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LPCXpresso55S69_MRuby
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Added basic compiler with FreeRTOS. 

Signed-off-by: Yilin Sun <imi415@imi.moe>
This commit is contained in:
Yilin Sun 2023-03-06 00:28:25 +08:00
parent 72f1a62ab6
commit 46ccf53bab
Signed by: imi415
GPG Key ID: 17F01E106F9F5E0A
10 changed files with 471 additions and 17 deletions
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12
.clang-format Normal file
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BasedOnStyle: Google
IndentWidth: 4
AlignConsecutiveMacros: Consecutive
AlignConsecutiveDeclarations: Consecutive
AlignConsecutiveAssignments: AcrossEmptyLinesAndComments
AllowShortFunctionsOnASingleLine: None
BreakBeforeBraces: Custom
BraceWrapping:
AfterEnum: false
AfterStruct: false
SplitEmptyFunction: false
ColumnLimit: 120

3
.gitmodules vendored
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@ -4,3 +4,6 @@
[submodule "lib/mruby"]
path = lib/mruby
url = https://git.minori.work/Embedded_Projects/MRuby_MCUXpresso.git
[submodule "lib/freertos"]
path = lib/freertos
url = https://github.com/FreeRTOS/FreeRTOS-Kernel.git

15
CMakeLists.txt
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@ -55,11 +55,13 @@ set(TARGET_SOURCES
"SDK/devices/LPC55S69/gcc/startup_LPC55S69_cm33_core0.S"
"SDK/devices/LPC55S69/system_LPC55S69_cm33_core0.c"
"SDK/devices/LPC55S69/utilities/debug_console/fsl_debug_console.c"
"SDK/devices/LPC55S69/utilities/fsl_sbrk.c"
"SDK/devices/LPC55S69/utilities/str/fsl_str.c"
"board/board.c"
"board/clock_config.c"
"board/peripherals.c"
"board/pin_mux.c"
"src/app_syscalls.c"
"src/main.c"
)
@ -86,6 +88,8 @@ set(TARGET_C_INCLUDES
# Shared libraries linked with application
set(TARGET_LIBS
"mruby_mcux"
"freertos_kernel"
"fro_calib_hardabi"
"c"
"m"
"nosys"
@ -98,9 +102,9 @@ set(TARGET_LIB_DIRECTORIES
# Conditional flags
# DEBUG
set(CMAKE_C_FLAGS_DEBUG "-DDEBUG -O -g")
set(CMAKE_CXX_FLAGS_DEBUG "-DDEBUG -O -g")
set(CMAKE_ASM_FLAGS_DEBUG "-DDEBUG -O -g")
set(CMAKE_C_FLAGS_DEBUG "-DDEBUG -O0 -g")
set(CMAKE_CXX_FLAGS_DEBUG "-DDEBUG -O0 -g")
set(CMAKE_ASM_FLAGS_DEBUG "-DDEBUG -O0 -g")
# RELEASE
set(CMAKE_C_FLAGS_RELEASE "-DNDEBUG -O2 -flto")
@ -117,6 +121,11 @@ set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--gc-sections")
set(MRUBY_MCUX_TARGET "lpc55s69")
add_subdirectory(lib/mruby)
set(FREERTOS_PORT "GCC_ARM_CM33_NTZ_NONSECURE" CACHE STRING "")
set(FREERTOS_CONFIG_FILE_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/include" CACHE STRING "")
set(FREERTOS_HEAP "4" CACHE STRING "")
add_subdirectory(lib/freertos)
# Shared sources, includes and definitions
add_compile_definitions(${TARGET_C_DEFINES})
include_directories(${TARGET_C_INCLUDES})

2
app_flash.ld
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@ -1,4 +1,4 @@
__stack_size__ = 0x4000;
__heap_size__ = 0x8000;
__heap_size__ = 0x20000;
INCLUDE LPC55S69_cm33_core0_flash.ld

167
include/FreeRTOSConfig.h Normal file
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@ -0,0 +1,167 @@
/*
* FreeRTOS Kernel V10.4.3
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
#define configUSE_PREEMPTION 1
#define configUSE_TICKLESS_IDLE 0
#define configCPU_CLOCK_HZ (SystemCoreClock)
#define configTICK_RATE_HZ ((TickType_t)250)
#define configMAX_PRIORITIES 5
#define configMINIMAL_STACK_SIZE ((unsigned short)90)
#define configMAX_TASK_NAME_LEN 20
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
#define configUSE_TASK_NOTIFICATIONS 1
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_ALTERNATIVE_API 0 /* Deprecated! */
#define configQUEUE_REGISTRY_SIZE 8
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 1
#define configENABLE_BACKWARD_COMPATIBILITY 0
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
/* Memory allocation related definitions. */
#define configSUPPORT_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configTOTAL_HEAP_SIZE ((size_t)(32 * 1024))
#define configAPPLICATION_ALLOCATED_HEAP 0
/* Hook function related definitions. */
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configCHECK_FOR_STACK_OVERFLOW 0
#define configUSE_MALLOC_FAILED_HOOK 0
#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
/* Run time and task stats gathering related definitions. */
#define configGENERATE_RUN_TIME_STATS 0
#define configUSE_TRACE_FACILITY 1
#define configUSE_STATS_FORMATTING_FUNCTIONS 0
/* Task aware debugging. */
#define configRECORD_STACK_HIGH_ADDRESS 1
/* Co-routine related definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES 2
/* Software timer related definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY (configMAX_PRIORITIES - 1)
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH (configMINIMAL_STACK_SIZE * 2)
/* Define to trap errors during development. */
#define configASSERT(x) if(( x) == 0) {taskDISABLE_INTERRUPTS(); for (;;);}
/* Optional functions - most linkers will remove unused functions anyway. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 0
#define INCLUDE_xTaskGetIdleTaskHandle 0
#define INCLUDE_eTaskGetState 0
#define INCLUDE_xTimerPendFunctionCall 1
#define INCLUDE_xTaskAbortDelay 0
#define INCLUDE_xTaskGetHandle 0
#define INCLUDE_xTaskResumeFromISR 1
#if defined(__ICCARM__)||defined(__CC_ARM)||defined(__GNUC__)
/* Clock manager provides in this variable system core clock frequency */
#include <stdint.h>
extern uint32_t SystemCoreClock;
#endif
#ifndef configENABLE_FPU
#define configENABLE_FPU 1
#endif
#ifndef configENABLE_MPU
#define configENABLE_MPU 0
#endif
#ifndef configENABLE_TRUSTZONE
#define configENABLE_TRUSTZONE 0
#endif
#ifndef configRUN_FREERTOS_SECURE_ONLY
#define configRUN_FREERTOS_SECURE_ONLY 1
#endif
/* Interrupt nesting behaviour configuration. Cortex-M specific. */
#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 3 /* 8 priority levels */
#endif
/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY ((1U << (configPRIO_BITS)) - 1)
/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 2
/* Interrupt priorities used by the kernel port layer itself. These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY (configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY (configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler SVC_Handler
#define vPortPendSVHandler PendSV_Handler
#define vPortSysTickHandler SysTick_Handler
#endif /* FREERTOS_CONFIG_H */

6
include/app_syscalls.h Normal file
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@ -0,0 +1,6 @@
#ifndef APP_SYSCALLS_H
#define APP_SYSCALLS_H
int app_syscalls_init(void);
#endif //APP_SYSCALLS_H

1
lib/freertos Submodule

@ -0,0 +1 @@
Subproject commit def7d2df2b0506d3d249334974f51e427c17a41c

2
lib/mruby

@ -1 +1 @@
Subproject commit d31acdb6fa8e857bb6de4a0bbb630c14dac25e00
Subproject commit 05ebbc3a9baec28ed4acfe4b84495d272c74456a

224
src/app_syscalls.c Normal file
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@ -0,0 +1,224 @@
#include <errno.h>
#include <malloc.h>
#include <sys/stat.h>
#include <unistd.h>
/* Board */
#include "pin_mux.h"
/* SDK drivers */
#include "fsl_usart.h"
/* FreeRTOS */
#include "FreeRTOS.h"
#include "event_groups.h"
#include "semphr.h"
#include "task.h"
#define APP_STDIO_UART_ID 0
#define APP_STDIO_UART_INSTANCE USART0
#define APP_STDIO_UART_CLOCK_ATTACH kFRO12M_to_FLEXCOMM0
#define APP_STDIO_UART_TX_FIFO_SIZE 16
#define APP_STDIO_UART_RX_FIFO_SIZE 16
#define APP_STDIO_UART_TX_BEAT_SIZE (APP_STDIO_UART_TX_FIFO_SIZE - 1)
#define APP_STDIO_UART_RX_BEAT_SIZE (APP_STDIO_UART_RX_FIFO_SIZE - 4) /* Save room for delayed reception */
#define APP_STDIO_UART_IRQ_NR FLEXCOMM0_IRQn
#define APP_STDIO_UART_IRQ_PRIO (configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY + 1)
#define APP_STDIO_UART_IRQ_HANDLER FLEXCOMM0_IRQHandler
#define APP_STDIO_UART_EVENT_TX_DONE (1 << 0U)
#define APP_STDIO_UART_EVENT_RX_DONE (1 << 1U)
#define APP_STDIO_UART_EVENT_ERROR (1 << 2U)
static SemaphoreHandle_t s_malloc_lock = NULL;
static SemaphoreHandle_t s_stdio_tx_lock = NULL;
static SemaphoreHandle_t s_stdio_rx_lock = NULL;
static EventGroupHandle_t s_stdio_event = NULL;
/* ========== Internal Use Functions ========== */
static int app_stdio_init(void) {
int ret = 0;
s_stdio_tx_lock = xSemaphoreCreateMutex();
if (s_stdio_tx_lock == NULL) {
return -1;
}
s_stdio_rx_lock = xSemaphoreCreateMutex();
if (s_stdio_rx_lock == NULL) {
ret = -1;
goto free_tx_sem_exit;
}
s_stdio_event = xEventGroupCreate();
if (s_stdio_event == NULL) {
ret = -1;
goto free_rx_sem_exit;
}
CLOCK_AttachClk(APP_STDIO_UART_CLOCK_ATTACH);
usart_config_t usart_config;
USART_GetDefaultConfig(&usart_config);
usart_config.baudRate_Bps = 115200U;
usart_config.txWatermark = 0U;
usart_config.rxWatermark = APP_STDIO_UART_RX_BEAT_SIZE;
usart_config.enableTx = true;
usart_config.enableRx = true;
usart_config.bitCountPerChar = kUSART_8BitsPerChar;
usart_config.stopBitCount = kUSART_OneStopBit;
usart_config.parityMode = kUSART_ParityDisabled;
uint32_t stdio_fc_clk_freq = CLOCK_GetFlexCommClkFreq(APP_STDIO_UART_ID);
if (USART_Init(APP_STDIO_UART_INSTANCE, &usart_config, stdio_fc_clk_freq) != kStatus_Success) {
ret = -1;
goto free_event_exit;
}
USART_SetTxFifoWatermark(APP_STDIO_UART_INSTANCE, 0); /* Has to be set to 0 to detect TX done condition */
USART_SetRxFifoWatermark(APP_STDIO_UART_INSTANCE, APP_STDIO_UART_RX_BEAT_SIZE); /* Might be adjusted on-the-fly */
NVIC_SetPriority(APP_STDIO_UART_IRQ_NR, APP_STDIO_UART_IRQ_PRIO);
EnableIRQ(APP_STDIO_UART_IRQ_NR);
return ret;
free_event_exit:
vEventGroupDelete(s_stdio_event);
free_rx_sem_exit:
vSemaphoreDelete(s_stdio_rx_lock);
free_tx_sem_exit:
vSemaphoreDelete(s_stdio_tx_lock);
return ret;
}
void APP_STDIO_UART_IRQ_HANDLER(void) {
uint32_t event_flag = 0UL;
uint32_t interrupts_enabled = USART_GetEnabledInterrupts(APP_STDIO_UART_INSTANCE);
uint32_t fifo_int_status = APP_STDIO_UART_INSTANCE->FIFOINTSTAT;
USART_ClearStatusFlags(APP_STDIO_UART_INSTANCE, kUSART_AllClearFlags);
if ((interrupts_enabled & kUSART_TxLevelInterruptEnable) && (fifo_int_status & USART_FIFOINTSTAT_TXLVL_MASK)) {
USART_DisableInterrupts(APP_STDIO_UART_INSTANCE, kUSART_TxLevelInterruptEnable);
event_flag |= APP_STDIO_UART_EVENT_TX_DONE;
}
if ((interrupts_enabled & kUSART_RxLevelInterruptEnable) && (fifo_int_status & USART_FIFOINTSTAT_RXLVL_MASK)) {
USART_DisableInterrupts(APP_STDIO_UART_INSTANCE, kUSART_RxLevelInterruptEnable);
event_flag |= APP_STDIO_UART_EVENT_RX_DONE;
}
BaseType_t higher_prio_task_woken = pdFALSE;
xEventGroupSetBitsFromISR(s_stdio_event, event_flag, &higher_prio_task_woken);
portYIELD_FROM_ISR(higher_prio_task_woken);
}
int app_syscalls_init(void) {
s_malloc_lock = xSemaphoreCreateRecursiveMutex();
if (s_malloc_lock == NULL) {
return -1;
}
if (app_stdio_init() != 0) {
return -2;
}
return 0;
}
void __malloc_lock(struct _reent *reent) {
xSemaphoreTakeRecursive(s_malloc_lock, portMAX_DELAY);
}
void __malloc_unlock(struct _reent *reent) {
xSemaphoreGiveRecursive(s_malloc_lock);
}
int _read(int file, char *ptr, int len) {
xSemaphoreTake(s_stdio_rx_lock, portMAX_DELAY);
xSemaphoreGive(s_stdio_rx_lock);
return 0;
}
int _write(int file, char *buf, int len) {
xSemaphoreTake(s_stdio_tx_lock, portMAX_DELAY);
int xfer_count = len / APP_STDIO_UART_TX_BEAT_SIZE;
int bytes_remaining = len % APP_STDIO_UART_TX_BEAT_SIZE;
if (bytes_remaining) {
xfer_count++;
}
for (int i = 0; i < xfer_count; i++) {
uint32_t tx_bytes = APP_STDIO_UART_TX_BEAT_SIZE;
if (i == xfer_count - 1) {
if (bytes_remaining) {
tx_bytes = bytes_remaining;
}
}
/* Hold TX operation before enabling level interrupt, otherwise a level interrupt will fire instantly */
APP_STDIO_UART_INSTANCE->CTL |= USART_CTL_TXDIS_MASK;
/* Fill FIFO */
for (uint32_t j = 0; j < tx_bytes; j++) {
USART_WriteByte(APP_STDIO_UART_INSTANCE, buf[i * APP_STDIO_UART_TX_BEAT_SIZE + j]);
}
USART_EnableInterrupts(APP_STDIO_UART_INSTANCE, kUSART_TxLevelInterruptEnable);
/* Begin TX transfer */
APP_STDIO_UART_INSTANCE->CTL &= ~(USART_CTL_TXDIS_MASK);
/* Wait for TX complete */
xEventGroupWaitBits(s_stdio_event, APP_STDIO_UART_EVENT_TX_DONE, pdTRUE, pdFALSE, portMAX_DELAY);
}
xSemaphoreGive(s_stdio_tx_lock);
return len;
}
int _close(int file) {
errno = -EBADF;
return -1;
}
int _fstat(int file, struct stat *st) {
if ((STDOUT_FILENO == file) || (STDERR_FILENO == file)) {
st->st_mode = S_IFCHR;
return 0;
} else {
errno = EBADF;
return -1;
}
}
int _getpid() {
return 1;
}
int _isatty(int file) {
return 1;
}
int _kill(int pid, int sig) {
errno = -EINVAL;
return -1;
}
int _lseek(int file, int offset, int whence) {
return 0;
}

56
src/main.c
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@ -1,32 +1,64 @@
#include <math.h>
/* Board */
#include "board.h"
#include "clock_config.h"
#include "peripherals.h"
#include "pin_mux.h"
#include "fsl_debug_console.h"
/* mRuby */
#include "mruby.h"
#include "mruby/compile.h"
/* FreeRTOS */
#include "FreeRTOS.h"
#include "task.h"
/* App */
#include "app_syscalls.h"
static void app_mrb_runtime_task(void *parameters);
int main(void) {
BOARD_InitBootPins();
BOARD_BootClockFROHF96M();
BOARD_InitBootClocks();
BOARD_InitBootPeripherals();
BOARD_InitDebugConsole();
if (app_syscalls_init() != 0) {
goto dead_loop;
}
mrb_state* mrb = mrb_open();
if (xTaskCreate(app_mrb_runtime_task, "MRB_RT", 1536, NULL, 2, NULL) != pdPASS) {
goto dead_loop;
}
vTaskStartScheduler();
dead_loop:
for (;;) {
__WFI();
}
}
static void app_mrb_runtime_task(void *parameters) {
mrb_state *mrb = mrb_open();
mrbc_context *cxt = mrbc_context_new(mrb);
PRINTF("MRuby Version: %s\r\n", MRUBY_RUBY_VERSION);
mrb_show_version(mrb);
mrb_show_copyright(mrb);
char mrb_code[] = "name = 'LPCXpresso55S69'\nputs \"Greetings #{name}, from MRuby #{RUBY_VERSION}.\"";
struct mrb_parser_state *parser_state = mrb_parse_string(mrb, mrb_code, cxt);
mrb_load_exec(mrb, parser_state, cxt);
for (;;) {
/* Wait for REPL commands */
vTaskDelay(pdMS_TO_TICKS(500));
}
mrbc_cleanup_local_variables(mrb, cxt);
mrbc_context_free(mrb, cxt);
mrb_close(mrb);
for(;;) {
__WFI();
}
}
vTaskDelete(NULL);
}