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Merge pull request #6388 from astralien3000/opencm9-04

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boards/opencm9-04 : initial support
This commit is contained in:
Martine Lenders 2017-01-21 14:37:50 +01:00 committed by GitHub
commit 5b1c00ad8b
12 changed files with 483 additions and 5 deletions
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3
boards/opencm9-04/Makefile Executable file
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MODULE = board
include $(RIOTBASE)/Makefile.base

11
boards/opencm9-04/Makefile.features Executable file
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# Put defined MCU peripherals here (in alphabetical order)
FEATURES_PROVIDED += periph_cpuid
FEATURES_PROVIDED += periph_gpio
FEATURES_PROVIDED += periph_timer
FEATURES_PROVIDED += periph_uart
# Various common features of Nucleo boards
FEATURES_PROVIDED += cpp
# The board MPU family (used for grouping by the CI system)
FEATURES_MCU_GROUP = cortex_m3_1

23
boards/opencm9-04/Makefile.include Executable file
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# the cpu to build for
export CPU = stm32f1
export CPU_MODEL = stm32f103cb
# custom linkerscript
export LINKER_SCRIPT = stm32f103cb_opencm9-04.ld
# custom flasher to use with the bootloader
export FLASHER = $(RIOTBOARD)/$(BOARD)/dist/robotis-loader.py
export DEBUGGER =
export DEBUGSERVER =
export OFLAGS = -O binary
export HEXFILE = $(ELFFILE:.elf=.bin)
export FFLAGS =
export DEBUGGER_FLAGS =
# define the default port depending on the host OS
PORT_LINUX ?= /dev/ttyACM0
PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.usbmodem*)))
# setup serial terminal
include $(RIOTBOARD)/Makefile.include.serial

39
boards/opencm9-04/board.c Normal file
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/*
* Copyright (C) 2017 INRIA
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup boards_opencm9-04
* @{
*
* @file
* @brief Board specific implementations for the OpenCM9.04 board
*
* @author Loïc Dauphin <loic.dauphin@inria.fr>
*
* @}
*/
#include "board.h"
#include "periph/gpio.h"
#include "log.h"
void board_init(void)
{
/* initialize the CPU */
cpu_init();
/* initialize the board's LED */
gpio_init(LED0_PIN, GPIO_OUT);
LED0_OFF;
/* disable bootloader's USB */
RCC->APB1ENR &= ~RCC_APB1ENR_USBEN;
/* configure the RIOT vector table location to internal flash + bootloader offset */
SCB->VTOR = LOCATION_VTABLE;
}

146
boards/opencm9-04/dist/robotis-loader.py vendored Executable file
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#!/usr/bin/env python
'''
MIT License
Copyright (c) 2014 Gregoire Passault
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.
'''
# This script sends a program on a robotis board (OpenCM9.04 or CM900)
# using the robotis bootloader (used in OpenCM IDE)
#
# Usage:
# python robotis-loader.py <serial port> <binary>
#
# Example:
# python robotis-loader.py /dev/ttyACM0 firmware.bin
#
# https://github.com/Gregwar/robotis-loader
import serial
import sys
import os
import time
print('~~ Robotis loader ~~')
print('')
print('Please, make sure to connect the USB cable WHILE holding down the "USER SW" button.')
print('Status LED should stay lit and the board should be able to load the program.')
print('')
# Helper function for bytes conversion
if sys.version_info[:1][0] == 3:
def to_ord(val):
return ord(chr(val))
else:
def to_ord(val):
return ord(val)
# Reading command line
#if len(sys.argv) != 3:
# exit('! Usage: robotis-loader.py <serial-port> <binary>')
#pgm, port, binary = sys.argv
pgm = sys.argv[0]
port = os.environ["PORT"]
binary = os.environ["HEXFILE"]
def progressBar(percent, precision=65):
"""Prints a progress bar."""
threshold = precision*percent / 100.0
sys.stdout.write('[ ')
for x in range(precision):
if x < threshold:
sys.stdout.write('#')
else:
sys.stdout.write(' ')
sys.stdout.write(' ] ')
sys.stdout.flush()
# Opening the firmware file
try:
stat = os.stat(binary)
size = stat.st_size
firmware = open(binary, 'rb')
print('* Opening %s, size=%d' % (binary, size))
except:
exit('! Unable to open file %s' % binary)
# Opening serial port
try:
s = serial.Serial(port, baudrate=115200)
except:
exit('! Unable to open serial port %s' % port)
print('* Resetting the board')
s.setRTS(True)
s.setDTR(False)
time.sleep(0.1)
s.setRTS(False)
s.write(b'CM9X')
s.close()
time.sleep(1.0);
print('* Connecting...')
s = serial.Serial(port, baudrate=115200)
s.write(b'AT&LD')
print('* Download signal transmitted, waiting...')
# Entering bootloader sequence
while True:
line = s.readline().strip()
if line.endswith(b'Ready..'):
print('* Board ready, sending data')
cs = 0
pos = 0
while True:
c = firmware.read(2048)
if len(c):
pos += len(c)
sys.stdout.write("\r")
progressBar(100 * float(pos) / float(size))
s.write(c)
for k in range(0, len(c)):
cs = (cs + to_ord(c[k])) % 256
else:
firmware.close()
break
print('')
s.setDTR(True)
print('* Checksum: %d' % (cs))
import struct
s.write(struct.pack('B', cs))
# s.write('{0}'.format(chr(cs)).encode('ascii'))
print('* Firmware was sent')
else:
if line == b'Success..':
print('* Success, running the code')
print('')
s.write(b'AT&RST')
s.close()
exit()
else:
print('Board -> {}'.format(line))

77
boards/opencm9-04/include/board.h Executable file
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/*
* Copyright (C) 2017 INRIA
*
* This file is subject to the terms and conditions of the GNU Lesser General
* Public License v2.1. See the file LICENSE in the top level directory for more
* details.
*/
/**
* @defgroup boards_opencm9-04 OpenCM9.04
* @ingroup boards
* @brief Board specific files for the OpenCM9.04 board
* @{
*
* @file
* @brief Board specific definitions for the OpenCM9.04 board
*
* @author Loïc Dauphin <loic.dauphin@inria.fr>
*/
#ifndef BOARD_H
#define BOARD_H
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name Define the location of the RIOT image in flash
* @{
*/
#define LOCATION_VTABLE (0x08003000)
/** @} */
/**
* @name xtimer configuration
* @{
*/
#define XTIMER_WIDTH (16)
#define XTIMER_BACKOFF 5
/** @} */
/**
* @name Macros for controlling the on-board LED.
* @{
*/
#define LED0_PIN GPIO_PIN(PORT_B, 9)
#define LED_PORT GPIOB
#define LED0_MASK (1 << 9)
#define LED0_ON (LED_PORT->BRR = LED0_MASK)
#define LED0_OFF (LED_PORT->BSRR = LED0_MASK)
#define LED0_TOGGLE (LED_PORT->ODR ^= LED0_MASK)
/** @} */
/**
* @brief User button
*/
#define BTN_B1_PIN GPIO_PIN(PORT_C, 15)
/**
* @brief Use the USART2 for STDIO on this board
*/
#define UART_STDIO_DEV UART_DEV(0)
/**
* @brief Initialize board specific hardware, including clock, LEDs and std-IO
*/
void board_init(void);
#ifdef __cplusplus
}
#endif
#endif /* BOARD_H */
/** @} */

149
boards/opencm9-04/include/periph_conf.h Normal file
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/*
* Copyright (C) 2017 INRIA
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup boards_opencm9-04
* @{
*
* @file
* @brief Peripheral MCU configuration for the opencm9-04 board
*
* @author Loïc Dauphin <loic.dauphin@inria.fr>
*/
#ifndef PERIPH_CONF_H
#define PERIPH_CONF_H
#include "periph_cpu.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name Clock system configuration
* @{
*/
#define CLOCK_HSE (8000000U) /* external oscillator */
#define CLOCK_CORECLOCK (72000000U) /* desired core clock frequency */
/* the actual PLL values are automatically generated */
#define CLOCK_PLL_DIV (1)
#define CLOCK_PLL_MUL CLOCK_CORECLOCK / CLOCK_HSE
/* AHB, APB1, APB2 dividers */
#define CLOCK_AHB_DIV RCC_CFGR_HPRE_DIV1
#define CLOCK_APB2_DIV RCC_CFGR_PPRE2_DIV1
#define CLOCK_APB1_DIV RCC_CFGR_PPRE1_DIV2
/* Bus clocks */
#define CLOCK_APB1 (CLOCK_CORECLOCK / 2)
#define CLOCK_APB2 (CLOCK_CORECLOCK)
/* Flash latency */
#define CLOCK_FLASH_LATENCY FLASH_ACR_LATENCY_2 /* for >= 72 MHz */
/** @} */
/**
* @name ADC configuration
* @{
*/
#define ADC_NUMOF (0)
/** @} */
/**
* @brief DAC configuration
* @{
*/
#define DAC_NUMOF (0)
/** @} */
/**
* @brief Timer configuration
* @{
*/
static const timer_conf_t timer_config[] = {
{
.dev = TIM2,
.max = 0x0000ffff,
.rcc_mask = RCC_APB1ENR_TIM2EN,
.bus = APB1,
.irqn = TIM2_IRQn
},
{
.dev = TIM3,
.max = 0x0000ffff,
.rcc_mask = RCC_APB1ENR_TIM3EN,
.bus = APB1,
.irqn = TIM3_IRQn
}
};
#define TIMER_0_ISR isr_tim2
#define TIMER_1_ISR isr_tim3
#define TIMER_NUMOF (sizeof(timer_config) / sizeof(timer_config[0]))
/** @} */
/**
* @brief UART configuration
* @{
*/
static const uart_conf_t uart_config[] = {
{
.dev = USART2,
.rcc_mask = RCC_APB1ENR_USART2EN,
.rx_pin = GPIO_PIN(PORT_A, 3),
.tx_pin = GPIO_PIN(PORT_A, 2),
.bus = APB1,
.irqn = USART2_IRQn
},
{
.dev = USART1,
.rcc_mask = RCC_APB2ENR_USART1EN,
.rx_pin = GPIO_PIN(PORT_A, 10),
.tx_pin = GPIO_PIN(PORT_A, 9),
.bus = APB2,
.irqn = USART1_IRQn
},
{
.dev = USART3,
.rcc_mask = RCC_APB1ENR_USART3EN,
.rx_pin = GPIO_PIN(PORT_B, 11),
.tx_pin = GPIO_PIN(PORT_B, 10),
.bus = APB1,
.irqn = USART3_IRQn
}
};
#define UART_0_ISR isr_usart2
#define UART_1_ISR isr_usart1
#define UART_2_ISR isr_usart3
#define UART_NUMOF (sizeof(uart_config) / sizeof(uart_config[0]))
/** @} */
/**
* @name I2C configuration
* @{
*/
#define I2C_NUMOF (0)
/** @} */
/**
* @name SPI configuration
* @{
*/
#define SPI_NUMOF (0)
/** @} */
#ifdef __cplusplus
}
#endif
#endif /* PERIPH_CONF_H */

30
cpu/stm32f1/ldscripts/stm32f103cb_opencm9-04.ld Normal file
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/*
* Copyright (C) 2017 INRIA
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @addtogroup cpu_stm32f1
* @{
*
* @file
* @brief OpenCM9.04 specific definitions for the STM32F103CB
*
* @author Loïc Dauphin <loic.dauphin@inria.fr>
*
* @}
*/
MEMORY
{
rom (rx) : ORIGIN = 0x08003000, LENGTH = 128K-0x3000
ram (xrw) : ORIGIN = 0x20000000, LENGTH = 20K
cpuid (r) : ORIGIN = 0x1ffff7e8, LENGTH = 12
}
_cpuid_address = ORIGIN(cpuid);
INCLUDE cortexm_base.ld

2
examples/dtls-echo/Makefile
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@ -17,7 +17,7 @@ BOARD_INSUFFICIENT_MEMORY := airfy-beacon nrf51dongle nrf6310 nucleo-f103 \
nucleo-f334 pca10000 pca10005 spark-core \
stm32f0discovery weio yunjia-nrf51822 nucleo-f072 \
cc2650stk nucleo-f030 nucleo-f070 microbit \
calliope-mini nucleo32-f042 nucleo32-f303
calliope-mini nucleo32-f042 nucleo32-f303 opencm9-04
# Include packages that pull up and auto-init the link layer.
# NOTE: 6LoWPAN will be included if IEEE802.15.4 devices are present

2
examples/gnrc_border_router/Makefile
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@ -12,7 +12,7 @@ BOARD_INSUFFICIENT_MEMORY := airfy-beacon cc2650stk msb-430 msb-430h pca10000 pc
spark-core stm32f0discovery telosb \
weio wsn430-v1_3b wsn430-v1_4 yunjia-nrf51822 z1 nucleo-f072 \
nucleo-f030 nucleo-f070 microbit calliope-mini \
nucleo32-f042 nucleo32-f303
nucleo32-f042 nucleo32-f303 opencm9-04
# use ethos (ethernet over serial) for network communication and stdio over
# UART, but not on native, as native has a tap interface towards the host.

2
tests/thread_cooperation/Makefile
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@ -6,7 +6,7 @@ BOARD_INSUFFICIENT_MEMORY := cc2650stk chronos msb-430 msb-430h mbed_lpc1768 \
yunjia-nrf51822 spark-core airfy-beacon nucleo-f103 \
nucleo-f334 nrf51dongle nrf6310 weio nucleo-f072 \
nucleo-f030 nucleo-f070 microbit calliope-mini \
nucleo32-f042 nucleo32-f303
nucleo32-f042 nucleo32-f303 opencm9-04
DISABLE_MODULE += auto_init

4
tests/unittests/Makefile
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@ -12,7 +12,7 @@ BOARD_INSUFFICIENT_MEMORY := airfy-beacon cc2650stk chronos ek-lm4f120xl \
nucleo-f030 nucleo-f070 nucleo-f091 pba-d-01-kw2x \
saml21-xpro microbit calliope-mini limifrog-v1 \
slwstk6220a ek-lm4f120xl stm32f3discovery \
slwstk6220a nucleo32-f042 nucleo32-f303
slwstk6220a nucleo32-f042 nucleo32-f303 opencm9-04
USEMODULE += embunit
@ -31,7 +31,7 @@ ARM_CORTEX_M_BOARDS := airfy-beacon arduino-due cc2538dk ek-lm4f120xl f4vi1 fox
pba-d-01-kw2x pca10000 pca10005 remote saml21-xpro samr21-xpro slwstk6220a \
spark-core stm32f0discovery stm32f3discovery stm32f4discovery udoo weio \
yunjia-nrf51822 sodaq-autonomo arduino-zero nucleo-f030 nucleo-f070 \
nucleo32-f303
nucleo32-f303 opencm9-04
DISABLE_TEST_FOR_ARM_CORTEX_M := tests-relic