etrice.runtime.c ST runtime added for XMC4500 with fixed timing

10 files changed, 566 insertions, 0 deletions

diff --git a/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etDatatypes.h b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etDatatypes.h
new file mode 100644
index 000000000..d46e7007f
--- /dev/null
+++ b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etDatatypes.h
@@ -0,0 +1,93 @@
+/*******************************************************************************
+ * Copyright (c) 2011 protos software gmbh (http://www.protos.de).
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * CONTRIBUTORS:
+ * 		Thomas Schuetz (initial contribution), Thomas Jung
+ *
+ *******************************************************************************/
+
+#ifndef _ETDATATYPES_H_
+#define _ETDATATYPES_H_
+
+/*
+ * typedefs for platform specific datatypes
+ * Version for TI MSP 430
+ *
+ * */
+
+#include <stdio.h>
+
+/* unsigned integer datatypes */
+typedef unsigned char uint8;
+typedef unsigned short int uint16;
+typedef unsigned int uint32;
+typedef unsigned long long uint64;
+
+/* signed integer datatypes */
+typedef char int8;
+typedef short int int16;
+typedef int int32;
+typedef long long int64;
+
+
+/* float datatypes */
+typedef float float32;
+/* typedef double float64; */ /* not available on this platform */
+
+/* boolean datatypes and values */
+//typedef char bool;  /* TODO: bool, Bool, Boolean, and boolean are already defined in some platforms*/
+//typedef bool boolean;
+typedef char boolean;
+#ifndef ET_TRUE
+	#define ET_TRUE 1
+#endif
+#ifndef ET_FALSE
+	#define ET_FALSE 0
+#endif
+
+/*
+ * typedefs for eTrice Runtime and Testing
+ *
+ * */
+
+typedef int8 etInt8;
+typedef int16 etInt16;
+typedef int32 etInt32;
+
+typedef uint8 etUInt8;
+typedef uint16 etUInt16;
+typedef uint32 etUInt32;
+
+//typedef bool etBool;
+typedef char etBool;
+
+#define ALIGNMENT		4	/* power of 2 and >= sizeof(int) ! */
+#define ARGC_ARGV_AVAILABLE		1
+
+typedef float32 etFloat32;
+typedef float32 etFloat64;
+
+/* string datatypes */
+typedef char* charPtr;
+
+
+typedef FILE* etFileHandle;
+
+typedef int8 etAddressId;
+
+
+/*
+ * typedefs for OS-specific types
+ */
+typedef uint32 etOSMutexData;
+typedef uint32 etOSSemaData;
+typedef uint32 etOSThreadData;
+typedef uint32 etOSThreadId;
+typedef uint32 etOSTimerData;
+typedef uint32 etOSTimerId;
+
+#endif /* _DATATYPES_H_ */
diff --git a/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etLogger.c b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etLogger.c
new file mode 100644
index 000000000..fb114d302
--- /dev/null
+++ b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etLogger.c
@@ -0,0 +1,100 @@
+/*******************************************************************************
+ * Copyright (c) 2011 protos software gmbh (http://www.protos.de).
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * CONTRIBUTORS:
+ * 		Thomas Schuetz (initial contribution)
+ *
+ *******************************************************************************/
+
+/*
+ * etLogger.c
+ *
+ *  Created on: 16.01.2012
+ *      Author: tschuetz
+ */
+
+
+#include "debugging/etLogger.h"
+
+#include <stdarg.h>
+
+
+void etLogger_logError(const char* message){
+#ifdef ET_LOGGER_ACTIVATE
+	printf("ERROR:   %s\n", message);
+#endif
+}
+
+void etLogger_logWarning(const char* message){
+#ifdef ET_LOGGER_ACTIVATE
+	printf("WARNING: %s\n", message);
+#endif
+}
+
+void etLogger_logInfo(const char* message){
+#ifdef ET_LOGGER_ACTIVATE
+	printf("INFO:    %s\n", message);
+#endif
+}
+
+void etLogger_logErrorF(const char* format, ... ){
+#ifdef ET_LOGGER_ACTIVATE
+	printf("ERROR:   ");
+	va_list arglist;
+	va_start( arglist, format );
+	vprintf( format, arglist );
+	va_end( arglist );
+	printf("\n");
+#endif
+}
+
+void etLogger_logWarningF(const char* format, ... ){
+#ifdef ET_LOGGER_ACTIVATE
+	printf("WARNING: ");
+	va_list arglist;
+	va_start( arglist, format );
+	vprintf( format, arglist );
+	va_end( arglist );
+	printf("\n");
+#endif
+}
+
+void etLogger_logInfoF(const char* format, ... ){
+#ifdef ET_LOGGER_ACTIVATE
+	printf("INFO:    ");
+	va_list arglist;
+	va_start( arglist, format );
+	vprintf( format, arglist );
+	va_end( arglist );
+	printf("\n");
+#endif
+}
+
+etFileHandle etLogger_fopen(const char* filename, const char* mode){
+#ifdef ET_LOGGER_ACTIVATE
+	return( fopen(filename, mode) );
+#else
+	return (0);
+#endif
+}
+
+int etLogger_fclose(etFileHandle file){
+#ifdef ET_LOGGER_ACTIVATE
+	return( fclose(file) );
+#else
+	return(0);
+#endif
+}
+
+void etLogger_fprintf(etFileHandle file, const char* format, ... ){
+#ifdef ET_LOGGER_ACTIVATE
+	va_list arglist;
+	va_start( arglist, format );
+	vfprintf(file, format, arglist );
+	va_end( arglist );
+#endif
+}
diff --git a/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etMutex.c b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etMutex.c
new file mode 100644
index 000000000..28837e7a8
--- /dev/null
+++ b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etMutex.c
@@ -0,0 +1,45 @@
+/*******************************************************************************
+ * Copyright (c) 2013 protos software gmbh (http://www.protos.de).
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * CONTRIBUTORS:
+ * 		Thomas Jung (initial contribution)
+ *
+ *******************************************************************************/
+
+/**
+ *
+ * etMutex.c MinGW implementation of etMutex
+ *
+ */
+
+#include "osal/etMutex.h"
+
+#include "debugging/etLogger.h"
+#include "debugging/etMSCLogger.h"
+#include "XMC4500.h"
+
+void etMutex_construct(etMutex* self){
+	ET_MSC_LOGGER_SYNC_ENTRY("etMutex", "construct")
+
+	ET_MSC_LOGGER_SYNC_EXIT
+}
+void etMutex_destruct(etMutex* self){
+	ET_MSC_LOGGER_SYNC_ENTRY("etMutex", "destruct")
+
+	ET_MSC_LOGGER_SYNC_EXIT
+}
+
+void etMutex_enter(etMutex* self){
+	ET_MSC_LOGGER_SYNC_ENTRY("etMutex", "enter")
+		__disable_irq();
+	ET_MSC_LOGGER_SYNC_EXIT
+}
+void etMutex_leave(etMutex* self){
+	ET_MSC_LOGGER_SYNC_ENTRY("etMutex", "leave")
+		__enable_irq();
+	ET_MSC_LOGGER_SYNC_EXIT
+}
diff --git a/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etPlatform.c b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etPlatform.c
new file mode 100644
index 000000000..970893dee
--- /dev/null
+++ b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etPlatform.c
@@ -0,0 +1,24 @@
+/*******************************************************************************
+ * Copyright (c) 2012 protos software gmbh (http://www.protos.de).
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * CONTRIBUTORS:
+ * 		Thomas Schuetz (initial contribution), Thomas Jung
+ *
+ *******************************************************************************/
+
+#include "etPlatform.h"
+#include "etDatatypes.h"
+#include "osal/etTime.h"
+
+// Ticks are generated every 100ms
+#define TICKS_PER_SECOND 1000UL
+
+
+void initHw(void) {
+
+	etTime_init();
+}
diff --git a/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etPlatform.h b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etPlatform.h
new file mode 100644
index 000000000..239cac464
--- /dev/null
+++ b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etPlatform.h
@@ -0,0 +1,15 @@
+/*
+ * etPlatform.h
+ *
+ *  Created on: 23.06.2012
+ *      Author: junggtho
+ */
+
+#ifndef ETPLATFORM_H_
+#define ETPLATFORM_H_
+
+void initHw(void);
+void toggleLED0(void);
+void toggleLED1(void);
+
+#endif /* ETPLATFORM_H_ */
diff --git a/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etPlatformLifecycle.c b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etPlatformLifecycle.c
new file mode 100644
index 000000000..4c404f90d
--- /dev/null
+++ b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etPlatformLifecycle.c
@@ -0,0 +1,44 @@
+/*******************************************************************************
+ * Copyright (c) 2013 protos software gmbh (http://www.protos.de).
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * CONTRIBUTORS:
+ * 		Thomas Schuetz, Thomas Jung (initial contribution)
+ *
+ *******************************************************************************/
+
+
+
+#include "osal/etPlatformLifecycle.h"
+#include "osal/etThread.h"
+#include "etPlatform.h"
+#include "XMC4500.h"
+
+/* implemenatation for eTrice interfaces*/
+
+extern etThread * noThread;
+void etThread_execute(etThread* self);
+
+void DAVE_Init(void);
+void etTime_init(void);
+void DAVE_InstallTickHandler(void);
+
+
+void etUserEntry(void){
+	DAVE_Init();
+	etTime_init();
+	DAVE_InstallTickHandler();
+//	initHw();
+}
+
+void etUserPreRun(void){
+	__enable_irq();
+	etThread_execute(noThread);
+}
+
+void etUserPostRun(void){ }
+void etUserExit(void){ }
+
diff --git a/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etSema.c b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etSema.c
new file mode 100644
index 000000000..0f3dd7433
--- /dev/null
+++ b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etSema.c
@@ -0,0 +1,51 @@
+/*******************************************************************************
+ * Copyright (c) 2013 protos software gmbh (http://www.protos.de).
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * CONTRIBUTORS:
+ * 		Thomas Schuetz, Thomas Jung (initial contribution)
+ *
+ *******************************************************************************/
+
+
+#include "osal/etSema.h"
+#include "osal/etTimer.h"
+
+#include "debugging/etMSCLogger.h"
+#include "helpers/etTimeHelpers.h"
+
+extern etTimer * singleThreadedTimer;
+
+void etSema_construct(etSema* self){
+	ET_MSC_LOGGER_SYNC_ENTRY("etSema", "construct")
+
+	ET_MSC_LOGGER_SYNC_EXIT
+}
+void etSema_destruct(etSema* self){
+	ET_MSC_LOGGER_SYNC_ENTRY("etSema", "destruct")
+
+	ET_MSC_LOGGER_SYNC_EXIT
+}
+
+void etSema_wakeup(etSema* self){
+	ET_MSC_LOGGER_SYNC_ENTRY("etSema", "wakeup")
+
+	ET_MSC_LOGGER_SYNC_EXIT
+}
+
+void etSema_waitForWakeup(etSema* self){
+	static etTime actualTime = {0,0};
+	static etTime nextTime = {0,0};
+	ET_MSC_LOGGER_SYNC_ENTRY("etSema", "waitForWakeup")
+	// busy wait as specified in etphys
+	getTimeFromTarget(&actualTime);
+	if (etTimeHelpers_isGreater(&actualTime, &nextTime)){
+		etTimeHelpers_add(&nextTime,&(singleThreadedTimer->timerInterval));
+		// call the do actions for the single thread
+		singleThreadedTimer->timerFunction(singleThreadedTimer->timerFunctionData);
+	}
+	ET_MSC_LOGGER_SYNC_EXIT
+}
diff --git a/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etThread.c b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etThread.c
new file mode 100644
index 000000000..efec2794f
--- /dev/null
+++ b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etThread.c
@@ -0,0 +1,76 @@
+/*******************************************************************************
+ * Copyright (c) 2013 protos software gmbh (http://www.protos.de).
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * CONTRIBUTORS:
+ * 		Thomas Schuetz, Thomas Jung (initial contribution)
+ *
+ *******************************************************************************/
+
+/**
+ *
+ * etThread.c FreeRTOS implementation of etThread
+ *
+ */
+
+#include "osal/etThread.h"
+
+#include "debugging/etLogger.h"
+#include "debugging/etMSCLogger.h"
+
+void etThread_execute(etThread* self);
+
+etThread * noThread = 0;
+
+void etThread_construct(
+		etThread* self,
+		etStacksize stacksize,
+		etPriority priority,
+		etThreadname threadName,
+		etThreadFunction threadFunction,
+		void* threadFunctionData)
+{
+	ET_MSC_LOGGER_SYNC_ENTRY("etThread", "construct")
+
+	/* fill in data */
+	self->stacksize = stacksize;
+	self->priority = priority;
+	self->threadName = threadName;
+	self->threadFunction = threadFunction;
+	self->threadFunctionData = threadFunctionData;
+	// for the single threaded port stacksize and prio is not needed
+	// save the Threadpointer as singleton
+	if(noThread==0){
+		noThread=self;
+		}else{
+			while(1){};
+		}
+	ET_MSC_LOGGER_SYNC_EXIT
+}
+
+void etThread_start(etThread* self) {
+	ET_MSC_LOGGER_SYNC_ENTRY("etThread", "start")
+	ET_MSC_LOGGER_SYNC_EXIT
+}
+
+void etThread_execute(etThread* self){
+	ET_MSC_LOGGER_SYNC_ENTRY("etThread", "execute")
+	/* etThread_execute redirects the call from the thread to the execute function in the eTrice runtime to enable correct synchronous MSC logging */
+	self->threadFunction(self->threadFunctionData);
+	ET_MSC_LOGGER_SYNC_EXIT
+}
+
+void etThread_destruct(etThread* self){
+	ET_MSC_LOGGER_SYNC_ENTRY("etThread", "destruct")
+
+	ET_MSC_LOGGER_SYNC_EXIT
+}
+
+void etThread_sleep(etInt32 millis){
+	ET_MSC_LOGGER_SYNC_ENTRY("etThread", "sleep")
+
+	ET_MSC_LOGGER_SYNC_EXIT
+}
diff --git a/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etTime.c b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etTime.c
new file mode 100644
index 000000000..35b1a3a74
--- /dev/null
+++ b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etTime.c
@@ -0,0 +1,61 @@
+/*******************************************************************************
+ * Copyright (c) 2013 protos software gmbh (http://www.protos.de).
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * CONTRIBUTORS:
+ * 		Thomas Schuetz, Thomas Jung (initial contribution)
+ *
+ *******************************************************************************/
+
+#include "osal/etTime.h"
+#include "XMC4500.h"
+#include "Dave.h"
+#include "helpers/etTimeHelpers.h"
+
+etTime targetTime;
+const PPB_Type *ppb=(PPB_Type *)0xE000E000;
+
+void etTime_init(void){
+	targetTime.nSec=0;
+	targetTime.sec=0;
+}
+
+
+void getTimeFromTarget(etTime *t) {
+etTime t1={0,0};
+
+	// keep in mind that it is not possible to stop the timer counter itself
+	// overflow must be checked after reading the counter
+	// if an overflow occurs do it again
+
+	// the count flag is clear on read, read it
+	t1.nSec=ppb->SYST_CSR;
+	do {
+		// amount of ticks = reloadRegister - countRegister
+		t1.nSec=(ppb->SYST_RVR-ppb->SYST_CVR);
+		*t = targetTime;
+	}while(ppb->SYST_CSR & 0x00010000);
+
+	// nSec = amount of ticks * 1000 / 120; if CPUCLK == 120Mhz
+	t1.nSec*=1000;
+	t1.nSec/=(SYSTIMER_SYS_CORE_CLOCK/1000000);
+	// add t1 to time
+	etTimeHelpers_add(t,&t1);
+}
+
+/* the timer interrupt */
+
+void etTick_Handler(void *nanoSecPerTick) {
+// this interrupt will be called every 1ms
+//	targetTime.nSec += 1000000L;
+	targetTime.nSec += (uint32_t)nanoSecPerTick;
+
+	if (targetTime.nSec >= 1000000000L) {
+		targetTime.nSec -= 1000000000L;
+		targetTime.sec++;
+	}
+}
+
diff --git a/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etTimer.c b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etTimer.c
new file mode 100644
index 000000000..431c97f05
--- /dev/null
+++ b/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_XMC4500_DaveCE_Generic/etTimer.c
@@ -0,0 +1,57 @@
+/*******************************************************************************
+ * Copyright (c) 2013 protos software gmbh (http://www.protos.de).
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * CONTRIBUTORS:
+ * 		Thomas Schuetz (initial contribution), Thomas Jung
+ *
+ *******************************************************************************/
+
+#include "osal/etTimer.h"
+#include "helpers/etTimeHelpers.h"
+
+#include "debugging/etLogger.h"
+#include "debugging/etMSCLogger.h"
+
+etTimer * singleThreadedTimer;
+
+void etTimer_construct(etTimer* self, etTime* timerInterval, etTimerFunction timerFunction, void* timerFunctionData){
+	ET_MSC_LOGGER_SYNC_ENTRY("etTimer", "construct")
+	{
+		self->osTimerData = NULL;
+		self->timerInterval.sec = timerInterval->sec;
+		self->timerInterval.nSec = timerInterval->nSec;
+		self->timerFunction = timerFunction;
+		self->timerFunctionData = timerFunctionData;
+
+
+	}
+	// store the timer, it will be needed to call the do actions
+	singleThreadedTimer = self;
+
+	ET_MSC_LOGGER_SYNC_EXIT
+}
+
+void etTimer_start(etTimer* self){
+	ET_MSC_LOGGER_SYNC_ENTRY("etTimer", "start")
+
+	ET_MSC_LOGGER_SYNC_EXIT
+}
+
+
+void etTimer_stop(etTimer* self){
+	ET_MSC_LOGGER_SYNC_ENTRY("etTimer", "stop")
+
+	ET_MSC_LOGGER_SYNC_EXIT
+}
+
+void etTimer_destruct(etTimer* self){
+	ET_MSC_LOGGER_SYNC_ENTRY("etTimer", "destruct")
+
+	ET_MSC_LOGGER_SYNC_EXIT
+}
+
+