STM32: add basic kdebug support.

git-svn-id: https://src.develer.com/svnoss/bertos/trunk@3661 38d2e660-2303-0410-9eaa-f027e97ec537

diff --git a/bertos/cpu/cortex-m3/drv/kdebug_cm3.c b/bertos/cpu/cortex-m3/drv/kdebug_cm3.c
index 2e76f7dd743af10542cdebb3bf29c6281c6221ac..c236ca6b51ae3b2da3de00ead5d9c1563094adce 100644 (file)
--- a/bertos/cpu/cortex-m3/drv/kdebug_cm3.c
+++ b/bertos/cpu/cortex-m3/drv/kdebug_cm3.c
@@ -39,6 +39,8 @@
 
 #if CPU_CM3_LM3S
        #include "kdebug_lm3s.c"
+#elif CPU_CM3_STM32
+       #include "kdebug_stm32.c"
 /*#elif  Add other families here */
 #else
        #error Unknown CPU

diff --git a/bertos/cpu/cortex-m3/drv/kdebug_stm32.c b/bertos/cpu/cortex-m3/drv/kdebug_stm32.c
new file mode 100644 (file)
index 0000000..722e3e2
--- /dev/null
+++ b/bertos/cpu/cortex-m3/drv/kdebug_stm32.c
@@ -0,0 +1,195 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction.  Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License.  This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2010 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \brief STM32 debug support (implementation).
+ *
+ * \author Andrea Righi <arighi@develer.com>
+ */
+
+#include <cfg/macros.h> /* for BV() */
+#include <cfg/cfg_debug.h>
+#include <drv/gpio_stm32.h>
+#include <drv/clock_stm32.h> /* RCC */
+#include <io/stm32.h>
+#include "kdebug_stm32.h"
+
+#define CR1_RUN_SET               ((uint16_t)0x2000)  /* USART Enable MASK */
+#define CR1_RUN_RESET             ((uint16_t)0xDFFF)  /* USART Disable MASK */
+#define CR1_RWU_SET               ((uint16_t)0x0002)  /* USART mute mode Enable MASK */
+#define CR1_RWU_RESET             ((uint16_t)0xFFFD)  /* USART mute mode Enable MASK */
+#define CR1_SBK_SET               ((uint16_t)0x0001)  /* USART Break Character send MASK */
+#define CR1_CLEAR_MASK            ((uint16_t)0xE9F3)  /* USART CR1 MASK */
+
+#define CR2_MASK                  ((uint16_t)0xFFF0)  /* USART address MASK */
+#define CR2_LINE_SET              ((uint16_t)0x4000)  /* USART LIN Enable MASK */
+#define CR2_LINE_RESET            ((uint16_t)0xBFFF)  /* USART LIN Disable MASK */
+#define CR2_CLEAR_MASK            ((uint16_t)0xC0FF)  /* USART CR2 MASK */
+
+#define CR3_SCEN_SET              ((uint16_t)0x0020)  /* USART SC Enable MASK */
+#define CR3_SCEN_RESET            ((uint16_t)0xFFDF)  /* USART SC Disable MASK */
+#define CR3_NACK_SET              ((uint16_t)0x0010)  /* USART SC NACK Enable MASK */
+#define CR3_NACK_RESET            ((uint16_t)0xFFEF)  /* USART SC NACK Disable MASK */
+#define CR3_HDSEL_SET             ((uint16_t)0x0008)  /* USART Half-Duplex Enable MASK */
+#define CR3_HDSEL_RESET           ((uint16_t)0xFFF7)  /* USART Half-Duplex Disable MASK */
+#define CR3_IRLP_MASK             ((uint16_t)0xFFFB)  /* USART IrDA LowPower mode MASK */
+#define CR3_LBDL_MASK             ((uint16_t)0xFFDF)  /* USART LIN Break detection MASK */
+#define CR3_WAKE_MASK             ((uint16_t)0xF7FF)  /* USART WakeUp Method MASK */
+#define CR3_IREN_SET              ((uint16_t)0x0002)  /* USART IrDA Enable MASK */
+#define CR3_IREN_RESET            ((uint16_t)0xFFFD)  /* USART IrDA Disable MASK */
+#define CR3_CLEAR_MASK            ((uint16_t)0xFCFF)  /* USART CR3 MASK */
+
+#define GTPR_LSB_MASK             ((uint16_t)0x00FF)  /* Guard Time Register LSB MASK */
+#define GTPR_MSB_MASK             ((uint16_t)0xFF00)  /* Guard Time Register MSB MASK */
+
+#define USART_IT_MASK             ((uint16_t)0x001F)  /* USART Interrupt MASK */
+
+/* USART flags */
+#define USART_FLAG_CTS            ((uint16_t)0x0200)
+#define USART_FLAG_LBD            ((uint16_t)0x0100)
+#define USART_FLAG_TXE            ((uint16_t)0x0080)
+#define USART_FLAG_TC             ((uint16_t)0x0040)
+#define USART_FLAG_RXNE           ((uint16_t)0x0020)
+#define USART_FLAG_IDLE           ((uint16_t)0x0010)
+#define USART_FLAG_ORE            ((uint16_t)0x0008)
+#define USART_FLAG_NE             ((uint16_t)0x0004)
+#define USART_FLAG_FE             ((uint16_t)0x0002)
+#define USART_FLAG_PE             ((uint16_t)0x0001)
+
+/* USART registers */
+struct stm32_usart
+{
+       reg16_t SR;
+       uint16_t _RESERVED0;
+       reg16_t DR;
+       uint16_t _RESERVED1;
+       reg16_t BRR;
+       uint16_t _RESERVED2;
+       reg16_t CR1;
+       uint16_t _RESERVED3;
+       reg16_t CR2;
+       uint16_t _RESERVED4;
+       reg16_t CR3;
+       uint16_t _RESERVED5;
+       reg16_t GTPR;
+       uint16_t _RESERVED6;
+};
+
+/* USART mode */
+#define USART_MODE_RX             ((uint16_t)0x0004)
+#define USART_MODE_TX             ((uint16_t)0x0008)
+
+/* USART last bit */
+#define USART_LASTBIT_DISABLE     ((uint16_t)0x0000)
+#define USART_LASTBIT_ENABLE      ((uint16_t)0x0100)
+
+#if CONFIG_KDEBUG_PORT == KDEBUG_PORT_DBGU
+
+#if CONFIG_KDEBUG_PORT == 0
+       #define UART_BASE ((struct stm32_usart *)USART1_BASE)
+#elif CONFIG_KDEBUG_PORT == 1
+       #define UART_BASE ((struct stm32_usart *)USART2_BASE)
+#elif CONFIG_KDEBUG_PORT == 2
+       #define UART_BASE ((struct stm32_usart *)USART3_BASE)
+#else
+       #error "UART port not supported in this board"
+#endif
+
+#define KDBG_WAIT_READY()      while (!(UART_BASE->SR & USART_FLAG_TXE))
+#define KDBG_WAIT_TXDONE()     while (!(UART_BASE->SR & USART_FLAG_TC))
+
+#define KDBG_WRITE_CHAR(c)     do { UART_BASE->DR = (c) & 0x1ff; } while(0)
+
+/* Debug unit is used only for debug purposes so does not generate interrupts. */
+#define KDBG_MASK_IRQ(old)     do { (void)old; } while(0)
+
+/* Debug unit is used only for debug purposes so does not generate interrupts. */
+#define KDBG_RESTORE_IRQ(old)  do { (void)old; } while(0)
+
+typedef uint32_t kdbg_irqsave_t;
+
+#else
+#error CONFIG_KDEBUG_PORT should be KDEBUG_PORT_DBGU
+#endif
+
+#define GPIO_USART1_TX_PIN     (1 << 9)
+#define GPIO_USART1_RX_PIN     (1 << 10)
+
+#define GPIO_USART2_TX_PIN     (1 << 2)
+#define GPIO_USART2_RX_PIN     (1 << 3)
+
+#define GPIO_USART3_TX_PIN     (1 << 13)
+#define GPIO_USART3_RX_PIN     (1 << 14)
+
+INLINE uint16_t evaluate_brr(void)
+{
+       uint32_t reg, div, frac;
+
+       /* XXX: PCLK1 has been configured as CPU_FREQ / 2 */
+       div = (0x19 * CPU_FREQ / 2) / (0x04 * CONFIG_KDEBUG_BAUDRATE);
+       reg = (div / 0x64) << 0x04;
+       frac = div - (0x64 * (reg >> 0x04));
+       reg |= ((frac * 0x10 + 0x32) / 0x64) & 0x0f;
+
+       return (uint16_t)reg;
+}
+
+/* Initialize UART debug port */
+INLINE void kdbg_hw_init(void)
+{
+       /* Enable clocking on AFIO */
+       RCC->APB2ENR |= RCC_APB2_AFIO;
+       /* Configure USART pins */
+#if CONFIG_KDEBUG_PORT == 0
+       RCC->APB2ENR |= RCC_APB2_GPIOA;
+       RCC->APB2ENR |= RCC_APB2_USART1;
+       stm32_gpioPinConfig((struct stm32_gpio *)GPIOA_BASE, GPIO_USART1_TX_PIN,
+                               GPIO_SPEED_50MHZ, GPIO_MODE_AF_PP);
+#elif CONFIG_KDEBUG_PORT == 1
+       RCC->APB2ENR |= RCC_APB2_GPIOA;
+       RCC->APB1ENR |= RCC_APB1_USART2;
+       stm32_gpioPinConfig((struct stm32_gpio *)GPIOA_BASE, GPIO_USART2_TX_PIN,
+                               GPIO_SPEED_50MHZ, GPIO_MODE_AF_PP);
+#elif  CONFIG_KDEBUG_PORT == 2
+       RCC->APB2ENR |= RCC_APB2_GPIOB;
+       RCC->APB2ENR |= RCC_APB1_USART3;
+       stm32_gpioPinConfig((struct stm32_gpio *)GPIOB_BASE, GPIO_USART3_TX_PIN,
+                               GPIO_SPEED_50MHZ, GPIO_MODE_AF_PP);
+#else
+       #error "UART port not supported in this board"
+#endif
+       /* Enable the USART by writing the UE bit */
+       UART_BASE->CR1 |= CR1_RUN_SET;
+       /* Configure the desired baud rate */
+       UART_BASE->BRR = evaluate_brr();
+       /* Set the Transmitter Enable bit in CR1 */
+       UART_BASE->CR1 |= USART_MODE_TX;
+}

diff --git a/bertos/cpu/cortex-m3/drv/kdebug_stm32.h b/bertos/cpu/cortex-m3/drv/kdebug_stm32.h
new file mode 100644 (file)
index 0000000..ed51dbe
--- /dev/null
+++ b/bertos/cpu/cortex-m3/drv/kdebug_stm32.h
@@ -0,0 +1,53 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction.  Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License.  This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2010 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \brief STM32 debug support (interface).
+ *
+ * \author Andrea Righi <arighi@develer.com>
+ */
+
+#ifndef DRV_KDEBUG_STM32_H
+#define DRV_KDEBUG_STM32_H
+
+/**
+ * \name Values for CONFIG_KDEBUG_PORT.
+ *
+ * Select which hardware UART to use for system debug.
+ *
+ * \{
+ */
+#define KDEBUG_PORT_DBGU 1  ///< Debug on Debug Unit.
+
+#define KDEBUG_PORT_DEFAULT KDEBUG_PORT_DBGU  ///< Default debug port.
+/* \} */
+
+#endif /* DRV_KDEBUG_STM32_H */

diff --git a/bertos/cpu/cortex-m3/drv/timer_cm3.h b/bertos/cpu/cortex-m3/drv/timer_cm3.h
index 6311d506caa0ccb83b11e2d44a1d590f1862273c..54bb4bebbeb378a8a85a2adb7c73c02a84f04a83 100644 (file)
--- a/bertos/cpu/cortex-m3/drv/timer_cm3.h
+++ b/bertos/cpu/cortex-m3/drv/timer_cm3.h
@@ -84,7 +84,7 @@ INLINE bool timer_hw_triggered(void)
 
 INLINE hptime_t timer_hw_hpread(void)
 {
-       return HWREG(NVIC_ST_CURRENT);
+       return NVIC_ST_CURRENT_R;
 }
 
 void timer_hw_init(void);

diff --git a/bertos/cpu/cortex-m3/io/stm32_memmap.h b/bertos/cpu/cortex-m3/io/stm32_memmap.h
index 1c86443f6b14397c803d3919d8532ae0d9fffb6f..a99577a174b05db215ecef9e26c91143b05c5100 100644 (file)
--- a/bertos/cpu/cortex-m3/io/stm32_memmap.h
+++ b/bertos/cpu/cortex-m3/io/stm32_memmap.h
@@ -50,7 +50,7 @@
 #define OB_BASE               (0x1FFFF800)
 
 /* Peripheral memory map */
-#define APB1PERIPH_BASE       ((uint32_t)PERIPH_BASE)
+#define APB1PERIPH_BASE       (PERIPH_BASE)
 #define APB2PERIPH_BASE       (PERIPH_BASE + 0x10000)
 #define AHBPERIPH_BASE        (PERIPH_BASE + 0x20000)
 

diff --git a/examples/stm32p103/cfg/cfg_debug.h b/examples/stm32p103/cfg/cfg_debug.h
index ef7c4a75fd0a0a6f7708eea524f9f88c8dbe543e..20fec2d397d9af88c3b9f9316b26528e5b490789 100644 (file)
--- a/examples/stm32p103/cfg/cfg_debug.h
+++ b/examples/stm32p103/cfg/cfg_debug.h
@@ -42,7 +42,7 @@
  * Debug console port.
  * $WIZ$ type = "int"; min = 0
  */
-#define CONFIG_KDEBUG_PORT 0
+#define CONFIG_KDEBUG_PORT 1
 
 /**
  * Baudrate for the debug console.

diff --git a/examples/stm32p103/cfg/cfg_proc.h b/examples/stm32p103/cfg/cfg_proc.h
index eb5506b412d165af24b1abe1b55542deb7ce2f85..b13b657a259bbe7696455ea9ad9a08ba87e6e4e5 100644 (file)
--- a/examples/stm32p103/cfg/cfg_proc.h
+++ b/examples/stm32p103/cfg/cfg_proc.h
@@ -58,7 +58,7 @@
  * $WIZ$ type = "boolean"
  * $WIZ$ conditional_deps = "timer"
  */
-#define CONFIG_KERN_PREEMPT 1
+#define CONFIG_KERN_PREEMPT 0
 
 /**
  * Time sharing quantum (a prime number prevents interference effects) [ms].
@@ -72,14 +72,14 @@
  * Priority-based scheduling policy.
  * $WIZ$ type = "boolean"
  */
-#define CONFIG_KERN_PRI 1
+#define CONFIG_KERN_PRI 0
 
 /**
  * Dynamic memory allocation for processes.
  * $WIZ$ type = "boolean"
  * $WIZ$ conditional_deps = "heap"
  */
-#define CONFIG_KERN_HEAP 1
+#define CONFIG_KERN_HEAP 0
 
 /**
  * Size of the dynamic memory pool used by processes.