zephyr

2025-01-16 10:46:37 +07:00
parent c8130afe9b
commit 91214b4614
16 changed files with 372 additions and 111 deletions
--- a/hw/bsp/board_api.h
+++ b/hw/bsp/board_api.h
@@ -38,22 +38,24 @@ extern "C" {

 #include "tusb.h"

-#if CFG_TUSB_OS == OPT_OS_FREERTOS
-#if TUSB_MCU_VENDOR_ESPRESSIF
-  // ESP-IDF need "freertos/" prefix in include path.
-  // CFG_TUSB_OS_INC_PATH should be defined accordingly.
-  #include "freertos/FreeRTOS.h"
-  #include "freertos/semphr.h"
-  #include "freertos/queue.h"
-  #include "freertos/task.h"
-  #include "freertos/timers.h"
-#else
-  #include "FreeRTOS.h"
-  #include "semphr.h"
-  #include "queue.h"
-  #include "task.h"
-  #include "timers.h"
-#endif
+#if CFG_TUSB_OS == OPT_OS_ZEPHYR
+  #include <zephyr/kernel.h>
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  #if TUSB_MCU_VENDOR_ESPRESSIF
+    // ESP-IDF need "freertos/" prefix in include path.
+    // CFG_TUSB_OS_INC_PATH should be defined accordingly.
+    #include "freertos/FreeRTOS.h"
+    #include "freertos/semphr.h"
+    #include "freertos/queue.h"
+    #include "freertos/task.h"
+    #include "freertos/timers.h"
+  #else
+    #include "FreeRTOS.h"
+    #include "semphr.h"
+    #include "queue.h"
+    #include "task.h"
+    #include "timers.h"
+  #endif
 #endif

 // Define the default baudrate
@@ -124,6 +126,10 @@ static inline uint32_t board_millis(void) {
 // Implement your own board_millis() in any of .c file
 uint32_t board_millis(void);

+#elif CFG_TUSB_OS == OPT_OS_ZEPHYR
+static inline uint32_t board_millis(void) {
+  return k_uptime_get_32();
+}
 #else
  #error "board_millis() is not implemented for this OS"
 #endif
--- a/hw/bsp/family_support.cmake
+++ b/hw/bsp/family_support.cmake
@@ -73,34 +73,39 @@ if (NOT NO_WARN_RWX_SEGMENTS_SUPPORTED)
  set(NO_WARN_RWX_SEGMENTS_SUPPORTED 1)
 endif()

-set(WARNING_FLAGS_GNU
-  -Wall
-  -Wextra
-  -Werror
-  -Wfatal-errors
-  -Wdouble-promotion
-  -Wstrict-prototypes
-  -Wstrict-overflow
-  -Werror-implicit-function-declaration
-  -Wfloat-equal
-  -Wundef
-  -Wshadow
-  -Wwrite-strings
-  -Wsign-compare
-  -Wmissing-format-attribute
-  -Wunreachable-code
-  -Wcast-align
-  -Wcast-function-type
-  -Wcast-qual
-  -Wnull-dereference
-  -Wuninitialized
-  -Wunused
-  -Wreturn-type
-  -Wredundant-decls
-  )
+#set(WARNING_FLAGS_GNU
+#  -Wall
+#  -Wextra
+#  -Werror
+#  -Wfatal-errors
+#  -Wdouble-promotion
+#  -Wstrict-prototypes
+#  -Wstrict-overflow
+#  -Werror-implicit-function-declaration
+#  -Wfloat-equal
+#  -Wundef
+#  -Wshadow
+#  -Wwrite-strings
+#  -Wsign-compare
+#  -Wmissing-format-attribute
+#  -Wunreachable-code
+#  -Wcast-align
+#  -Wcast-function-type
+#  -Wcast-qual
+#  -Wnull-dereference
+#  -Wuninitialized
+#  -Wunused
+#  -Wreturn-type
+#  -Wredundant-decls
+#  )

 set(WARNING_FLAGS_IAR "")

+#if (BUILD_ZEPHYR)
+#  set(BOARD_ROOT ${TOP}/hw/bsp/${FAMILY})
+#  find_package(Zephyr REQUIRED HINTS ${TOP}/lib/zephyr)
+#endif ()
+
 #-------------------------------------------------------------
 # Functions
 #-------------------------------------------------------------
@@ -216,7 +221,7 @@ function(family_configure_common TARGET RTOS)
  if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
    target_link_options(${TARGET} PUBLIC "LINKER:-Map=$<TARGET_FILE:${TARGET}>.map")
    if (CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL 12.0 AND NO_WARN_RWX_SEGMENTS_SUPPORTED)
-      target_link_options(${TARGET} PUBLIC "LINKER:--no-warn-rwx-segments")
+#      target_link_options(${TARGET} PUBLIC "LINKER:--no-warn-rwx-segments")
    endif ()
 elseif (CMAKE_C_COMPILER_ID STREQUAL "Clang")
    target_link_options(${TARGET} PUBLIC "LINKER:-Map=$<TARGET_FILE:${TARGET}>.map")
@@ -244,12 +249,12 @@ function(family_configure_common TARGET RTOS)
  endif ()

  # run size after build
-  find_program(SIZE_EXE ${CMAKE_SIZE})
-  if(NOT ${SIZE_EXE} STREQUAL SIZE_EXE-NOTFOUND)
-    add_custom_command(TARGET ${TARGET} POST_BUILD
-      COMMAND ${SIZE_EXE} $<TARGET_FILE:${TARGET}>
-      )
-  endif ()
+#  find_program(SIZE_EXE ${CMAKE_SIZE})
+#  if(NOT ${SIZE_EXE} STREQUAL SIZE_EXE-NOTFOUND)
+#    add_custom_command(TARGET ${TARGET} POST_BUILD
+#      COMMAND ${SIZE_EXE} $<TARGET_FILE:${TARGET}>
+#      )
+#  endif ()
 endfunction()

 # Add tinyusb to example
@@ -272,6 +277,8 @@ function(family_add_tinyusb TARGET OPT_MCU RTOS)

  if (RTOS STREQUAL "freertos")
    target_compile_definitions(${TARGET}-tinyusb_config INTERFACE CFG_TUSB_OS=OPT_OS_FREERTOS)
+  elseif (RTOS STREQUAL "zephyr")
+    target_compile_definitions(${TARGET}-tinyusb_config INTERFACE CFG_TUSB_OS=OPT_OS_ZEPHYR)
  endif ()

  # tinyusb's CMakeList.txt
@@ -280,6 +287,8 @@ function(family_add_tinyusb TARGET OPT_MCU RTOS)
  if (RTOS STREQUAL "freertos")
    # link tinyusb with freeRTOS kernel
    target_link_libraries(${TARGET}-tinyusb PUBLIC freertos_kernel)
+  elseif (RTOS STREQUAL "zephyr")
+    target_include_directories(${TARGET}-tinyusb PUBLIC ${ZEPHYR_BASE}/include)
  endif ()

  # use max3421 as host controller
@@ -353,33 +362,33 @@ endfunction()
 # RPI specific: refactor later
 #----------------------------------
 function(family_add_default_example_warnings TARGET)
-  target_compile_options(${TARGET} PUBLIC
-    -Wall
-    -Wextra
-    -Werror
-    -Wfatal-errors
-    -Wdouble-promotion
-    -Wfloat-equal
-    # FIXME commented out because of https://github.com/raspberrypi/pico-sdk/issues/1468
-    #-Wshadow
-    -Wwrite-strings
-    -Wsign-compare
-    -Wmissing-format-attribute
-    -Wunreachable-code
-    -Wcast-align
-    -Wcast-qual
-    -Wnull-dereference
-    -Wuninitialized
-    -Wunused
-    -Wredundant-decls
-    #-Wstrict-prototypes
-    #-Werror-implicit-function-declaration
-    #-Wundef
-    )
+#  target_compile_options(${TARGET} PUBLIC
+#    -Wall
+#    -Wextra
+#    -Werror
+#    -Wfatal-errors
+#    -Wdouble-promotion
+#    -Wfloat-equal
+#    # FIXME commented out because of https://github.com/raspberrypi/pico-sdk/issues/1468
+#    #-Wshadow
+#    -Wwrite-strings
+#    -Wsign-compare
+#    -Wmissing-format-attribute
+#    -Wunreachable-code
+#    -Wcast-align
+#    -Wcast-qual
+#    -Wnull-dereference
+#    -Wuninitialized
+#    -Wunused
+#    -Wredundant-decls
+#    #-Wstrict-prototypes
+#    #-Werror-implicit-function-declaration
+#    #-Wundef
+#    )

  if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
    if (CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL 12.0 AND NO_WARN_RWX_SEGMENTS_SUPPORTED)
-      target_link_options(${TARGET} PUBLIC "LINKER:--no-warn-rwx-segments")
+#      target_link_options(${TARGET} PUBLIC "LINKER:--no-warn-rwx-segments")
    endif()

    # GCC 10
--- a/hw/bsp/nrf/boards/pca10056/board.cmake
+++ b/hw/bsp/nrf/boards/pca10056/board.cmake
@@ -2,3 +2,9 @@ set(MCU_VARIANT nrf52840)

 function(update_board TARGET)
 endfunction()
+
+#board_runner_args(jlink "--device=nRF52840_xxAA" "--speed=4000")
+#include(${ZEPHYR_BASE}/boards/common/nrfjprog.board.cmake)
+#include(${ZEPHYR_BASE}/boards/common/nrfutil.board.cmake)
+#include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)
+#include(${ZEPHYR_BASE}/boards/common/openocd-nrf5.board.cmake)
--- a/hw/bsp/nrf/family.c
+++ b/hw/bsp/nrf/family.c
@@ -67,6 +67,8 @@
  #define NRFX_VER 3
 #endif

+extern void nrfx_isr(const void *irq_handler);
+
 //--------------------------------------------------------------------+
 // Forward USB interrupt events to TinyUSB IRQ Handler
 //--------------------------------------------------------------------+
@@ -137,8 +139,22 @@ void board_init(void) {
  // Button
  nrf_gpio_cfg_input(BUTTON_PIN, NRF_GPIO_PIN_PULLUP);

+#if CFG_TUSB_OS == OPT_OS_NONE
  // 1ms tick timer
  SysTick_Config(SystemCoreClock / 1000);
+#elif CFG_TUSB_OS == OPT_OS_ZEPHYR
+  #ifdef CONFIG_HAS_HW_NRF_USBREG
+  // IRQ_CONNECT(USBREGULATOR_IRQn, DT_IRQ(DT_INST(0, nordic_nrf_clock), priority), nrfx_isr, nrfx_usbreg_irq_handler, 0);
+  // irq_enable(USBREGULATOR_IRQn);
+  #endif
+
+  // IRQ_CONNECT(CLOCK_POWER_IRQn, 0, nrfx_isr, nrfx_power_irq_handler, 0);
+
+  /* USB device controller access from devicetree */
+  // #define DT_DRV_COMPAT nordic_nrf_usbd
+  // IRQ_CONNECT(DT_INST_IRQN(0), DT_INST_IRQ(0, priority), nrfx_isr, nrf_usbd_common_irq_handler, 0);
+
+#endif

  // UART
  #if NRFX_VER <= 2
--- a/hw/bsp/nrf/family.cmake
+++ b/hw/bsp/nrf/family.cmake
@@ -8,10 +8,10 @@ include(${CMAKE_CURRENT_LIST_DIR}/boards/${BOARD}/board.cmake)

 # toolchain set up
 if (MCU_VARIANT STREQUAL "nrf5340_application")
-  set(CMAKE_SYSTEM_PROCESSOR cortex-m33 CACHE INTERNAL "System Processor")
+  set(CMAKE_SYSTEM_CPU cortex-m33 CACHE INTERNAL "System Processor")
  set(JLINK_DEVICE nrf5340_xxaa_app)
 else ()
-  set(CMAKE_SYSTEM_PROCESSOR cortex-m4 CACHE INTERNAL "System Processor")
+  set(CMAKE_SYSTEM_CPU cortex-m4 CACHE INTERNAL "System Processor")
  set(JLINK_DEVICE ${MCU_VARIANT}_xxaa)
 endif ()

@@ -113,12 +113,16 @@ endfunction()
 function(family_configure_example TARGET RTOS)
  family_configure_common(${TARGET} ${RTOS})

-  # Board target
-  add_board_target(board_${BOARD})
+  if (BUILD_ZEPHYR)
+    #target_link_libraries(board_${BOARD} PUBLIC zephyr_interface kernel)
+  elseif ()
+    # Board target
+    add_board_target(board_${BOARD})
+  endif ()

  #---------- Port Specific ----------
  # These files are built for each example since it depends on example's tusb_config.h
-  target_sources(${TARGET} PUBLIC
+  target_sources(${TARGET} PRIVATE
    # BSP
    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/family.c
    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../board.c
@@ -132,16 +136,20 @@ function(family_configure_example TARGET RTOS)

  # Add TinyUSB target and port source
  family_add_tinyusb(${TARGET} OPT_MCU_NRF5X ${RTOS})
-  target_sources(${TARGET}-tinyusb PUBLIC
+  target_sources(${TARGET}-tinyusb PRIVATE
    ${TOP}/src/portable/nordic/nrf5x/dcd_nrf5x.c
    )
-  target_link_libraries(${TARGET}-tinyusb PUBLIC board_${BOARD})

-  # Link dependencies
-  target_link_libraries(${TARGET} PUBLIC board_${BOARD} ${TARGET}-tinyusb)
+  if (BUILD_ZEPHYR)
+    target_link_libraries(${TARGET}-tinyusb PUBLIC  zephyr_interface kernel)
+    target_link_libraries(${TARGET} PUBLIC ${TARGET}-tinyusb)
+  elseif ()
+    target_link_libraries(${TARGET}-tinyusb PUBLIC board_${BOARD})
+    target_link_libraries(${TARGET} PUBLIC board_${BOARD} ${TARGET}-tinyusb)
+  endif ()

  # Flashing
-  family_add_bin_hex(${TARGET})
+  #family_add_bin_hex(${TARGET})
  family_flash_jlink(${TARGET})
 #  family_flash_adafruit_nrfutil(${TARGET})
 endfunction()
--- a/hw/bsp/nrf/nrfx_glue.h
+++ b/hw/bsp/nrf/nrfx_glue.h
@@ -1,7 +1,9 @@
 /*
- * Copyright (c) 2017 - 2018, Nordic Semiconductor ASA
+ * Copyright (c) 2017 - 2024, Nordic Semiconductor ASA
 * All rights reserved.
 *
+ * SPDX-License-Identifier: BSD-3-Clause
+ *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
@@ -60,14 +62,14 @@ extern "C" {
 /**
 * @brief Macro for placing a runtime assertion.
 *
- * @param expression  Expression to evaluate.
+ * @param expression Expression to be evaluated.
 */
 #define NRFX_ASSERT(expression)

 /**
 * @brief Macro for placing a compile time assertion.
 *
- * @param expression  Expression to evaluate.
+ * @param expression Expression to be evaluated.
 */
 #define NRFX_STATIC_ASSERT(expression)

@@ -76,8 +78,8 @@ extern "C" {
 /**
 * @brief Macro for setting the priority of a specific IRQ.
 *
- * @param irq_number  IRQ number.
- * @param priority    Priority to set.
+ * @param irq_number IRQ number.
+ * @param priority   Priority to be set.
 */
 #define NRFX_IRQ_PRIORITY_SET(irq_number, priority) _NRFX_IRQ_PRIORITY_SET(irq_number, priority)
 static inline void _NRFX_IRQ_PRIORITY_SET(IRQn_Type irq_number,
@@ -158,14 +160,10 @@ static inline bool _NRFX_IRQ_IS_PENDING(IRQn_Type irq_number)
    return (NVIC_GetPendingIRQ(irq_number) == 1);
 }

-/**
- * @brief Macro for entering into a critical section.
- */
+/** @brief Macro for entering into a critical section. */
 #define NRFX_CRITICAL_SECTION_ENTER()

-/**
- * @brief Macro for exiting from a critical section.
- */
+/** @brief Macro for exiting from a critical section. */
 #define NRFX_CRITICAL_SECTION_EXIT()

 //------------------------------------------------------------------------------