Merge branch 'devel'

.github/workflows/build.yml

@@ -0,0 +1,34 @@
+name: Build for all targets
+on:
+  push:
+    branches:
+      - master
+      - devel
+  pull_request:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ghcr.io/lnls-dig/openmmc-builder:latest
+    strategy:
+      matrix:
+        build-flags:
+          - { flags: -DBOARD=afc-bpm -DVERSION=3.1 } 
+          - { flags: -DBOARD=afc-timing -DBOARD_RTM=8sfp }
+          - { flags: -DBOARD=afc-v4 }
+          - { flags: -DBOARD=afc-v4 -DDEBUG_PROBE=jlink -DOPENOCD_TRANSPORT=swd }
+          - { flags: -DBOARD=afc-v4 -DDEBUG_PROBE=cmsis-dap -DOPENOCD_TRANSPORT=swd }
+          - { flags: -DBOARD=afc-v4 -DDEBUG_PROBE=digilent_jtag_hs3 -DOPENOCD_TRANSPORT=jtag }
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: true
+      - name: Create build environment
+        run: mkdir build
+      - name: Configure CMake
+        working-directory: build
+        run: cmake .. -DCMAKE_BUILD_TYPE=RELWITHDEBINFO ${{matrix.build-flags.flags}}
+      - name: Build for all targets
+        working-directory: build
+        run: make

.gitignore

@@ -56,6 +56,7 @@ CMakeFiles/
 Makefile
 *cmake_install.cmake
 CMakeCache.txt
+build/
 
 #Output files
 out/*

CMakeLists.txt

@@ -1,5 +1,7 @@
 # Define minimal required version of CMake.
-cmake_minimum_required(VERSION 2.8.8)
+cmake_minimum_required(VERSION 3.0.0)
+
+option(DISABLE_WATCHDOG "Disable watchdog module to aid debugging" OFF)
 
 #Include text color definitions
 include( ${CMAKE_SOURCE_DIR}/toolchain/colors.cmake )
@@ -18,7 +20,7 @@ project(openMMC C CXX ASM)
 
 #Find a toolchain file
 if(NOT CMAKE_TOOLCHAIN_FILE)
-  message(WARNING "${Yellow}No toolchain configuration file specified. Using default option!${ColourReset}")
+  message(NOTICE "No toolchain configuration file specified. Using default option!")
 
   include(${CMAKE_SOURCE_DIR}/toolchain/toolchain-arm-none-eabi.cmake)
 endif()
@@ -57,22 +59,17 @@ set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG}" CACHE STRING "")
 set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE}" CACHE STRING "")
 
 set(PROJ_HDRS ${CMAKE_SOURCE_DIR} )
+set(UCONTROLLER_APP_LD_SCRIPT "")
 
 add_subdirectory(port/board)
 add_subdirectory(port/ucontroller)
 add_subdirectory(FreeRTOS)
-add_subdirectory(boot)
 add_subdirectory(modules)
 
 include_directories( ${UCONTROLLER_HDRS} ${PROJ_HDRS} )
 
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DTARGET_CONTROLLER=${TARGET_CONTROLLER} -DTARGET_BOARD_NAME=\"${TARGET_BOARD_NAME}\" ")
 
-if(BENCH_TEST)
-  set(MODULES_FLAGS "${MODULES_FLAGS} -DBENCH_TEST")
-  message( STATUS "${Magenta}Bench mode activated! ${ColourReset}")
-endif()
-
 # Get Git information
 git_describe(GIT_TAG "--tags")
 get_git_head_revision(GIT_REFSPEC GIT_SHA1)
@@ -92,44 +89,37 @@ else()
   message(FATAL_ERROR "${BOARD} not supported!")
 endif()
 
-
-
 # Linker flags
 set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
 set_target_properties(${CMAKE_PROJECT_NAME} PROPERTIES
-  SUFFIX ".axf"
-  LINK_FLAGS "-T ${CMAKE_SOURCE_DIR}/linker/${TARGET_CONTROLLER}_app.ld -Wl,-Map=${CMAKE_SOURCE_DIR}/linker/${TARGET_CONTROLLER}_app.map" )
+  SUFFIX ".elf"
+  LINK_FLAGS "-T ${UCONTROLLER_APP_LD_SCRIPT} -Wl,-Map=${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${TARGET_CONTROLLER}_app.map"
+  )
 
 # Headers path
 target_include_directories(${CMAKE_PROJECT_NAME} PUBLIC ${PROJ_HDRS})
 # Link libraries
-target_link_libraries(${CMAKE_PROJECT_NAME} FreeRTOS c gcc m ${PROJ_LIBS})
-
-
+target_link_libraries(${CMAKE_PROJECT_NAME} FreeRTOS gcc c ${PROJ_LIBS})
 
 ##Generate binary file
 add_custom_command(TARGET ${CMAKE_PROJECT_NAME} POST_BUILD
-  COMMAND ${CMAKE_OBJCOPY} -O binary ${CMAKE_PROJECT_NAME}.axf ${CMAKE_PROJECT_NAME}.bin
+  COMMAND ${CMAKE_OBJCOPY} -O binary ${CMAKE_PROJECT_NAME}.elf ${CMAKE_PROJECT_NAME}.bin
   WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
-  COMMENT "Converting the AXF output to a binary file"
+  COMMENT "Converting the ELF output to a binary file"
   )
 
-#generate bootloader files only for afc cards
-if(${BOARD} MATCHES "^(afc)")
-  add_executable(bootloader ${BOOT_SRCS})
-  set_target_properties(bootloader PROPERTIES
-    SUFFIX ".axf"
-    LINK_FLAGS "-T ${CMAKE_SOURCE_DIR}/linker/${TARGET_CONTROLLER}_boot.ld -Wl,-Map=${CMAKE_SOURCE_DIR}/linker/${TARGET_CONTROLLER}_boot.map")
-  # Headers path
-  target_include_directories(bootloader PUBLIC ${PROJ_HDRS})
-  # Link libraries
-  target_link_libraries(bootloader gcc c m lpcopen)
-
-  add_custom_command(TARGET bootloader POST_BUILD
-    COMMAND ${CMAKE_OBJCOPY} -O binary bootloader.axf bootloader.bin
+##Generate hpm files if bin2hpm is installed
+
+find_program(BIN2HPM NAMES "bin2hpm")
+if(BIN2HPM)
+  add_custom_command(TARGET ${CMAKE_PROJECT_NAME} POST_BUILD
+    COMMAND bin2hpm -c 1 -n -m 0x315A -p 0x00 ${CMAKE_PROJECT_NAME}.bin -o ${CMAKE_PROJECT_NAME}.hpm
     WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
-    COMMENT "Converting the AXF output to a binary file"
-    )
+    COMMENT "Creating HPM file from binary"
+  )
+  message(STATUS "bin2hpm found in the $PATH, .hpm files will be generated automatically.")
+else()
+  message(NOTICE "bin2hpm not found in the $PATH, .hpm files will not be generated.")
 endif()
 
-include( ${CMAKE_SOURCE_DIR}/probe/lpclink.cmake )
+include( ${CMAKE_SOURCE_DIR}/probe/openocd.cmake )

FreeRTOS/CMakeLists.txt

@@ -32,6 +32,7 @@ set(LIBFREERTOS_SRCS ${LIBFREERTOS_SRCS}
   timers.c
   tasks.c
   event_groups.c
+  openocd.c
   )
 
 include_directories(${UCONTROLLER_HDRS})

FreeRTOS/openocd.c

@@ -0,0 +1,20 @@
+/*
+ * Since at least FreeRTOS V7.5.3 uxTopUsedPriority is no longer
+ * present in the kernel, so it has to be supplied by other means for
+ * OpenOCD's threads awareness.
+ *
+ * Add this file to your project, and, if you're using --gc-sections,
+ * ``--undefined=uxTopUsedPriority'' (or
+ * ``-Wl,--undefined=uxTopUsedPriority'' when using gcc for final
+ * linking) to your LDFLAGS; same with all the other symbols you need.
+ */
+
+#include "FreeRTOS.h"
+
+#ifdef __GNUC__
+#define USED __attribute__((used))
+#else
+#define USED
+#endif
+
+volatile const int USED uxTopUsedPriority = configMAX_PRIORITIES - 1;

README.md

@@ -1,6 +1,6 @@
 # openMMC
 
-[![Travis build status](https://travis-ci.org/lnls-dig/openMMC.svg?branch=master)](https://travis-ci.org/lnls-dig/openMMC)
+[![Continuous Integration Status](https://github.com/lnls-dig/openMMC/actions/workflows/build.yml/badge.svg)](https://github.com/lnls-dig/openMMC/actions)
 
 Open Source modular IPM Controller firmware
 
@@ -39,45 +39,82 @@ After creating the build files with CMake, you can compile the firmware using `m
 
 	make [VERBOSE=1]
 
-Both a `.axf` file and a `.bin` file will be generated in the `out` folder. You can use any one you prefer to program your processor.
+Both a `.elf` file and a `.bin` file will be generated in the `out` folder. You can use any one you prefer to program your processor.
 
 To clean the compilation files (binaries, objects and dependence files), just run
 
     make clean
 
-To make a debug build (to include symbols into axf file, turn off optimizations, etc.) add `-DCMAKE_BUILD_TYPE=Debug` option to `cmake` command. Example:
+To make a debug build (to include symbols into elf file, turn off optimizations, etc.) add `-DCMAKE_BUILD_TYPE=Debug` option to `cmake` command. Example:
 
 	cmake ~/openmmc/ -DBOARD=afc -DVERSION=3.1 -DCMAKE_BUILD_TYPE=Debug
 
 ## Programming
-After creating the binaries, you can program them to your chip any way you want, using a JTAG cable, ISP Programmer, custom bootloader, etc.
-There are 2 program interfaces supported so far: *LPCLink* and *LPCLink2*
-In order to select which interface will be used, include the flag `-DDEBUG_PROBE=<probe_name>` when running CMake (this option defaults to `LPCLink`).
 
-	cmake ~/openmmc/ -DBOARD=afc -DVERSION=3.1 -DDEBUG_PROBE=LPCLink2
+### OpenOCD
+Flashing the MMC microcontroller via SWD/JTAG is supported for CMSIS-DAP and Jlink compatible probes through OpenOCD. You can specify the debug probe with the flag `-DDEBUG_PROBE=<probe_name>`, valid options are `cmsis-dap` (default) and `jlink`.
 
+	cmake ~/openmmc/ -DBOARD=afc -DVERSION=3.1 -DDEBUG_PROBE=cmsis-dap
 
-### LPCLink
-If you own a *LPCLink* or *LPCLink2* board, you can use it to program the LPC1764 processor via its JTAG interface
+This will create a `openocd.cfg` file in `<build_dir>/out`.
 
-**NOTE**: In this case you **must** have the LPCXpresso installed in your machine, since we need to use the binaries for the interface chip on the LPCLink that they provide.
+To flash the application firmware only, run
 
-The CMake script should be able to find LPCXpresso path, but if this is not possible, open the `<openMMC_root_folder>/CMakeLists.txt` and change the following line
+    make program_app
 
-	set(LPCXPRESSO_PATH <lpcxpresso_path>)
+To flash the bootloader firmware only, run
 
-*NOTE*: You can also use cmake-gui to set this option.
+	make program_boot
 
-To transfer only the application firmware, run
+If you want to erase the whole Flash and flash both firmwares:
 
-    make program_app
+	make program_all
 
-To transfer only the bootloader firmware, run
+### LPC-Link1
+It is possible to flash the MMC microcontroller with the LPC-Link1 adapter by using the `probe/lpclink1-flash.sh` script. You will need to have MCUXpresso IDE installed in your computer. This script assumes that the MCUXpresso binaries are located in `/usr/local/mcuxpressoide/ide/binaries/` by default, you can change this path by setting the `MCUXPRESSOIDE_BIN` environment variable.
 
-	make program_boot
+	./probe/lpclink1-flash.sh firmware.bin LPC1764 0x0000
 
-If you want to erase the whole Flash and copy both firmwares:
+### HPM-Downloader
+> :warning: **Disclaimer:** Due to [f06f69f](https://github.com/lnls-dig/openMMC/commit/f06f69f978c11bb8e1a2b12e4846e4bd51f757e4), this alternative is deprecated and ipmitool should be used instead, except when updating the OpenMMC application from older versions.
 
-	make program_all
+Another option to program the MMC microcontroler is through [HPM-Downloader](https://github.com/lnls-dig/hpm-downloader).
+First, download and compile the HPM. In it's root directory, in order to load the firmware, run
+
+	./bin/hpm-downloader --no-retries --ip <MCH_IP_address> --slot <slots_to_be_updated> --component 1 <path_to_openMMC.bin>
+
+Due to timeout on sending packets, it may fails sometimes, with the Completion Code `0xc3` in the `ACTIVATE_FIRMWARE_UPLOAD` process. If it occurs, just try the same command again, until you receive the `Upgrade success` message.
+Now, you have to upload the bootloader, since the old bootloader is incompatible. To succeed this, run
+
+	 ./bin/hpm-downloader --ignore-component-check --ip <MCH_IP_address> --slot <slots_to_be_updated> --component 0 <path_to_newboot.bin>
+
+It's also important to mention that you can use the `--help` command in case of doubt about how to use the HPM commands. Run
+
+	./bin/hpm-downloader --help
+
+### ipmitool
+After [5631857](https://github.com/lnls-dig/openMMC/commit/563185791c8b51ea026680c98ec0ea9587ea645b), it's possible to program the firmware and the bootloader through [ipmitool](https://codeberg.org/IPMITool/ipmitool), for previous releases, you still need to use [hpm-downloader](https://github.com/lnls-dig/hpm-downloader). In order to use it, you have to install the ipmitool, and then generate .hpm files from `OpenMMC.bin` and `newboot.bin`. To generate `.hpm` files, you will need to use [bin2hpm](https://github.com/MicroTCA-Tech-Lab/bin2hpm). If you have bin2hpm in your `$PATH`, the `.hpm` files will be automatically generated for you, provided you build from [0095b14](https://github.com/lnls-dig/openMMC/commit/0095b14667afe844113725228671d8810b45d9e0) or more recent versions.
+After generate the files, you can use the following commands to program the MMC microcontroller.
+To upgrade the firmware, use
+
+    ipmitool -I lan -H host_name_mch -A none -T 0x82 -m 0x20 -t (112 + num_slot*2 in hexadecimal) hpm upgrade openMMC.hpm activate
+
+To upgrade the bootloader, use
+
+    ipmitool -I lan -H host_name_mch -A none -T 0x82 -m 0x20 -t (112 + num_slot*2 in hexadecimal) hpm upgrade newboot.hpm activate
+
+## Debugging
+It is possible to debug the MMC firmware using OpenOCD and GDB. First, connect OpenOCD with the debug probe using the `out/openocd.cfg` file generated by cmake in the build directory:
+
+	openocd -f out/openocd.cfg
+
+Then open GDB:
+
+	$ arm-none-eabi-gdb out/openMMC.elf
+	(gdb) target remote localhost:3333
+
+Now you can use the typical GDB commands to inspect the program flow and variables. Some useful commands when interacting with a microcontroller trough OpenOCD are listed below:
 
-**NOTE 2**: We only have linker scripts to LPC1764 and LPC1769, so if you wish to compile to a different controller, you'll have to change the `linker/lpc1764_boot.ld` and `linker/lpc1764_app.ld` files, which defines the memory regions, otherwise you'll run into several HardFault errors.
+	(gdb) monitor reset halt # Resets the microcontroller and immediately halts
+	(gdb) monitor reset run  # Resets the microcontroller and starts executing
+	(gdb) load               # Reload the firmware into flash