From 1ada39d7fdcd5a8cb4e1a47466891a790f5f032c Mon Sep 17 00:00:00 2001
From: Oleg Hahm <oleg@hobbykeller.org>
Date: Mon, 19 Aug 2013 18:58:45 +0200
Subject: [PATCH] initial commit for TelosB support
---
telosb/Makefile | 33 ++++++++++
telosb/Makefile.dep | 2 +
telosb/Makefile.include | 25 +++++++
telosb/board.c | 127 ++++++++++++++++++++++++++++++++++++
telosb/include/board-conf.h | 13 ++++
telosb/include/board.h | 58 ++++++++++++++++
telosb/uart.c | 45 +++++++++++++
7 files changed, 303 insertions(+)
create mode 100644 telosb/Makefile
create mode 100644 telosb/Makefile.dep
create mode 100644 telosb/Makefile.include
create mode 100644 telosb/board.c
create mode 100644 telosb/include/board-conf.h
create mode 100644 telosb/include/board.h
create mode 100644 telosb/uart.c
diff --git a/telosb/Makefile b/telosb/Makefile
new file mode 100644
index 0000000000..1f6fc07cb0
--- /dev/null
+++ b/telosb/Makefile
@@ -0,0 +1,33 @@
+SRC = $(wildcard *.c)
+BINDIR = bin/
+OBJ = $(SRC:%.c=$(BINDIR)%.o)## defines
+export ARCH = telosb_base.a
+
+DEP = $(SRC:%.c=$(BINDIR)%.d)
+
+INCLUDES += -I${RIOTBASE}/core/include/
+INCLUDES += -I$(RIOTBASE)/cpu/msp430-common/include/ -I$(RIOTBASE)/cpu/msp430x16x/include/
+INCLUDES += -I$(RIOTBASE)/drivers/cc2420/include/ -I$(RIOTBASE)/sys/include
+INCLUDES += -I$(RIOTBASE)/sys/net/
+
+all: $(BINDIR)$(ARCH)
+
+$(BINDIR)$(ARCH): $(OBJ)
+ $(AR) rcs $(BINDIR)$(ARCH) $(OBJ)
+
+# pull in dependency info for *existing* .o files
+-include $(OBJ:.o=.d)
+
+# compile and generate dependency info
+$(BINDIR)%.o: %.c
+ mkdir -p $(BINDIR)
+ $(CC) $(CFLAGS) $(INCLUDES) $(BOARDINCLUDE) $(PROJECTINCLUDE) $(CPUINCLUDE) -c $*.c -o $(BINDIR)$*.o
+ $(CC) $(CFLAGS) $(INCLUDES) $(BOARDINCLUDE) $(PROJECTINCLUDE) $(CPUINCLUDE) -MM $*.c > $(BINDIR)$*.d
+ @printf "$(BINDIR)"|cat - $(BINDIR)$*.d > /tmp/riot_out && mv /tmp/riot_out $(BINDIR)$*.d
+
+# remove compilation products
+clean:
+ rm -f $(BINDIR)$(ARCH) $(OBJ) $(DEP)
+ @if [ -d $(BINDIR) ] ; \
+ then rmdir $(BINDIR) ; \
+ fi
diff --git a/telosb/Makefile.dep b/telosb/Makefile.dep
new file mode 100644
index 0000000000..4392a18adb
--- /dev/null
+++ b/telosb/Makefile.dep
@@ -0,0 +1,2 @@
+USEMODULE += msp430_common
+
diff --git a/telosb/Makefile.include b/telosb/Makefile.include
new file mode 100644
index 0000000000..e07ce0f5da
--- /dev/null
+++ b/telosb/Makefile.include
@@ -0,0 +1,25 @@
+include $(RIOTBOARD)/$(BOARD)/Makefile.dep
+## the cpu to build for
+export CPU = msp430x16x
+export MCU = msp430f1611
+
+# toolchain config
+export PREFIX = @msp430-
+export CC = @$(PREFIX)gcc
+export AR = @$(PREFIX)ar
+export CFLAGS += -std=gnu99 -Wstrict-prototypes -gdwarf-2 -Os -Wall -mmcu=$(MCU)
+export ASFLAGS += -mmcu=$(MCU) --defsym $(MCU)=1 --gdwarf-2
+export AS = $(PREFIX)as
+export LINK = $(PREFIX)gcc
+export SIZE = $(PREFIX)size
+export OBJCOPY = $(PREFIX)objcopy
+export LINKFLAGS = -mmcu=$(MCU) -lgcc $(RIOTBASE)/bin/startup.o
+export TERMPROG = $(RIOTBASE)/dist/tools/pyterm/pyterm.py
+export FLASHER = goodfet.bsl
+ifeq ($(strip $(PORT)),)
+ export PORT = /dev/ttyUSB0
+endif
+export HEXFILE = bin/$(PROJECT).hex
+export FFLAGS = --telosb -c $(PORT) -r -e -I -p $(HEXFILE)
+
+export INCLUDES += -I $(RIOTCPU)/msp430-common/include/
diff --git a/telosb/board.c b/telosb/board.c
new file mode 100644
index 0000000000..d461e3b4c1
--- /dev/null
+++ b/telosb/board.c
@@ -0,0 +1,127 @@
+ /*
+ * board.c - Board initiazilation for the TelosB
+ * Copyright (C) 2013 Oliver Hahm <oliver.hahm@inria.fr>
+ *
+ * This file subject to the terms and conditions of the GLGPLv2 License. See the file LICENSE in the
+ * top level directory for more details.
+ */
+
+#include "cpu.h"
+#include "board.h"
+
+void uart_init(void);
+
+static void telosb_ports_init(void)
+{
+ /* Port 1: GDO, Flash, BSL TX */
+ P1SEL = 0x02; /* Port1 Select: 00000010 = 0x02 */
+ P1OUT = 0x00; /* Port1 Output: 00000000 = 0x00 */
+ P1DIR = 0x87; /* Port1 Direction: 10000111 = 0x87 */
+
+ /* Port 2: GPIO, BSL RX, 1wire */
+ P2SEL = 0x04; /* Port2 Select: 00000100 = 0x04 */
+ P2OUT = 0x00; /* Port2 Output: 00000000 = 0x00 */
+ P2DIR = 0xFF; /* Port2 Direction: 11111111 = 0xFF */
+
+ /* Port 3: UART and SPI */
+ P3SEL = 0xCE; /* Port3 Select: 11001110 = 0xCE */
+ P3OUT = 0x00; /* Port3 Output: 00000000 = 0x00 */
+ P3DIR = 0x4E; /* Port3 Direction: 01001110 = 0x4E */
+
+ /* Port 4: CS */
+ P4SEL = 0x02; /* Port4 Select: 00000010 = 0x02 */
+ P4OUT = 0x04; /* Port4 Output: 00000100 = 0x04 */
+ P4DIR = 0x64; /* Port4 Direction: 01100100 = 0x64 */
+
+ /* Port 5: SPI, LED */
+ P5SEL = 0x00; /* Port5 Select: 00000000 = 0x00 */
+ P5OUT = 0x70; /* Port5 Output: 01110000 = 0x70 */
+ P5DIR = 0x70; /* Port5 Direction: 01110000 = 0x70 */
+
+
+ P6SEL = 0xFF; /* Port6 Select: 11111111 = 0xFF */
+ P6OUT = 0x00; /* Port6 Output: 00000000 = 0x00 */
+ P6DIR = 0xFF; /* Port6 Direction: 11111000 = 0xFF */
+
+}
+
+/*---------------------------------------------------------------------------*/
+/* taken from Contiki code */
+void msp430_init_dco(void)
+{
+ /* This code taken from the FU Berlin sources and reformatted. */
+#define DELTA (F_CPU / (F_RC_OSCILLATOR / 8))
+
+ unsigned int compare, oldcapture = 0;
+ unsigned int i;
+
+ /* 10100100 = XT2 is off, ACLK divided by 4, RSELx=4 */
+ BCSCTL1 = XT2OFF | DIVA_2 | RSEL2;
+
+ /* Init undivided DCO with internal resistor for MCLK and SMCLK
+ * DCO = 32762Hz -> FLL = 2,4576 MHz */
+ BCSCTL2 = 0x00;
+
+ BCSCTL1 |= DIVA1 + DIVA0; /* ACLK = LFXT1CLK/8 */
+
+ for (i = 0xFFFF; i > 0; i--) { /* Delay for XTAL to settle */
+ asm("nop");
+ }
+
+ CCTL2 = CCIS0 + CM0 + CAP; /* Define CCR2, CAP, ACLK */
+ TACTL = TASSEL1 + TACLR + MC1; /* SMCLK, continous mode */
+
+ while (1) {
+ while ((CCTL2 & CCIFG) != CCIFG); /* Wait until capture occured!*/
+
+ CCTL2 &= ~CCIFG; /* Capture occured, clear flag */
+ compare = CCR2; /* Get current captured SMCLK */
+ compare = compare - oldcapture; /* SMCLK difference */
+ oldcapture = CCR2; /* Save current captured SMCLK */
+
+ if (DELTA == compare) {
+ break; /* if equal, leave "while (1)" */
+ }
+ else if (DELTA < compare) { /* DCO is too fast, slow it down */
+ DCOCTL--;
+
+ if (DCOCTL == 0xFF) { /* Did DCO role under? */
+ BCSCTL1--;
+ }
+ }
+ else { /* -> Select next lower RSEL */
+ DCOCTL++;
+
+ if (DCOCTL == 0x00) { /* Did DCO role over? */
+ BCSCTL1++;
+ }
+
+ /* -> Select next higher RSEL */
+ }
+ }
+
+ CCTL2 = 0; /* Stop CCR2 function */
+ TACTL = 0; /* Stop Timer_A */
+
+ BCSCTL1 &= ~(DIVA1 + DIVA0); /* remove /8 divisor from ACLK again */
+}
+
+
+//=========================== public ==========================================
+
+void board_init(void)
+{
+ msp430_cpu_init();
+ /* disable watchdog timer */
+ WDTCTL = WDTPW + WDTHOLD;
+
+ telosb_ports_init();
+
+ msp430_init_dco();
+
+ /* initialize bsp modules */
+ uart_init();
+
+ /* enable interrupts */
+ __bis_SR_register(GIE);
+}
diff --git a/telosb/include/board-conf.h b/telosb/include/board-conf.h
new file mode 100644
index 0000000000..f65074da9d
--- /dev/null
+++ b/telosb/include/board-conf.h
@@ -0,0 +1,13 @@
+/**
+ * board-conf.h.
+ *
+ * This source code is licensed under the GNU Lesser General Public License,
+ * Version 2. See the file LICENSE for more details.
+ */
+
+#ifndef BOARD_CONF_H
+#define BOARD_CONF_H
+
+#define INFOMEM (0x1000)
+
+#endif /* BOARD-CONF_H */
diff --git a/telosb/include/board.h b/telosb/include/board.h
new file mode 100644
index 0000000000..d9ab4a6675
--- /dev/null
+++ b/telosb/include/board.h
@@ -0,0 +1,58 @@
+/**
+ * board.h - TelosB Board.
+ * Copyright (C) 2013 INRIA
+ *
+ * This source code is licensed under the GNU Lesser General Public License,
+ * Version 2. See the file LICENSE for more details.
+ */
+
+#ifndef _TELOSB_BOARD_H
+#define _TELOSB_BOARD_H
+
+/**
+ * @defgroup TelosB
+ * @ingroup TelosB
+ *
+<h2>Compontents</h2>
+\li MSP430
+\li CC2420
+
+* @{
+*/
+
+/**
+ * @file
+ * @brief TelosB Board
+ *
+ * @author Oliver Hahm <oliver.hahm@inria.fr>
+ *
+ */
+
+//MSB430 core
+#define MSP430_INITIAL_CPU_SPEED 800000uL
+#define MSP430_HAS_DCOR 0
+#define MSP430_HAS_EXTERNAL_CRYSTAL 1
+
+/* LEDs ports MSB430 */
+#define LEDS_PxDIR P5DIR
+#define LEDS_PxOUT P5OUT
+#define LEDS_CONF_RED 0x10
+#define LEDS_CONF_GREEN 0x20
+#define LEDS_CONF_BLUE 0x40
+
+#define LED_RED_ON LEDS_PxOUT &=~LEDS_CONF_RED
+#define LED_RED_OFF LEDS_PxOUT |= LEDS_CONF_RED
+#define LED_RED_TOGGLE LEDS_PxOUT ^= LEDS_CONF_RED
+
+#define LED_GREEN_ON LEDS_PxOUT &=~LEDS_CONF_GREEN
+#define LED_GREEN_OFF LEDS_PxOUT |= LEDS_CONF_GREEN
+#define LED_GREEN_TOGGLE LEDS_PxOUT ^= LEDS_CONF_GREEN
+
+#define LED_BLUE_ON LEDS_PxOUT &=~LEDS_CONF_BLUE
+#define LED_BLUE_OFF LEDS_PxOUT |= LEDS_CONF_BLUE
+#define LED_BLUE_TOGGLE LEDS_PxOUT ^= LEDS_CONF_BLUE
+
+#include <msp430x16x.h>
+
+/** @} */
+#endif // _TELOSB_BOARD_H
diff --git a/telosb/uart.c b/telosb/uart.c
new file mode 100644
index 0000000000..b8cdcdcd76
--- /dev/null
+++ b/telosb/uart.c
@@ -0,0 +1,45 @@
+ /*
+ * uart.c - Implementation for the TelosB UART
+ * Copyright (C) 2013 Oliver Hahm <oliver.hahm@inria.fr>
+ *
+ * This file subject to the terms and conditions of the GLGPLv2 License. See the file LICENSE in the
+ * top level directory for more details.
+ */
+
+#include <stdio.h>
+#include <stdint.h>
+#include "cpu.h"
+#include "board.h"
+#include "kernel.h"
+
+#define UART1_TX U1TXBUF
+#define UART1_WAIT_TXDONE() while ( (U1TCTL & TXEPT) == 0 ) { _NOP(); }
+
+#define BAUDRATE (115200ul)
+
+void uart_init(void)
+{
+ UCTL1 = SWRST; /* hold UART1 module in reset */
+ UCTL1 |= CHAR; /* 8-bit character */
+
+ /* 115200 baud, clocked from 4.8MHz SMCLK */
+ UTCTL1 |= SSEL1; /* UCLK = SCLK */
+ UBR01 = F_CPU / BAUDRATE;
+ UBR11 = (F_CPU / BAUDRATE) >> 8;
+ UMCTL1 = 0x4A; /* modulation */
+
+ ME2 |= UTXE1 + URXE1; /* enable UART1 TX/RX */
+ UCTL1 &= ~SWRST; /* clear UART1 reset bit */
+}
+
+int putchar(int c)
+{
+ UART1_TX = c;
+ UART1_WAIT_TXDONE();
+ return c;
+}
+
+uint8_t uart_readByte(void)
+{
+ return U1RXBUF;
+}
--
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