diff --git a/.cproject b/.cproject
index 91234d7..e426cac 100755
--- a/.cproject
+++ b/.cproject
@@ -197,6 +197,14 @@
false
true
+
+ make
+ TEST_APP=shell
+ test
+ true
+ false
+ true
+
make
@@ -261,6 +269,38 @@
false
true
+
+ make
+ TEST_APP=shell BOARD=stm32f4-discovery DEBUG=y
+ test
+ true
+ false
+ true
+
+
+ make
+ TEST_APP=shell BOARD=stm32f4-discovery DEBUG=y
+ install
+ true
+ false
+ true
+
+
+ make
+ TEST_APP=pwm BOARD=stm32f4-discovery DEBUG=y
+ test
+ true
+ false
+ true
+
+
+ make
+ TEST_APP=pwm BOARD=stm32f4-discovery DEBUG=y
+ install
+ true
+ false
+ true
+
make
APP=example_radio_rx BOARD=msp430-ccrf DEBUG=y
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 80ffa55..00627ca 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,7 +1,7 @@
variables:
SW_KERNEL: "0"
SW_MAJOR: "0"
- SW_MINOR: "1"
+ SW_MINOR: "2"
before_script:
- "echo $CI_BUILD_ID"
diff --git a/Makefile b/Makefile
index d874baa..1f44a67 100755
--- a/Makefile
+++ b/Makefile
@@ -12,6 +12,11 @@ endif
MAINFILE = $(EXE_DIR)/lib$(OS_NAME)-$(ARCH)-$(BOARD)$(VERSION)$(DBG_EXT)$(LIB_EXT)
DEPLOY_PACKET = lib$(OS_NAME)-$(ARCH)-$(BOARD)$(VERSION)$(DBG_EXT).tar.xz
+TEST_FILE = $(EXE_DIR)/$(TEST_APP)$(ELF_EXT)
+BIN_FILE = $(EXE_DIR)/$(TEST_APP)$(BIN_EXT)
+HEX_FILE = $(EXE_DIR)/$(TEST_APP)$(HEX_EXT)
+SIZE_FILE = $(SIZE_DIR)/$(TEST_APP)$(SIZE_EXT)
+
INCLUDES += $(SRC_DIR)
SUB_FOLDER :=
@@ -25,6 +30,10 @@ DEPS = $(SOURCES:$(ROOT_DIR)/%.c=$(OBJ_DIR)/%.d)
#include subfolders
include source/firmware/firmware.mk
+ifdef TEST_APP
+include source/test/test.mk
+CFLAGS += -DTEST_APP
+endif
SOURCES += $(foreach folder, $(SUB_FOLDER), $(wildcard $(ROOT_DIR)/$(folder)/*.c))
CHECKSOURCES += $(foreach folder, $(CHECK_FOLDER), $(wildcard $(ROOT_DIR)/$(folder)/*.c))
@@ -74,6 +83,22 @@ doc:
@$(MKDIR) $(DOC_DIR)
(cat $(DOXYFILE) ; echo "INPUT=$(DOC_SRC)" ; echo "OUTPUT_DIRECTORY=$(DOC_DIR)") | doxygen -
+test: $(OBJECTS) $(ASM_OBJECTS)
+ @$(MKDIR) $(EXE_DIR)
+ @$(MKDIR) $(MAP_DIR)
+ @$(MKDIR) $(SIZE_DIR)
+ $(CC) $(CFLAGS) $(LDFLAGS) $(OBJECTS) $(ASM_OBJECTS) -o $(TEST_FILE)
+ $(OBJCOPY) $(TEST_FILE) -O binary $(BIN_FILE)
+ $(OBJCOPY) $(TEST_FILE) -O ihex $(HEX_FILE)
+ $(NM) --size-sort --print-size $(TEST_FILE) > $(SIZE_FILE)
+ @echo
+ @$(SIZE) --format=berkeley -x $(TEST_FILE)
+ @echo
+
+install: test
+ $(PRE_PROGRAM)
+ $(PROGRAM)
+
ifneq "$(MAKECMDGOALS)" "clean"
-include $(DEPS)
else
diff --git a/config/linker/stm32_flash.ld b/config/linker/stm32_flash.ld
new file mode 100755
index 0000000..7cfdc96
--- /dev/null
+++ b/config/linker/stm32_flash.ld
@@ -0,0 +1,170 @@
+/*
+*****************************************************************************
+**
+** File : stm32_flash.ld
+**
+** Abstract : Linker script for STM32F407VG Device with
+** 1024KByte FLASH, 192KByte RAM
+**
+** Set heap size, stack size and stack location according
+** to application requirements.
+**
+** Set memory bank area and size if external memory is used.
+**
+** Target : STMicroelectronics STM32
+**
+** Environment : Atollic TrueSTUDIO(R)
+**
+** Distribution: The file is distributed “as is,” without any warranty
+** of any kind.
+**
+** (c)Copyright Atollic AB.
+** You may use this file as-is or modify it according to the needs of your
+** project. Distribution of this file (unmodified or modified) is not
+** permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
+** rights to distribute the assembled, compiled & linked contents of this
+** file as part of an application binary file, provided that it is built
+** using the Atollic TrueSTUDIO(R) toolchain.
+**
+*****************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+_estack = 0x20020000; /* end of 128K RAM on AHB bus*/
+
+/* Generate a link error if heap and stack don't fit into RAM */
+_Min_Heap_Size = 0; /* required amount of heap */
+_Min_Stack_Size = 0x400; /* required amount of stack */
+
+/* Specify the memory areas */
+MEMORY
+{
+ FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
+ RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 192K
+ MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
+}
+
+/* Define output sections */
+SECTIONS
+{
+ /* The startup code goes first into FLASH */
+ .isr_vector :
+ {
+ . = ALIGN(4);
+ KEEP(*(.isr_vector)) /* Startup code */
+ . = ALIGN(4);
+ } >FLASH
+
+ /* The program code and other data goes into FLASH */
+ .text :
+ {
+ . = ALIGN(4);
+ *(.text) /* .text sections (code) */
+ *(.text*) /* .text* sections (code) */
+ *(.rodata) /* .rodata sections (constants, strings, etc.) */
+ *(.rodata*) /* .rodata* sections (constants, strings, etc.) */
+ *(.glue_7) /* glue arm to thumb code */
+ *(.glue_7t) /* glue thumb to arm code */
+ *(.eh_frame)
+
+ KEEP (*(.init))
+ KEEP (*(.fini))
+
+ . = ALIGN(4);
+ _etext = .; /* define a global symbols at end of code */
+ } >FLASH
+
+
+ .ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
+ .ARM : {
+ __exidx_start = .;
+ *(.ARM.exidx*)
+ __exidx_end = .;
+ } >FLASH
+
+ .preinit_array :
+ {
+ PROVIDE_HIDDEN (__preinit_array_start = .);
+ KEEP (*(.preinit_array*))
+ PROVIDE_HIDDEN (__preinit_array_end = .);
+ } >FLASH
+ .init_array :
+ {
+ PROVIDE_HIDDEN (__init_array_start = .);
+ KEEP (*(SORT(.init_array.*)))
+ KEEP (*(.init_array*))
+ PROVIDE_HIDDEN (__init_array_end = .);
+ } >FLASH
+ .fini_array :
+ {
+ PROVIDE_HIDDEN (__fini_array_start = .);
+ KEEP (*(.fini_array*))
+ KEEP (*(SORT(.fini_array.*)))
+ PROVIDE_HIDDEN (__fini_array_end = .);
+ } >FLASH
+
+ /* used by the startup to initialize data */
+ _sidata = .;
+
+ /* Initialized data sections goes into RAM, load LMA copy after code */
+ .data : AT ( _sidata )
+ {
+ . = ALIGN(4);
+ _sdata = .; /* create a global symbol at data start */
+ *(.data) /* .data sections */
+ *(.data*) /* .data* sections */
+
+ . = ALIGN(4);
+ _edata = .; /* define a global symbol at data end */
+ } >RAM
+
+ /* Uninitialized data section */
+ . = ALIGN(4);
+ .bss :
+ {
+ /* This is used by the startup in order to initialize the .bss secion */
+ _sbss = .; /* define a global symbol at bss start */
+ __bss_start__ = _sbss;
+ *(.bss)
+ *(.bss*)
+ *(COMMON)
+
+ . = ALIGN(4);
+ _ebss = .; /* define a global symbol at bss end */
+ __bss_end__ = _ebss;
+ } >RAM
+
+ /* User_heap_stack section, used to check that there is enough RAM left */
+ ._user_heap_stack :
+ {
+ . = ALIGN(4);
+ PROVIDE ( end = . );
+ PROVIDE ( _end = . );
+ . = . + _Min_Heap_Size;
+ . = . + _Min_Stack_Size;
+ . = ALIGN(4);
+ } >RAM
+
+ /* MEMORY_bank1 section, code must be located here explicitly */
+ /* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
+ .memory_b1_text :
+ {
+ *(.mb1text) /* .mb1text sections (code) */
+ *(.mb1text*) /* .mb1text* sections (code) */
+ *(.mb1rodata) /* read-only data (constants) */
+ *(.mb1rodata*)
+ } >MEMORY_B1
+
+ /* Remove information from the standard libraries */
+ /DISCARD/ :
+ {
+ libc.a ( * )
+ libm.a ( * )
+ libgcc.a ( * )
+ }
+
+ .ARM.attributes 0 : { *(.ARM.attributes) }
+}
diff --git a/config/make/rules.mk b/config/make/rules.mk
index 582a77a..5e9a8ec 100755
--- a/config/make/rules.mk
+++ b/config/make/rules.mk
@@ -1,14 +1,14 @@
-.PHONY: clean distclean doc
+.PHONY: clean distclean doc test
ROOT_DIR := $(shell pwd | sed "s/\/source//g")
-ifeq ($(BOARD), msp430-ccrf)
-include $(ROOT_DIR)/config/make/msp430.mk
-endif
ifeq ($(BOARD), stm32f4-discovery)
include $(ROOT_DIR)/config/make/stm32f4xx.mk
endif
+OS_LIB = kosmos-$(ARCH)-$(BOARD)$(DBG_EXT)
+LIBS += $(OS_LIB)
+
CFLAGS += \
-Wno-unused-function \
-O$(OPTIM) \
diff --git a/config/make/stm32f4xx.mk b/config/make/stm32f4xx.mk
index 563d1b2..252ca65 100644
--- a/config/make/stm32f4xx.mk
+++ b/config/make/stm32f4xx.mk
@@ -9,8 +9,8 @@ endif
CROSS_COMPILE=arm-none-eabi-
INCLUDES += \
- /usr/lib/arm-none-eabi/include \
- /usr/lib/gcc/arm-none-eabi/4.8/include
+ /opt/arm-2011.09/arm-none-eabi/include \
+ /opt/arm-2011.09/lib/gcc/arm-none-eabi/4.6.1/include
ifeq ($(DEBUG),y)
OPTIM = 0
@@ -23,7 +23,7 @@ endif
CFLAGS += \
-mthumb \
- -T $(ROOT_DIR)/source/firmware/arch/stm32f4xx/linker/stm32_flash.ld \
+ -T $(ROOT_DIR)/config/linker/stm32_flash.ld \
-D USE_STDPERIPH_DRIVER\
-D VECT_TAB_FLASH\
-D GCC_ARMCM4\
@@ -35,7 +35,6 @@ CFLAGS += \
-mfloat-abi=softfp \
-fdata-sections \
-ffunction-sections
-# -D inline= -mthumb\
CPPCHECK_FLAGS += \
-D USE_STDPERIPH_DRIVER\
@@ -54,7 +53,7 @@ LDFLAGS=\
ASFLAGS=-mapcs-32 -g
ARFLAGS=rcs
-OOCD_IMAGE=$(BINFILE)
+OOCD_IMAGE=$(BIN_FILE)
OOCD_CFG_FILE=$(EXE_DIR)/openocd.cfg
PRE_PROGRAM = echo "telnet_port 4444\ninit\nreset halt\nflash write_image erase $(OOCD_IMAGE) 0x08000000 bin\nreset run\n shutdown\n" > $(OOCD_CFG_FILE)
diff --git a/source/firmware/arch/stm32f4xx/board/stm32f4-discovery/include/stm32f4-discovery.h b/source/firmware/arch/stm32f4xx/board/stm32f4-discovery/include/stm32f4-discovery.h
index d393075..ea87330 100755
--- a/source/firmware/arch/stm32f4xx/board/stm32f4-discovery/include/stm32f4-discovery.h
+++ b/source/firmware/arch/stm32f4xx/board/stm32f4-discovery/include/stm32f4-discovery.h
@@ -13,15 +13,18 @@
#include "driver.h"
#include "gpio.h"
+#include "pwm.h"
#include "timer.h"
#include "uart.h"
#include "ringbuffer.h"
#include "sys_tick.h"
#include "stm32f4xx.h"
#include "stm32f4_gpio.h"
+#include "stm32f4_pwm.h"
#include "stm32f4_uart.h"
#include "stm32_sys_tick.h"
+
// SYSTEM TICK
static const enum stm32_sys_tick_time_base stm23_sys_tick_time_base =
STM32_SYS_TICK_TIME_BASE_MS;
@@ -36,6 +39,161 @@ static const struct loki_timer timer_1 = {
&timer_fp
};
+// PWM CHANNEL 4
+/* apb1 clock = 84MHz */
+/* period_reg = src_clk / presc / cnt_clk */
+/* 4199 = 84MHZ / (0 + 1) / 20kHz - 1 */
+static const TIM_TimeBaseInitTypeDef timer_4_cfg = {
+ .TIM_RepetitionCounter = 0x0000,
+ .TIM_Prescaler = 0,
+ .TIM_ClockDivision = TIM_CKD_DIV1,
+ .TIM_CounterMode = TIM_CounterMode_Up,
+ .TIM_Period = 4199
+};
+
+static const TIM_OCInitTypeDef t4_output_compare_cfg = {
+ .TIM_OutputNState = TIM_OutputNState_Disable,
+ .TIM_OCNPolarity = TIM_OCPolarity_High,
+ .TIM_OCIdleState = TIM_OCIdleState_Reset,
+ .TIM_OCNIdleState = TIM_OCNIdleState_Set,
+ .TIM_OCMode = TIM_OCMode_PWM1,
+ .TIM_OCPolarity = TIM_OCPolarity_High,
+ .TIM_OutputState = TIM_OutputState_Enable,
+ .TIM_Pulse = 0,
+};
+
+static const GPIO_InitTypeDef port_cfg_D15 = {
+ .GPIO_Pin = GPIO_Pin_15,
+ .GPIO_Mode = GPIO_Mode_AF,
+ .GPIO_OType = GPIO_OType_PP,
+ .GPIO_PuPd = GPIO_PuPd_UP,
+ .GPIO_Speed = GPIO_Speed_100MHz,
+};
+
+static struct stm32f4_pwm str32f4_pwm_4 = {
+ .timer = TIM4,
+ .timer_cfg = &timer_4_cfg,
+ .output_compare_cfg = &t4_output_compare_cfg,
+ .port = GPIOD,
+ .pin_src = GPIO_PinSource15,
+ .port_cfg = &port_cfg_D15,
+ .channel = channel_4,
+};
+
+static const struct pwm pwm_ch4 = {
+ .arch_dep_device = &str32f4_pwm_4,
+ .fp = &stm32f4_pwm_fp,
+};
+
+#ifdef TEST_APP
+static const struct driver pwm_4 = {
+#else
+const struct driver pwm_4 = {
+#endif
+ DRIVER_TYPE_PWM,
+ &pwm_ch4,
+};
+
+// PWM Channel 3
+static const GPIO_InitTypeDef port_cfg_D14 = {
+ .GPIO_Pin = GPIO_Pin_14,
+ .GPIO_Mode = GPIO_Mode_AF,
+ .GPIO_OType = GPIO_OType_PP,
+ .GPIO_PuPd = GPIO_PuPd_UP,
+ .GPIO_Speed = GPIO_Speed_100MHz,
+};
+
+static struct stm32f4_pwm str32f4_pwm_3 = {
+ .timer = TIM4,
+ .timer_cfg = &timer_4_cfg,
+ .output_compare_cfg = &t4_output_compare_cfg,
+ .port = GPIOD,
+ .pin_src = GPIO_PinSource14,
+ .port_cfg = &port_cfg_D14,
+ .channel = channel_3,
+};
+
+static const struct pwm pwm_ch3 = {
+ .arch_dep_device = &str32f4_pwm_3,
+ .fp = &stm32f4_pwm_fp,
+};
+
+#ifdef TEST_APP
+static const struct driver pwm_3 = {
+#else
+const struct driver pwm_3 = {
+#endif
+ DRIVER_TYPE_PWM,
+ &pwm_ch3,
+};
+
+// PWM Channel 2
+static const GPIO_InitTypeDef port_cfg_D13 = {
+ .GPIO_Pin = GPIO_Pin_13,
+ .GPIO_Mode = GPIO_Mode_AF,
+ .GPIO_OType = GPIO_OType_PP,
+ .GPIO_PuPd = GPIO_PuPd_UP,
+ .GPIO_Speed = GPIO_Speed_100MHz,
+};
+
+static struct stm32f4_pwm str32f4_pwm_2 = {
+ .timer = TIM4,
+ .timer_cfg = &timer_4_cfg,
+ .output_compare_cfg = &t4_output_compare_cfg,
+ .port = GPIOD,
+ .pin_src = GPIO_PinSource13,
+ .port_cfg = &port_cfg_D13,
+ .channel = channel_2,
+};
+
+static const struct pwm pwm_ch2 = {
+ .arch_dep_device = &str32f4_pwm_2,
+ .fp = &stm32f4_pwm_fp,
+};
+
+#ifdef TEST_APP
+static const struct driver pwm_2 = {
+#else
+const struct driver pwm_2 = {
+#endif
+ DRIVER_TYPE_PWM,
+ &pwm_ch2,
+};
+
+// PWM Channel 2
+static const GPIO_InitTypeDef port_cfg_D12 = {
+ .GPIO_Pin = GPIO_Pin_12,
+ .GPIO_Mode = GPIO_Mode_AF,
+ .GPIO_OType = GPIO_OType_PP,
+ .GPIO_PuPd = GPIO_PuPd_UP,
+ .GPIO_Speed = GPIO_Speed_100MHz,
+};
+
+static struct stm32f4_pwm str32f4_pwm_1 = {
+ .timer = TIM4,
+ .timer_cfg = &timer_4_cfg,
+ .output_compare_cfg = &t4_output_compare_cfg,
+ .port = GPIOD,
+ .pin_src = GPIO_PinSource12,
+ .port_cfg = &port_cfg_D12,
+ .channel = channel_1,
+};
+
+static const struct pwm pwm_ch1 = {
+ .arch_dep_device = &str32f4_pwm_1,
+ .fp = &stm32f4_pwm_fp,
+};
+
+#ifdef TEST_APP
+static const struct driver pwm_1 = {
+#else
+const struct driver pwm_1 = {
+#endif
+ DRIVER_TYPE_PWM,
+ &pwm_ch3,
+};
+
+// UART 1
static char console_linear_buffer[80];
static struct ringbuffer console_buffer = {
console_linear_buffer,
@@ -86,160 +244,143 @@ static const struct uart __uart_1 = {
&console_buffer,
};
+#ifdef TEST_APP
+static const struct driver uart_1 = {
+#else
const struct driver uart_1 = {
+#endif
DRIVER_TYPE_UART,
&__uart_1,
};
-// LED 3
-static const GPIO_InitTypeDef stm32_f4_discovery_led_3_gpio = {
- GPIO_Pin_12,
- GPIO_Mode_OUT,
- GPIO_Speed_100MHz,
- GPIO_OType_PP,
- GPIO_PuPd_NOPULL
-};
-
-static const struct stm32f4_gpio stm32_f4_discovery_led_3 = {
- GPIOD,
- &stm32_f4_discovery_led_3_gpio,
- NULL,
- NULL,
- NULL,
- NULL
-};
-
-static const struct gpio __led_3 = {
- (void*)&stm32_f4_discovery_led_3,
- &gpio_fp
-};
-
-const struct driver led_3 = {
- DRIVER_TYPE_GPIO,
- &__led_3,
-};
-
-// LED 4
-static const GPIO_InitTypeDef stm32_f4_discovery_led_4_gpio = {
- GPIO_Pin_13,
- GPIO_Mode_OUT,
- GPIO_Speed_100MHz,
- GPIO_OType_PP,
- GPIO_PuPd_NOPULL
-};
-
-static const struct stm32f4_gpio stm32_f4_discovery_led_4 = {
- GPIOD,
- &stm32_f4_discovery_led_4_gpio,
- NULL,
- NULL,
- NULL,
- NULL
-};
-
-static const struct gpio __led_4 = {
- (void*)&stm32_f4_discovery_led_4,
- &gpio_fp
-};
-
-const struct driver led_4 = {
- DRIVER_TYPE_GPIO,
- &__led_4,
-};
-
-// LED 5
-static const GPIO_InitTypeDef stm32_f4_discovery_led_5_gpio = {
- GPIO_Pin_14,
- GPIO_Mode_OUT,
- GPIO_Speed_100MHz,
- GPIO_OType_PP,
- GPIO_PuPd_NOPULL
-};
-
-static const struct stm32f4_gpio stm32_f4_discovery_led_5 = {
- GPIOD,
- &stm32_f4_discovery_led_5_gpio,
- NULL,
- NULL,
- NULL,
- NULL
-};
-
-static const struct gpio __led_5 = {
- (void*)&stm32_f4_discovery_led_5,
- &gpio_fp
-};
-
-const struct driver led_5 = {
- DRIVER_TYPE_GPIO,
- &__led_5,
-};
-
-// LED 6
-static const GPIO_InitTypeDef stm32_f4_discovery_led_6_gpio = {
- GPIO_Pin_15,
- GPIO_Mode_OUT,
- GPIO_Speed_100MHz,
- GPIO_OType_PP,
- GPIO_PuPd_NOPULL
-};
-
-static const struct stm32f4_gpio stm32_f4_discovery_led_6 = {
- GPIOD,
- &stm32_f4_discovery_led_6_gpio,
- NULL,
- NULL,
- NULL,
- NULL
-};
-
-static const struct gpio __led_6 = {
- (void*)&stm32_f4_discovery_led_6,
- &gpio_fp
-};
-
-const struct driver led_6 = {
- DRIVER_TYPE_GPIO,
- &__led_6,
-};
-
-// BUTTON
-static const GPIO_InitTypeDef stm32_f4_discovery_user_button_gpio = {
+// GPIOC0
+static const GPIO_InitTypeDef port_cfg_C0 = {
GPIO_Pin_0,
- GPIO_Mode_IN,
+ GPIO_Mode_OUT,
GPIO_Speed_100MHz,
GPIO_OType_PP,
GPIO_PuPd_NOPULL
};
-static const EXTI_InitTypeDef stm32_f4_discovery_user_button_exti = {
- EXTI_Line0,
- EXTI_Mode_Interrupt,
- EXTI_Trigger_Rising_Falling,
- ENABLE
-};
-
-static const NVIC_InitTypeDef stm32_f4_discovery_user_button_nvic = {
- EXTI0_IRQn,
- 0x0F,
- 0x0F,
- ENABLE
-};
-
-static const struct stm32f4_gpio stm32_f4_discovery_user_button = {
- GPIOA,
- &stm32_f4_discovery_user_button_gpio,
- &stm32_f4_discovery_user_button_exti,
- &stm32_f4_discovery_user_button_nvic,
+static const struct stm32f4_gpio stm32_f4_gpio_C0 = {
+ GPIOC,
+ &port_cfg_C0,
+ NULL,
+ NULL,
NULL,
NULL
};
-static const struct gpio user_button = {
- (void*)&stm32_f4_discovery_user_button,
+static const struct gpio __gpio_c0 = {
+ (void*)&stm32_f4_gpio_C0,
&gpio_fp
};
+#ifdef TEST_APP
+static const struct driver gpio_c0 = {
+#else
+const struct driver gpio_c0 = {
+#endif
+ DRIVER_TYPE_GPIO,
+ &__gpio_c0,
+};
+
+// GPIO_C1
+static const GPIO_InitTypeDef port_cfg_C1 = {
+ GPIO_Pin_1,
+ GPIO_Mode_OUT,
+ GPIO_Speed_100MHz,
+ GPIO_OType_PP,
+ GPIO_PuPd_NOPULL
+};
+
+static const struct stm32f4_gpio stm32_f4_gpio_C1 = {
+ GPIOC,
+ &port_cfg_C1,
+ NULL,
+ NULL,
+ NULL,
+ NULL
+};
+
+static const struct gpio __gpio_c1 = {
+ (void*)&stm32_f4_gpio_C1,
+ &gpio_fp
+};
+
+#ifdef TEST_APP
+static const struct driver gpio_c1 = {
+#else
+const struct driver gpio_c1 = {
+#endif
+ DRIVER_TYPE_GPIO,
+ &__gpio_c1,
+};
+
+// GPIO_C2
+static const GPIO_InitTypeDef port_cfg_C2 = {
+ GPIO_Pin_2,
+ GPIO_Mode_OUT,
+ GPIO_Speed_100MHz,
+ GPIO_OType_PP,
+ GPIO_PuPd_NOPULL
+};
+
+static const struct stm32f4_gpio stm32_f4_gpio_C2 = {
+ GPIOC,
+ &port_cfg_C2,
+ NULL,
+ NULL,
+ NULL,
+ NULL
+};
+
+static const struct gpio __gpio_c2 = {
+ (void*)&stm32_f4_gpio_C2,
+ &gpio_fp
+};
+
+#ifdef TEST_APP
+static const struct driver gpio_c2 = {
+#else
+const struct driver gpio_c2 = {
+#endif
+ DRIVER_TYPE_GPIO,
+ &__gpio_c2,
+};
+
+// GPIO_C3
+static const GPIO_InitTypeDef port_cfg_C3 = {
+ GPIO_Pin_1,
+ GPIO_Mode_OUT,
+ GPIO_Speed_100MHz,
+ GPIO_OType_PP,
+ GPIO_PuPd_NOPULL
+};
+
+static const struct stm32f4_gpio stm32_f4_gpio_C3 = {
+ GPIOC,
+ &port_cfg_C3,
+ NULL,
+ NULL,
+ NULL,
+ NULL
+};
+
+static const struct gpio __gpio_c3 = {
+ (void*)&stm32_f4_gpio_C3,
+ &gpio_fp
+};
+
+#ifdef TEST_APP
+static const struct driver gpio_c3 = {
+#else
+const struct driver gpio_c3 = {
+#endif
+ DRIVER_TYPE_GPIO,
+ &__gpio_c3,
+};
+
//! \brief Setup the hardware of the stm32f4-discovery board.
void board_init(void);
diff --git a/source/firmware/arch/stm32f4xx/driver/include/stm32f4_pwm.h b/source/firmware/arch/stm32f4xx/driver/include/stm32f4_pwm.h
new file mode 100644
index 0000000..c46174f
--- /dev/null
+++ b/source/firmware/arch/stm32f4xx/driver/include/stm32f4_pwm.h
@@ -0,0 +1,40 @@
+/*
+ * stm32f4_pwm.h
+ *
+ * Created on: Aug 9, 2016
+ * Author: tkl
+ */
+
+#ifndef SOURCE_FIRMWARE_ARCH_STM32F4XX_DRIVER_INCLUDE_STM32F4_PWM_H_
+#define SOURCE_FIRMWARE_ARCH_STM32F4XX_DRIVER_INCLUDE_STM32F4_PWM_H_
+
+enum stm32f4_pwm_channel {
+ channel_1 = 1,
+ channel_2,
+ channel_3,
+ channel_4
+};
+
+struct stm32f4_pwm {
+ TIM_TypeDef *timer;
+ const TIM_TimeBaseInitTypeDef *timer_cfg;
+ const TIM_OCInitTypeDef *output_compare_cfg;
+ const TIM_BDTRInitTypeDef *bdtr_cfg;
+ GPIO_TypeDef *port;
+ uint8_t pin_src;
+ const GPIO_InitTypeDef *port_cfg;
+ enum stm32f4_pwm_channel channel;
+};
+
+
+int stm32f4_pwm_open(const void *pwm);
+int stm32f4_pwm_close(const void *pwm);
+int stm32f4_pwm_set_duty_cycle(const void *pwm, unsigned int duty_cycle_percent);
+
+static const struct pwm_fp stm32f4_pwm_fp = {
+ .open = stm32f4_pwm_open,
+ .close = stm32f4_pwm_close,
+ .set_duty_cycle = stm32f4_pwm_set_duty_cycle,
+};
+
+#endif /* SOURCE_FIRMWARE_ARCH_STM32F4XX_DRIVER_INCLUDE_STM32F4_PWM_H_ */
diff --git a/source/firmware/arch/stm32f4xx/driver/stm32f4_pwm.c b/source/firmware/arch/stm32f4xx/driver/stm32f4_pwm.c
new file mode 100644
index 0000000..80faa5d
--- /dev/null
+++ b/source/firmware/arch/stm32f4xx/driver/stm32f4_pwm.c
@@ -0,0 +1,113 @@
+/*
+ * stm32f4_pwm.c
+ *
+ * Created on: Aug 9, 2016
+ * Author: tkl
+ */
+#include
+#include
+
+#include "stm32f4xx.h"
+
+#include "pwm.h"
+#include "stm32f4_pwm.h"
+
+struct stm32f4_pwm_object {
+ uint8_t used_channels;
+ uint32_t channel_1_max_period;
+ uint32_t channel_2_max_period;
+ uint32_t channel_3_max_period;
+ uint32_t channel_4_max_period;
+};
+
+static struct stm32f4_pwm_object stm32f4_pwm_object = {
+ .used_channels = 0,
+ .channel_1_max_period = 0,
+ .channel_2_max_period = 0,
+ .channel_3_max_period = 0,
+ .channel_4_max_period = 0,
+};
+
+int stm32f4_pwm_open(const void *pwm)
+{
+ if(NULL == pwm)
+ return -1;
+ struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
+ uint32_t clk_ahb_timer = 0, clk_ahb_gpio = 0;
+ uint8_t gpio_af_timer = 0;
+ if(this->timer == TIM4) {
+ clk_ahb_timer = RCC_APB1Periph_TIM4;
+ gpio_af_timer = GPIO_AF_TIM4;
+ }
+ RCC_APB1PeriphClockCmd(clk_ahb_timer, ENABLE);
+ if(this->port == GPIOD) {
+ clk_ahb_gpio = RCC_AHB1Periph_GPIOD;
+ }
+ RCC_AHB1PeriphClockCmd(clk_ahb_gpio, ENABLE);
+ GPIO_Init(this->port, (GPIO_InitTypeDef *)this->port_cfg);
+ GPIO_PinAFConfig(this->port, this->pin_src, gpio_af_timer);
+
+ TIM_TimeBaseInit(this->timer, (TIM_TimeBaseInitTypeDef *)this->timer_cfg);
+
+ switch(this->channel) {
+ case channel_1:
+ TIM_OC1Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
+ TIM_OC1PreloadConfig(this->timer, TIM_OCPreload_Enable);
+ stm32f4_pwm_object.channel_1_max_period = this->timer_cfg->TIM_Period + 1;
+ break;
+ case channel_2:
+ TIM_OC2Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
+ TIM_OC2PreloadConfig(this->timer, TIM_OCPreload_Enable);
+ stm32f4_pwm_object.channel_2_max_period = this->timer_cfg->TIM_Period + 1;
+ break;
+ case channel_3:
+ TIM_OC3Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
+ TIM_OC3PreloadConfig(this->timer, TIM_OCPreload_Enable);
+ stm32f4_pwm_object.channel_3_max_period = this->timer_cfg->TIM_Period + 1;
+ break;
+ case channel_4:
+ TIM_OC4Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
+ TIM_OC4PreloadConfig(this->timer, TIM_OCPreload_Enable);
+ stm32f4_pwm_object.channel_4_max_period = this->timer_cfg->TIM_Period + 1;
+ break;
+ }
+ TIM_ARRPreloadConfig(this->timer, ENABLE);
+ TIM_Cmd(this->timer, ENABLE);
+ stm32f4_pwm_object.used_channels++;
+ return 0;
+}
+
+int stm32f4_pwm_close(const void *pwm)
+{
+ if(NULL == pwm)
+ return -1;
+ struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
+ stm32f4_pwm_set_duty_cycle(pwm, 0);
+ stm32f4_pwm_object.used_channels--;
+ if(stm32f4_pwm_object.used_channels == 0) {
+ TIM_Cmd(this->timer, DISABLE);
+ }
+ return 0;
+}
+
+int stm32f4_pwm_set_duty_cycle(const void *pwm, unsigned int duty_cycle_percent)
+{
+ if(NULL == pwm)
+ return -1;
+ struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
+ switch(this->channel) {
+ case channel_1:
+ TIM_SetCompare1(this->timer, stm32f4_pwm_object.channel_1_max_period * duty_cycle_percent / 100);
+ break;
+ case channel_2:
+ TIM_SetCompare2(this->timer, stm32f4_pwm_object.channel_2_max_period * duty_cycle_percent / 100);
+ break;
+ case channel_3:
+ TIM_SetCompare3(this->timer, stm32f4_pwm_object.channel_3_max_period * duty_cycle_percent / 100);
+ break;
+ case channel_4:
+ TIM_SetCompare4(this->timer, stm32f4_pwm_object.channel_4_max_period * duty_cycle_percent / 100);
+ break;
+ }
+ return 0;
+}
diff --git a/source/firmware/kernel/driver/driver.c b/source/firmware/kernel/driver/driver.c
index 06b4747..654c647 100644
--- a/source/firmware/kernel/driver/driver.c
+++ b/source/firmware/kernel/driver/driver.c
@@ -11,6 +11,7 @@
#include "adc.h"
#include "gpio.h"
#include "i2c.h"
+#include "pwm.h"
#include "rtc.h"
#include "spi.h"
#include "uart.h"
@@ -30,6 +31,9 @@ int open(const struct driver *driver)
case DRIVER_TYPE_I2C:
ret = i2c_open((struct i2c *)(driver->device_driver));
break;
+ case DRIVER_TYPE_PWM:
+ ret = pwm_open((const struct pwm *)(driver->device_driver));
+ break;
case DRIVER_TYPE_RTC:
ret = rtc_open((const struct rtc *)(driver->device_driver));
break;
@@ -58,6 +62,9 @@ int close(const struct driver *driver)
case DRIVER_TYPE_I2C:
ret = i2c_close((struct i2c *)(driver->device_driver));
break;
+ case DRIVER_TYPE_PWM:
+ ret = pwm_close((const struct pwm *)(driver->device_driver));
+ break;
case DRIVER_TYPE_RTC:
ret = rtc_close((const struct rtc *)(driver->device_driver));
break;
@@ -88,6 +95,9 @@ int read(const struct driver *driver, char *buffer, int len)
break;
case DRIVER_TYPE_I2C:
break;
+ case DRIVER_TYPE_PWM:
+ ret = -1;
+ break;
case DRIVER_TYPE_RTC:
break;
case DRIVER_TYPE_SPI:
@@ -118,6 +128,9 @@ int write(const struct driver *driver, const char *buffer, int len)
break;
case DRIVER_TYPE_I2C:
break;
+ case DRIVER_TYPE_PWM:
+ ret = -1;
+ break;
case DRIVER_TYPE_RTC:
break;
case DRIVER_TYPE_SPI:
@@ -128,3 +141,31 @@ int write(const struct driver *driver, const char *buffer, int len)
}
return ret;
}
+
+int ioctl(const struct driver *driver, unsigned int cmd, const void *data)
+{
+ int ret = -1;
+ if(NULL == driver)
+ return ret;
+ switch(driver->driver_type) {
+ case DRIVER_TYPE_ADC:
+ break;
+ case DRIVER_TYPE_GPIO:
+ break;
+ case DRIVER_TYPE_I2C:
+ break;
+ case DRIVER_TYPE_PWM:
+ if(cmd == IOCTL_PWM_SET_DUTY_CYCLE) {
+ unsigned int *duty = (unsigned int *)data;
+ pwm_set_duty_cycle((const struct pwm *)(driver->device_driver), *duty);
+ }
+ break;
+ case DRIVER_TYPE_RTC:
+ break;
+ case DRIVER_TYPE_SPI:
+ break;
+ case DRIVER_TYPE_UART:
+ break;
+ }
+ return ret;
+}
diff --git a/source/firmware/kernel/driver/include/pwm.h b/source/firmware/kernel/driver/include/pwm.h
new file mode 100644
index 0000000..6d1d883
--- /dev/null
+++ b/source/firmware/kernel/driver/include/pwm.h
@@ -0,0 +1,35 @@
+/*
+ * pwm.h
+ *
+ * Created on: Aug 9, 2016
+ * Author: tkl
+ */
+
+#ifndef SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_PWM_H_
+#define SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_PWM_H_
+
+//! \brief Function pointer to the open function.
+typedef int (*pwm_fp_open_t)(const void*);
+
+//! \brief Function pointer to the close function.
+typedef int (*pwm_fp_close_t)(const void*);
+
+//! \brief Function pointer to the read function.
+typedef int (*pwm_fp_set_duty_cycle_t)(const void*, unsigned int duty_cycle_percent);
+
+struct pwm_fp {
+ const pwm_fp_open_t open;
+ const pwm_fp_close_t close;
+ const pwm_fp_set_duty_cycle_t set_duty_cycle;
+};
+
+struct pwm {
+ const void *arch_dep_device; //!< Architecture depended pwm device (i.e. stm32f10x_pwm_t).
+ const struct pwm_fp *fp; //!< Function pointer for the pwm driver access.
+};
+
+int pwm_open(const struct pwm *device);
+int pwm_close(const struct pwm *device);
+int pwm_set_duty_cycle(const struct pwm *device, unsigned int duty_cycle_percent);
+
+#endif /* SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_PWM_H_ */
diff --git a/source/firmware/kernel/driver/pwm.c b/source/firmware/kernel/driver/pwm.c
new file mode 100644
index 0000000..a8e733e
--- /dev/null
+++ b/source/firmware/kernel/driver/pwm.c
@@ -0,0 +1,33 @@
+/*
+ * pwm.c
+ *
+ * Created on: Aug 9, 2016
+ * Author: tkl
+ */
+
+#include
+#include
+
+int pwm_open(const struct pwm *device)
+{
+ if(NULL == device)
+ return -1;
+ pwm_fp_open_t open = device->fp->open;
+ return open(device->arch_dep_device);
+}
+
+int pwm_close(const struct pwm *device)
+{
+ if(NULL == device)
+ return -1;
+ pwm_fp_close_t close = device->fp->close;
+ return close(device->arch_dep_device);
+}
+
+int pwm_set_duty_cycle(const struct pwm *device, unsigned int duty_cycle_percent)
+{
+ if(NULL == device)
+ return -1;
+ pwm_fp_set_duty_cycle_t set = device->fp->set_duty_cycle;
+ return set(device->arch_dep_device, duty_cycle_percent);
+}
diff --git a/source/firmware/kernel/interface/driver.h b/source/firmware/kernel/interface/driver.h
index ee82abf..14923d9 100644
--- a/source/firmware/kernel/interface/driver.h
+++ b/source/firmware/kernel/interface/driver.h
@@ -8,10 +8,13 @@
#ifndef SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_
#define SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_
+#define IOCTL_PWM_SET_DUTY_CYCLE 0
+
enum driver_type {
DRIVER_TYPE_ADC,
DRIVER_TYPE_GPIO,
DRIVER_TYPE_I2C,
+ DRIVER_TYPE_PWM,
DRIVER_TYPE_RTC,
DRIVER_TYPE_SPI,
DRIVER_TYPE_UART
@@ -26,5 +29,6 @@ int open(const struct driver *driver);
int close(const struct driver *driver);
int read(const struct driver *driver, char *buffer, int len);
int write(const struct driver *driver, const char *buffer, int len);
+int ioctl(const struct driver *driver, unsigned int cmd, const void *data);
#endif /* SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_ */
diff --git a/source/firmware/kernel/include/list.h b/source/firmware/kernel/interface/list.h
similarity index 100%
rename from source/firmware/kernel/include/list.h
rename to source/firmware/kernel/interface/list.h
diff --git a/source/firmware/kernel/interface/shell.h b/source/firmware/kernel/interface/shell.h
new file mode 100644
index 0000000..81fd032
--- /dev/null
+++ b/source/firmware/kernel/interface/shell.h
@@ -0,0 +1,22 @@
+/*
+ * shell.h
+ *
+ * Created on: Aug 1, 2016
+ * Author: tkl
+ */
+
+#ifndef SOURCE_FIRMWARE_KERNEL_INTERFACE_SHELL_H_
+#define SOURCE_FIRMWARE_KERNEL_INTERFACE_SHELL_H_
+
+typedef void *(*command_callback)(const char*);
+
+struct command {
+ const char *command;
+ const command_callback command_callback;
+ struct list_node item;
+};
+
+int shell_init(const struct driver *shell_device);
+int shell_add_command(struct command *command);
+
+#endif /* SOURCE_FIRMWARE_KERNEL_INTERFACE_SHELL_H_ */
diff --git a/source/firmware/kernel/shell.c b/source/firmware/kernel/shell.c
new file mode 100644
index 0000000..3a832da
--- /dev/null
+++ b/source/firmware/kernel/shell.c
@@ -0,0 +1,85 @@
+/*
+ * shell.c
+ *
+ * Created on: Aug 1, 2016
+ * Author: tkl
+ */
+
+#include
+#include
+#include
+
+#include "stack.h"
+#include "queue.h"
+#include "driver.h"
+#include "kernel.h"
+#include "list.h"
+#include "shell.h"
+
+struct shell_object {
+ struct list command_list;
+ const struct driver *shell_device;
+};
+
+struct shell_object shell_object;
+
+#define TH_STACK_SIZE 256
+stack_t th_stack[TH_STACK_SIZE];
+struct thread_context th_ctx;
+
+static void parse(const char *buffer, unsigned int len)
+{
+ if(NULL == buffer)
+ return;
+ struct list_node *it = shell_object.command_list.front;
+ while(it != NULL) {
+ struct command *cmd = (struct command *)it->data;
+ if(strstr(buffer, cmd->command)) {
+ cmd->command_callback(buffer);
+ return;
+ }
+ it = it->next;
+ }
+}
+
+static void rx_func(void *arg)
+{
+ char buffer[81];
+ unsigned int index = 0;
+ int ret = 0;
+ open(shell_object.shell_device);
+ while(1) {
+ ret = read(shell_object.shell_device, &buffer[index],
+ sizeof(buffer) / sizeof(buffer[0]) - index - 1);
+ if(ret) {
+ write(shell_object.shell_device, &buffer[index], ret); // echo
+ if((buffer[index + ret - 1] == '\n') || (buffer[index + ret - 1] == '\r')) {
+ buffer[index + ret - 1] = '\n';
+ parse(buffer, index + ret);
+ buffer[index + ret] = '\0';
+ index = 0;
+ }
+ else
+ index += ret;
+ }
+ }
+}
+
+int shell_init(const struct driver *shell_device)
+{
+ if(NULL == shell_device)
+ return -1;
+ list_init(&shell_object.command_list);
+ shell_object.shell_device = shell_device;
+ thread_create(&th_ctx, th_stack, TH_STACK_SIZE, rx_func, NULL, THREAD_PRIO_LOW);
+ return 0;
+}
+
+int shell_add_command(struct command *command)
+{
+ if(NULL == command)
+ return -1;
+ command->item.data = (unsigned int) command;
+ list_add(&shell_object.command_list, &command->item);
+ return 1;
+}
diff --git a/source/scripts/board_interface.py b/source/scripts/board_interface.py
index 3fc6c0e..a260ea8 100755
--- a/source/scripts/board_interface.py
+++ b/source/scripts/board_interface.py
@@ -16,7 +16,8 @@ def parse_board_file(boardfile):
if match("^.*struct driver.*$", line):
line = sub("^.*struct driver", "", line).strip()
line = sub(" .*$","",line).strip()
- ret.append(line)
+ if not line in ret:
+ ret.append(line)
return ret
def create_board_interface(device_list, outfile):
diff --git a/source/test/pwm/main.c b/source/test/pwm/main.c
new file mode 100644
index 0000000..482e65e
--- /dev/null
+++ b/source/test/pwm/main.c
@@ -0,0 +1,119 @@
+/*
+ * main.c
+ *
+ * Created on: Aug 2, 2016
+ * Author: tkl
+ */
+
+#include
+
+#include "driver.h"
+#include "board.h"
+#include "stack.h"
+#include "queue.h"
+#include "kernel.h"
+#include "driver.h"
+#include "list.h"
+#include "shell.h"
+
+struct engine_ctrl {
+ const struct driver *pwm;
+ const struct driver *enable;
+};
+
+struct drive_ctrl {
+ struct engine_ctrl *left_forward;
+ struct engine_ctrl *left_backward;
+ struct engine_ctrl *right_forward;
+ struct engine_ctrl *right_backward;
+};
+
+
+static struct engine_ctrl right_forward = {
+ .pwm = &pwm_1,
+ .enable = &gpio_c1,
+};
+
+static struct engine_ctrl right_backward = {
+ .pwm = &pwm_2,
+ .enable = &gpio_c0,
+};
+
+static struct engine_ctrl left_forward = {
+ .pwm = &pwm_3,
+ .enable = &gpio_c3,
+};
+
+static struct engine_ctrl left_backward = {
+ .pwm = &pwm_4,
+ .enable = &gpio_c2,
+};
+
+static struct drive_ctrl drive_ctrl = {
+ .left_forward = &left_forward,
+ .left_backward = &left_backward,
+ .right_forward = &right_forward,
+ .right_backward = &right_backward,
+};
+
+#define TH_STACK_SIZE 256
+stack_t th_stack[TH_STACK_SIZE];
+struct thread_context th_ctx;
+static void th_func(void *arg)
+{
+ unsigned int duty = 0;
+
+ /* open enable pins */
+ open(drive_ctrl.left_forward->enable);
+ write(drive_ctrl.left_forward->enable, "0", 1);
+ open(drive_ctrl.left_backward->enable);
+ write(drive_ctrl.left_backward->enable, "0", 1);
+ open(drive_ctrl.right_forward->enable);
+ write(drive_ctrl.right_forward->enable, "0", 1);
+ open(drive_ctrl.right_backward->enable);
+ write(drive_ctrl.right_backward->enable, "0", 1);
+
+ /* open pwm's*/
+ open(drive_ctrl.left_backward->pwm);
+ ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+ open(drive_ctrl.left_forward->pwm);
+ ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+ open(drive_ctrl.right_backward->pwm);
+ ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+ open(drive_ctrl.right_forward->pwm);
+ ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+
+ /* enable enable pins */
+ write(drive_ctrl.left_forward->enable, "1", 1);
+ write(drive_ctrl.left_backward->enable, "1", 1);
+ write(drive_ctrl.right_forward->enable, "1", 1);
+ write(drive_ctrl.right_backward->enable, "1", 1);
+ while(1) {
+ duty = 0;
+ ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+ ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+ for(duty = 0; duty < 100; duty++) {
+ ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+ ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+ sleep_ms(100);
+ }
+ duty = 0;
+ ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+ ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+ sleep_ms(100);
+ for(duty = 0; duty < 100; duty++) {
+ ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+ ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+ sleep_ms(100);
+ }
+ sleep_ms(100);
+ }
+}
+
+int main(void)
+{
+ thread_create(&th_ctx, th_stack, TH_STACK_SIZE, th_func, NULL, THREAD_PRIO_LOW);
+ schedule_start();
+
+ return 0;
+}
diff --git a/source/test/pwm/pwm.mk b/source/test/pwm/pwm.mk
new file mode 100644
index 0000000..0ce5cc1
--- /dev/null
+++ b/source/test/pwm/pwm.mk
@@ -0,0 +1,4 @@
+CHECK_FOLDER += source/test/pwm
+SUB_FOLDER += source/test/pwm
+INCLUDES += source/test/pwm
+DOC_SRC += source/test/pwm
diff --git a/source/test/shell/main.c b/source/test/shell/main.c
new file mode 100644
index 0000000..a1c4210
--- /dev/null
+++ b/source/test/shell/main.c
@@ -0,0 +1,39 @@
+/*
+ * main.c
+ *
+ * Created on: Aug 2, 2016
+ * Author: tkl
+ */
+
+#include
+
+#include "driver.h"
+#include "board.h"
+#include "stack.h"
+#include "queue.h"
+#include "kernel.h"
+#include "driver.h"
+#include "list.h"
+#include "shell.h"
+
+void *uname_fct(const char *line)
+{
+ if(NULL == line)
+ return NULL;
+
+ return NULL;
+}
+
+static struct command cmd = {
+ .command = "uname",
+ .command_callback = uname_fct
+};
+
+int main(void)
+{
+ shell_init(&uart_1);
+ shell_add_command(&cmd);
+ schedule_start();
+
+ return 0;
+}
diff --git a/source/test/shell/shell.mk b/source/test/shell/shell.mk
new file mode 100644
index 0000000..d07baa2
--- /dev/null
+++ b/source/test/shell/shell.mk
@@ -0,0 +1,4 @@
+CHECK_FOLDER += source/test/shell
+SUB_FOLDER += source/test/shell
+INCLUDES += source/test/shell
+DOC_SRC += source/test/shell
diff --git a/source/test/test.mk b/source/test/test.mk
new file mode 100644
index 0000000..e16b6ff
--- /dev/null
+++ b/source/test/test.mk
@@ -0,0 +1,6 @@
+ifeq ($(TEST_APP), shell)
+include source/test/shell/shell.mk
+endif
+ifeq ($(TEST_APP), pwm)
+include source/test/pwm/pwm.mk
+endif