added receive functionality to the cc26x0 uart

.gitmodules

@@ -1,3 +1,3 @@
 [submodule "tock"]
 	path = tock
-	url = https://github.com/helena-project/tock
+	url = https://github.com/tock/tock

boards/launchxl/Cargo.toml

@@ -0,0 +1,25 @@
+[package]
+name = "launchxl"
+version = "0.1.0"
+authors = ["Tock Project Developers <tock-dev@googlegroups.com>"]
+build = "build.rs"
+
+[profile.dev]
+panic = "abort"
+lto = true
+opt-level = "z"
+debug = true
+
+[profile.release]
+panic = "abort"
+lto = true
+opt-level = "z"
+debug = true
+
+[dependencies]
+cortexm3 = { path = "../../tock/arch/cortex-m3" }
+capsules = { path = "../../tock/capsules" }
+kernel = { path = "../../tock/kernel" }
+cc26xx = { path = "../../tock/chips/cc26xx" }
+
+cc26x0 = { path = "../../chips/cc26x0" }

boards/launchxl/Makefile

@@ -0,0 +1,15 @@
+# Makefile for building the tock kernel for the launchxl development kit
+
+TOCK_ARCH=cortex-m3
+TOCK_BOARD=launchxl
+TARGET=thumbv7m-none-eabi
+PLATFORM=launchxl
+
+PROG_BASE=0x10000
+
+include ../../tock/boards/Makefile.common
+
+flash: target/$(TARGET)/release/launchxl
+	$(call check_defined, UNIFLASH_CLI_BASE, See launchxl README for details)
+	@echo "Flashing target/$(TARGET)/release/launchxl"
+	@$(UNIFLASH_CLI_BASE)/ccs_base/DebugServer/bin/DSLite flash -c jtag/cc2650.ccxml -e -f target/$(TARGET)/release/launchxl

boards/launchxl/Makefile-app

@@ -0,0 +1,26 @@
+# Makefile for loading applications for the launchpad
+
+$(call check_defined, TOCK_USERLAND_BASE_DIR)
+$(call check_defined, BUILDDIR)
+$(call check_defined, PACKAGE_NAME)
+
+TOCK_ARCH = cortex-m3
+BOARD_BUILDDIR = $(BUILDDIR)/$(TOCK_ARCH)
+
+PROG_BASE=0x10000
+
+# Relative working directory, get the directory of *this*
+# specific makefile
+RWD=$(TOCK_USERLAND_BASE_DIR)/../../boards/launchxl
+
+$(BOARD_BUILDDIR)/$(TOCK_ARCH).tbf: $(BOARD_BUILDDIR/$(TOCK_ARCH).elf
+
+# Upload programs to launchpad
+.PHONY: flash
+flash: $(BOARD_BUILDDIR)/$(TOCK_ARCH).tbf $(BUILDDIR)/$(PACKAGE_NAME).tab
+	$(call check_defined, UNIFLASH_CLI_BASE, See launchxl README for details)
+	@$(UNIFLASH_CLI_BASE)/ccs_base/DebugServer/bin/DSLite flash -c $(RWD)/jtag/cc2650.ccxml -e -f $<,$(PROG_BASE)
+
+.PHONY: program
+program: $(BOARD_BUILDDIR)/$(TOCK_ARCH).bin $(BUILDDIR)/$(PACKAGE_NAME).tab
+	$(error Cannot program launchpad over USB. Use \'make flash\' and JTAG)

boards/launchxl/README.md

@@ -0,0 +1,76 @@
+## Platform specific instructions
+The [Launchpad CC2650STK](http://www.ti.com/tool/launchxl-cc2650) is a platform based on the CC2650 MCU by 
+Texas Instrument, an SoC running on an ARM Cortex-M3. 
+
+The technical reference manual for the cc2650 can be found 
+[here](http://www.ti.com/lit/ug/swcu117h/swcu117h.pdf),
+and it shares many properties with other MCUs in the same family (cc26xx).
+
+### Flashing
+Download and use [uniflash](http://processors.wiki.ti.com/index.php/Category:CCS_UniFlash) to flash. Follow the guide
+[here](http://processors.wiki.ti.com/index.php/UniFlash_v4_Quick_Guide#Standalone_Command_line_tool) in order to generate
+a standalone command line tool to ease the flashing process.
+
+The standalone CLI has been extracted, set an environment variable named `UNIFLASH_CLI_BASE` in your shell profile:
+
+```bash
+$> echo export UNIFLASH_CLI_BASE="<path to extracted uniflash CLI>" >> ~/.bash_profile
+$> source ~/.bash_profile
+```
+
+Now you're able to use the Makefile target `flash` in order to load the kernel onto the SensorTag board.
+
+```bash
+$> make flash       # make and flash the kernel
+```
+
+### Apps
+To compile and get apps to the board, you need to navigate to their directory in tock/userland/...
+
+```bash
+$> cd tock/userland/examples/blink
+$> make
+```
+
+#### Flashing
+You can issue the flash command by pointing the variable `TOCK_BOARD` to the correct
+directory.
+
+```bash
+$> make TOCK_BOARD=../../boards/launchxl flash 
+```
+
+### Debugging
+You need to use openocd together with gdb in order to debug the launchxl board using JTAG. However, you'll need to build OpenOCD with extra applied patches until the next version has been released. 
+
+Clone the repository and apply the patches:
+
+```bash
+$> git clone https://git.code.sf.net/p/openocd/code openocd 
+$> cd openocd
+$> git pull http://openocd.zylin.com/openocd refs/changes/22/4322/2 
+$> git pull http://openocd.zylin.com/openocd refs/changes/58/4358/1
+```
+
+Once cloned and the patches has been applied, read the readme in order to build and install openocd.
+
+Once flashed, launch openocd with the configuration specified at jtag/openocd.cfg:
+
+```bash
+$> openocd -f jtag/openocd.cfg
+```
+
+And then launch gdb
+
+```bash
+$> arm-none-eabi-gdb -x jtag/gdbinit
+```
+
+and it will automatically connect to the board.
+
+*Note: it is possible to debug using OpenOCD without the applied patches, but it is painfully slow.
+Just install a later version than 0.10 of OpenOCD, and uncomment the necessary parts in jtag/openocd.cfg (see file), then
+follow the instructions above.*
+
+### Panic/Crash
+When the board panics or crashes, the RED led will be blinking frequently.

boards/launchxl/Xargo.toml

@@ -0,0 +1,7 @@
+[dependencies.core]
+
+[dependencies.compiler_builtins]
+features = ["mem"]
+git = "https://github.com/rust-lang-nursery/compiler-builtins"
+stage = 1
+rev = "67e0908d7f2fd86423ec32fc4d904952fe96e7a9"

boards/launchxl/build.rs

@@ -0,0 +1,5 @@
+fn main() {
+    println!("cargo:rerun-if-changed=layout.ld");
+    println!("cargo:rerun-if-changed=chip_layout.ld");
+    println!("cargo:rerun-if-changed=../kernel_layout.ld");
+}

boards/launchxl/jtag/cc2650.ccxml

@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<configurations XML_version="1.2" id="configurations_0">
+    <configuration XML_version="1.2" id="Texas Instruments XDS110 USB Debug Probe_0">
+        <instance XML_version="1.2" desc="Texas Instruments XDS110 USB Debug Probe_0" href="connections/TIXDS110_Connection.xml" id="Texas Instruments XDS110 USB Debug Probe_0" xml="TIXDS110_Connection.xml" xmlpath="connections"/>
+        <connection XML_version="1.2" id="Texas Instruments XDS110 USB Debug Probe_0">
+            <instance XML_version="1.2" href="drivers/tixds510icepick_c.xml" id="drivers" xml="tixds510icepick_c.xml" xmlpath="drivers"/>
+            <instance XML_version="1.2" href="drivers/tixds510cs_dap.xml" id="drivers" xml="tixds510cs_dap.xml" xmlpath="drivers"/>
+            <instance XML_version="1.2" href="drivers/tixds510cortexM.xml" id="drivers" xml="tixds510cortexM.xml" xmlpath="drivers"/>
+            <platform XML_version="1.2" id="platform_0">
+                <instance XML_version="1.2" desc="CC2650F128_0" href="devices/cc2650f128.xml" id="CC2650F128_0" xml="cc2650f128.xml" xmlpath="devices"/>
+            </platform>
+        </connection>
+    </configuration>
+</configurations>
+

boards/launchxl/jtag/gdbinit

@@ -0,0 +1,14 @@
+# GDB Init for openocd
+
+set remotetimeout 20000
+
+# Connect to openocd at port 3333
+target remote localhost:3333
+
+file target/thumbv7m-none-eabi/release/launchxl
+
+monitor reset halt
+
+# Setup GDB for faster downloads
+set remote memory-write-packet-size 1024
+set remote memory-write-packet-size fixed

boards/launchxl/jtag/openocd.cfg

@@ -0,0 +1,11 @@
+## Uncomment to debug with OpenOCD w/o patches
+#source [find interface/cmsis-dap.cfg]
+
+## Comment to debug with OpenOCD w/o patches
+source [find interface/xds110.cfg]
+
+transport select jtag
+# gdb_memory_map enable
+gdb_flash_program enable
+source [find target/cc26xx.cfg]
+adapter_khz 5000

boards/launchxl/layout.ld

@@ -0,0 +1,42 @@
+/*
+ * This is the generic linker script for Tock. For most developers, it should
+ * be sufficient to define {ROM/PROG/RAM}_{ORIGIN/LENGTH} (6 variables, the
+ * start and length for each) and MPU_MIN_ALIGN (the minimum alignment
+ * granularity supported by the MPU).
+ *
+ * --------------------------------------------------------------------------
+ *
+ * If you wish to create your own linker script from scratch, you must define
+ * the following symbols:
+ *
+ * `_etext`, `_srelocate`, `_erelocate`
+ *    The `_etext` symbol marks the end of data stored in flash that should
+ *    stay in flash. `_srelocate` and `_erelocate` mark the address range in
+ *    SRAM that mutable program data is copied to.
+ *
+ *    Tock will copy `_erelocate` - `_srelocate` bytes of data from the
+ *    `_etext` pointer to the `_srelocate` pointer.
+ *
+ * `_szero`, `_ezero`
+ *
+ *    The `_szero` and `_ezero` symbols define the range of the BSS, SRAM that
+ *    Tock will zero on boot.
+ *
+ * `_sapps`
+ *
+ *    The `_sapps` symbol marks the beginning of application memory in flash.
+ */
+
+ROM_ORIGIN   =   0x00000000;
+ROM_LENGTH   =   0x00010000;
+PROG_ORIGIN  =   0x00010000;
+PROG_LENGTH  =   0x0000F000;
+CCFG_ORIGIN  =   0x0001FFA8;
+CCFG_LENGTH  =   0x00000058;
+RAM_ORIGIN   =   0x20000000;
+RAM_LENGTH   =   20K;
+
+MPU_MIN_ALIGN = 4;
+
+INCLUDE ../../tock/boards/kernel_layout.ld
+

boards/launchxl/src/io.rs

@@ -0,0 +1,90 @@
+use core::fmt::{write, Arguments, Write};
+use kernel::hil::uart::{self, UART};
+use kernel::hil::gpio::Pin;
+use cc26xx;
+use cc26x0;
+
+pub struct Writer {
+    initialized: bool,
+}
+
+pub static mut WRITER: Writer = Writer { initialized: false };
+
+impl Write for Writer {
+    fn write_str(&mut self, s: &str) -> ::core::fmt::Result {
+        let uart = unsafe { &mut cc26x0::uart::UART0 };
+        if !self.initialized {
+            self.initialized = true;
+            uart.init(uart::UARTParams {
+                baud_rate: 115200,
+                stop_bits: uart::StopBits::One,
+                parity: uart::Parity::None,
+                hw_flow_control: false,
+            });
+        }
+
+        for c in s.bytes() {
+            uart.send_byte(c);
+            while !uart.tx_ready() {}
+        }
+        Ok(())
+    }
+}
+
+#[macro_export]
+macro_rules! print {
+    ($($arg:tt)*) => (
+        {
+            use core::fmt::write;
+            let writer = &mut $crate::io::WRITER;
+            let _ = write(writer, format_args!($($arg)*));
+        }
+    );
+}
+
+#[macro_export]
+macro_rules! println {
+        ($fmt:expr) => (print!(concat!($fmt, "\n")));
+            ($fmt:expr, $($arg:tt)*) => (print!(concat!($fmt, "\n"), $($arg)*));
+}
+
+#[cfg(not(test))]
+#[lang = "panic_fmt"]
+#[no_mangle]
+pub unsafe extern "C" fn rust_begin_unwind(
+    _args: Arguments,
+    _file: &'static str,
+    _line: usize,
+) -> ! {
+    let writer = &mut WRITER;
+    let _ = writer.write_fmt(format_args!(
+        "\r\nKernel panic at {}:{}:\r\n\t\"",
+        _file, _line
+    ));
+    let _ = write(writer, _args);
+    let _ = writer.write_str("\"\r\n");
+
+    let led0 = &cc26xx::gpio::PORT[10]; // Red led
+    let led1 = &cc26xx::gpio::PORT[15]; // Green led
+
+    led0.make_output();
+    led1.make_output();
+    loop {
+        for _ in 0..1000000 {
+            led0.clear();
+            led1.clear();
+        }
+        for _ in 0..100000 {
+            led0.set();
+            led1.set();
+        }
+        for _ in 0..1000000 {
+            led0.clear();
+            led1.clear();
+        }
+        for _ in 0..500000 {
+            led0.set();
+            led1.set();
+        }
+    }
+}