Elron_dev/elbear_arduino_bsp
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Добавлена библиотека softSerial. Общий обработчик прерываний, а также некоторые обработчики прерываний конкретных модулей перенесены в память ram

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- добавлена библиотека softwareSerial. Скорость работы до 57600 включительно и на отправку, и на прием.
- в bootloader добавлена проверка контрольной суммы
- добавлен файл wiringLL.h, в котором собраны некоторые макросы. Этими макросами заменены функции в местах, чувствительных к длительности выполнения кода.
- общие функции обработки прерываний перенесены в ram память для увеличения скорости выполнения. Так же в память ram перенесены функции обработки прерываний модулей WInterrupt (прерывания от gpio), модуля tone, модуля softwareSerial
- добавлен файл-заглушка util/delay.h, необходимый для некоторых библиотек
This commit was merged in pull request #4.
This commit is contained in:
klassents committed 2024-10-14 05:07:04 +03:00
1 parent a7468870fc
commit 47c01383e6
26 files changed
+1120 -315
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cores/arduino/HardwareSerial.cpp
+4 -4
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@@ -5,7 +5,7 @@
#include "HardwareSerial.h"
#include <uart_lib.h>
#include "mik32_hal_irq.h"
#include "wiring_LL.h"
// HardwareSerial class objects for use in Arduino IDE
HardwareSerial Serial(0);
@@ -127,9 +127,9 @@ void HardwareSerial::rx_complete_irq(void)
unsigned char c;
// while there is something to receive, put the data into the buffer
// and edit the buffer index
while (!UART_IsRxFifoEmpty(uart))
while(!UART_IS_RX_FIFO_EMPTY(uart))
{
c = UART_ReadByte(uart);
c = UART_READ_BYTE(uart);
if (i != _rx_buffer_tail)
{
// write if there is space in the buffer
@@ -140,7 +140,7 @@ void HardwareSerial::rx_complete_irq(void)
}
// wrapper for use in С-files
extern "C" void serial_handler_wrapper(uint8_t uartNumInt)
extern "C" void __attribute__((optimize("O3"))) serial_interrupt_handler(uint8_t uartNumInt)
{
if (uartNumInt == 0)
{
cores/arduino/HardwareSerial.h
+1 -1
View File
@@ -100,7 +100,7 @@ class HardwareSerial : public Stream
using Print::write; // pull in write(str)
operator bool() { return isInited; }
void rx_complete_irq(void);
inline void rx_complete_irq(void) __attribute__((always_inline, optimize("O3")));
};
extern HardwareSerial Serial;
cores/arduino/Tone.cpp
+13 -11
View File
@@ -3,6 +3,7 @@
#include "mik32_hal_timer16.h"
#include "mik32_hal_irq.h"
#include "wiring_LL.h"
#define PRESCALERS_QTY 7
typedef struct
@@ -100,7 +101,7 @@ void tone(uint8_t pin, unsigned int frequency, unsigned long duration)
HAL_EPIC_MaskLevelSet(HAL_EPIC_TIMER16_1_MASK);
pinMode(pin, OUTPUT);
HAL_GPIO_WritePin((GPIO_TypeDef *)timer_pin_port, timer_pin_mask, GPIO_PIN_LOW);
GPIO_CLEAR_PIN((GPIO_TypeDef *)timer_pin_port, timer_pin_mask);
HAL_Timer16_Counter_Start_IT(&htimer16_1, frequencyParams.period_ticks);
timerIsOn = true;
@@ -125,9 +126,9 @@ void noTone(uint8_t pin)
if (timerIsOn)
{
// pin to 0
HAL_GPIO_WritePin((GPIO_TypeDef *)timer_pin_port, timer_pin_mask, GPIO_PIN_LOW);
HAL_Timer16_Disable(&htimer16_1); // disable timer
HAL_EPIC_MaskLevelClear(HAL_EPIC_TIMER16_1_MASK);
GPIO_CLEAR_PIN((GPIO_TypeDef *)timer_pin_port, timer_pin_mask);
TIM16_DISABLE(htimer16_1);
EPIC_LEVEL_CLEAR_BY_MASK(HAL_EPIC_TIMER16_1_MASK);
pinMode(pin, INPUT); // deinit pin
timer_pin = -1; // reset to default
timerIsOn = false;
@@ -135,25 +136,26 @@ void noTone(uint8_t pin)
}
// irq handler
extern "C" void tone_interrupt_handler(void)
extern "C" void __attribute__((noinline, section(".ram_text"), optimize("O3"))) tone_interrupt_handler(void)
{
if(HAL_Timer16_GetInterruptStatus_ARRM(&htimer16_1))
if (TIM16_GET_ARRM_INT_STATUS(htimer16_1))
{
// timer period has passed, change the pin state
if (timer_toggle_count != 0)
{
HAL_GPIO_TogglePin((GPIO_TypeDef*)timer_pin_port, timer_pin_mask);
GPIO_TOGGLE_PIN((GPIO_TypeDef*)timer_pin_port, timer_pin_mask);
if (timer_toggle_count > 0)
timer_toggle_count--;
}
else
{
// turn off if the specified duration has passed
HAL_GPIO_WritePin((GPIO_TypeDef *)timer_pin_port, timer_pin_mask, GPIO_PIN_LOW);
noTone(timer_pin);
GPIO_CLEAR_PIN((GPIO_TypeDef *)timer_pin_port, timer_pin_mask);
TIM16_DISABLE(htimer16_1);
EPIC_LEVEL_CLEAR_BY_MASK(HAL_EPIC_TIMER16_1_MASK);
timerIsOn = false;
}
}
// reset timer interrupt flags
HAL_Timer16_ClearInterruptMask(&htimer16_1, 0xFFFFFFFF);
TIM16_CLEAR_INT_MASK(htimer16_1, 0xFFFFFFFF);
}
cores/arduino/WInterrupts.c
+8 -14
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@@ -4,6 +4,7 @@
#include "pins_arduino.h"
#include "wiring_digital.h"
#include "WInterrupts.h"
#include "wiring_LL.h"
extern void ErrorMsgHandler(const char * msg);
@@ -18,13 +19,13 @@ static void nothing(void)
// enable global interrupts
void interrupts(void)
{
HAL_IRQ_EnableInterrupts();
GLOBAL_IRQ_ENABLE();
}
// disable global interrupts
void noInterrupts(void)
{
HAL_IRQ_DisableInterrupts();
GLOBAL_IRQ_DISABLE();
}
// we can provide no more than 8 interrupts on gpio at the same time
@@ -100,33 +101,26 @@ void detachInterrupt(uint8_t interruptNum)
void disableInterrupt(uint8_t interruptNum)
{
if(interruptNum < EXTERNAL_NUM_INTERRUPTS)
{
int irq_line_num = interruptToGpioIntLine(interruptNum) >> GPIO_IRQ_LINE_S;
// disable gpio interrupt line
GPIO_IRQ->ENABLE_CLEAR = (1 << irq_line_num);
}
GPIO_IRQ_LINE_DISABLE(interruptToGpioIntLine(interruptNum));
}
// enable single interrupt
void enableInterrupt(uint8_t interruptNum)
{
if(interruptNum < EXTERNAL_NUM_INTERRUPTS)
{
int irq_line_num = interruptToGpioIntLine(interruptNum) >> GPIO_IRQ_LINE_S;
// enable gpio interrupt line
GPIO_IRQ->ENABLE_SET = (1 << irq_line_num);
}
GPIO_IRQ_LINE_ENABLE(interruptToGpioIntLine(interruptNum));
}
// common gpio interrupt handler
void gpio_interrupts_handler(void)
void __attribute__((noinline, section(".ram_text"), optimize("O3"))) gpio_interrupt_handler(void)
{
// go through all the interrupts and call the handler for the triggered line
for (uint8_t i = 0; i < EXTERNAL_NUM_INTERRUPTS; i++)
{
if (HAL_GPIO_LineInterruptState(interruptToGpioIntLine(i)))
if (GPIO_IRQ_LINE_STATE(interruptToGpioIntLine(i)))
intFunc[i]();
}
HAL_GPIO_ClearInterrupts();
GPIO_IRQ_CLEAR_ALL();
}
cores/arduino/WString.cpp
+2
View File
@@ -19,6 +19,8 @@
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#pragma GCC diagnostic ignored "-Wrestrict" // для GCC и Clang
#include "WString.h"
#include "itoa.h"
cores/arduino/board.cpp
+6
View File
@@ -1,11 +1,15 @@
#include "board.h"
#include "mik32_hal_pcc.h"
#include "mik32_hal_irq.h"
#include "Arduino.h"
// --------------------- init --------------------- //
// called before setup()
void pre_init(void)
{
// set irq vector to ram region
write_csr(mtvec, 0x02000000);
HAL_Init();
// gpio clock
@@ -29,8 +33,10 @@ void post_init(void)
// print text if Serial is enabled
extern "C" void ErrorMsgHandler(const char * msg)
{
#ifdef HardwareSerial_h
if(Serial)
Serial.println(msg);
#endif
}
cores/arduino/mik32/shared/ldscripts/ram.ld
+30 -7
View File
@@ -10,36 +10,52 @@ MEMORY {
}
STACK_SIZE = 1024;
HEAP_SIZE = 1024;
CL_SIZE = 16;
SECTIONS {
.text ORIGIN(ram) : {
PROVIDE(__TEXT_START__ = .);
*crt0.o(.text .text.*)
*crt0.S.o(.text .text.*)
*(.text.smallsysteminit)
*(.text.SmallSystemInit)
. = ORIGIN(ram) + 0xC0;
KEEP(*crt0.o(.trap_text))
KEEP(*crt0.S.o(.trap_text))
*(.text)
*(.text.*)
*(.rodata)
*(.rodata.*)
. = ALIGN(CL_SIZE);
PROVIDE(__TEXT_END__ = .);
} >ram
.init_array (READONLY) :
{
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
KEEP (*(.init_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .ctors))
PROVIDE_HIDDEN (__init_array_end = .);
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP(*(SORT_BY_INIT_PRIORITY(.fini_array.*)))
KEEP(*(.fini_array))
PROVIDE_HIDDEN (__fini_array_end = .);
PROVIDE(__TEXT_END__ = .);
} >ram AT>ram
.data :
AT( __TEXT_END__ ) {
PROVIDE(__DATA_START__ = .);
_gp = .;
*(.srodata.cst16) *(.srodata.cst8) *(.srodata.cst4) *(.srodata.cst2) *(.srodata*)
*(.sdata .sdata.* .gnu.linkonce.s.*)
*(.sdata .sdata.* .sdata* .sdata*.* .gnu.linkonce.s.*)
*(.data .data.*)
*(.ramfunc)
. = ALIGN(CL_SIZE);
} >ram
} >ram
__DATA_IMAGE_START__ = LOADADDR(.data);
__DATA_IMAGE_END__ = LOADADDR(.data) + SIZEOF(.data);
ASSERT(__DATA_IMAGE_END__ < ORIGIN(ram) + LENGTH(ram) - STACK_SIZE, "Data image overflows ram section")
@@ -72,12 +88,19 @@ SECTIONS {
PROVIDE(__BSS_END__ = .);
} >ram
.heap : {
PROVIDE(__heap_start = .);
. += HEAP_SIZE;
. = ALIGN(CL_SIZE);
PROVIDE(__heap_end = .);
} >ram
_end = .;
PROVIDE(__end = .);
/* End of uninitalized data segement */
.stack ORIGIN(ram) + LENGTH(ram) - STACK_SIZE : {
.stack ORIGIN(ram) + LENGTH(ram) - STACK_SIZE: {
FILL(0);
PROVIDE(__STACK_START__ = .);
. += STACK_SIZE;
cores/arduino/mik32/shared/ldscripts/spifi_cpp.ld
+21 -3
View File
@@ -21,8 +21,8 @@ SECTIONS {
*crt0.S.o(.text .text.*)
*(.text.smallsysteminit)
*(.text.SmallSystemInit)
. = ORIGIN(rom) + 0xC0;
KEEP(*crt0.S.o(.trap_text))
/*. = ORIGIN(rom) + 0xC0;*/
/*KEEP(*crt0.S.o(.trap_text))*/
*(.text)
*(.text.*)
@@ -50,15 +50,17 @@ SECTIONS {
AT( __TEXT_END__ ) {
PROVIDE(__DATA_START__ = .);
_gp = .;
. = ORIGIN(ram) + 0xC0;
KEEP(*crt0.S.o(.trap_text))
*(.srodata.cst16) *(.srodata.cst8) *(.srodata.cst4) *(.srodata.cst2) *(.srodata*)
*(.sdata .sdata.* .sdata* .sdata*.* .gnu.linkonce.s.*)
*(.data .data.*)
. = ALIGN(CL_SIZE);
PROVIDE(__DATA_END__ = .);
} >ram
__DATA_IMAGE_START__ = LOADADDR(.data);
__DATA_IMAGE_END__ = LOADADDR(.data) + SIZEOF(.data);
ASSERT(__DATA_IMAGE_END__ < ORIGIN(rom) + LENGTH(rom), "Data image overflows rom section")
/* thread-local data segment */
.tdata : {
@@ -84,10 +86,26 @@ SECTIONS {
.bss : {
*(.bss .bss.*)
*(COMMON)
. = ALIGN(CL_SIZE);
PROVIDE(__BSS_END__ = .);
} >ram
/* Code intended to be copied to REGION_RAM before execution */
.ram_text :
AT( ALIGN(__DATA_IMAGE_END__, CL_SIZE) ) {
PROVIDE(__RAM_TEXT_START__ = .);
*(.ram_text)
. = ALIGN(CL_SIZE);
PROVIDE(__RAM_TEXT_END__ = .);
} > ram
__RAM_TEXT_IMAGE_START__ = LOADADDR(.ram_text);
__RAM_TEXT_IMAGE_END__ = LOADADDR(.ram_text) + SIZEOF(.ram_text);
ASSERT(__RAM_TEXT_IMAGE_END__ < ORIGIN(rom) + LENGTH(rom), "rom segment overflows")
ASSERT(__RAM_TEXT_END__ < ORIGIN(ram) + LENGTH(ram) - STACK_SIZE - HEAP_SIZE, "REGION_RAM section overflows")
.heap : {
PROVIDE(__heap_start = .);
. += HEAP_SIZE;
cores/arduino/mik32/shared/runtime/crt0.S
+12 -8
View File
@@ -62,6 +62,11 @@ memset_2:
_start:
li t0, 128000
start_loop_delay:
nop
addi t0, t0, -1
bnez t0, start_loop_delay
# Init stack and global pointer
#
la_abs sp, __C_STACK_TOP__
@@ -73,20 +78,19 @@ _start:
la_abs a2, __DATA_IMAGE_END__
la_abs a3, __DATA_START__
memcpy a1, a2, a3, t0
# Init ramfunc
#
la_abs a1, __RAM_TEXT_IMAGE_START__
la_abs a2, __RAM_TEXT_IMAGE_END__
la_abs a3, __RAM_TEXT_START__
memcpy a1, a2, a3, t0
# Clear bss
#
la_abs a1, __BSS_START__
la_abs a2, __BSS_END__
memset a1, a2, zero
#ifdef MIK32V0
# Enable pad_config clocking
#
li t0, (1 << 3)
li t1, 0x50014
sw t0, (t1)
#endif
jalr_abs ra, SmallSystemInit
jalr_abs ra, SystemInit
cores/arduino/trap_handler.c
+13 -12
View File
@@ -1,10 +1,11 @@
#include "mik32_hal_irq.h"
#include "wiring_LL.h"
// isr functions
extern void serial_handler_wrapper(uint8_t uartNumInt);
extern void gpio_interrupts_handler(void);
extern void serial_interrupt_handler(uint8_t uartNumInt);
extern void gpio_interrupt_handler(void);
extern void tone_interrupt_handler(void);
void __attribute__((weak)) wire_handler_wrapper(void)
void __attribute__((weak)) wire_interrupt_handler(void)
{
// dummy function for case when wire library is not in use
}
@@ -14,8 +15,12 @@ void __attribute__((weak)) servo_handler_wrapper(void)
}
// ---------------------------------------------- //
void trap_handler(void)
void __attribute__((noinline, section(".ram_text"), optimize("O3"))) trap_handler (void)
{
// gpio interrupt
if (EPIC_CHECK_GPIO_IRQ())
gpio_interrupt_handler();
// tone timer interrupt
if (EPIC_CHECK_TIMER16_1())
tone_interrupt_handler();
@@ -26,20 +31,16 @@ void trap_handler(void)
// uart0 interrupt
if (EPIC_CHECK_UART_0())
serial_handler_wrapper(0);
serial_interrupt_handler(0);
// uart1 interrupt
if (EPIC_CHECK_UART_1())
serial_handler_wrapper(1);
// gpio interrupt
if (EPIC_CHECK_GPIO_IRQ())
gpio_interrupts_handler();
serial_interrupt_handler(1);
// i2c interrupt
if (EPIC_CHECK_I2C_1())
wire_handler_wrapper();
wire_interrupt_handler();
// reset all interrupts
HAL_EPIC_Clear(0xFFFFFFFF);
EPIC_CLEAR_ALL();
}
cores/arduino/util/delay.h
+6
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@@ -0,0 +1,6 @@
#ifndef __DELAY_H_
#define __DELAY_H_
#endif // __DELAY_H_
cores/arduino/wiring_LL.h
+64
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@@ -0,0 +1,64 @@
#ifndef _WIRING_LL_H_
#define _WIRING_LL_H_
#include "mik32_hal_irq.h"
#include "mik32_hal_gpio.h"
#include "mik32_hal_scr1_timer.h"
#include "mik32_hal_timer16.h"
// ----------------- COMMON ----------------- //
// convert pin mask from HAL_PinsTypeDef to pin number
#define PIN_MASK_TO_PIN_NUMBER(mask) \
({ \
uint8_t pos; \
for (pos = 0; pos < 16; pos++) \
if ((mask >> pos) & 1) \
break; \
pos; \
})
// ----------------- SYSTICK ----------------- //
// get ticks from systick
#define SYSTICK_GET_TICKS() ((uint64_t)(SCR1_TIMER->MTIMEH)<<32 | SCR1_TIMER->MTIME)
// ----------------- UART ----------------- //
#define UART_READ_BYTE(pUart) ((uint16_t)pUart->RXDATA)
#define UART_IS_RX_FIFO_EMPTY(pUart) ((pUart->FLAGS & UART_FLAGS_RXNE_M) == 0)
// ----------------- TIMER16 ----------------- //
#define TIM16_DISABLE(htim16) (htim16.Instance->CR &= ~TIMER16_CR_ENABLE_M)
#define TIM16_CLEAR_INT_MASK(htim16, intMask) (htim16.Instance->ICR = intMask)
#define TIM16_GET_ARRM_INT_STATUS(htim16) ((bool)((htim16.Instance->ISR & htim16.Instance->IER) & TIMER16_ISR_ARR_MATCH_M))
// ----------------- EPIC ----------------- //
#define EPIC_LEVEL_CLEAR_BY_MASK(mask) (EPIC->MASK_LEVEL_CLEAR |= mask)
#define EPIC_CLEAR_ALL() (EPIC->CLEAR = 0xFFFFFFFF)
// ----------------- IRQ ----------------- //
#define GLOBAL_IRQ_DISABLE() (clear_csr(mie, MIE_MEIE))
#define GLOBAL_IRQ_ENABLE() set_csr(mstatus, MSTATUS_MIE); \
set_csr(mie, MIE_MEIE)
// ----------------- GPIO ----------------- //
#define GPIO_SET_PIN(GPIO_x, pinMask) ((GPIO_x)->SET = (pinMask))
#define GPIO_CLEAR_PIN(GPIO_x, pinMask) ((GPIO_x)->CLEAR = (pinMask))
#define GPIO_TOGGLE_PIN(GPIO_x, pinMask) ((GPIO_x)->OUTPUT_ ^= pinMask)
#define GPIO_READ_PIN(GPIO_x, pinMask) (((GPIO_x)->SET & (pinMask)) != (uint32_t)GPIO_PIN_LOW ? GPIO_PIN_HIGH : GPIO_PIN_LOW)
// get pin state by it's number
#define GPIO_GET_PIN_STATE(GPIO_x, pinNumber) (((GPIO_x)->OUTPUT_ >> pinNumber) & 0b1)
// ----------------- GPIO IRQ ----------------- //
#define GPIO_IRQ_LINE_ENABLE(lineMask) ( GPIO_IRQ->ENABLE_SET = (1 << (lineMask >> GPIO_IRQ_LINE_S)) )
#define GPIO_IRQ_LINE_DISABLE(lineMask) ( GPIO_IRQ->ENABLE_CLEAR = (1 << (lineMask >> GPIO_IRQ_LINE_S)) )
#define GPIO_IRQ_LINE_STATE(lineMask) ((GPIO_IRQ->INTERRUPT & (1 << (lineMask >> GPIO_IRQ_LINE_S))) != 0)
#define GPIO_IRQ_CLEAR_ALL() ( GPIO_IRQ->CLEAR = 0b11111111)
// ----------------- PIN CONFIG ----------------- //
// return config of pin with pinNumber(0...16) in portReg (config, pupd, ds for ports 0...2)
#define PIN_GET_PAD_CONFIG(portReg, pinNumber) ((PAD_CONFIG->portReg >> (pinNumber<<1)) & 0b11)
#define PIN_SET_PAD_CONFIG(portReg, pinNumber, value) (PAD_CONFIG->portReg = (PAD_CONFIG->portReg & (~PAD_CONFIG_PIN_M(pinNumber))) \
| PAD_CONFIG_PIN(pinNumber, value))
#endif /* _WIRING_LL_H_ */
cores/arduino/wiring_time.c
+5
View File
@@ -39,6 +39,11 @@ void SysTick_Init(void)
HAL_SCR1_Timer_Init(&hscr1_timer); // Ticks are 32 MHz
}
uint64_t SysTick_GetTicks(void)
{
return TICKS_IN_SYSTIMER;
}
// number of microseconds since start of the program
uint32_t micros(void)
{
cores/arduino/wiring_time.h
+6
View File
@@ -34,6 +34,12 @@ extern "C" {
*/
void SysTick_Init(void);
/**
* \brief Returns the number of ticks since the Arduino board began running the current program.
* \return Number of ticks since the program started
*/
uint64_t SysTick_GetTicks(void);
/**
* \brief Returns the number of milliseconds since the Arduino board began running the current program.