Feather m0 support (#1)

* featherM0 cmake & HardwareRateDriver

* Add basic timer, support for featherM0

ATmega/ATmegaOs/AVR/IntervalTimer.cpp

@@ -0,0 +1,32 @@
+#include <Os/IntervalTimer.hpp>
+#include <Fw/Types/Assert.hpp>
+#include <time.h>
+#include <string.h>
+
+namespace Os {
+
+    void IntervalTimer::getRawTime(RawTime& time) {
+        // TODO: need to set up timekeeping
+        U32 msec = 0;  // millis();
+        U32 usec = 0;  // micros();
+
+        time.upper = msec/1000;
+        time.lower = usec;
+    }
+
+    // Adapted from: http://www.gnu.org/software/libc/manual/html_node/Elapsed-Time.html
+    // should be t1In - t2In
+    U32 IntervalTimer::getDiffUsec(const RawTime& t1In, const RawTime& t2In) {
+
+        RawTime result = {t1In.upper - t2In.upper,0};
+
+        if (t1In.lower < t2In.lower) {
+            result.upper -= 1; // subtract nsec carry to seconds
+            result.lower = t1In.lower + (1000000000 - t2In.lower);
+        } else {
+            result.lower = t1In.lower - t2In.lower;
+        }
+
+        return result.upper*1000000 + result.lower / 1000;
+    }
+}

ATmega/ATmegaOs/AVR/XMem.hpp

@@ -0,0 +1,48 @@
+/*
+ * XMem.hpp:
+ *
+ * This file contains the setup sequence that is needed to enable the
+ *   ATmega XMEM interface.  It must be included in the main project
+ *   file to be linked correctly in the final executable.
+ *
+ *  Created on: March 25, 2020
+ *      Author: Sterling Peet <sterling.peet@ae.gatech.edu>
+ */
+
+#include <avr/io.h>
+
+#ifndef OS_AVR_XMEM_HPP_
+#define OS_AVR_XMEM_HPP_
+
+void xmem_init(void) __attribute__ ((naked, used, section(".init3")));
+
+void xmem_init(void)
+{
+    // Set up the XMEM interface
+    XMCRB = 0; // need all 64K. no pins released
+    #if defined(__AVR_ATmega128__)
+    MCUCR = _BV(SRE); // enable xmem, no wait states
+    #else
+    XMCRA = _BV(SRE); // enable xmem, no wait states
+    #endif
+
+    // set up the bank selector pins (address lines A16..A18)
+    // these are on pins 38,42,43 (PD7,PL7,PL6)
+    #if defined(__AVR_ATmega128__)
+    DDRD |= (_BV(PD5)|_BV(PD6)|_BV(PD7));
+    #else
+    DDRD |= _BV(PD7);
+    DDRL |= (_BV(PL6)|_BV(PL7));
+    #endif
+
+    // set the bank selector pins (address lines A16..A18)
+    // to zero only, we aren't doing fancy mem page swapping right now
+    #if defined(__AVR_ATmega128__)
+    PORTD &= ~(_BV(PD5)|_BV(PD6)|_BV(PD7));
+    #else
+    PORTD &= ~_BV(PD7);
+    PORTL &= ~(_BV(PL6)|_BV(PL7));
+    #endif
+}
+
+#endif  /* OS_AVR_XMEM_HPP_ */

ATmega/ATmegaOs/Arduino/IntervalTimer.cpp

@@ -0,0 +1,35 @@
+#include <Os/IntervalTimer.hpp>
+#include <Fw/Types/Assert.hpp>
+#include <time.h>
+#include <errno.h>
+#include <string.h>
+#include <Arduino.h>
+
+namespace Os {
+
+    void IntervalTimer::getRawTime(RawTime& time) {
+        // U32 msec = millis();
+        U32 usec = micros();
+
+        // This feels like a terrible kludge, but all we really
+        //   care about is a difference in microseconds, right?
+        time.upper = 0; //msec/1000;
+        time.lower = usec;
+    }
+
+    // Adapted from: https://www.gnu.org/software/libc/manual/html_node/Calculating-Elapsed-Time.html
+    // should be t1In - t2In
+    U32 IntervalTimer::getDiffUsec(const RawTime& t1In, const RawTime& t2In) {
+
+        RawTime result = {t1In.upper - t2In.upper,0};
+
+        if (t1In.lower < t2In.lower) {
+            result.upper -= 1; // subtract nsec carry to seconds
+            result.lower = t1In.lower + (1000000 - t2In.lower);
+        } else {
+            result.lower = t1In.lower - t2In.lower;
+        }
+
+        return result.upper * 1000000 + result.lower;
+    }
+}

ATmega/ATmegaOs/Arduino/StreamLog.cpp

@@ -0,0 +1,57 @@
+/**
+ * LogArduinoStream:
+ *
+ * Implementation of Os::Log that defers to Arduino's Stream type. This allows for a hardware based
+ * stream capture. Note: in order to set the stream, the companion header Os/Arduino/StreamLog.hpp
+ * should be used.
+ *
+ *  Created on: Apr 13, 2019
+ *      Author: lestarch
+ */
+
+#include <Os/Log.hpp>
+#include <ATmega/ATmegaOs/Arduino/StreamLog.hpp>
+
+extern "C" {
+    #include <stdio.h>
+    #include <string.h>
+}
+
+namespace Os {
+    Stream* A_STREAM = NULL; // I love it when a plan comes together.
+    void setArduinoStreamLogHandler(Stream* stream) {
+        A_STREAM = stream;
+    }
+    Log::Log() {
+
+      // Register myself as a logger at construction time. If used in unison with LogDefault.cpp, this will
+      // automatically create this as a default logger.
+      this->registerLogger(this);
+    }
+    /**
+     * An Arduino Stream implementation of the Os::Log function. Essentially, this log message
+     * handler formats a message an sends it out to the serial port/Wire port or Arduino stream
+     * backing the stream object. This allows for a side-channel serial console.
+     */
+    void Log::log(
+        const char* fmt,
+        POINTER_CAST a0,
+        POINTER_CAST a1,
+        POINTER_CAST a2,
+        POINTER_CAST a3,
+        POINTER_CAST a4,
+        POINTER_CAST a5,
+        POINTER_CAST a6,
+        POINTER_CAST a7,
+        POINTER_CAST a8,
+        POINTER_CAST a9
+    ) {
+        char message[128];
+        // If stream is defined, then write to it.
+        if (A_STREAM != NULL) {
+            U32 used = snprintf(message, sizeof(message), fmt, a0, a1, a2, a3, a4, a5, a6, a7, a8, a9);
+	        used = (used > sizeof(message)) ? sizeof(message) : used;
+            A_STREAM->write(message, used);
+        }
+    }
+}

ATmega/ATmegaOs/Arduino/StreamLog.hpp

@@ -0,0 +1,21 @@
+/*
+ * StreamLog.hpp:
+ *
+ * A file defining the functions used to set and configure the Stream used in the Arduino Log::Os
+ * handler function.
+ *
+ *  Created on: Apr 13, 2019
+ *      Author: lestarch
+ */
+#ifndef OS_ARDUINO_STREAMLOG_HPP_
+#define OS_ARDUINO_STREAMLOG_HPP_
+#include <Arduino.h>
+
+namespace Os {
+/**
+ * Sets the global A_STREAM arduino stream used to log Arudino messages through a hardware "Steam"
+ * like UART or I2C.
+ */
+void setArduinoStreamLogHandler(Stream* stream);
+}
+#endif /* OS_ARDUINO_STREAMLOG_HPP_ */

ATmega/ATmegaOs/CMakeLists.txt

@@ -0,0 +1,76 @@
+####
+# F prime CMakeLists.txt:
+#
+# SOURCE_FILES: combined list of source and autocoding files
+# MOD_DEPS: (optional) module dependencies
+#
+####
+cmake_minimum_required(VERSION 3.13)
+cmake_policy(SET CMP0079 NEW)
+
+# Basic module dependencies
+set(MOD_DEPS
+  Fw/Cfg
+  Fw/Types
+  Fw/Logger
+  Utils/Hash
+)
+# Determine the platform specific source files to append:
+
+string(TOLOWER "${CMAKE_SYSTEM_NAME}" CMAKE_SYSTEM_NAME_LOWER)
+
+# Arduino additions
+if (${CMAKE_SYSTEM_NAME_LOWER} STREQUAL "arduino")
+    set(SOURCE_FILES
+        # Common implementations
+        "${FPRIME_FRAMEWORK_PATH}/Os/TaskCommon.cpp"
+        "${FPRIME_FRAMEWORK_PATH}/Os/TaskString.cpp"
+        "${FPRIME_FRAMEWORK_PATH}/Os/QueueCommon.cpp"
+        "${FPRIME_FRAMEWORK_PATH}/Os/QueueString.cpp"
+        # Baremetal virtualization implementations
+        "${FPRIME_FRAMEWORK_PATH}/Os/Baremetal/Queue.cpp"
+        "${FPRIME_FRAMEWORK_PATH}/Os/Baremetal/Task.cpp"
+        "${FPRIME_FRAMEWORK_PATH}/Os/Baremetal/File.cpp"
+        "${FPRIME_FRAMEWORK_PATH}/Os/Baremetal/FileSystem.cpp"
+        "${FPRIME_FRAMEWORK_PATH}/Os/Baremetal/IntervalTimer.cpp"
+        "${FPRIME_FRAMEWORK_PATH}/Os/Baremetal/Mutex.cpp"
+        # Non-OS based queue implementations
+        "${FPRIME_FRAMEWORK_PATH}/Os/Pthreads/BufferQueueCommon.cpp"
+        "${FPRIME_FRAMEWORK_PATH}/Os/Pthreads/FIFOBufferQueue.cpp"
+        # From this package: an interval timer and a stream-log timer
+        "${CMAKE_CURRENT_LIST_DIR}/Arduino/IntervalTimer.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/Arduino/StreamLog.cpp"
+    )
+# AVR platform additions
+elseif(${CMAKE_SYSTEM_NAME_LOWER} STREQUAL "avr")
+    set(SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/AVR/IntervalTimer.cpp")
+endif()
+
+register_fprime_module()
+
+
+####
+# Dependency Melding:
+#
+# In short, this Os layer depends on the framework's Os layer and vise-versa. Effectively it is one
+# library built in two halves, the framework base, and this add on. Here we make the link pointers
+# depend on one another forming a (weak) circular dependency. This is allowed in CMake 3.13 and
+# newer.
+####
+if (${CMAKE_SYSTEM_NAME_LOWER} STREQUAL "arduino")
+    add_dependencies(Os ATmega_ATmegaOs)
+    target_link_libraries(Os ATmega_ATmegaOs)
+    target_link_libraries(ATmega_ATmegaOs Os)
+endif()
+
+# Add Arduino dependency
+if(${CMAKE_SYSTEM_NAME_LOWER} STREQUAL "arduino")
+    get_module_name(${CMAKE_CURRENT_LIST_DIR})
+    add_arduino_dependency("${MODULE_NAME}")
+endif()
+
+# Add AVR dependency
+if(${CMAKE_SYSTEM_NAME_LOWER} STREQUAL "avr")
+    get_module_name(${CMAKE_CURRENT_LIST_DIR})
+    add_avr_dependency("${MODULE_NAME}")
+endif()

ATmega/ATmegaTypes/AVR/StandardTypes.hpp

@@ -0,0 +1,8 @@
+
+#define NAME_MAX 64
+#define PATH_MAX 128
+
+extern "C" {
+    #include <stdint.h>
+    #include <stdlib.h>
+} // extern "C"

ATmega/ATmegaTypes/Arduino/StandardTypes.hpp

@@ -0,0 +1,6 @@
+#include <stdint.h>
+#define NAME_MAX 255
+typedef int TaskIdRepr;
+#define FPRIME_OVERRIDE_NATIVE_TYPES
+typedef int32_t NATIVE_INT_TYPE;
+typedef uint32_t NATIVE_UINT_TYPE;

ATmega/ATmegaTypes/cstdarg

@@ -0,0 +1,3 @@
+extern "C" {
+    #include <stdarg.h>
+} // extern "C"

ATmega/ATmegaTypes/cstdio

@@ -0,0 +1,3 @@
+extern "C" {
+    #include <stdio.h>
+} // extern "C"

ATmega/ATmegaTypes/cstring

@@ -0,0 +1,3 @@
+extern "C" {
+    #include <string.h>
+} // extern "C"

ATmega/Drv/ATmegaAdcDriver/ATmegaAdcDriverComponentAi.xml

@@ -0,0 +1,50 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<?xml-model href="../../../fprime/Autocoders/Python/default/schema/ISF/component_schema.rng" type="application/xml" schematypens="http://relaxng.org/ns/structure/1.0"?>
+
+<component name="ATmegaAdcDriver" kind="passive" namespace="Drv">
+
+	<import_port_type>Svc/Sched/SchedPortAi.xml</import_port_type>
+    <import_port_type>ATmega/Drv/U16Array/U16ArrayPortAi.xml</import_port_type>
+
+
+	<comment>ATmega ADC reader component.</comment>
+
+	<ports>
+	    <port name = "tlmSched" data_type = "Svc::Sched" kind="sync_input">
+	        <comment>
+	            Schedule from rate group to determine when to take readings and report
+	        </comment>
+	    </port>
+        <port name = "Report" data_type = "U16Array" kind="output"  max_number="10">
+            <comment>
+                Sends ADC reading multiplied by gains to components which use them
+            </comment>
+        </port>
+	</ports>
+    <telemetry>
+        <channel id="0" name="ADC_CNTS" data_type="U16*">
+            <comment>
+                Pointer to raw ADC counts array
+            </comment>
+        </channel>
+        <channel id="1" name="ADC_VAL" data_type="U16*">
+            <comment>
+                Pointer to ADC readings multiplied by gains
+            </comment>
+        </channel>
+    </telemetry>
+    <!-- TODO: Figure out why parameters won't parse -->
+    <!-- <parameters>
+        <parameter id="0"  set_opcode="10" save_opcode="11" name="SCALE" data_type="U16" default="1">
+            <comments>
+                Scale value to multiply by ADC reading before reporting to external components
+            </comments>
+        </parameter>
+        <parameter id="1"  set_opcode="12" save_opcode="13" name="OFFSET" data_type="I16" default="0">
+            <comments>
+                Offset to add to ADC reading AFTER multiplying by SCALE and before reporting to external components
+            </comments>
+        </parameter>
+    </parameters> -->
+</component>