Add Ailunce HD2 (HR_C7000 / CK803S) board port (miosix v3.01 — proposal)

.gitignore

@@ -1,5 +1,5 @@
 # Exclude doxygen
-miosix/_doc/doxygen/html/*
+doc/doxygen/html/*
 
 # Exclude temporary files
 main.elf
@@ -15,11 +15,12 @@ image.uf2
 *.d
 
 # Exclude build directories and host executables
-miosix/_tools/filesystems/build
-miosix/_tools/filesystems/buildromfs
-miosix/_tools/bin2uf2/build
-miosix/_tools/bin2uf2/bin2uf2
+tools/bin2uf2/bin2uf2
+
+# Exclude all build directories
+build
 
 # Exclude Mac OS X temporary
 ._*
 .DS_Store
+build-docker/

README.md

@@ -0,0 +1,150 @@
+# Welcome to the Miosix Kernel
+
+Miosix (Minimal Operating System with POSIX) is a real-time operating system
+for 32-bit microcontrollers. It implements a new paradigm, the
+**fluid kernel** [1]: applications can be written to run in kernel space
+(*unikernel*-like), or in userspace with the same set of APIs.
+
+Miosix additionally features:
+
+- Focus on **C++** support, not just C
+- Support for **standard APIs**:
+  - C and C++ standard libraries (STL included)
+  - POSIX thread API
+  - C++ exception handling
+- **SMP Multicore** support
+- **Memory protection** for processes on microcontrollers with MPUs
+- Built-in **virtual filesystem** (VFS), integrated with the libc, supporting:
+  - FAT32 for external drives like SD cards
+  - LittleFs for non-volatile internal storage, like SPI Flash chips
+  - RomFs for read-only on-code-flash file storage
+- **Flexible scheduler subsystem** with the ability to choose between
+  - Priority scheduling
+  - Earliest Deadline First (EDF) scheduling
+  - Control-based scheduling [2]
+- **Scalable code size**, configurable by removing features you don't need
+  (~100KiB as a fluid kernel with userspace processes support and virtual filesystem, down to ~10KiB as a unikernel with all optional features removed)
+
+## Getting started
+
+You can find information on how to configure and use the kernel
+at the following url: https://miosix.org
+
+Miosix development goes on in the testing and unstable branches.
+The master branch points to the latest stable release.
+
+## Directory structure
+
+Directories marked with `[x]` contain code or configuration files that are used
+to build the kernel while directories marked with `[ ]` contain other stuff
+(documentation, examples).
+
+```
+[x]                          //Root directory, contains the application code
+ |
+ +--[ ] doc                  //Kernel documentation (doxygen + pdf + txt)
+ |
+ +--[ ] examples             //Contains some example applications
+ |
+ +--[ ] templates            //Contains application templates
+ |   |
+ |   +--[ ] simple           //Template for kernel-mode applications
+ |   |
+ |   +--[ ] processes        //Template for kernel and user-mode applications
+ |
+ +--[ ] tools                //Miscellaneous tools for Miosix users
+ |   |
+ |   +--[ ] bootloaders      //Custom bootloaders for some boards
+ |   |                       //Mostly used for running Miosix in RAM without a
+ |   |                       //debugger
+ |   |
+ |   +--[ ] compiler         //Contains scripts used to build GCC with the
+ |   |                       //patches required to compile the kernel
+ |   |
+ |   +--[ ] testsuite        //Contains the kernel testsuite
+ |   .
+ |   .
+ |
+ +--[x] miosix               //Contains all Miosix OS code
+     |
+     +--[x] cmake            //CMake files used by the Miosix CMake build system
+     |
+     +--[x] config           //Default template configuration makefile fragments
+     |   |                   //and header files
+     |   |
+     |   +--[x] board        //Board-specific configuration
+     |
+     +--[x] e20              //Contains the kernel's event driven API
+     |
+     +--[x] filesystem       //Filesystem code
+     |
+     +--[x] interfaces       //Contains interfaces between kernel and
+     |                       //architecture dependent code
+     |
+     +--[x] interfaces_private //Private interfaces for the kernel
+     |
+     +--[x] kercalls         //Implementation of libc primitives for kernel mode
+     |
+     +--[x] kernel           //Contains the architecture independent kernel part
+     |   |
+     |   +--[x] scheduler    //Contains the various schedulers
+     |       |
+     |       +--[x] priority
+     |       |
+     |       +--[x] control_based
+     |       |
+     |       +--[x] edf
+     |
+     +--[x] ldscripts        //Base linker script files
+     |                       //Boards include linker script fragments from here
+     |                       //to make full linker scripts
+     |
+     +--[x] tools            //Scripts used by the Miosix build system
+     |
+     +--[x] util             //Contains architecture independent utility code
+     |
+     +--[x] arch             //Contains architecture dependent code
+         |
+         +--[x] board        //Board-specific code and definitions
+         |   |
+         |   +--[x] lpc2138_miosix_board //Name of folder is the board name
+         |   |   |
+         |   |   +--[x] interfaces-impl  //Implmentation of miosix/interfaces
+         |   |   |
+         |   |   +--[x] Makefile.inc     //Build system configuration
+         |   |   |
+         |   |   +--[x] ...              //Linker scripts,
+         |   .                           //openocd scripts
+         |   .   Other boards
+         |
+         +--[x] chip         //Chip-family-specific code and definitions
+         |   |
+         |   +--[x] lpc2000  //Name of folder is the chip family name
+         |   |   |
+         |   |   +--[x] interfaces-impl  //Implmentation of miosix/interfaces
+         |   |   |
+         |   |   +--[x] Makefile.inc     //Build system configuration
+         |   .
+         |   .   Other chip families
+         |
+         +--[x] cpu          //CPU-architecture-specific code and definitions
+         |   |
+         |   +--[x] armv4    //Name of folder is the CPU architecture
+         |   |   |
+         |   |   +--[x] interfaces-impl  //Implmentation of miosix/interfaces
+         |   .
+         |   .   Other architectures
+         |
+         +--[x] drivers      //Collection of drivers
+         |
+         +--[x] CMSIS
+```
+
+## References
+
+[1] F. Terraneo and D. Cattaneo, "Fluid Kernels: Seamlessly Conquering the
+Embedded Computing Continuum," in IEEE Transactions on Computers, vol. 74,
+no. 12, Dec. 2025, doi: https://doi.org/10.1109/TC.2025.3605745.
+[2] M. Maggio, F. Terraneo, and A. Leva, "Task scheduling: A control-theoretical
+viewpoint for a general and flexible solution," in ACM Trans. Embed. Comput.
+Syst., vol. 13, no. 4, Nov. 2014, doi: https://doi.org/10.1145/2560015.

miosix/_doc/doxygen/Doxyfile → doc/doxygen/Doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = Miosix
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.01
+PROJECT_NUMBER         = 3.00
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
@@ -768,7 +768,8 @@ WARN_LOGFILE           =
 # spaces.
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  = ../../
+INPUT                  = . \
+                         ../../miosix
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
@@ -813,11 +814,11 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                = ../../_doc/pdfdoc \
-                         ../../_doc/textdoc \
-                         ../../_examples \
-                         ../../_tools \
-                         ../../arch
+EXCLUDE                = ../../miosix/tools \
+                         ../../miosix/arch \
+                         ../../miosix/config/board \
+                         ../../miosix/filesystem/fat32 \
+                         ../../miosix/filesystem/littlefs \
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded

miosix/_doc/doxygen/documentation.dox → doc/doxygen/documentation.dox

@@ -40,20 +40,20 @@ Interfaces between kernel and architecture specific code.
 
 Starting from Miosix 1.53 all calls from kernel to architecture specific code
 is done through a set of functions, classes and macros grouped in a set of
-header files in the miosix/interfaces folder.
+header files in the miosix/interfaces and miosix/interfaaces_private folders.
 There are multiple implementations of these functions/classes, one for each
 architecture supported by Miosix. This eases portability since adding a new
 architecture is done by implementing a well defined set of interfaces.
 
-Some of these functions are not designed to be accessed by user code, for
-example the functions in portability.h are used by the kernel to create
-threads and perform context switching, while the Disk class in disk.h is used
-by the filesystem module to read and write from disk.
+Some of these functions are not designed to be accessed by user code, and are
+placed in the interfaces_private folder. These are used exclusively by the
+kernel to provide higher-level functionalities such as creating threads and
+performing context switching.
 Such functions are marked as \\internal and therefore are not visible by default
 in this doxygen documentation, because are useless for application developers.
 If there is the need to port Miosix to another platform it is always possible
 to build the doxygen documentation manually including \\internal functions.
-Using functions which are marked as \\internal in user code might lead to
+Using functions which are marked as \\internal in user code leads to
 undefined behaviour.
 */
 

miosix/_doc/textdoc/Changelog.txt → doc/textdoc/Changelog.txt

@@ -1,3 +1,7 @@
+This file is kept for historic reasons.
+It keeps a changelog that was kept during the early development of Miosix
+from 2008 to 2016. It includes initial development from before git was used.
+
 Changelog for Miosix np embedded OS
 
 v2.02

doc/textdoc/Error debug.txt

@@ -0,0 +1,17 @@
+Miosix catches the CPU fault handlers and prints an error message if WITH_ERRLOG
+is defined. The error message includes the address of the instructon that caused
+the error and reboots the system.
+
+To convert the printed address into the name of the function that caused the
+error, and the exact code line where the program stopped, use this command:
+
+arm-miosix-eabi-addr2line <ADDRESS> -e main.elf -f | arm-miosix-eabi-c++filt
+
+Example:
+
+arm-miosix-eabi-addr2line 0x0000d494 -e main.elf -f | arm-miosix-eabi-c++filt 
+miosix::Timer::interval() const
+miosix/kernel/sync.cpp:174
+
+Please note that for this operation to be reliable compiler optimization must
+be turned off (using -O0 instead of the default -O2).

examples/atsam4l_lcd/main.cpp

@@ -0,0 +1,32 @@
+
+#include <cstdio>
+#include "miosix.h"
+#include "drivers/atsam4l_lcd.h"
+
+using namespace std;
+using namespace miosix;
+
+int main()
+{
+    start32kHzOscillator();
+
+    //Configure GPIO of LCD, PA8 to PA23 = 4 COM and 12 SEG
+    for(int i = 8; i <= 23; i++)
+    {
+        GpioPin pin(PA,i);
+        pin.mode(Mode::ALTERNATE);
+        pin.alternateFunction('F');
+    }
+
+    initLcd(12);
+
+//     enableBlink();
+    for(int i = 0; ; i++)
+    {
+        int t = i;
+        beginUpdate();
+        for(int j = 0; j < 6 ; j++, t /= 10) setDigit(j, digitTbl[t % 10]);
+        endUpdate();
+        Thread::sleep(10);
+    }
+}