* Update drivers configuration for RTEMS5 variants

    Patch contributed by Thanassis Tsiodras

include/po_hi_common.h

@@ -5,7 +5,7 @@
  *
  * For more informations, please visit http://taste.tuxfamily.org/wiki
  *
- * Copyright (C) 2007-2009 Telecom ParisTech, 2010-2018 ESA & ISAE.
+ * Copyright (C) 2007-2009 Telecom ParisTech, 2010-2020 ESA & ISAE.
  */
 
 #ifndef __PO_HI_COMMON_H__
@@ -33,9 +33,20 @@
 
 #if defined GRLEON3 && defined RTEMS412
    #include <drvmgr/drvmgr.h>
-   #include <amba.h>
-   #include <bsp/grspw.h>
+   // #include <amba.h>
+   // #include <bsp/grspw.h>
+
+   // Things are always moving around in RTEMS - adapt.
+   // The latest RTEMS (2019/07) has restructured Leon/AMBA
+   // headers under grlib. Detect this by a combination of checks,
+   // that depends on the fact that our custom cross build in TASTE
+   // enabled Ada (which Gaisler's RCC doesn't).
+#if ((__RTEMS_ADA__ != 0) && (((__RTEMS_MAJOR__ << 8) | (__RTEMS_MINOR__ << 0)) >= 0x0500))
+   #include <grlib/ambapp_bus.h>
+#else
    #include <drvmgr/ambapp_bus.h>
+#endif
+
 #endif
 
    #define CONFIGURE_INIT

share/make/Makefile.air

@@ -6,19 +6,16 @@
 
 ## This file has been built for a generic RTEMS integration
 
-MANAGERS = sem rtmon msg timer io
-LIBS = #-lrtemsall -lc
-RTEMS_USES_NEWLIB = no
+MANAGERS = all
+LIBS = -lrtemsall -lc
 
-# PolyORB-HI/C specific flags
-POHI_CFLAGS = -DRTEMS_POSIX -DLEON_RTEMS $(GCC_GENERIC_FLAGS)
+# PolyORb-HI/C specific flags
+POHI_CFLAGS = -DRTEMS_POSIX -DLEON_RTEMS $(GCC_GENERIC_FLAGS) -Wl,--wrap=printf -Wl,--wrap=puts -Wl,--wrap=putchar
 
 # RTEMS/AIR specific flags
-POHI_CFLAGS += -DAIR_HYPERVISOR -I$(AIR_ROOT)/pmk/core/include		\
--I$(AIR_ROOT)/pmk/arch/sparc/include					\
--I$(AIR_ROOT)/install/libs/imaspex/include/ -I./ -B./ -I../common/	\
--B../common/ -DRTEMS5 -B$(AIR_LIBS)/imaspex/ -B$(AIR_LIBS)/libprintf/	\
--B$(AIR_LIBS)/libair/
+POHI_CFLAGS += -DAIR_HYPERVISOR -I$(AIR_ROOT)/pmk/core/include	\
+-I$(AIR_ROOT)/pmk/arch/sparc/include				\
+-I$(AIR_ROOT)/install/libs/imaspex/include/
 
 LD_LIBS = $(AIR_LIBS)/libprintf/libprintf.a			\
 $(AIR_LIBS)/libair/libair.a $(AIR_LIBS)/imaspex/imaspex.a
@@ -26,19 +23,12 @@ $(AIR_LIBS)/libair/libair.a $(AIR_LIBS)/imaspex/imaspex.a
 LINK_LIBS += $(AIR_LIBS)/libprintf/libprintf.a \
 $(AIR_LIBS)/libair/libair.a $(AIR_LIBS)/imaspex/imaspex.a
 
-# The RTEMS_MAKEFILE_PATH is defined by the user for the specific CPU and BSP
-RTEMS_MAKEFILE_PATH=$(AIR_POS)/rtems5/rtems5-install/sparc-rtems5/leon3
+include $(RTEMS_MAKEFILE_PATH)/Makefile.inc
+include $(RTEMS_CUSTOM)
+include $(PROJECT_ROOT)/make/leaf.cfg
 
--include $(RTEMS_MAKEFILE_PATH)/Makefile.inc
--include $(RTEMS_CUSTOM)
--include $(PROJECT_ROOT)/make/leaf.cfg
 
-CPPFLAGS += -DAIR_HYPERVISOR./ -I./ -B./ -I../common/ -B../common/	\
--DRTEMS5 -B$(AIR_LIBS)/imaspex/ -B$(AIR_LIBS)/libprintf/		\
--B$(AIR_LIBS)/libair/
-
-TARGET_LDFLAGS += -Wl,--gc-sections -Wl,--wrap=printf -Wl,--wrap=puts	\
--Wl,--wrap=putchar
+CPPFLAGS += -DAIR_HYPERVISOR./ -I./ -B./ -I../common/ -B../common/ -B$(AIR_LIBS)/libprintf/ -B$(AIR_LIBS)/libair/
 
 ##############################################################################
 # RTEMS_API is defined as part of RTEMS BSP Makefile. It reports the
@@ -71,8 +61,8 @@ ifeq ($(RTEMS_API),4.12)
 endif
 
 ifeq ($(RTEMS_API),5)
-   POHI_CFLAGS    +=  -DRTEMS5
-   TARGET_LDFLAGS +=  -lm
+   POHI_CFLAGS    +=  -DRTEMS412
+   TARGET_LDFLAGS += -L$(RUNTIME_PATH)/libs/leon-rtems4.12/ -lm
 endif
 
 ##############################################################################
@@ -101,8 +91,17 @@ ifeq ($(RTEMS_BSP),leon2)
    POHI_CFLAGS   +=  -DGRLEON2
 endif
 
+ifdef USE_GPROF
+TARGET_LDFLAGS+=-Wl,--wrap,Clock_isr -pg
+EXTERNAL_OBJECTS+=po_hi_gprof_rtems_leon.o
+TARGET_INCLUDE+=-I$(RTEMS_MAKEFILE_PATH)/lib/include/
+
+target-objects:
+        $(CC) $(INCLUDE) $(TARGET_INCLUDE) -D__PO_HI_USE_GPROF -Wall -c -o po_hi_gprof_rtems_leon.o $(RUNTIME_PATH)/src/po_hi_gprof_rtems_leon.c
+else
+target-objects:
+endif
+
 LINK_LIBS+=-lm
 
 target-clean:
-
-target-objects:

src/drivers/config.c

+/*
+ * This is a part of PolyORB-HI-C distribution, a minimal
+ * middleware written for generated code from AADL models.
+ * You should use it with the Ocarina toolsuite.
+ *
+ * For more informations, please visit http://taste.tuxfamily.org/wiki
+ *
+ * Copyright (C) 2020 ESA & ISAE.
+ */
+
 /* Note, this file is from RCC1.3rc4 sample directory.
  *
  * Any modification there should be carefully weighted.
@@ -20,7 +30,18 @@
 /*#define LEON2_GRLIB*/
 /* Configure Network if enabled */
 #ifdef ENABLE_NETWORK
+
+// Things are always moving around in RTEMS - adapt.
+// The latest RTEMS (2019/07) has restructured Leon/AMBA
+// headers under grlib. Detect this by a combination of checks,
+// that depends on the fact that our custom cross build in TASTE
+// enabled Ada (which Gaisler's RCC doesn't).
+#if ((__RTEMS_ADA__ != 0) && (((__RTEMS_MAJOR__ << 8) | (__RTEMS_MINOR__ << 0)) >= 0x0500))
+#include <grlib/network_interface_add.h>
+#else
 #include <bsp/network_interface_add.h>
+#endif
+
 //#include "networkconfig.h"
 
 //  Gaisler uses this file, user provided. for the moment, config done

src/drivers/config_leon3_drvmgr.c

+/*
+ * This is a part of PolyORB-HI-C distribution, a minimal
+ * middleware written for generated code from AADL models.
+ * You should use it with the Ocarina toolsuite.
+ *
+ * For more informations, please visit http://taste.tuxfamily.org/wiki
+ *
+ * Copyright (C) 2020 ESA & ISAE.
+ */
+
 /* Note, this file is from RCC1.3rc4 sample directory.
  *
  * Any modification there should be carefully weighted.
  */
 
+// Things are always moving around in RTEMS - adapt.
+// The latest RTEMS (2019/07) has restructured Leon/AMBA
+// headers under grlib. Detect this by a combination of checks,
+// that depends on the fact that our custom cross build in TASTE
+// enabled Ada (which Gaisler's RCC doesn't).
+#if ((__RTEMS_ADA__ != 0) && (((__RTEMS_MAJOR__ << 8) | (__RTEMS_MINOR__ << 0)) >= 0x0500))
+#include <grlib/ambapp_bus_grlib.h>
+#include <grlib/ambapp_bus.h>
+#include <grlib/ambapp_ids.h>
+#else
 #include <drvmgr/ambapp_bus_grlib.h>
 #include <drvmgr/ambapp_bus.h>
 #include <ambapp_ids.h>
+#endif
 
 /* B1553RT driver configuration (optional) */
 struct drvmgr_key grlib_drv_res_b1553rt0[] =

src/drivers/config_leon4_n2x.c

+/*
+ * This is a part of PolyORB-HI-C distribution, a minimal
+ * middleware written for generated code from AADL models.
+ * You should use it with the Ocarina toolsuite.
+ *
+ * For more informations, please visit http://taste.tuxfamily.org/wiki
+ *
+ * Copyright (C) 2020 ESA & ISAE.
+ */
+
 #include <bsp/gr_leon4_n2x.h>
-#include <drvmgr/ambapp_bus.h>
+
+// Things are always moving around in RTEMS - adapt.
+// The latest RTEMS (2019/07) has restructured Leon/AMBA
+// headers under grlib. Detect this by a combination of checks,
+// that depends on the fact that our custom cross build in TASTE
+// enabled Ada (which Gaisler's RCC doesn't).
+#if ((__RTEMS_ADA__ != 0) && (((__RTEMS_MAJOR__ << 8) | (__RTEMS_MINOR__ << 0)) >= 0x0500))
+   #include <grlib/ambapp_bus.h>
+#else
+   #include <drvmgr/ambapp_bus.h>
+#endif
 
 /* GR-CPCI-LEON4-N2X boards configuration example. Note that this is
  * optional, we only override defaults. If default are ok, nothing

src/drivers/grspw_api.c

@@ -5,7 +5,7 @@
  *
  * For more informations, please visit http://taste.tuxfamily.org/wiki
  *
- * Copyright (C) 2018 ESA & ISAE.
+ * Copyright (C) 2018-2020 ESA & ISAE.
  */
 
 /* This driver relies on the GRSPW2 Packet library proposed in RTEMS
@@ -500,55 +500,37 @@ size_t grspw_receiving(int device,void *message){
   rtems_semaphore_obtain(dma_sync_rx, RTEMS_WAIT, RTEMS_NO_TIMEOUT);
   rtems_semaphore_obtain(dma_sem, RTEMS_WAIT, RTEMS_NO_TIMEOUT);
   size_t message_size_received = 0;
-  int actual_device;
-  
+
   struct grspw_pkt *pkt;
   /* Get a RX packet buffer from the HEAD */
 
-  /* For the time being, we ignore device and scan all devices, this disable routing for the moment */
-  
-  for (actual_device = 0; actual_device < nospw; actual_device++) {
-    pkt = devs[actual_device].rx_buf_list.head;
-    if (pkt != NULL) {
-      /* The new head is the following pkt, pkt->next */
-      devs[actual_device].rx_buf_list.head = pkt->next;
-      devs[actual_device].rx_buf_list_cnt--;
-      if (pkt->next == NULL){
-	/* It was the last RX packet */
-	devs[actual_device].rx_buf_list.tail = NULL;
-      }
-      
-      /* Assuming 1 byte = 1 char */
-      int offset = HEADER_SIZE - 1;
-      while ( ( ((char *) pkt->data)[offset] != SPW_PROT_ID) && (offset >= 0))
-	offset--;
-      
-      offset += 3;
-      
-      /*
-	computation of the offset to determine where is value '155'
-	we need to add two bytes after the 155 for the offset
-	
-      */
-      
-      /* The header is included in the dlen on HEADER_SIZE bytes */
-      message_size_received = pkt->dlen - offset;
-      
-      if (message_size_received <= PKT_SIZE - HEADER_SIZE){
-	memcpy (message,pkt->data + offset, message_size_received);
-      }
-      else{
-	printf("Message too long not received ");
-      }
-      /* Reschedule packet by adding it to the rx_list */
-      grspw_list_append(&devs[actual_device].rx_list, pkt);
-      devs[actual_device].rx_list_cnt++;
-
-      rtems_semaphore_release(dma_sem);
-      return message_size_received;
+  pkt = devs[device].rx_buf_list.head;
+  if (pkt != NULL) {
+    /* The new head is the following pkt, pkt->next */
+    devs[device].rx_buf_list.head = pkt->next;
+    devs[device].rx_buf_list_cnt--;
+    if (pkt->next == NULL){
+      /* It was the last RX packet */
+      devs[device].rx_buf_list.tail = NULL;
+    }
+    /* Assuming 1 byte = 1 char */
+    /* The header is included in the dlen on HEADER_SIZE bytes */
+    message_size_received = pkt->dlen - HEADER_SIZE;
+    if (message_size_received <= PKT_SIZE - HEADER_SIZE){
+      memcpy (message,pkt->data + HEADER_SIZE, message_size_received);
+    }
+    else{
+      printf("Message too long not received ");
     }
+    /* Reschedule packet by adding it to the rx_list */
+    grspw_list_append(&devs[device].rx_list, pkt);
+    devs[device].rx_list_cnt++;
+  }
+  else{
+    /* rx_buf_list is empty */
+    printf(" No free received buffers available, size 0\n");
+    //continue;
   }
-
   rtems_semaphore_release(dma_sem);
   return message_size_received;
 }

src/drivers/po_hi_driver_leon_eth.c

@@ -5,7 +5,7 @@
  *
  * For more informations, please visit http://taste.tuxfamily.org/wiki
  *
- * Copyright (C) 2011-2018 ESA & ISAE.
+ * Copyright (C) 2011-2020 ESA & ISAE.
  */
 
 #include <deployment.h>
@@ -124,7 +124,17 @@ static struct rtems_bsdnet_ifconfig netdriver_config = {
    0           /* Use default driver parameters */
 };
 #elif defined RTEMS412
+
+// Things are always moving around in RTEMS - adapt.
+// The latest RTEMS (2019/07) has restructured Leon/AMBA
+// headers under grlib. Detect this by a combination of checks,
+// that depends on the fact that our custom cross build in TASTE
+// enabled Ada (which Gaisler's RCC doesn't).
+#if ((__RTEMS_ADA__ != 0) && (((__RTEMS_MAJOR__ << 8) | (__RTEMS_MINOR__ << 0)) >= 0x0500))
+#include <grlib/network_interface_add.h>
+#else
 #include <bsp/network_interface_add.h>
+#endif
 
 struct ethernet_config interface_configs[]=
 {

src/drivers/po_hi_driver_rasta_common.c

@@ -5,7 +5,7 @@
  *
  * For more informations, please visit http://taste.tuxfamily.org/wiki
  *
- * Copyright (C) 2010-2018 ESA & ISAE.
+ * Copyright (C) 2010-2020 ESA & ISAE.
  */
 
 #include <deployment.h>
@@ -35,7 +35,18 @@
 #include <ambapp.h>
 #include <drvmgr/drvmgr.h>
 #include <drvmgr/ambapp_bus_grlib.h>
-#include <drvmgr/ambapp_bus.h>
+
+// Things are always moving around in RTEMS - adapt.
+// The latest RTEMS (2019/07) has restructured Leon/AMBA
+// headers under grlib. Detect this by a combination of checks,
+// that depends on the fact that our custom cross build in TASTE
+// enabled Ada (which Gaisler's RCC doesn't).
+#if ((__RTEMS_ADA__ != 0) && (((__RTEMS_MAJOR__ << 8) | (__RTEMS_MINOR__ << 0)) >= 0x0500))
+   #include <grlib/ambapp_bus.h>
+#else
+   #include <drvmgr/ambapp_bus.h>
+#endif
+
 /* GRSPW0 resources  */
 struct drvmgr_key grlib_grspw0_res[] =
 

src/drivers/po_hi_driver_rasta_spacewire.c

@@ -5,7 +5,7 @@
  *
  * For more informations, please visit http://taste.tuxfamily.org/wiki
  *
- * Copyright (C) 2010-2018 ESA & ISAE.
+ * Copyright (C) 2010-2020 ESA & ISAE.
  */
 
 #include <deployment.h>
@@ -161,14 +161,13 @@ void __po_hi_c_driver_spacewire_rasta_init (__po_hi_device_id id)
    __PO_HI_DRIVERS_RTEMS_UTILS_IOCTL(po_hi_c_driver_rasta_spacewire_fd[id],SPACEWIRE_IOCTRL_SET_COREFREQ,30000);
    __PO_HI_DRIVERS_RTEMS_UTILS_IOCTL(po_hi_c_driver_rasta_spacewire_fd[id],SPACEWIRE_IOCTRL_SET_RXBLOCK,1);
    __PO_HI_DRIVERS_RTEMS_UTILS_IOCTL(po_hi_c_driver_rasta_spacewire_fd[id],SPACEWIRE_IOCTRL_SET_TXBLOCK,1);
-   __PO_HI_DRIVERS_RTEMS_UTILS_IOCTL(po_hi_c_driver_rasta_spacewire_fd[id],SPACEWIRE_IOCTRL_SET_NODEADDR, node_addr);
-   __PO_HI_DRIVERS_RTEMS_UTILS_IOCTL(po_hi_c_driver_rasta_spacewire_fd[id],SPACEWIRE_IOCTRL_SET_PROMISCUOUS,1);
+   __PO_HI_DRIVERS_RTEMS_UTILS_IOCTL(po_hi_c_driver_rasta_spacewire_fd[id],SPACEWIRE_IOCTRL_SET_NODEADDR, (unsigned char)node_addr); //
+   __PO_HI_DRIVERS_RTEMS_UTILS_IOCTL(po_hi_c_driver_rasta_spacewire_fd[id],SPACEWIRE_IOCTRL_SET_PROMISCUOUS,1); // 
    __PO_HI_DRIVERS_RTEMS_UTILS_IOCTL(po_hi_c_driver_rasta_spacewire_fd[id],SPACEWIRE_IOCTRL_SET_CLKDIV, 0);
    __PO_HI_DRIVERS_RTEMS_UTILS_IOCTL(po_hi_c_driver_rasta_spacewire_fd[id],SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL,1);
    __PO_HI_DRIVERS_RTEMS_UTILS_IOCTL(po_hi_c_driver_rasta_spacewire_fd[id],SPACEWIRE_IOCTRL_SET_RM_PROT_ID,0);
    __PO_HI_DRIVERS_RTEMS_UTILS_IOCTL(po_hi_c_driver_rasta_spacewire_fd[id],SPACEWIRE_IOCTRL_START,2000);
 
-
 #ifdef RTEMS412
    spw_config *cnf = (spw_config *)malloc(sizeof(spw_config));
    __PO_HI_DRIVERS_RTEMS_UTILS_IOCTL(po_hi_c_driver_rasta_spacewire_fd[id],SPACEWIRE_IOCTRL_GET_CONFIG,cnf);

src/drivers/po_hi_driver_rtems_drvmgr_ethernet.c

@@ -5,7 +5,7 @@
  *
  * For more informations, please visit http://taste.tuxfamily.org/wiki
  *
- * Copyright (C) 2018 ESA & ISAE.
+ * Copyright (C) 2018-2020 ESA & ISAE.
  */
 
 #include <stdio.h>
@@ -79,7 +79,16 @@ __po_hi_device_id leon_eth_device_id;
 #include <bsp.h>
 #include <rtems/rtems_bsdnet.h>
 
+// Things are always moving around in RTEMS - adapt.
+// The latest RTEMS (2019/07) has restructured Leon/AMBA
+// headers under grlib. Detect this by a combination of checks,
+// that depends on the fact that our custom cross build in TASTE
+// enabled Ada (which Gaisler's RCC doesn't).
+#if ((__RTEMS_ADA__ != 0) && (((__RTEMS_MAJOR__ << 8) | (__RTEMS_MINOR__ << 0)) >= 0x0500))
+#include <grlib/network_interface_add.h>
+#else
 #include <bsp/network_interface_add.h>
+#endif
 
 #ifdef RTEMS_USE_LOOPBACK
 /*

src/drivers/po_hi_driver_rtems_drvmgr_serial.c

@@ -5,7 +5,7 @@
  *
  * For more informations, please visit http://taste.tuxfamily.org/wiki
  *
- * Copyright (C) 2018 ESA & ISAE.
+ * Copyright (C) 2018-2020 ESA & ISAE.
  */
 
 #include <deployment.h>
@@ -249,6 +249,7 @@ void __po_hi_c_driver_rtems_drvmgr_serial_init (__po_hi_device_id id)
         __PO_HI_DEBUG_INFO ("[LINUX SERIAL] Unknwon speed for the serial line\n");
         break;
      }
+   cfmakeraw (&newtio);
 
    cfmakeraw (&newtio);