bricks/ev3: New arm none port.

This boots all the way up to MicroPython and outputs stdout over UART on sensor port 1.

bricks/_common/arm_none_eabi.mk

@@ -152,9 +152,13 @@ else
 ifeq ($(PB_MCU_FAMILY),AT91SAM7)
 CFLAGS_MCU = -mthumb -mthumb-interwork -mtune=arm7tdmi -mcpu=arm7tdmi -msoft-float
 else
+ifeq ($(PB_MCU_FAMILY),TIAM1808)
+CFLAGS_MCU =
+else
 $(error unsupported PB_MCU_FAMILY)
 endif
 endif
+endif
 
 CFLAGS_WARN = -Wall -Werror -Wextra -Wno-unused-parameter -Wno-maybe-uninitialized
 CFLAGS = $(INC) -std=c99 -nostdlib -fshort-enums $(CFLAGS_MCU) $(CFLAGS_WARN) $(COPT) $(CFLAGS_EXTRA)
@@ -181,6 +185,8 @@ CFLAGS += -fsingle-precision-constant -Wdouble-promotion
 # Tune for Debugging or Optimization
 ifeq ($(DEBUG), 1)
 CFLAGS += -Og -ggdb
+else ifeq ($(DEBUG), 2)
+CFLAGS += -Os -DNDEBUG -flto
 else
 CFLAGS += -Os -DNDEBUG -flto
 CFLAGS += -fdata-sections -ffunction-sections
@@ -246,6 +252,14 @@ PY_EXTRA_SRC_C += $(addprefix bricks/nxt/,\
 SRC_S += shared/runtime/gchelper_thumb1.s
 endif
 
+ifeq ($(PB_MCU_FAMILY),TIAM1808)
+PY_EXTRA_SRC_C += $(addprefix bricks/ev3/,\
+	mphalport.c \
+	)
+
+SRC_S += shared/runtime/gchelper_thumb1.s
+endif
+
 # STM32 Bluetooth stack
 
 BLUENRG_SRC_C = $(addprefix lib/BlueNRG-MS/hci/,\

bricks/ev3/Makefile

@@ -0,0 +1,13 @@
+PBIO_PLATFORM = ev3
+PB_MCU_FAMILY = TIAM1808
+
+# Disable some options. Can get rid of this once linker file and compile flags
+# are properly set up.
+DEBUG = 2
+
+include ../_common/arm_none_eabi.mk
+
+$(BUILD)/uImage: $(BUILD)/firmware-base.bin
+	mkimage -C none -A arm -T kernel -O linux -a 0xC0008000 -e 0xC0008000 -d $< $@
+
+uImage: $(BUILD)/uImage

bricks/ev3/mpconfigport.h

@@ -0,0 +1,113 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2024 The Pybricks Authors
+
+
+#define MICROPY_HW_BOARD_NAME                   "MINDSTORMS EV3 Brick"
+#define MICROPY_HW_MCU_NAME                     "TI Sitara AM1808"
+
+#define PYBRICKS_HUB_NAME                       "ev3"
+#define PYBRICKS_HUB_CLASS_NAME                 (MP_QSTR_EV3Brick)
+#define PYBRICKS_HUB_EV3BRICK                   (0)
+
+// Pybricks modules
+#define PYBRICKS_PY_COMMON                      (1)
+#define PYBRICKS_PY_COMMON_BLE                  (0)
+#define PYBRICKS_PY_COMMON_CHARGER              (0)
+#define PYBRICKS_PY_COMMON_CONTROL              (0)
+#define PYBRICKS_PY_COMMON_IMU                  (0)
+#define PYBRICKS_PY_COMMON_KEYPAD               (0)
+#define PYBRICKS_PY_COMMON_KEYPAD_HUB_BUTTONS   (0)
+#define PYBRICKS_PY_COMMON_LIGHT_ARRAY          (0)
+#define PYBRICKS_PY_COMMON_LIGHT_MATRIX         (0)
+#define PYBRICKS_PY_COMMON_LOGGER               (0)
+#define PYBRICKS_PY_COMMON_MOTOR_MODEL          (0)
+#define PYBRICKS_PY_COMMON_MOTORS               (0)
+#define PYBRICKS_PY_COMMON_SYSTEM               (0)
+#define PYBRICKS_PY_EXPERIMENTAL                (0)
+#define PYBRICKS_PY_HUBS                        (0)
+#define PYBRICKS_PY_IODEVICES                   (0)
+#define PYBRICKS_PY_MEDIA                       (0)
+#define PYBRICKS_PY_PARAMETERS                  (0)
+#define PYBRICKS_PY_PARAMETERS_BUTTON           (0)
+#define PYBRICKS_PY_PARAMETERS_ICON             (0)
+#define PYBRICKS_PY_DEVICES                     (0)
+#define PYBRICKS_PY_PUPDEVICES                  (0)
+#define PYBRICKS_PY_ROBOTICS                    (0)
+#define PYBRICKS_PY_ROBOTICS_EXTRA              (0)
+#define PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO     (0)
+#define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (0)
+#define PYBRICKS_PY_TOOLS                       (0)
+#define PYBRICKS_PY_TOOLS_HUB_MENU              (0)
+
+// Pybricks options
+#define PYBRICKS_OPT_COMPILER                   (1)
+#define PYBRICKS_OPT_FLOAT                      (1)
+#define PYBRICKS_OPT_TERSE_ERR                  (0)
+#define PYBRICKS_OPT_EXTRA_MOD                  (1)
+#define PYBRICKS_OPT_CUSTOM_IMPORT              (1)
+#define PYBRICKS_OPT_NATIVE_MOD                 (1)
+
+// Start with config shared by all Pybricks ports.
+#include "../_common/mpconfigport.h"
+
+#define MICROPY_MPHALPORT_H "../_common/mphalport.h"
+
+// type definitions for the specific machine
+
+#define MICROPY_MAKE_POINTER_CALLABLE(p) ((void *)((mp_uint_t)(p) | 1))
+
+// This port is intended to be 32-bit, but unfortunately, int32_t for
+// different targets may be defined in different ways - either as int
+// or as long. This requires different printf formatting specifiers
+// to print such value. So, we avoid int32_t and use int directly.
+#define UINT_FMT "%u"
+#define INT_FMT "%d"
+typedef int mp_int_t; // must be pointer size
+typedef unsigned mp_uint_t; // must be pointer size
+
+typedef long mp_off_t;
+
+// We have inlined IRQ functions for efficiency (they are generally
+// 1 machine instruction).
+//
+// Note on IRQ state: you should not need to know the specific
+// value of the state variable, but rather just pass the return
+// value from disable_irq back to enable_irq.  If you really need
+// to know the machine-specific values, see irq.h.
+
+static inline void enable_irq(mp_uint_t state) {
+    // __set_PRIMASK(state);
+}
+
+static inline mp_uint_t disable_irq(void) {
+    // mp_uint_t state = __get_PRIMASK();
+    // __disable_irq();
+    // return state;
+    return 0;
+}
+
+#define MICROPY_BEGIN_ATOMIC_SECTION()     disable_irq()
+#define MICROPY_END_ATOMIC_SECTION(state)  enable_irq(state)
+
+#define MICROPY_VM_HOOK_LOOP \
+    do { \
+        extern int pbio_do_one_event(void); \
+        pbio_do_one_event(); \
+    } while (0);
+
+#define MICROPY_GC_HOOK_LOOP(i) do { \
+        if ((i & 0xf) == 0) { \
+            MICROPY_VM_HOOK_LOOP \
+        } \
+} while (0)
+
+#define MICROPY_EVENT_POLL_HOOK \
+    do { \
+        extern void pb_event_poll_hook(void); \
+        pb_event_poll_hook(); \
+    } while (0);
+
+// We need to provide a declaration/definition of alloca()
+#include <alloca.h>
+
+#define MP_STATE_PORT MP_STATE_VM

bricks/ev3/mphalport.c

@@ -0,0 +1,67 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2013, 2014 Damien P. George
+
+#include <stdint.h>
+
+#include <contiki.h>
+
+#include <pbdrv/config.h>
+#include <pbio/main.h>
+#include <pbsys/bluetooth.h>
+
+#include "py/runtime.h"
+#include "py/mphal.h"
+#include "py/mpconfig.h"
+#include "py/stream.h"
+
+void pb_stack_get_info(char **sstack, char **estack) {
+
+    volatile int stack_dummy;
+    // extern uint32_t _estack;
+    // extern uint32_t _sstack;
+    *sstack = (char *)&stack_dummy;
+    *estack = *sstack + 1024 * 64;
+}
+
+void pb_event_poll_hook_leave(void) {
+}
+
+void mp_hal_delay_ms(mp_uint_t Delay) {
+}
+
+
+uintptr_t mp_hal_stdio_poll(uintptr_t poll_flags) {
+    uintptr_t ret = 0;
+    return ret;
+}
+
+int mp_hal_stdin_rx_chr(void) {
+    uint8_t c = 0;
+    return c;
+}
+
+typedef struct {
+    volatile uint8_t *thr;
+    volatile uint8_t *lsr;
+} pb_hal_uart_t;
+
+// Sensor port 1
+static pb_hal_uart_t UART0 = { .thr = (volatile uint8_t *)0x01D0C000, .lsr = (volatile uint8_t *)0x01D0C014 };
+
+// Define the write_str function
+static void write_str(pb_hal_uart_t *uart, const char *s) {
+    while (*s) {
+        while ((*uart->lsr & (1 << 5)) == 0) {
+        }
+        *uart->thr = *s++;
+    }
+}
+
+void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
+    write_str(&UART0, str);
+    MICROPY_EVENT_POLL_HOOK
+}
+
+void mp_hal_stdout_tx_flush(void) {
+}

bricks/ev3/pbsys_app_config.h

@@ -0,0 +1,2 @@
+
+#define PBSYS_APP_HUB_FEATURE_FLAGS (PBIO_PYBRICKS_FEATURE_USER_PROG_FORMAT_MULTI_MPY_V6)

lib/pbio/platform/ev3/contiki-conf.h

@@ -0,0 +1,21 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2018-2021 The Pybricks Authors
+
+#ifndef _PBIO_CONF_H_
+#define _PBIO_CONF_H_
+
+#include <stdint.h>
+
+#define CCIF
+#define CLIF
+#define AUTOSTART_ENABLE 1
+
+typedef uint32_t clock_time_t;
+#define CLOCK_CONF_SECOND 1000
+
+#define clock_time pbdrv_clock_get_ms
+#define clock_usecs pbdrv_clock_get_us
+
+#define PROCESS_CONF_NO_PROCESS_NAMES 1
+
+#endif /* _PBIO_CONF_H_ */

lib/pbio/platform/ev3/pbdrvconfig.h

@@ -0,0 +1,21 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2024 The Pybricks Authors
+
+// platform-specific configuration for LEGO MINDSTORMS EV3
+
+#define PBDRV_CONFIG_CLOCK                          (1)
+#define PBDRV_CONFIG_CLOCK_NONE                     (1)
+
+#define PBDRV_CONFIG_BLOCK_DEVICE                   (1)
+#define PBDRV_CONFIG_BLOCK_DEVICE_TEST              (1)
+#define PBDRV_CONFIG_BLOCK_DEVICE_TEST_SIZE         (8 * 1024)
+#define PBDRV_CONFIG_BLOCK_DEVICE_TEST_SIZE_USER    (512)
+
+// FIXME: Can't build without a port
+#define PBDRV_CONFIG_HAS_PORT_A                     (1)
+#define PBDRV_CONFIG_HAS_PORT_B                     (1)
+#define PBDRV_CONFIG_HAS_PORT_C                     (1)
+#define PBDRV_CONFIG_HAS_PORT_D                     (1)
+
+#define PBDRV_CONFIG_FIRST_MOTOR_PORT               PBIO_PORT_ID_A
+#define PBDRV_CONFIG_LAST_MOTOR_PORT                PBIO_PORT_ID_D

lib/pbio/platform/ev3/pbioconfig.h

@@ -0,0 +1,4 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2019-2022 The Pybricks Authors
+
+#define PBIO_CONFIG_ENABLE_SYS              (1)

lib/pbio/platform/ev3/pbsysconfig.h

@@ -0,0 +1,13 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2020-2024 The Pybricks Authors
+
+#define PBSYS_CONFIG_MAIN                           (1)
+#define PBSYS_CONFIG_PROGRAM_LOAD                   (1)
+#define PBSYS_CONFIG_PROGRAM_LOAD_RAM_SIZE          (10 * 1024)
+#define PBSYS_CONFIG_PROGRAM_LOAD_ROM_SIZE          (PBDRV_CONFIG_BLOCK_DEVICE_TEST_SIZE)
+#define PBSYS_CONFIG_PROGRAM_LOAD_OVERLAPS_BOOTLOADER_CHECKSUM (0)
+#define PBSYS_CONFIG_PROGRAM_LOAD_USER_DATA_SIZE    (512)
+#define PBSYS_CONFIG_PROGRAM_LOAD_AUTO_START        (1)
+#define PBSYS_CONFIG_STATUS_LIGHT                   (0)
+#define PBSYS_CONFIG_STATUS_LIGHT_BATTERY           (0)
+#define PBSYS_CONFIG_PROGRAM_STOP                   (0)

lib/pbio/platform/ev3/platform.c

@@ -0,0 +1,4 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2022 The Pybricks Authors
+
+// This file is unused, but required for the common make file.

lib/pbio/platform/ev3/platform.ld

@@ -0,0 +1,47 @@
+/* The bootloader will look at this image and start execution at the symbol
+   designated as the entry point. */
+ENTRY(_start)
+
+/* Tell where the various sections of the object files will be put in the final
+   kernel image. */
+SECTIONS
+{
+	/* Begin putting sections at this number, taken from U-boot env */
+	. = 0xC0008000;
+	/* Begin putting sections at this number, for use with qemu */
+	/*. = 0x00010000;*/
+
+	/* First put the multiboot header, as it is required to be put very early
+	   early in the image or the bootloader won't recognize the file format.
+	   Next we'll put the .text section. */
+	.text BLOCK(4K) : ALIGN(4K)
+	{
+    KEEP(*(.text.boot))
+		*(.text)
+	}
+
+	/* Read-only data. */
+	.rodata BLOCK(4K) : ALIGN(4K)
+	{
+		*(.rodata)
+	}
+
+	/* Read-write data (initialized) */
+	.data BLOCK(4K) : ALIGN(4K)
+	{
+		*(.data)
+	}
+
+	/* Read-write data (uninitialized) and stack */
+  __bss_start = .;
+	.bss BLOCK(4K) : ALIGN(4K)
+	{
+		*(COMMON)
+		*(.bss)
+    . += 8K;
+	}
+  __bss_end = .;
+
+	/* The compiler may produce other sections, by default it will put them in
+	   a segment with the same name. Simply add stuff here as needed. */
+}