184c7747bb3f595c1c6d00d86a80d09993c 100644 (file)
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -48,13 +48,16 @@ ao_debug_out(char c);
 
 void stm_tim6_isr(void)
 {
 
 void stm_tim6_isr(void)
 {

-       ++ao_tick_count;
+       if (stm_tim6.sr & (1 << STM_TIM67_SR_UIF)) {
+               stm_tim6.sr = 0;
+               ++ao_tick_count;

 #if HAS_ADC
 #if HAS_ADC

-       if (++ao_adc_count == ao_adc_interval) {
-               ao_adc_count = 0;
-               ao_adc_poll();
-       }
+               if (++ao_adc_count == ao_adc_interval) {
+                       ao_adc_count = 0;
+                       ao_adc_poll();
+               }

 #endif
 #endif

+       }

 }
 
 #if HAS_ADC
 }
 
 #if HAS_ADC

diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h
index 5b3f6b2f672f889fe5aecc28353ae07198fe95ce..d7c382a61ca5dc59698a109521dd91a45c361f8b 100644 (file)
--- a/src/stm/stm32l.h
+++ b/src/stm/stm32l.h
@@ -655,21 +655,52 @@ isr(usb_fs_wkup)
 isr(tim6)
 isr(tim7)
 
 isr(tim6)
 isr(tim7)
 

-#define STM_ISR_TIM9_POS       25
-#define STM_ISR_TIM10_POS      26
-#define STM_ISR_TIM11_POS      27
-#define STM_ISR_TIM2_POS       28
-#define STM_ISR_TIM3_POS       29
-#define STM_ISR_TIM4_POS       30
-
-#define STM_ISR_SPI1_POS       35
-#define STM_ISR_SPI2_POS       36
-#define STM_ISR_USART1_POS     37
-#define STM_ISR_USART2_POS     38
-#define STM_ISR_USART3_POS     39
-#define STM_ISR_TIM6_POS       43
-#define STM_ISR_TIM7_POS       44
-

 #undef isr
 
 #undef isr
 

+#define STM_ISR_WWDG_POS               0
+#define STM_ISR_PVD_POS                        1
+#define STM_ISR_TAMPER_STAMP_POS       2
+#define STM_ISR_RTC_WKUP_POS           3
+#define STM_ISR_FLASH_POS              4
+#define STM_ISR_RCC_POS                        5
+#define STM_ISR_EXTI0_POS              6
+#define STM_ISR_EXTI1_POS              7
+#define STM_ISR_EXTI2_POS              8
+#define STM_ISR_EXTI3_POS              9
+#define STM_ISR_EXTI4_POS              10
+#define STM_ISR_DMA1_CHANNEL1_POS      11
+#define STM_ISR_DMA2_CHANNEL1_POS      12
+#define STM_ISR_DMA3_CHANNEL1_POS      13
+#define STM_ISR_DMA4_CHANNEL1_POS      14
+#define STM_ISR_DMA5_CHANNEL1_POS      15
+#define STM_ISR_DMA6_CHANNEL1_POS      16
+#define STM_ISR_DMA7_CHANNEL1_POS      17
+#define STM_ISR_ADC1_POS               18
+#define STM_ISR_USB_HP_POS             19
+#define STM_ISR_USB_LP_POS             20
+#define STM_ISR_DAC_POS                        21
+#define STM_ISR_COMP_POS               22
+#define STM_ISR_EXTI9_5_POS            23
+#define STM_ISR_LCD_POS                        24
+#define STM_ISR_TIM9_POS               25
+#define STM_ISR_TIM10_POS              26
+#define STM_ISR_TIM11_POS              27
+#define STM_ISR_TIM2_POS               28
+#define STM_ISR_TIM3_POS               29
+#define STM_ISR_TIM4_POS               30
+#define STM_ISR_I2C1_EV_POS            31
+#define STM_ISR_I2C1_ER_POS            32
+#define STM_ISR_I2C2_EV_POS            33
+#define STM_ISR_I2C2_ER_POS            34
+#define STM_ISR_SPI1_POS               35
+#define STM_ISR_SPI2_POS               36
+#define STM_ISR_USART1_POS             37
+#define STM_ISR_USART2_POS             38
+#define STM_ISR_USART3_POS             39
+#define STM_ISR_EXTI15_10_POS          40
+#define STM_ISR_RTC_ALARM_POS          41
+#define STM_ISR_USB_FS_WKUP_POS                42
+#define STM_ISR_TIM6_POS               43
+#define STM_ISR_TIM7_POS               44
+

 #endif /* _STM32L_H_ */
 #endif /* _STM32L_H_ */