1 files changed, 176 insertions, 0 deletions

diff --git a/lib/chibios-contrib/demos/MIMXRT1062/RT-TEENSY4_1/main.c b/lib/chibios-contrib/demos/MIMXRT1062/RT-TEENSY4_1/main.c
new file mode 100644
index 000000000..6ce53805d
--- /dev/null
+++ b/lib/chibios-contrib/demos/MIMXRT1062/RT-TEENSY4_1/main.c
@@ -0,0 +1,176 @@
+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "ch.h"
+#include "chthreads.h"
+#include "hal.h"
+#include "ch_test.h"
+#include "rt_test_root.h"
+#include "oslib_test_root.h"
+#include "chprintf.h"
+#include "shell.h"
+#include <string.h>
+
+#include "usbcfg.h"
+
+/* This demo can be customized in scope for easier debugging.
+ *
+ * Define one of the following: */
+
+/* Run rt and oslib test suite to serial console: */
+//#define DEMO_MODE_TESTS_TO_SERIAL
+
+/* Provide an interactive shell on serial console.
+ * You can run the tests using the test command: */
+//#define DEMO_MODE_SHELL_ON_SERIAL
+
+/* Provide an interactive shell on serial console over USB.
+ * This mode does not require any extra serial hardware: */
+#define DEMO_MODE_SHELL_ON_USB_SERIAL
+
+/*
+ * Serial 1 (LPUART1) corresponds to Pin 24 on the Teensy 4.1, or to the built-in
+ * usb-to-serial on the debug probe of the MIMXRT1060-EVK.
+ */
+#define MYSERIAL &SD1
+
+/*
+ * LED blinker thread.
+ */
+static THD_WORKING_AREA(waThread1, 64);
+static THD_FUNCTION(Thread1, arg) {
+
+    (void)arg;
+    chRegSetThreadName("LEDBlinker");
+    while (true) {
+        palTogglePad(TEENSY_PIN13_IOPORT, TEENSY_PIN13);
+        chThdSleepSeconds(1);
+    }
+}
+
+#define SHELL_WA_SIZE THD_WORKING_AREA_SIZE(2048)
+
+static const ShellCommand commands[] = {{NULL, NULL}};
+
+static const ShellConfig shell_cfg1 = {
+#ifdef DEMO_MODE_SHELL_ON_USB_SERIAL
+  (BaseSequentialStream *)&SDU1,
+#else
+  (BaseSequentialStream *)MYSERIAL,
+#endif
+
+  commands
+};
+
+char buf[1024];
+
+#include "fsl_lpuart.h"
+void printf_debug(const char *format, ...)
+{
+  va_list args;
+  va_start(args, format);
+  int n = chvsnprintf(buf, sizeof(buf), format, args);
+  // Directly write to serial instead of using SD4 BaseSequentialStream, because
+  // the latter does not work from within a locked section (e.g. usbStart grabs
+  // a lock).
+  buf[n] = '\r';
+  buf[n+1] = '\n';
+  buf[n+2] = '\0';
+  LPUART_WriteBlocking(LPUART1, (unsigned char*)buf, n+2);
+  va_end(args);
+}
+
+semaphore_t scls;
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+
+  /*
+   * System initializations.
+   * - HAL initialization, this also initializes the configured device drivers
+   *   and performs the board-specific initializations.
+   * - Kernel initialization, the main() function becomes a thread and the
+   *   RTOS is active.
+   */
+  halInit();
+  chSysInit();
+
+  chSemObjectInit(&scls, 0);
+  
+  /*
+   * Activates MYSERIAL with 115200 baud.
+   */
+
+  const SerialConfig sc = {
+    .sc_speed = 115200,
+  };
+  sdStart(MYSERIAL, &sc);
+
+  chprintf((BaseSequentialStream*)MYSERIAL, "ChibiOS Teensy 4.1 demo\r\n");
+
+  /*
+   * Creates the blinker thread.
+   */
+  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
+
+#if defined(DEMO_MODE_TESTS_TO_SERIAL)
+  test_execute((BaseSequentialStream *)MYSERIAL, &rt_test_suite);
+  test_execute((BaseSequentialStream *)MYSERIAL, &oslib_test_suite);
+#elif defined(DEMO_MODE_SHELL_ON_SERIAL)
+  while (true) {
+    chprintf((BaseSequentialStream*)MYSERIAL, "Starting serial shell\r\n");
+    thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE, "shell", NORMALPRIO + 1, shellThread, (void *)&shell_cfg1);
+    chThdWait(shelltp); /* Waiting termination.             */
+  }
+#elif defined(DEMO_MODE_SHELL_ON_USB_SERIAL)
+  chprintf((BaseSequentialStream*)MYSERIAL, "Starting USB serial\r\n");
+  /*
+   * Initializes a serial-over-USB CDC driver.
+   */
+  sduObjectInit(&SDU1);
+  sduStart(&SDU1, &serusbcfg);
+
+  /*
+   * Activates the USB driver and then the USB bus pull-up on D+.
+   * Note, a delay is inserted in order to not have to disconnect the cable
+   * after a reset.
+   */
+  usbDisconnectBus(serusbcfg.usbp);
+  chThdSleepMilliseconds(1500);
+  usbStart(serusbcfg.usbp, &usbcfg);
+  usbConnectBus(serusbcfg.usbp);
+
+  while (true) {
+    if (SDU1.config->usbp->state == USB_ACTIVE) {
+      // Wait until sduRequestsHook CDC_SET_CONTROL_LINE_STATE happens, then
+      // sleep for a certain time to give the app a chance to configure flags.
+      chSemWait(&scls);
+      chThdSleepMilliseconds(100);
+
+      chprintf((BaseSequentialStream*)MYSERIAL, "Starting serial-over-USB CDC Shell\r\n");
+      thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE, "shell", NORMALPRIO + 1, shellThread, (void *)&shell_cfg1);
+      chThdWait(shelltp); /* Waiting termination.             */
+    }
+    chThdSleepSeconds(1);
+  }
+#else
+#error One of DEMO_MODE_TESTS_TO_SERIAL, DEMO_MODE_SHELL_ON_SERIAL or DEMO_MODE_SHELL_ON_USB_SERIAL must be defined
+#endif
+
+  return 0;
+}