ChibiOS 2.6.8, until I can figure out where to get it from git.

2025-12-07 03:02:12 +00:00 · 2015-07-08 08:40:23 -07:00
parent dc6fee8370
commit e1eea8e08a
1929 changed files with 575326 additions and 0 deletions
--- a/firmware/chibios/os/various/lwip_bindings/arch/cc.h
+++ b/firmware/chibios/os/various/lwip_bindings/arch/cc.h
@@ -0,0 +1,72 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+/*
+ * **** This file incorporates work covered by the following copyright and ****
+ * **** permission notice:                                                 ****
+ *
+ * Copyright (c) 2001-2004 Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+ * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+ * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+ * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ *
+ * This file is part of the lwIP TCP/IP stack.
+ *
+ * Author: Adam Dunkels <adam@sics.se>
+ *
+ */
+
+#ifndef __CC_H__
+#define __CC_H__
+
+#include <ch.h>
+
+typedef uint8_t         u8_t;
+typedef int8_t          s8_t;
+typedef uint16_t        u16_t;
+typedef int16_t         s16_t;
+typedef uint32_t        u32_t;
+typedef int32_t         s32_t;
+typedef uint32_t        mem_ptr_t;
+
+#define LWIP_PLATFORM_DIAG(x)
+#define LWIP_PLATFORM_ASSERT(x) {                                       \
+  chSysHalt();                                                          \
+}
+
+#define BYTE_ORDER LITTLE_ENDIAN
+#define LWIP_PROVIDE_ERRNO
+
+#endif /* __CC_H__ */
--- a/firmware/chibios/os/various/lwip_bindings/arch/perf.h
+++ b/firmware/chibios/os/various/lwip_bindings/arch/perf.h
@@ -0,0 +1,57 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+/*
+ * **** This file incorporates work covered by the following copyright and ****
+ * **** permission notice:                                                 ****
+ *
+ * Copyright (c) 2001-2004 Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+ * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+ * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+ * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ *
+ * This file is part of the lwIP TCP/IP stack.
+ *
+ * Author: Adam Dunkels <adam@sics.se>
+ *
+ */
+
+#ifndef __PERF_H__
+#define __PERF_H__
+
+#define PERF_START
+#define PERF_STOP(x)
+
+#endif /* __PERF_H__ */
--- a/firmware/chibios/os/various/lwip_bindings/arch/sys_arch.c
+++ b/firmware/chibios/os/various/lwip_bindings/arch/sys_arch.c
@@ -0,0 +1,235 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+/*
+ * **** This file incorporates work covered by the following copyright and ****
+ * **** permission notice:                                                 ****
+ *
+ * Copyright (c) 2001-2004 Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+ * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+ * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+ * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ *
+ * This file is part of the lwIP TCP/IP stack.
+ *
+ * Author: Adam Dunkels <adam@sics.se>
+ *
+ */
+
+// see http://lwip.wikia.com/wiki/Porting_for_an_OS for instructions
+
+#include "ch.h"
+
+#include "lwip/opt.h"
+#include "lwip/mem.h"
+#include "lwip/sys.h"
+#include "lwip/stats.h"
+
+#include "arch/cc.h"
+#include "arch/sys_arch.h"
+
+void sys_init(void) {
+
+}
+
+err_t sys_sem_new(sys_sem_t *sem, u8_t count) {
+
+  *sem = chHeapAlloc(NULL, sizeof(Semaphore));
+  if (*sem == 0) {
+    SYS_STATS_INC(sem.err);
+    return ERR_MEM;
+  }
+  else {
+    chSemInit(*sem, (cnt_t)count);
+    SYS_STATS_INC_USED(sem);
+    return ERR_OK;
+  }
+}
+
+void sys_sem_free(sys_sem_t *sem) {
+
+  chHeapFree(*sem);
+  *sem = SYS_SEM_NULL;
+  SYS_STATS_DEC(sem.used);
+}
+
+void sys_sem_signal(sys_sem_t *sem) {
+
+  chSemSignal(*sem);
+}
+
+/* CHIBIOS FIX: specific variant of this call to be called from within
+   a lock.*/
+void sys_sem_signal_S(sys_sem_t *sem) {
+
+  chSemSignalI(*sem);
+  chSchRescheduleS();
+}
+
+u32_t sys_arch_sem_wait(sys_sem_t *sem, u32_t timeout) {
+  systime_t time, tmo;
+
+  chSysLock();
+  tmo = timeout > 0 ? (systime_t)timeout : TIME_INFINITE;
+  time = chTimeNow();
+  if (chSemWaitTimeoutS(*sem, tmo) != RDY_OK)
+    time = SYS_ARCH_TIMEOUT;
+  else
+    time = chTimeNow() - time;
+  chSysUnlock();
+  return time;
+}
+
+int sys_sem_valid(sys_sem_t *sem) {
+  return *sem != SYS_SEM_NULL;
+}
+
+// typically called within lwIP after freeing a semaphore
+// to make sure the pointer is not left pointing to invalid data
+void sys_sem_set_invalid(sys_sem_t *sem) {
+  *sem = SYS_SEM_NULL;
+}
+
+err_t sys_mbox_new(sys_mbox_t *mbox, int size) {
+  
+  *mbox = chHeapAlloc(NULL, sizeof(Mailbox) + sizeof(msg_t) * size);
+  if (*mbox == 0) {
+    SYS_STATS_INC(mbox.err);
+    return ERR_MEM;
+  }
+  else {
+    chMBInit(*mbox, (void *)(((uint8_t *)*mbox) + sizeof(Mailbox)), size);
+    SYS_STATS_INC(mbox.used);
+    return ERR_OK;
+  }
+}
+
+void sys_mbox_free(sys_mbox_t *mbox) {
+
+  if (chMBGetUsedCountI(*mbox) != 0) {
+    // If there are messages still present in the mailbox when the mailbox
+    // is deallocated, it is an indication of a programming error in lwIP
+    // and the developer should be notified.
+    SYS_STATS_INC(mbox.err);
+    chMBReset(*mbox);
+  }
+  chHeapFree(*mbox);
+  *mbox = SYS_MBOX_NULL;
+  SYS_STATS_DEC(mbox.used);
+}
+
+void sys_mbox_post(sys_mbox_t *mbox, void *msg) {
+
+  chMBPost(*mbox, (msg_t)msg, TIME_INFINITE);
+}
+
+err_t sys_mbox_trypost(sys_mbox_t *mbox, void *msg) {
+
+  if (chMBPost(*mbox, (msg_t)msg, TIME_IMMEDIATE) == RDY_TIMEOUT) {
+    SYS_STATS_INC(mbox.err);
+    return ERR_MEM;
+  }
+  return ERR_OK;
+}
+
+u32_t sys_arch_mbox_fetch(sys_mbox_t *mbox, void **msg, u32_t timeout) {
+  systime_t time, tmo;
+
+  chSysLock();
+  tmo = timeout > 0 ? (systime_t)timeout : TIME_INFINITE;
+  time = chTimeNow();
+  if (chMBFetchS(*mbox, (msg_t *)msg, tmo) != RDY_OK)
+    time = SYS_ARCH_TIMEOUT;
+  else
+    time = chTimeNow() - time;
+  chSysUnlock();
+  return time;
+}
+
+u32_t sys_arch_mbox_tryfetch(sys_mbox_t *mbox, void **msg) {
+
+  if (chMBFetch(*mbox, (msg_t *)msg, TIME_IMMEDIATE) == RDY_TIMEOUT)
+    return SYS_MBOX_EMPTY;
+  return 0;
+}
+
+int sys_mbox_valid(sys_mbox_t *mbox) {
+  return *mbox != SYS_MBOX_NULL;
+}
+
+// typically called within lwIP after freeing an mbox
+// to make sure the pointer is not left pointing to invalid data
+void sys_mbox_set_invalid(sys_mbox_t *mbox) {
+  *mbox = SYS_MBOX_NULL;
+}
+
+sys_thread_t sys_thread_new(const char *name, lwip_thread_fn thread,
+                            void *arg, int stacksize, int prio) {
+
+  size_t wsz;
+  void *wsp;
+
+  (void)name;
+  wsz = THD_WA_SIZE(stacksize);
+  wsp = chCoreAlloc(wsz);
+  if (wsp == NULL)
+    return NULL;
+  return (sys_thread_t)chThdCreateStatic(wsp, wsz, prio, (tfunc_t)thread, arg);
+}
+
+sys_prot_t sys_arch_protect(void) {
+
+  chSysLock();
+  return 0;
+}
+
+void sys_arch_unprotect(sys_prot_t pval) {
+
+  (void)pval;
+  chSysUnlock();
+}
+
+u32_t sys_now(void) {
+
+#if CH_FREQUENCY == 1000
+  return (u32_t)chTimeNow();
+#elif (CH_FREQUENCY / 1000) >= 1 && (CH_FREQUENCY % 1000) == 0
+  return ((u32_t)chTimeNow() - 1) / (CH_FREQUENCY / 1000) + 1;
+#elif (1000 / CH_FREQUENCY) >= 1 && (1000 % CH_FREQUENCY) == 0
+  return ((u32_t)chTimeNow() - 1) * (1000 / CH_FREQUENCY) + 1;
+#else
+  return (u32_t)(((u64_t)(chTimeNow() - 1) * 1000) / CH_FREQUENCY) + 1;
+#endif
+}
--- a/firmware/chibios/os/various/lwip_bindings/arch/sys_arch.h
+++ b/firmware/chibios/os/various/lwip_bindings/arch/sys_arch.h
@@ -0,0 +1,68 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+/*
+ * **** This file incorporates work covered by the following copyright and ****
+ * **** permission notice:                                                 ****
+ *
+ * Copyright (c) 2001-2004 Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+ * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+ * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+ * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ *
+ * This file is part of the lwIP TCP/IP stack.
+ *
+ * Author: Adam Dunkels <adam@sics.se>
+ *
+ */
+
+#include <ch.h>
+
+#ifndef __SYS_ARCH_H__
+#define __SYS_ARCH_H__
+
+typedef Semaphore *     sys_sem_t;
+typedef Mailbox *       sys_mbox_t;
+typedef Thread *        sys_thread_t;
+typedef int             sys_prot_t;
+
+#define SYS_MBOX_NULL   (Mailbox *)0
+#define SYS_THREAD_NULL (Thread *)0
+#define SYS_SEM_NULL    (Semaphore *)0
+
+/* let sys.h use binary semaphores for mutexes */
+#define LWIP_COMPAT_MUTEX 1
+
+#endif /* __SYS_ARCH_H__ */