added FreeRTOS implementation

CMakeCommon/SetCompilerFlags.cmake

@@ -26,36 +26,51 @@
 #
 function(SetGNUCompilerFlags compiler_libs)
   if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX)
-    set(compiler_libs pthread rt PARENT_SCOPE)
-    # -Wall   -> All warnings
-    # -Wextra -> Even more warnings
-    # -Werror -> Warnings are errors
-    set(warning_flags "-Wall -Wextra")
-    if (WARNINGS_ARE_ERRORS STREQUAL ON)
-      set(warning_flags "${warning_flags} -Werror")
-    endif()
-    if(CMAKE_COMPILER_IS_GNUCC)
-      set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -pthread -std=c99 ${warning_flags}"
-          PARENT_SCOPE)
-      set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -DEMBB_DEBUG"
-          PARENT_SCOPE)
-      set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -DNDEBUG"
-          PARENT_SCOPE)
-      set(CMAKE_C_FLAGS_COVERAGE
-         "${CMAKE_C_FLAGS_COVERAGE} -O0 -fprofile-arcs -ftest-coverage"
-         PARENT_SCOPE)
-    endif()
-    if(CMAKE_COMPILER_IS_GNUCXX)
-      set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -std=c++03 ${warning_flags}"
-          PARENT_SCOPE)
-      set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -DEMBB_DEBUG"
-          PARENT_SCOPE)
-      set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG"
-          PARENT_SCOPE)
-      set(CMAKE_CXX_FLAGS_COVERAGE
-         "${CMAKE_CXX_FLAGS_COVERAGE} -O0 -fprofile-arcs -ftest-coverage"
-         PARENT_SCOPE)
-    endif()
+	if(DEFINED CMAKE_SYSTEM_PROCESSOR)
+		set(compiler_libs PARENT_SCOPE)
+		set(common_flags "-fno-common -Os")
+		set(warning_flags "-W -Wall -Wextra -Wdiv-by-zero -Warray-bounds -Wcast-align -Wignored-qualifiers -Wformat -Wformat-security")
+		set(target_flags "-DAPPKIT_TC277TFT -fshort-double -mcpu=tc27xx -mversion-info")
+		
+		if (WARNINGS_ARE_ERRORS STREQUAL ON)
+		  set(warning_flags "${warning_flags} -Werror")
+		endif()
+		if(CMAKE_COMPILER_IS_GNUCC)
+			set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${common_flags} ${warning_flags} ${target_flags}"
+			  PARENT_SCOPE)
+		endif()
+	else()	
+		set(compiler_libs pthread rt PARENT_SCOPE)
+		# -Wall   -> All warnings
+		# -Wextra -> Even more warnings
+		# -Werror -> Warnings are errors
+		set(warning_flags "-Wall -Wextra")
+		if (WARNINGS_ARE_ERRORS STREQUAL ON)
+		  set(warning_flags "${warning_flags} -Werror")
+		endif()
+		if(CMAKE_COMPILER_IS_GNUCC)
+		  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -pthread -std=c99 ${warning_flags}"
+			  PARENT_SCOPE)
+		  set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -DEMBB_DEBUG"
+			  PARENT_SCOPE)
+		  set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -DNDEBUG"
+			  PARENT_SCOPE)
+		  set(CMAKE_C_FLAGS_COVERAGE
+			 "${CMAKE_C_FLAGS_COVERAGE} -O0 -fprofile-arcs -ftest-coverage"
+			 PARENT_SCOPE)
+		endif()
+		if(CMAKE_COMPILER_IS_GNUCXX)
+		  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -std=c++03 ${warning_flags}"
+			  PARENT_SCOPE)
+		  set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -DEMBB_DEBUG"
+			  PARENT_SCOPE)
+		  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG"
+			  PARENT_SCOPE)
+		  set(CMAKE_CXX_FLAGS_COVERAGE
+			 "${CMAKE_CXX_FLAGS_COVERAGE} -O0 -fprofile-arcs -ftest-coverage"
+			 PARENT_SCOPE)
+		endif()
+	endif()
   endif()
 endfunction()
 

CMakeLists.txt

@@ -76,7 +76,7 @@ endif()
 # The set option will be converted to uppercase letters by cmake!! --> ON/OFF
 # Note that the help string (second argument) cannot be printed by cmake.
 #
-option(BUILD_TESTS "Specify whether tests should be built" ON)
+option(BUILD_TESTS "Specify whether tests should be built" OFF)
 option(BUILD_EXAMPLES "Specify whether examples should be built" OFF)
 option(USE_EXCEPTIONS "Specify whether exceptions should be activated in C++" ON)
 option(INSTALL_DOCS "Specify whether Doxygen docs should be installed" ON)
@@ -104,6 +104,12 @@ else()
 endif()
 message("   (set with command line option -DUSE_AUTOMATIC_INITIALIZATION=ON/OFF)")
 
+set(CMAKE_CXX_STANDARD_LIBRARIES ${FREE_RTOS_LIB_PATH}/iRom/libFreeRTOS_Lib.a)
+set(CMAKE_C_STANDARD_LIBRARIES ${FREE_RTOS_LIB_PATH}/iRom/libFreeRTOS_Lib.a)
+set(CMAKE_INSTALL_RPATH FREE_RTOS_LIB_PATH)
+
+set(__TriCore__ 1)
+
 include(CMakeCommon/SetCompilerFlags.cmake)
 SetGNUCompilerFlags(compiler_libs compiler_flags)
 SetVisualStudioCompilerFlags(compiler_libs compiler_flags)

TC_Toolchain.cmake

@@ -2,7 +2,8 @@
 SET(CMAKE_SYSTEM_NAME Generic)
 #this one not so much
 SET(CMAKE_SYSTEM_VERSION 1)
-SET(CMAKE_SYSTEM_PROCESSOR TriCore)
+SET(CMAKE_SYSTEM_PROCESSOR __TriCore__)
+SET(__TriCore__ 1)
 
 # specify the cross compiler
 SET(CMAKE_C_COMPILER   C:/HighTec/toolchains/tricore/v4.6.6.0-infineon-1.1/bin/tricore-gcc.exe)
@@ -11,6 +12,9 @@ SET(CMAKE_CXX_COMPILER C:/HighTec/toolchains/tricore/v4.6.6.0-infineon-1.1/bin/t
 # where is the target environment 
 SET(CMAKE_FIND_ROOT_PATH  C:/HighTec/toolchains/tricore/v4.6.6.0-infineon-1.1)
 
+
+SET(FREE_RTOS_LIB_PATH C:/data/projekte/freeRTOS_lib/)
+
 # search for programs in the build host directories
 SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM BOTH)
 # for libraries and headers in the target directories

base_c/include/embb/base/c/internal/config.h

@@ -46,6 +46,8 @@
  */
 #if defined(_M_IA64) || defined(_IA64)
 #define EMBB_PLATFORM_CACHE_LINE_SIZE 128
+#elif defined(__TriCore__)
+#define EMBB_PLATFORM_CACHE_LINE_SIZE 32
 #else
 #define EMBB_PLATFORM_CACHE_LINE_SIZE 64
 #endif
@@ -86,6 +88,8 @@
 #define EMBB_PLATFORM_ARCH_X86
 #elif defined(__arm__)
 #define EMBB_PLATFORM_ARCH_ARM
+#elif defined(__TriCore__)
+#define EMBB_PLATFORM_ARCH_TC
 #else
 #define EMBB_PLATFORM_ARCH_UNKNOWN
 #endif
@@ -93,7 +97,11 @@
 #if defined(EMBB_PLATFORM_COMPILER_MSVC)
 #define EMBB_PLATFORM_THREADING_WINTHREADS
 #elif defined(EMBB_PLATFORM_COMPILER_GNUC)
-#define EMBB_PLATFORM_THREADING_POSIXTHREADS
+	#if defined(EMBB_PLATFORM_ARCH_TC)
+		#define EMBB_PLATFORM_THREADING_RTOSTASKS
+	#else
+		#define EMBB_PLATFORM_THREADING_POSIXTHREADS
+	#endif
 #else
 #error "No thread implementation could be determined"
 #endif

base_c/include/embb/base/c/internal/platform.h

@@ -71,6 +71,7 @@ typedef CONDITION_VARIABLE embb_condition_t;
 
 #define EMBB_THREAD_SPECIFIC static __declspec(thread)
 
+/* EMBB_PLATFORM_THREADING_WINTHREADS */
 #elif defined EMBB_PLATFORM_THREADING_POSIXTHREADS
 
 #include <pthread.h>
@@ -95,7 +96,31 @@ typedef pthread_cond_t embb_condition_t;
 
 #define EMBB_THREAD_SPECIFIC __thread
 
-#else /* EMBB_PLATFORM_THREADING_POSIXTHREADS */
+/* EMBB_PLATFORM_THREADING_POSIXTHREADS */
+#elif defined EMBB_PLATFORM_THREADING_RTOSTASKS
+
+#include <FreeRTOS/task.h>
+#include <FreeRTOS/semphr.h>
+
+struct embb_internal_thread_arg_t;
+
+/**
+* Opaque handle for a thread.
+*/
+typedef struct embb_thread_t {
+	TaskHandle_t  embb_internal_handle;
+	struct embb_internal_thread_arg_t* embb_internal_arg;
+} embb_thread_t;
+
+typedef TaskStatus_t embb_thread_id_t;
+typedef SemaphoreHandle_t embb_mutex_t;
+typedef SemaphoreHandle_t embb_condition_t; // scm34681: implement FreeRTOS condition variable 
+
+#define EMBB_DURATION_MIN_NANOSECONDS 1000
+
+#define EMBB_THREAD_SPECIFIC
+
+#else /* EMBB_PLATFORM_THREADING_RTOSTASKS */
 
 #error "No threading platform defined!"
 

base_c/src/condition_variable.c

@@ -185,3 +185,7 @@ int embb_condition_destroy(embb_condition_t* condition_var) {
 }
 
 #endif /* EMBB_PLATFORM_THREADING_POSIXTHREADS */
+
+#ifdef EMBB_PLATFORM_THREADING_RTOSTASKS
+
+#endif /* EMBB_PLATFORM_THREADING_RTOSTASKS */

base_c/src/core_set.c

@@ -125,6 +125,32 @@ void embb_core_set_init(embb_core_set_t* core_set, int initializer) {
 
 #endif /* EMBB_PLATFORM_THREADING_POSIXTHREADS */
 
+#ifdef EMBB_PLATFORM_THREADING_RTOSTASKS
+#ifdef __TriCore__
+#define CORE_COUNT 3
+#endif
+
+
+unsigned int embb_core_count_available() {
+	return CORE_COUNT;
+}
+
+
+
+void embb_core_set_init(embb_core_set_t* core_set, int initializer) { // scm34681: rework
+  assert(core_set != NULL);
+  assert(embb_core_count_available() < 64 &&
+    "Core sets are only supported up to 64 processors!");
+  if (initializer == 0) {
+    embb_bitset_clear_all(&core_set->rep);
+  } else {
+    embb_bitset_set_n(&core_set->rep, embb_core_count_available());
+  }
+}
+
+
+#endif EMBB_PLATFORM_THREADING_RTOSTASKS
+
 void embb_core_set_add(embb_core_set_t* core_set, unsigned int core_number) {
   assert(core_set != NULL);
   assert(core_number < embb_core_count_available());

base_c/src/memory_allocation.c

@@ -178,6 +178,14 @@ void *embb_alloc_aligned(size_t alignment, size_t size) {
    */
   malloc_addr = _aligned_malloc(size, alignment);
 #elif defined EMBB_PLATFORM_COMPILER_GNUC
+#ifdef __TRICORE__
+	/*
+	 * The TriCore Toolchain uses obsolete function memalign() for
+	 * aligned memory allocation. 
+	 */
+#include <malloc.h> 							// scm3681: rework
+	malloc_addr = memalign(alignment, size);
+#else /* __TRICORE__ */
   /*
    * From the Documentation:
    * The posix_memalign() function shall allocate size bytes aligned on a
@@ -190,6 +198,7 @@ void *embb_alloc_aligned(size_t alignment, size_t size) {
   int status = posix_memalign(&malloc_addr, alignment, size);
   EMBB_UNUSED(status);
 #endif
+#endif
   return malloc_addr;
 }