rtimer implementation (not well tested)

sprintf that use strformat, so there's no need to pull in the newlib
implementation.
Build system improvements.

cpu/at91sam7s/AT91SAM7S64-ROM.ld

@@ -123,7 +123,7 @@ SECTIONS
    _end = .;
   PROVIDE (end = .);
 
-  .stack ORIGIN(DATA) + LENGTH(DATA) - 0x0c0c : 
+  .stack ORIGIN(DATA) + LENGTH(DATA) - 0x0a0c : 
   {
     __stack_start__ = . ;
     *(.stack)

cpu/at91sam7s/Makefile.at91sam7s

@@ -1,32 +1,28 @@
-
 # Adapted from Makefile.msp430
 
-### Check if we are running under Windows
+### Defin the CPU directory
-
-ifndef WINDIR
-  ifdef OS
-    ifneq (,$(findstring Windows,$(OS)))
-      WINDIR := Windows
-    endif
-  endif
-endif
-
-ifdef nodeid
-CFLAGS += -DNODEID=$(nodeid)
-endif
-
-### Define the CPU directory
 CONTIKI_CPU=$(CONTIKI)/cpu/at91sam7s
 
-### Define the source files we have in the MSP430 port
+### Define the source files we have in the AT91SAM7S port
 
-AT91SAM7S     = clock.c debug-uart.c interrupt_utils.c newlib-syscalls.c sys-interrupt.c
+CONTIKI_CPU_DIRS = . dbg-io loader
 
-CONTIKI_TARGET_SOURCEFILES += $(AT91SAM7S)
+AT91SAM7S     = clock.c debug-uart.c interrupt-utils.c newlib-syscalls.c sys-interrupt.c rtimer-arch.c rtimer-arch-interrupt.c uip-log.c
+
+SYSAPPS = codeprop-otf.c
+APPDIRS += $(CONTIKI)/cpu/at91sam7s/loader
+
+ELFLOADER = elfloader-otf.c elfloader-arm.c symtab.c cfs-ram.c
+
+TARGETLIBS = random.c dbg-printf.c dbg-puts.c dbg-putchar.c dbg-sprintf.c strformat.c
+
+CONTIKI_TARGET_SOURCEFILES += $(AT91SAM7S) $(SYSAPPS) $(ELFLOADER) \
+			$(TARGETLIBS) $(UIPDRIVERS)
 
 CONTIKI_SOURCEFILES        += $(CONTIKI_TARGET_SOURCEFILES)
 
-CONTIKIDIRS=$(CONTIKI)/core/sys:$(CONTIKI)/core/dev:$(CONTIKI)/core/cfs:$(CONTIKI)/core/loader:$(CONTIKI)/core/net:$(CONTIKI)/core/lib
+
+THREADS =
 
 ### Compiler definitions
 CC       = arm-elf-gcc
@@ -37,9 +33,11 @@ NM       = arm-elf-nm
 OBJCOPY  = arm-elf-objcopy
 STRIP    = arm-elf-strip
 
+PROJECT_OBJECTFILES += ${addprefix $(OBJECTDIR)/,$(CONTIKI_TARGET_MAIN:.c=.o)}
+
 LINKERSCRIPT = $(CONTIKI_CPU)/AT91SAM7S64-ROM.ld
 
-STARTUP=startup-SAM7S.o
+STARTUP=${addprefix $(OBJECTDIR)/,startup-SAM7S.o}
 
 # JTAG program upload
 OPENOCD	 = openocd
@@ -50,9 +48,9 @@ OPENOCD_RESET = arm7_wig_reset.cfg
 SAMIAM=Sam_I_Am
 SAMIAM_TTY=/dev/ttyACM0
 
-ARCH_FLAGS= -mcpu=arm7tdmi
+ARCH_FLAGS= -mcpu=arm7tdmi -mthumb-interwork
-THUMB_FLAGS=-mthumb -mthumb-interwork
+THUMB_FLAGS=-mthumb
-ARM_FLAGS=-mthumb-interwork
+ARM_FLAGS=
 
 
 CFLAGSNO = -I. -I$(CONTIKI)/core -I$(CONTIKI_CPU) -I$(CONTIKI_CPU)/loader \
@@ -63,58 +61,94 @@ CFLAGSNO = -I. -I$(CONTIKI)/core -I$(CONTIKI_CPU) -I$(CONTIKI_CPU)/loader \
            -Wall $(ARCH_FLAGS) -g 
 
 CFLAGS  += $(CFLAGSNO) -O -DRUN_AS_SYSTEM -DROM_RUN
-LDFLAGS += $(ARCH_FLAGS) -T $(LINKERSCRIPT)
+LDFLAGS += -T $(LINKERSCRIPT) -nostartfiles
+
+CDEPFLAGS = $(CFLAGS) -D __MAKING_DEPS__
+
+
 
-PROJECT_OBJECTFILES += ${addprefix $(OBJECTDIR)/,$(CONTIKI_TARGET_MAIN:.c=.o)}
 
 ### Setup directory search path for source files
 
-CONTIKI_TARGET_DIRS_CONCAT = ${addprefix $(CONTIKI)/platform/$(TARGET)/, \
+CUSTOM_RULE_C_TO_OBJECTDIR_O=yes
-                               $(CONTIKI_TARGET_DIRS)}
+CUSTOM_RULE_C_TO_O=yes
-
-vpath %.c $(PROJECTDIRS) \
-          $(CONTIKIDIRS) $(APPDIRS) $(CONTIKI_TARGET_DIRS_CONCAT) \
-          $(CONTIKI_CPU) $(CONTIKI_CPU)/loader $(CONTIKI_CPU)/dbg-io
-
-vpath %.S $(CONTIKI_CPU)
 
 %-interrupt.o: %-interrupt.c
 	$(CC) $(CFLAGS) $(ARM_FLAGS) $< -c
 
+$(OBJECTDIR)/%-interrupt.o: %-interrupt.c
+	$(CC) $(CFLAGS) $(ARM_FLAGS) -c $< -o $@
+
 %-arm.o: %-arm.c
 	$(CC) $(CFLAGS) $(ARM_FLAGS) $< -c
 
-interrupt-utils.o: interrupt-utils.c
+$(OBJECTDIR)/%-arm.o: %-arm.c
-	$(CC) $(CFLAGS) $(ARM_FLAGS) $< -c
+	$(CC) $(CFLAGS) $(ARM_FLAGS) -c $< -o $@
+
+$(OBJECTDIR)/interrupt-utils.o: interrupt-utils.c
+	$(CC) $(CFLAGS) $(ARM_FLAGS) $< -c -o $@
 
 %.o: %.c
 	$(CC) $(CFLAGS) $(THUMB_FLAGS) $< -c
 
+$(OBJECTDIR)/%.o: %.c
+	$(CC) $(CFLAGS) $(THUMB_FLAGS) -c $< -o $@
+
 %.o: %.S
 	$(CC) $(CFLAGS) $(ARM_FLAGS) $< -c
 
-%.ko: %.o
+$(OBJECTDIR)/%.o: %.S
-	$(LD) --relocatable -T $(CONTIKI_CPU)/merge-rodata.ld $< -o $@
+	$(CC) $(CFLAGS) $(ARM_FLAGS) $< -c  -o $@
+
+
+CUSTOM_RULE_C_TO_CO=yes
+
+%.co: %.c
+	$(CC) $(CFLAGS) $(THUMB_FLAGS) $< -c -o $@
+
+CUSTOM_RULE_C_TO_CE=yes
+
+%.ce: %.o
+	$(LD) $(LDFLAGS) --relocatable -T $(CONTIKI_CPU)/merge-rodata.ld $< -o $@
 	$(STRIP) -K _init -K _fini --strip-unneeded -g -x $@
 
+CUSTOM_RULE_LINK=yes
 
-# Add a namelist to the kernel
+%-stripped.o: %.c
-%-syms.elf: $^ $(STARTUP)
+	$(CC) $(CFLAGS) -c $< -o $@
-	: | awk -f $(CONTIKI)/tools/mknmlist > $*-tmp.c && mv $*-tmp.c $*-nm.c
+	$(STRIP) --strip-unneeded -g -x $@
-	$(CC) $(LDFLAGS) $(CFLAGS) $(THUMB_FLAGS) -nostartfiles -o $@ $^ $*-nm.c
-	$(NM) $@ | awk -f $(CONTIKI)/tools/mknmlist > $*-tmp.c && mv $*-tmp.c $*-nm.c
-	-test -r $*.exclude && grep -v -f $*.exclude $*-nm.c >$*-tmp.c && mv $*-tmp.c $*-nm.c
-	$(CC) $(LDFLAGS) $(CFLAGS) $(THUMB_FLAGS) -nostartfiles -o $*-syms.elf $^ $*-nm.c
 
-%.elf: $^ $(STARTUP)
+%-stripped.o: %.o
-	$(CC) $(LDFLAGS) $(CFLAGS) $(THUMB_FLAGS) -nostartfiles -o $@ $^
+	$(STRIP) --strip-unneeded -g -x -o $@ $<
 
-%.ihx: %.elf
+%.o: ${CONTIKI_TARGET}/loader/%.S
-	$(OBJCOPY) -O ihex $< $@
+	$(AS) -o $(notdir $(<:.S=.o)) $<
 
-%.bin: %.elf
+%-nosyms.$(TARGET): %.co $(PROJECT_OBJECTFILES) contiki-$(TARGET).a $(STARTUP) $(OBJECTDIR)/empty-symbols.o
+	$(CC) $(LDFLAGS) $(CFLAGS) -nostartfiles -o $@ $(filter-out %.a,$^) $(filter %.a,$^) -lc $(filter %.a,$^)
+
+
+%.ihex: %.$(TARGET)
+	$(OBJCOPY) $^ -O ihex $@
+
+%.bin: %.$(TARGET)
 	$(OBJCOPY) -O binary $< $@
  
+.PHONY: symbols.c
+ifdef CORE
+%.$(TARGET): %.co $(PROJECT_OBJECTFILES) contiki-$(TARGET).a $(STARTUP) $(OBJECTDIR)/symbols.o
+	$(CC) $(LDFLAGS) $(CFLAGS) -nostartfiles -o $@ $(filter-out %.a,$^) $(filter %.a,$^) -lc $(filter %.a,$^)
+
+symbols.c: $(CORE)
+	$(NM) $< | awk -f ../../tools/mknmlist > symbols.c
+
+else
+%.$(TARGET): %-nosyms.$(TARGET)
+	ln -sf $< $@
+endif
+
+empty-symbols.c:
+	@${CONTIKI}/tools/make-empty-symbols
 
 upload_ocd_%: %.bin
 	cp $< /tmp/openocd_write.bin 
@@ -123,7 +157,7 @@ upload_ocd_%: %.bin
 	-rm  /tmp/openocd_write.bin
 
 
-upload_%: %.ihx
+upload_%: %.ihex
 	# Clear lock bits
 	$(SAMIAM) "open $(SAMIAM_TTY) , writew 0xffffff64 5a000004"
 	$(SAMIAM) "open $(SAMIAM_TTY) , writew 0xffffff64 5a002004"
@@ -132,10 +166,8 @@ upload_%: %.ihx
 ocd_reset:
 	cd $(CONTIKI_CPU)/openocd;$(OPENOCD) -f $(OPENOCD_RESET)
 
-clean: 
+# Don't use core/loader/elfloader.c, use elfloader-otf.c instead
-	-rm *.o
+$(OBJECTDIR)/elfloader.o: 
-	-rm *.elf
+	echo -n >$@
-	-rm *.ihx
+
-	-rm *.bin
+.PRECIOUS: %-nosyms.$(TARGET)
-	-rm *-nm.c
-	-rm *.ko

cpu/at91sam7s/clock.c

@@ -47,6 +47,8 @@ clock_time(void)
 #define SPIN_TIME 2 /* us */
 #define SPIN_COUNT (((MCK*SPIN_TIME/1000000)-5)/4)
 
+#ifndef __MAKING_DEPS__
+
 void
 clock_delay(unsigned int t)
 {
@@ -56,3 +58,5 @@ clock_delay(unsigned int t)
 #error Must be compiled in thumb mode
 #endif
 }
+
+#endif /* __MAKING_DEPS__ */

cpu/at91sam7s/dbg-io/dbg-printf.c

@@ -3,7 +3,7 @@
 #include <string.h>
 #include <strformat.h>
 
-StrFormatResult
+static StrFormatResult
 write_str(void *user_data, const char *data, unsigned int len)
 {
   dbg_send_bytes((unsigned char*)data, len);
@@ -19,10 +19,12 @@ static StrFormatContext ctxt =
 int
 printf(const char *fmt, ...)
 {
+  int res;
   va_list ap;
   va_start(ap, fmt);
-  return format_str_v(&ctxt, fmt, ap);
+  res = format_str_v(&ctxt, fmt, ap);
   va_end(ap);
+  return res;
 }
 
 

cpu/at91sam7s/dbg-io/dbg-sprintf.c

@@ -0,0 +1,26 @@
+#include <stdio.h>
+#include <strformat.h>
+#include <string.h>
+
+static StrFormatResult
+buffer_str(void *user_data, const char *data, unsigned int len)
+{
+  memcpy(*(char**)user_data, data, len);
+  (*(char**)user_data) += len;
+  return STRFORMAT_OK;
+}
+
+int
+sprintf(char *str, const char *format, ...)
+{
+  StrFormatContext ctxt;
+  int res;
+  va_list ap;
+  va_start(ap, format);
+  ctxt.write_str = buffer_str;
+  ctxt.user_data = &str;
+  res = format_str_v(&ctxt, format, ap);
+  *str = '\0';
+  va_end(ap);
+  return res;
+}

cpu/at91sam7s/debug-uart.c

@@ -74,7 +74,10 @@ dbg_send_bytes(const unsigned char *seq, unsigned int len)
   unsigned short current_count;
   unsigned short left;
   unsigned int save = disableIRQ();
-  if (mutex) return 0;	/* Buffer being updated */
+  if (mutex) {
+    restoreIRQ(save);
+    return 0;	/* Buffer being updated */
+  }
   mutex = 1;	/* Prevent interrupts from messing up the transmission */
   *AT91C_DBGU_PTCR =AT91C_PDC_TXTDIS; /* Stop transmitting */
   while(*AT91C_DBGU_PTSR & AT91C_PDC_TXTEN); /* Wait until stopped */

cpu/at91sam7s/elfloader-arm.c

@@ -1,3 +1,4 @@
+#include <stdlib.h>
 #include <malloc.h>
 #include <loader/elfloader-arch-otf.h>
 

cpu/at91sam7s/interrupt-utils.c

@@ -1,7 +1,7 @@
 /******************************************************************************
  *
  * $RCSfile: interrupt-utils.c,v $
- * $Revision: 1.1 $
+ * $Revision: 1.2 $
  *
  * This module provides the interface routines for setting up and
  * controlling the various interrupt modes present on the ARM processor.
@@ -26,7 +26,7 @@ static inline unsigned __get_cpsr(void)
 
 static inline void __set_cpsr(unsigned val)
 {
-  asm volatile (" msr  cpsr, %0" : /* no outputs */ : "r" (val)  );
+  asm volatile (" msr  cpsr_c, %0" : /* no outputs */ : "r" (val)  );
 }
 
 unsigned disableIRQ(void)

cpu/at91sam7s/loader/empty-symbols.c

@@ -0,0 +1,3 @@
+#include "symbols.h"
+const int symbols_nelts = 0;
+const struct symbols symbols[] = {{0,0}};

cpu/at91sam7s/newlib-syscalls.c

@@ -94,3 +94,30 @@ fsync(int fd)
   errno = EBADF;
   return -1;
 }
+
+void
+_exit(int status)
+{
+  while(1);
+}
+
+void
+_abort()
+{
+  while(1);
+}
+
+void
+_kill()
+{
+  while(1);
+}
+
+pid_t
+_getpid(void)
+{
+  return 1;
+}
+
+const unsigned long
+bkpt_instr = 0xe1200070;

cpu/at91sam7s/rtimer-arch-interrupt.c

@@ -0,0 +1,34 @@
+#include "rtimer-arch-interrupt.h"
+#include "rtimer-arch.h"
+#include <interrupt-utils.h>
+#include <AT91SAM7S64.h>
+
+#define DEBUG 1
+#if DEBUG
+#include <stdio.h>
+#define PRINTF(...) printf(__VA_ARGS__)
+#else
+#define PRINTF(...)
+#endif
+
+/* Here we have a proper stack frame and can use local variables */
+static void rtimer_int_safe() __attribute((noinline));
+static void
+rtimer_int_safe()
+{
+  unsigned int status;
+  status = RTIMER_ARCH_TIMER_BASE->TC_SR;
+  if (status & AT91C_TC_CPAS) {
+    rtimer_run_next();
+  }
+  *AT91C_AIC_EOICR = 0;
+}
+
+void NACKEDFUNC
+rtimer_interrupt (void) {
+  ISR_STORE();
+  ISR_ENABLE_NEST();
+  rtimer_int_safe();
+  ISR_DISABLE_NEST();
+  ISR_RESTORE();
+}

cpu/at91sam7s/rtimer-arch-interrupt.h

@@ -0,0 +1,6 @@
+#ifndef __RTIMER_ARCH_INTERRUPT_H__P0PXG70757__
+#define __RTIMER_ARCH_INTERRUPT_H__P0PXG70757__
+
+void rtimer_interrupt (void);
+
+#endif /* __RTIMER_ARCH_INTERRUPT_H__P0PXG70757__ */

cpu/at91sam7s/rtimer-arch.c

@@ -0,0 +1,49 @@
+#include "rtimer-arch.h"
+#include <AT91SAM7S64.h>
+#include "rtimer-arch-interrupt.h"
+
+#define DEBUG 1
+#if DEBUG
+#include <stdio.h>
+#define PRINTF(...) printf(__VA_ARGS__)
+#else
+#define PRINTF(...)
+#endif
+
+static rtimer_clock_t offset;
+
+void
+rtimer_arch_init(void)
+{
+  offset = 0;
+  RTIMER_ARCH_TIMER_BASE->TC_CMR =
+    (AT91C_TC_WAVE | AT91C_TC_WAVESEL_UP | AT91C_TC_CLKS_TIMER_DIV5_CLOCK);
+  RTIMER_ARCH_TIMER_BASE->TC_RA = 0xffff;
+  RTIMER_ARCH_TIMER_BASE->TC_IER = AT91C_TC_CPAS;
+  *AT91C_PMC_PCER = (1 << RTIMER_ARCH_TIMER_ID);
+  AT91C_AIC_SMR[RTIMER_ARCH_TIMER_ID] =
+    AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE | 6;
+  AT91C_AIC_SVR[RTIMER_ARCH_TIMER_ID] =  (unsigned long)rtimer_interrupt;
+  *AT91C_AIC_IECR = (1 << RTIMER_ARCH_TIMER_ID);
+  RTIMER_ARCH_TIMER_BASE->TC_CCR = AT91C_TC_SWTRG | AT91C_TC_CLKEN;
+  PRINTF("rtimer_arch_init: Done\n");
+}
+
+void
+rtimer_arch_schedule(rtimer_clock_t t)
+{
+  RTIMER_ARCH_TIMER_BASE->TC_RA = t + offset;
+  PRINTF("rtimer_arch_schedule: %d\n",t);
+}
+
+void
+rtimer_arch_set(rtimer_clock_t t)
+{
+  offset = t -  RTIMER_ARCH_TIMER_BASE->TC_CV;
+}
+
+rtimer_clock_t
+rtimer_arch_now(void)
+{
+  return RTIMER_ARCH_TIMER_BASE->TC_CV + offset;
+}

cpu/at91sam7s/rtimer-arch.h

@@ -0,0 +1,21 @@
+/**
+ * \file
+ *         Header file for the AT91SAM7S-specific rtimer code
+ * \author
+ *         Simon Berg <ksb@users.sourceforge.net>
+ */
+
+#ifndef __RTIMER_ARCH_H__
+#define __RTIMER_ARCH_H__
+
+#include "sys/rtimer.h"
+
+#define RTIMER_ARCH_TIMER_ID AT91C_ID_TC1
+#define RTIMER_ARCH_TIMER_BASE AT91C_BASE_TC1
+
+#define RTIMER_ARCH_SECOND (MCK/1024)
+
+void rtimer_arch_set(rtimer_clock_t t);
+
+
+#endif /* __RTIMER_ARCH_H__ */

cpu/at91sam7s/startup-SAM7S.S

@@ -71,7 +71,7 @@
 */
         .equ    Top_Stack,      0x00204000
         .equ    UND_Stack_Size, 0x00000004
-        .equ    SVC_Stack_Size, 0x00000400
+        .equ    SVC_Stack_Size, 0x00000200
         .equ    ABT_Stack_Size, 0x00000004
         .equ    FIQ_Stack_Size, 0x00000004
         .equ    IRQ_Stack_Size, 0x00000400
@@ -207,6 +207,11 @@ UND_Stack_End:
 	.equ	RSTC_MR_Val,	0xa5000001	/* Enable user reset */
 	
 
+/* Advanced interrupt controller */
+	.equ	AIC_SETUP,	1
+	.equ	AIC_BASE,	0xfffff000
+	.equ	AIC_EOICR,	0x130
+	.equ	AIC_SPU,	0x134
 
 #if (defined(VECTORS_IN_RAM) && defined(ROM_RUN)) || defined(USE_SAMBA)
 
@@ -301,6 +306,15 @@ FIQ_Handler:    B       FIQ_Handler
 
 #endif
 
+// Spurious interrupt handler
+SPU_Handler:
+		STMDB   SP!, {R0}
+		LDR	R0, =AIC_BASE
+		STR	R0, [R0, #AIC_EOICR]
+		LDMIA   SP!, {R0}
+		SUBS    PC, LR, #4
+	
+
 // Starupt Code must be linked first at Address at which it expects to run.
 
 		.text
@@ -395,7 +409,7 @@ PLL_Loop:       LDR     R2, [R0, #PMC_SR]
                 LDR     SP, =SVC_Stack_End
 	
 //  Enter User Mode and set its Stack Pointer
-#ifndef RUN_AS_SYSTEM
+#ifdef RUN_AS_SYSTEM
 		MSR     CPSR_c, #Mode_SYS
 #else
                 MSR     CPSR_c, #Mode_USR
@@ -453,6 +467,11 @@ LoopVectCopy:   CMP     R2, R3
                 BLO     LoopVectCopy
 #endif	
 
+.if AIC_SETUP
+		LDR	R1, =AIC_BASE
+		LDR	R0, = SPU_Handler
+		STR	R0, [R1, #AIC_SPU]
+.endif
 
 /*
    Call C++ constructors (for objects in "global scope")