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Developper notes

clang-format

  • Install clang-format, and run make format to format all files
  • Or install xaver.clang-format extension for VS Code, and format on save or format using Ctrl + K, Ctrl + F

Troubleshooting

  • Note that qemu_* like targets override the file .vscode/launch.json each time they are run.
  • qemu_* like targets run QEMU with -s -S options, which means QEMU will wait for a debugger to connect on port 1234, while run_ targets run QEMU directly.
  • If your program crashes/restart/gets stuck, just increase all stack sizes, just in case (especially with CONFIG_KERNEL_TIMERS, CONFIG_KERNEL_EVENTS).
    • Note: Also increase IDLE stack size with CONFIG_KERNEL_THREAD_IDLE_ADD_STACK, IDLE stack is tiny by default
    • Note: function call with ATmge2560 for example are stack consuming (because of the 3B return addresses)
  • Please note that, when using VS Code with PIO, c_cpp_properties.json file is frequently overwritten by PIO extension, which is not convenient when working with cmake.
  • Disassembly files can be found :
    • in build/examples/${sample} folder for cmake build
    • in tmp/${sample}/* folder for PlatformIO build, after running python3 ./scripts/pydis.py
  • In case python miniterm package is not installed, install python dependencies with pip3 install -r scripts/requirements.txt
  • Interesting flags for QEMU avr (modify the QEMU_ARGS variable in the toolchain file cmake/avr.cmake):
    • -d in_asm
    • -d exec
    • -d cpu
    • -d cpu_reset
    • All timer traces --trace "avr_timer16_*"
    • -d trace:avr_timer16_read,trace:avr_timer16_read_ifr,trace:avr_timer16_read_imsk,trace:avr_timer16_write,trace:avr_timer16_write_imsk,trace:avr_timer16_write_imsk,trace:avr_timer16_clksrc_update
    • Or a combinations of all: -d cpu,in_asm,trace:avr_timer16_read

Miscelaneous

  • Calculate code metrics with make metrics, following metrics are calculated:
  • To update Arduino samples from the cmake ones, run make arduino_gen
  • To generate the platformio.ini file from the cmake samples, run make piogen.
  • Run make arduino_lint to check the project is compliant with Arduino Library
  • To change the default generator to make for example, override following variable in the Makefile
GENERATOR?="Unix Makefiles"
GENERATOR_COMMAND?="make"
GENERATOR_ARGS?="--no-print-directory"

Publishing new release

  1. Write changelog for the new release in changelogs.md
  2. Bump version:
  3. Run make publish and make sure
    • No errors/warnings are generated
    • metrics are generated properly
    • Arduino library is valid and can be properly imported in Arduino IDE
    • Examples works
  4. Commit your changes, push to main branch then create a new tag with the version number prefixed with v (e.g. v1.1.0)

Publishing Arduino Example

Let's suppose you want to publish a new example named MyExample.

  1. Create a new directory named ArduinoPIOMyExample in examples directory. It must be prefixed with ArduinoPIO
  2. Create a file MyExample.c or MyExample.cpp in this directory.
  3. Write your example in this file with following structure:
/* <avrtos.h> must be the very first <avrtos/*> include, this
 * activates the library in the Arduino IDE */
#include <avrtos.h>
#include <avrtos/drivers/i2c.h>
#include <avrtos/drivers/spi.h>

/* Define your kernel objects here

 * Don't use macros which requires CONFIG_AVRTOS_LINKER_SCRIPT to be defined
 * (e.g. K_THREAD_DEFINE, K_MSGQ_DEFINE, K_WORKQUEUE_DEFINE ...).
 * 
 * These objects must be properly initialized in setup() function.
 */
static struct k_thread my_thread;
static uint8_t my_thread_stack[256];

// these macros works without CONFIG_AVRTOS_LINKER_SCRIPT
K_MUTEX_DEFINE(my_mutex);
K_SEM_DEFINE(my_sem, 0, 1);
K_MSGQ_DEFINE(my_msgq, 4, 4);
K_WORK_DEFINE(my_work, my_work_handler);
K_WORK_DELAYABLE_DEFINE(my_delayable_work, my_work_handler);
K_FLAGS_DEFINE(my_flags, 0u);
K_SIGNAL_DEFINE(my_signal);
K_ATOMIC_DEFINE(my_atomic, 0);

void setup() {
        /* Your setup code here */
        serial_init();
        led_init();

        k_thread_create(&my_thread, my_thread_task, my_thread_stack,
                        sizeof(my_thread_stack), K_COOPERATIVE, NULL, 'X');
        k_thread_start(&my_thread);

        // k_thread_set_priority(k_thread_get_main(), K_PREEMPTIVE);
}

void loop() {
        /* Your loop code here */

        /* Make sure to call k_yield() at least once per loop or make the main thread
        * preemptive with k_thread_set_priority(k_thread_get_main(), K_PREEMPTIVE);
        */
        k_idle();
}

void my_thread_task(void *arg) {
        /* Your thread code here */
        for (;;) {
                k_sleep(K_SECONDS(1));
                led_toggle();
        }
}

Some links :

My versions

avr-gcc (Fedora 11.2.0-1.fc36) 11.2.0
avr-gdb: GNU gdb (GDB) 12.1
QEMU emulator version 7.0.0 (v7.0.0)
avrdude version 6.4
cmake version 3.25.1
ninja 1.10.2
GNU Make 4.3
Python 3.10.9