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coder137coder137
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Initial Sempahore project
- Cloned from Systick_Scheduler - Contains osKernel files
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‎Semaphore/.clang-format

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---
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Language: Cpp
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# BasedOnStyle: LLVM
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AccessModifierOffset: -2
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AlignAfterOpenBracket: Align
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AlignConsecutiveMacros: false
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AlignConsecutiveAssignments: false
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AlignConsecutiveDeclarations: false
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AlignEscapedNewlines: Right
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AlignOperands: true
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AlignTrailingComments: true
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AllowAllArgumentsOnNextLine: true
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AllowAllConstructorInitializersOnNextLine: true
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AllowAllParametersOfDeclarationOnNextLine: true
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AllowShortBlocksOnASingleLine: Never
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AllowShortCaseLabelsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: All
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AllowShortLambdasOnASingleLine: All
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AllowShortIfStatementsOnASingleLine: Never
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AllowShortLoopsOnASingleLine: false
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AlwaysBreakAfterDefinitionReturnType: None
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AlwaysBreakAfterReturnType: None
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AlwaysBreakBeforeMultilineStrings: false
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AlwaysBreakTemplateDeclarations: MultiLine
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BinPackArguments: true
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BinPackParameters: true
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BraceWrapping:
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AfterCaseLabel: false
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AfterClass: false
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AfterControlStatement: false
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AfterEnum: false
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AfterFunction: false
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AfterNamespace: false
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AfterObjCDeclaration: false
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AfterStruct: false
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AfterUnion: false
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AfterExternBlock: false
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BeforeCatch: false
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BeforeElse: false
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IndentBraces: false
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SplitEmptyFunction: true
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SplitEmptyRecord: true
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SplitEmptyNamespace: true
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BreakBeforeBinaryOperators: None
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BreakBeforeBraces: Attach
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BreakBeforeInheritanceComma: false
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BreakInheritanceList: BeforeColon
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BreakBeforeTernaryOperators: true
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BreakConstructorInitializersBeforeComma: false
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BreakConstructorInitializers: BeforeColon
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BreakAfterJavaFieldAnnotations: false
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BreakStringLiterals: true
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ColumnLimit: 80
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CommentPragmas: '^ IWYU pragma:'
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CompactNamespaces: false
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ConstructorInitializerAllOnOneLineOrOnePerLine: false
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ConstructorInitializerIndentWidth: 4
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ContinuationIndentWidth: 4
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Cpp11BracedListStyle: true
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DeriveLineEnding: true
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DerivePointerAlignment: false
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DisableFormat: false
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ExperimentalAutoDetectBinPacking: false
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FixNamespaceComments: true
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ForEachMacros:
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- foreach
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- Q_FOREACH
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- BOOST_FOREACH
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IncludeBlocks: Preserve
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IncludeCategories:
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- Regex: '^"(llvm|llvm-c|clang|clang-c)/'
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Priority: 2
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SortPriority: 0
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- Regex: '^(<|"(gtest|gmock|isl|json)/)'
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Priority: 3
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SortPriority: 0
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- Regex: '.*'
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Priority: 1
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SortPriority: 0
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IncludeIsMainRegex: '(Test)?$'
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IncludeIsMainSourceRegex: ''
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IndentCaseLabels: false
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IndentGotoLabels: true
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IndentPPDirectives: None
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IndentWidth: 2
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IndentWrappedFunctionNames: false
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JavaScriptQuotes: Leave
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JavaScriptWrapImports: true
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KeepEmptyLinesAtTheStartOfBlocks: true
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MacroBlockBegin: ''
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MacroBlockEnd: ''
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MaxEmptyLinesToKeep: 1
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NamespaceIndentation: None
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ObjCBinPackProtocolList: Auto
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ObjCBlockIndentWidth: 2
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ObjCSpaceAfterProperty: false
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ObjCSpaceBeforeProtocolList: true
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PenaltyBreakAssignment: 2
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PenaltyBreakBeforeFirstCallParameter: 19
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PenaltyBreakComment: 300
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PenaltyBreakFirstLessLess: 120
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PenaltyBreakString: 1000
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PenaltyBreakTemplateDeclaration: 10
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PenaltyExcessCharacter: 1000000
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PenaltyReturnTypeOnItsOwnLine: 60
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PointerAlignment: Right
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ReflowComments: true
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SortIncludes: true
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SortUsingDeclarations: true
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SpaceAfterCStyleCast: false
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SpaceAfterLogicalNot: false
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SpaceAfterTemplateKeyword: true
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SpaceBeforeAssignmentOperators: true
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SpaceBeforeCpp11BracedList: false
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SpaceBeforeCtorInitializerColon: true
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SpaceBeforeInheritanceColon: true
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SpaceBeforeParens: ControlStatements
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SpaceBeforeRangeBasedForLoopColon: true
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SpaceInEmptyBlock: false
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SpaceInEmptyParentheses: false
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SpacesBeforeTrailingComments: 1
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SpacesInAngles: false
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SpacesInConditionalStatement: false
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SpacesInContainerLiterals: true
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SpacesInCStyleCastParentheses: false
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SpacesInParentheses: false
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SpacesInSquareBrackets: false
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SpaceBeforeSquareBrackets: false
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Standard: Latest
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StatementMacros:
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- Q_UNUSED
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- QT_REQUIRE_VERSION
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TabWidth: 8
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UseCRLF: false
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UseTab: Never
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...
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‎Semaphore/.gitignore

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# Exclude these files from root level .gitignore
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build
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.vscode/.cortex-debug*

‎Semaphore/.vscode/launch.json

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{
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"configurations": [
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{
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"cwd": "${workspaceFolder}",
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"executable": "build/Semaphore.elf",
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"configFiles": [
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"stm32l4discovery.cfg"
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],
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"postLaunchCommands": [
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"monitor arm semihosting enable",
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],
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"name": "Debug Microcontroller",
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"request": "launch",
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"type": "cortex-debug",
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"servertype": "openocd"
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},
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{
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"cwd": "${workspaceFolder}",
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"executable": "build/Semaphore.elf",
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"configFiles": [
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"stm32l4discovery.cfg"
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],
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"postLaunchCommands": [
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"load",
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"monitor arm semihosting enable",
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],
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"name": "Load and Debug Microcontroller",
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"request": "launch",
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"type": "cortex-debug",
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"servertype": "openocd"
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}
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]
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}

‎Semaphore/.vscode/settings.json

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{
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"C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools"
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}

‎Semaphore/CMakeLists.txt

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cmake_minimum_required(VERSION 3.16)
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# Set your constants here
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set(PROJECT_NAME "Semaphore")
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set(CONTROLLER_NAME "STM32L475xx")
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# Project start
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set(CMAKE_TOOLCHAIN_FILE "cmake/toolchain.cmake")
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project(${PROJECT_NAME}
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LANGUAGES C ASM
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)
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# Get compiler and linker flags from here
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include(cmake/flags.cmake)
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set(USER_PROJECT_TARGET "${PROJECT_NAME}.elf")
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add_executable(${USER_PROJECT_TARGET} application/main.c)
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target_compile_definitions(${USER_PROJECT_TARGET} PRIVATE
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${CONTROLLER_NAME}
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)
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target_compile_options(${USER_PROJECT_TARGET} PRIVATE
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${COMMON_C_FLAGS}
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${USER_C_FLAGS}
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)
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target_link_options(${USER_PROJECT_TARGET} PRIVATE
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${COMMON_C_FLAGS}
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${USER_LINK_FLAGS}
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)
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# TODO, Add more subdirectories here
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add_subdirectory(l0_lowlevel)
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add_subdirectory(modules)
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add_subdirectory(application)
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# Tools and various custom targets
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include(cmake/targets.cmake)

‎Semaphore/application/CMakeLists.txt

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target_sources(${USER_PROJECT_TARGET} PRIVATE
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osKernel.c
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osKernel.S
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)
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target_include_directories(${USER_PROJECT_TARGET} PRIVATE
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.
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)

‎Semaphore/application/osKernel.S

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.global currentPt
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.text 32
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.align 4
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.syntax unified
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.global SysTick_Handler
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.thumb_func
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SysTick_Handler:
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CPSID i
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PUSH {R4-R11}
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LDR R0,=currentPt @ R0 points to currentPt
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LDR R1,[R0] @ Load currentPt to R1
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STR SP,[R1] @ Store SP to address at current->stackPt
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LDR R1, [R1, #4] @ r1 = currentPt->next
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STR R1, [R0] @ currentPt = r1
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LDR SP, [R1] @ SP = currentPt->stackPt
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POP {R4-R11}
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CPSIE i
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BX LR
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.global osSchedulerLaunch
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.thumb_func
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osSchedulerLaunch:
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LDR R0,=currentPt
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LDR R2,[R0] @ R2 = currentPt
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LDR SP,[R2] @ SP = currentPt->stackPt
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POP {R4-R11}
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POP {R0-R3}
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POP {R12}
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ADD SP,SP,#4
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POP {LR}
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ADD SP,SP,#4
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CPSIE i
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BX LR

‎Semaphore/application/osKernel.c

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#include "osKernel.h"
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#include "stm32l4xx.h"
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// Constants
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#define NUM_OF_THREADS 3
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#define STACKSIZE 100
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struct tcb {
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uint32_t *stackPt;
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struct tcb *nextPt;
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};
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typedef struct tcb tcbType;
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// Static functions
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static void osKernelStackInit(int thread_number);
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// Calls the assembly function
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extern void osSchedulerLaunch(void);
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// State variables
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static tcbType tcbs[NUM_OF_THREADS];
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static uint32_t TCB_STACK[NUM_OF_THREADS][STACKSIZE];
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// * NOTE, Do not make this static since it is used by the osKernel.S file
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tcbType *currentPt;
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uint8_t osKernelAddThreads(void (*thread0)(void), void (*thread1)(void),
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void (*thread2)(void)) {
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__disable_irq();
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// Create a Circular Linked list here
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tcbs[0].nextPt = &tcbs[1];
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tcbs[1].nextPt = &tcbs[2];
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tcbs[2].nextPt = &tcbs[0];
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osKernelStackInit(0);
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TCB_STACK[0][STACKSIZE - 2] = (uint32_t)thread0;
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osKernelStackInit(1);
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TCB_STACK[1][STACKSIZE - 2] = (uint32_t)thread1;
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osKernelStackInit(2);
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TCB_STACK[2][STACKSIZE - 2] = (uint32_t)thread2;
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// Initialize the currentPt
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currentPt = &tcbs[0];
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__enable_irq();
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return 1;
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}
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void osKernelLaunch(uint32_t quanta) {
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// Disable the SysTick
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SysTick->CTRL = 0;
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// Reset the initial value
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SysTick->VAL = 0;
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// Set the lowest priority (largest possible value)
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NVIC_SetPriority(SysTick_IRQn, (1 << __NVIC_PRIO_BITS) - 1);
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// Set the counter
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const uint32_t MILLIS_PRESCALER = SystemCoreClock / 1000;
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SysTick->LOAD = quanta * MILLIS_PRESCALER - 1;
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// Enable the SysTick source
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// enable = 1, tickint = 1, CLKSOURCE=Processor Clock (SystemCoreClock)
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SysTick->CTRL = 0x07;
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osSchedulerLaunch();
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}
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static const uint8_t PENDSTSET = 26;
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void osKernelYield(void) {
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// Clear SysTick VAL since it can contain arbritary values
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SysTick->VAL = 0;
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// Raise the SysTick Interrupt
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SCB->ICSR = (1 << PENDSTSET);
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}
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// Static functions
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static void osKernelStackInit(int thread_number) {
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// STACKSIZE = 100
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// Last value is 99
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// 100 - 16 => 84 uint32_t value to be stored
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tcbs[thread_number].stackPt = &TCB_STACK[thread_number][STACKSIZE - 16];
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// xPSR value needs to be in the thumb state
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// xPSR, PC, LR, r12, r3, r2, r1, r0
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// r11, r10, r9, r8, r7, r6, r5, r4
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TCB_STACK[thread_number][STACKSIZE - 1] = 0x01000000;
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}

‎Semaphore/application/osKernel.h

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#ifndef OS_KERNEL_H_
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#define OS_KERNEL_H_
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#include <stdint.h>
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uint8_t osKernelAddThreads(void (*thread0)(void), void (*thread1)(void),
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void (*thread2)(void));
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void osKernelLaunch(uint32_t quanta);
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// For cooperative scheduling
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// Raise an interrupt to the SysTick Handler
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void osKernelYield(void);
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#endif

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