Merge pull request #148 from RICCIARDI-Adrien/initial_renesas_cr52_su…

…pport

Added initial Renesas Cortex-R52 support.

.github/workflows/build-examples.yaml

@@ -49,6 +49,37 @@ jobs:
         run: ./make.py
         working-directory: examples/cortex-a-r/armv7/bcm2836/rpi2/${{ matrix.example_name }}
 
+  cortex-a-r-spider-examples:
+    name: Build Renesas Spider Cortex-R52 examples
+    runs-on: ubuntu-22.04
+    needs: goil
+    env:
+      ARM_TOOLCHAIN_NAME: arm-gnu-toolchain-12.2.rel1-x86_64-arm-none-eabi
+    strategy:
+      matrix:
+        example_name: [blink, can_demo, iccom, one_task]
+    steps:
+      # A toolchain newer than the one included in Ubuntu 22.04 is needed
+      - name: Install ARM toolchain
+        run: |
+          wget https://developer.arm.com/-/media/Files/downloads/gnu/12.2.rel1/binrel/${{ env.ARM_TOOLCHAIN_NAME }}.tar.xz
+          sudo tar -xf ${{ env.ARM_TOOLCHAIN_NAME }}.tar.xz -C /opt
+      - name: Retrieve sources and Goil binary
+        uses: actions/cache/restore@v3
+        with:
+          path: ${{ github.workspace }}
+          key: ${{ env.CACHE_KEY }}
+      - name: Generate the code
+        run: |
+            echo "$(realpath /opt/${{ env.ARM_TOOLCHAIN_NAME }}/bin)" >> $GITHUB_PATH
+            ${{ env.GOIL }} --target=cortex-a-r/armv8/spider --templates=../../../../../goil/templates/ ${{ matrix.example_name }}.oil
+        working-directory: examples/cortex-a-r/armv8/spider/${{ matrix.example_name }}
+      - name: Build the code
+        run: |
+            echo "$(realpath /opt/${{ env.ARM_TOOLCHAIN_NAME }}/bin)" >> $GITHUB_PATH
+            ./make.py
+        working-directory: examples/cortex-a-r/armv8/spider/${{ matrix.example_name }}
+
   avr-arduino-uno-examples:
     name: Build AVR Arduino Uno examples
     runs-on: ubuntu-22.04

README.md

@@ -8,6 +8,7 @@ Its API is aligned with OSEK/VDX OS and AUTOSAR OS 4.2 standards.
 * cortex
   * Cortex-M (M0+, M3 and M4 for now) instruction set
   * Cortex-A (A7) instruction set. This port is under heavy development.
+  * Cortex-R (R52) instruction set.
 * riscv
   * PULPino microprocessor with 32bits RISC-V instruction set.
 * ppc: PowerPC 32bits instruction set
@@ -32,6 +33,7 @@ Trampoline runs on the following platforms :
 | NXP / Freescale MK20DX256    | Cortex-M4          | 1     | Teensy31                                               |
 | NXP / Freescale MPC564xL     | Power Architecture | 2     | XPC56XX EVB + XPC56XL MINI-MODULE                      |
 | PULPino                      | RISC-V             | 1     | ZedBoard                                               |
+| Renesas Spider CR52          | Cortex-R52         | 1     | Renesas R-Car S4 Spider                                |
 | STMicroelectronics STM32F4xx | Cortex-M4          | 1     | STM32F4DISCOVERY with STM32F407VG                      |
 | STMicroelectronics STM32F30x | Cortex-M4          | 1     | Nucleo-32 STM32F303K8                                  |
 | STMicroelectronics STM32L432 | Cortex-M4          | 1     | Nucleo-32 STM32L432KC                                  |

examples/cortex-a-r/armv8/spider/blink/.gitignore

@@ -0,0 +1,5 @@
+build/
+blink/
+*.map
+*.py
+blink_exe*

examples/cortex-a-r/armv8/spider/blink/blink.c

@@ -0,0 +1,93 @@
+#include "tpl_os.h"
+
+#define APP_Task_blink_START_SEC_CODE
+#include "tpl_memmap.h"
+#include "stdint.h"
+#include "stdbool.h"
+uint8_t *led8 = (uint8_t*)(0xe6050180 + 0x14);
+
+#define GPIO0_BASE_ADDR 0xe6050180
+#define IOINTSEL 0x00   /* General IO/Interrupt Switching Register */
+#define INOUTSEL 0x04   /* General Input/Output Switching Register */
+#define OUTDT    0x08   /* General Output Register */
+#define INDT     0x0c   /* General Input Register */
+#define INTDT    0x10   /* Interrupt Display Register */
+#define INTCLR   0x14   /* Interrupt Clear Register */
+#define INTMSK   0x18   /* Interrupt Mask Register */
+#define MSKCLR   0x1c   /* Interrupt Mask Clear Register */
+#define POSNEG   0x20   /* Positive/Negative Logic Select Register */
+#define EDGLEVEL 0x24   /* Edge/level Select Register */
+#define FILONOFF 0x28   /* Chattering Prevention On/Off Register */
+#define OUTDTSEL 0x40   /* Output Data Select Register */
+#define BOTHEDGE 0x4c   /* One Edge/Both Edge Select Register */
+#define INEN     0x50   /* General Input Enable Register */
+
+#define GPIO_PIN 14
+
+void gpio_modify_bit(uint32_t *addr, int bit, bool val) {
+    uint32_t tmp = *addr;
+    if(val) {
+        tmp |= (1<<bit);
+    } else {
+        tmp &= ~(1<<bit);
+    }
+    *addr = tmp;
+}
+
+void init_gpio(void){
+    uint32_t *addr;
+    /** GPIO **/
+    // *POSNEG = 0; // Positive logic
+    addr = (uint32_t*)(GPIO0_BASE_ADDR+POSNEG);
+    gpio_modify_bit(addr, GPIO_PIN, false);
+    // *INEN = 0; // General input disable
+    addr = (uint32_t*)(GPIO0_BASE_ADDR+INEN);
+    gpio_modify_bit(addr, GPIO_PIN, false);
+    // *IOINTSEL = 0; // General I/O mode
+    addr = (uint32_t*)(GPIO0_BASE_ADDR+IOINTSEL);
+    gpio_modify_bit(addr, GPIO_PIN, false);
+    // *INOUTSEL = 1; // General Output mode
+    addr = (uint32_t*)(GPIO0_BASE_ADDR+INOUTSEL);
+    gpio_modify_bit(addr, GPIO_PIN, true);
+    // *OUTDT    = led_status; // output
+    addr = (uint32_t*)(GPIO0_BASE_ADDR+OUTDTSEL);
+    gpio_modify_bit(addr, GPIO_PIN, false);
+
+}
+
+void led(uint8_t status) {
+    uint32_t *addr;
+    // *OUTDT    = led_status; // output
+    addr = (uint32_t*)(GPIO0_BASE_ADDR+OUTDT);
+    gpio_modify_bit(addr, GPIO_PIN, status);
+}
+
+volatile uint32_t temp = 0;
+FUNC(int, OS_APPL_CODE) main(void)
+{
+	init_gpio();
+        // for( int i = 0; i< 10; ++i) {
+        //     led(0);
+        //     for (int n=0; n<0xffffff; ++n) temp = n;
+        //     led(1);
+        //     for (int n=0; n<0xffffff; ++n) temp = n;
+        // }
+	StartOS(OSDEFAULTAPPMODE);
+	return 0;
+}
+
+volatile uint32_t tmp = 0;
+TASK(my_only_task)
+{
+	TerminateTask();
+}
+
+TASK(blink)
+{
+        static int8_t led_status = 0;
+        led(led_status);
+        led_status = 1 - led_status;
+	TerminateTask();
+}
+#define APP_Task_blink_STOP_SEC_CODE
+#include "tpl_memmap.h"

examples/cortex-a-r/armv8/spider/blink/blink.oil

@@ -0,0 +1,69 @@
+OIL_VERSION = "4.2";
+
+IMPLEMENTATION trampoline {
+
+    /* This fix the default STACKSIZE of tasks */
+    TASK {
+        UINT32 STACKSIZE = 1000 ;
+    } ;
+
+    /* This fix the default STACKSIZE of ISRs */
+    ISR {
+        UINT32 STACKSIZE = 1000 ;
+    } ;
+};
+
+CPU blink {
+  OS config {
+    STATUS = EXTENDED;
+
+    BUILD = TRUE {
+      TRAMPOLINE_BASE_PATH = "../../../../..";
+      APP_SRC = "blink.c";
+      APP_NAME = "blink_exe.elf";
+      CFLAGS  = "-O0";
+      LDFLAGS = "-Map=blink.map";
+      COMPILER = "arm-none-eabi-gcc";
+      CPPCOMPILER = "arm-none-eabi-g++";
+      ASSEMBLER = "arm-none-eabi-as";
+      LINKER = "arm-none-eabi-ld";
+      COPIER = "arm-none-eabi-objcopy";
+      SYSTEM = PYTHON;
+    };
+    SYSTEM_CALL = TRUE;
+    MEMMAP = TRUE {
+      COMPILER = gcc;
+      LINKER = gnu_ld { SCRIPT = "script.ld"; };
+      ASSEMBLER = gnu_as;
+      MEMORY_PROTECTION = FALSE;
+    };
+  };
+
+  APPMODE std {};
+
+  TASK my_only_task {
+    PRIORITY = 1;
+    AUTOSTART = TRUE { APPMODE = std; };
+    ACTIVATION = 1;
+    SCHEDULE = FULL;
+  };
+
+  TASK blink {
+    PRIORITY = 1;
+    AUTOSTART = FALSE;
+    ACTIVATION = 1;
+    SCHEDULE = FULL;
+  };
+
+  ALARM blink_blink {
+    COUNTER = SystemCounter;
+    ACTION = ACTIVATETASK {
+      TASK = blink;
+    };
+    AUTOSTART = TRUE {
+      APPMODE = std;
+      ALARMTIME = 100;
+      CYCLETIME = 100;
+    };
+  };
+};

examples/cortex-a-r/armv8/spider/blink/build.sh

@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+#stop on errors
+set -e
+
+echo "*** Run Goil ***"
+goil --target=cortex-a-r/armv8/spider --templates=../../../../../goil/templates/ blink.oil
+
+echo "*** Run Make ***"
+./make.py

examples/cortex-a-r/armv8/spider/can_demo/.gitignore

@@ -0,0 +1,4 @@
+can_demo/
+can_demo_exe*
+*.map
+*.py

examples/cortex-a-r/armv8/spider/can_demo/README.md

@@ -0,0 +1,40 @@
+# Trampoline CAN demo example
+
+This example allows to test the Trampoline CAN stack on the Spider board.
+
+## Hardware setup
+
+Connect a CAN probe to the Spider board CAN0 SUB-D 9 connector (CN13A).
+
+For the test, we used a Kvaser USBcan Pro 2xHS v2 connected to a Windows 10 PC running the Kvaser CanKing software.
+As the Kvaser probe does not provide CAN bus terminating resistors, we made a little adaptation PCB with terminating resistors.
+For that, we cut in half two DB-9 cables and kept the two female parts.
+On the PCB, we wired the DB-9 pins 7 together (the CAN high signal), the DB-9 pins 2 together (the CAN low signal) and the DB-9 pins 3 together (the CAN ground).
+Between the DB-9 pin 7 and pin 3 we soldered a 60 ohms resistors, we also added a second 60 ohms resistors between the DB-9 pin 2 and pin 3.
+
+## Software setup
+
+The Kvaser CanKing CAN bus configuration is as follow :
+* Bus speed : 125 Kbit/s.
+* Sample point : 75% (Tseg1 = 11, TSeg2 = 4).
+* SWJ (Synchronization Jump Width) : 4.
+
+No configuration is needed on the CAN demo application side.
+
+## Building
+
+On Linux :
+```
+cd examples/cortex-a-r/armv8/spider/can_demo
+goil --target=cortex-a-r/armv8/spider --templates=../../../../../goil/templates/ can_demo.oil
+./make.py
+```
+
+## Running
+
+Before starting the CAN demo application, connect the hardware setup and configure the Kvaser CanKing application as described in the above paragraphs.
+Then, click the CanKing `Go On Bus` button.
+Now, you can run the CAN demo application.
+
+The CAN demo application starts by sending a CAN frame with the CAN ID `0x123` and the string payload `Ready!`.
+After that, it waits for a CAN frame to be received. When a frame is received, it increments the CAN ID and all the payload bytes, then it sends the frame back.