ChibiOS Free Embedded RTOS

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/*
    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
                 2011 Giovanni Di Sirio.

    This file is part of ChibiOS/RT.

    ChibiOS/RT 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 3 of the License, or
    (at your option) any later version.

    ChibiOS/RT 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, see <http://www.gnu.org/licenses/>.
*/

#include "ch.hpp"
//#include "ch.h"
#include "hal.h"
#include "test.h"
#include "chprintf.h"
#include "evtimer.h"

using namespace chibios_rt;


class LED_Blink : public EnhancedThread<128> {
private:
   int counter;
protected:
  virtual msg_t Main(void) {
     while (true) {
        palSetPad(GPIOD, GPIOD_LED3);       /* Orange.  */
        Sleep(MS2ST(100));
        palClearPad(GPIOD, GPIOD_LED3);     /* Orange.  */
        Sleep(MS2ST(900));
        chprintf((BaseChannel *)&SD2, "%04u: Still living...\r\n", counter++);
     }
    return 0;
  }

public:
  LED_Blink() : EnhancedThread<128>("blinker") {
     counter = 0;
  }

  LED_Blink(int cnt) : EnhancedThread<128>("blinker") {
     counter = cnt;
  }
  virtual ~LED_Blink(){return; };
};

class TesterThread : public EnhancedThread<256> {

protected:
  virtual msg_t Main(void) {

   chprintf((BaseChannel *)&SD2, "Still living 2\r\n");
    return 1;// TestThread(&SD2);
  }

public:
  TesterThread(void) : EnhancedThread<256>("tester"){

  }
  virtual ~TesterThread() {return;};
};

/*
 * Executed as an event handler at 500mS intervals.
 */
static void TimerHandler(eventid_t id) {

  (void)id;
  if (palReadPad(GPIOA, GPIOA_BUTTON)) {
    TesterThread tester;
    tester.Wait();
  };
}

/*
 * Application entry point.
 */
int main(void) {
   static const evhandler_t evhndl[] = { TimerHandler };
   static EvTimer evt;
   struct EventListener el0;

  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  System::Init();
  /*
   * Activates the serial driver 2 using the driver default configuration.
   * PA2(TX) and PA3(RX) are routed to USART2.
   */
  sdStart(&SD2, NULL);
  palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
  palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));

  /*
   * Creates the example thread.
   */
  LED_Blink blinker1(1);


  evtInit(&evt, 500);                   // Initializes an event timer.
  evtStart(&evt);                       // Starts the event timer.
  chEvtRegister(&evt.et_es, &el0, 0);   // Registers a listener on the source.

  /*
   * Normal main() thread activity, in this demo it does nothing except
   * sleeping in a loop and check the button state, when the button is
   * pressed the test procedure is launched with output on the serial
   * driver 2.
   */
  while (true)
    Event::Dispatch(evhndl, Event::WaitOne(ALL_EVENTS));

}

Code: Select all

#include <stdlib.h>

extern "C" void *malloc(size_t) {
   return (void *)0;
}

extern "C" void free(void *) {
}
void *operator new(size_t size) throw() { return malloc(size); }
void operator delete(void *p) throw() { free(p); }
extern "C" int __aeabi_atexit( __attribute__((unused)) void *object,
                        __attribute__((unused)) void (*destructor)(void *),
                        __attribute__((unused)) void *dso_handle)
{
    return 0;
}

Code: Select all

##############################################################################
# Build global options
# NOTE: Can be overridden externally.
#

# Compiler options here.
ifeq ($(USE_OPT),)
  USE_OPT = -O0 -g3 -ggdb -fomit-frame-pointer -falign-functions=16 -mhard-float -mfpu=fpv4-sp-d16
endif

# C specific options here (added to USE_OPT).
ifeq ($(USE_COPT),)
  USE_COPT = 
endif

# C++ specific options here (added to USE_OPT).
ifeq ($(USE_CPPOPT),)
  USE_CPPOPT = -fno-rtti -fno-exceptions
endif

# Enable this if you want the linker to remove unused code and data
ifeq ($(USE_LINK_GC),)
  USE_LINK_GC = yes
endif

# If enabled, this option allows to compile the application in THUMB mode.
ifeq ($(USE_THUMB),)
  USE_THUMB = yes
endif

# Enable this if you want to see the full log while compiling.
ifeq ($(USE_VERBOSE_COMPILE),)
  USE_VERBOSE_COMPILE = no
endif

#
# Build global options
##############################################################################

##############################################################################
# Architecture or project specific options
#

# Enable this if you really want to use the STM FWLib.
ifeq ($(USE_FWLIB),)
  USE_FWLIB = no
endif

#
# Architecture or project specific options
##############################################################################

##############################################################################
# Project, sources and paths
#

# Define project name here
PROJECT = chibi-mf

# Imported source files and paths
CHIBIOS = ../externals/ChibiOS-RT
include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
include $(CHIBIOS)/os/hal/hal.mk
include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
include $(CHIBIOS)/os/kernel/kernel.mk
include $(CHIBIOS)/test/test.mk

# Define linker script file here
LDSCRIPT= $(PORTLD)/STM32F407xG.ld

# C sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CSRC = $(PORTSRC) \
       $(KERNSRC) \
       $(TESTSRC) \
       $(HALSRC) \
       $(PLATFORMSRC) \
       $(BOARDSRC) \
       $(CHIBIOS)/os/various/evtimer.c \
       $(CHIBIOS)/os/various/syscalls.c \
       $(CHIBIOS)/os/various/chprintf.c \
       #main.c

# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CPPSRC = $(CHIBIOS)/os/various/ch.cpp main.cpp syscalls_local.cpp

# C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
#       option that results in lower performance and larger code size.
ACSRC =

# C++ sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
#       option that results in lower performance and larger code size.
ACPPSRC =

# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
#       option that results in lower performance and larger code size.
TCSRC =

# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
#       option that results in lower performance and larger code size.
TCPPSRC =

# List ASM source files here
ASMSRC = $(PORTASM)

INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
         $(CHIBIOS)/os/various

#
# Project, sources and paths
##############################################################################

##############################################################################
# Compiler settings
#

MCU  = cortex-m4

#TRGT = arm-elf-
TRGT = arm-none-eabi-
CC   = $(TRGT)gcc
CPPC = $(TRGT)g++
# Enable loading with g++ only if you need C++ runtime support.
# NOTE: You can use C++ even without C++ support if you are careful. C++
#       runtime support makes code size explode.
LD   = $(TRGT)gcc
#LD   = $(TRGT)g++
CP   = $(TRGT)objcopy
AS   = $(TRGT)gcc -x assembler-with-cpp
OD   = $(TRGT)objdump
HEX  = $(CP) -O ihex
BIN  = $(CP) -O binary

# ARM-specific options here
AOPT =

# THUMB-specific options here
TOPT = -mthumb -DTHUMB

# Define C warning options here
CWARN = -Wall -Wextra -Wstrict-prototypes

# Define C++ warning options here
CPPWARN = -Wall -Wextra

#
# Compiler settings
##############################################################################

##############################################################################
# Start of default section
#

# List all default C defines here, like -D_DEBUG=1
DDEFS =

# List all default ASM defines here, like -D_DEBUG=1
DADEFS =

# List all default directories to look for include files here
DINCDIR =

# List the default directory to look for the libraries here
DLIBDIR =

# List all default libraries here
DLIBS =

#
# End of default section
##############################################################################

##############################################################################
# Start of user section
#

# List all user C define here, like -D_DEBUG=1
UDEFS =

# Define ASM defines here
UADEFS =

# List all user directories here
UINCDIR =

# List the user directory to look for the libraries here
ULIBDIR =

# List all user libraries here
ULIBS =

#
# End of user defines
##############################################################################

ifeq ($(USE_FWLIB),yes)
  include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
  CSRC += $(STM32SRC)
  INCDIR += $(STM32INC)
  USE_OPT += -DUSE_STDPERIPH_DRIVER
endif

include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk