qpc/examples/cmsis-rtx/blinky_ek-tm4c123gxl/bsp.c

/*****************************************************************************
* Product: Simple "Blinky" example, EK-TM4C123GLX board, CMSIS-RTOS RTX
* Last Updated for Version: 5.4.0
* Date of the Last Update:  2015-03-23
*
*                    Q u a n t u m     L e a P s
*                    ---------------------------
*                    innovating embedded systems
*
* Copyright (C) Quantum Leaps, LLC. state-machine.com.
*
* This program is open source software: you can redistribute it and/or
* modify it under the terms of the GNU General Public License as published
* by the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Alternatively, this program may be distributed and modified under the
* terms of Quantum Leaps commercial licenses, which expressly supersede
* the GNU General Public License and are specifically designed for
* licensees interested in retaining the proprietary status of their code.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Contact information:
* Web  : http://www.state-machine.com
* Email: info@state-machine.com
*****************************************************************************/
#include "qpc.h"
#include "blinky.h"
#include "bsp.h"

#include "TM4C123GH6PM.h"        /* the device specific header (TI) */
#include "rom.h"                 /* the built-in ROM functions (TI) */
#include "sysctl.h"              /* system control driver (TI) */
#include "gpio.h"                /* GPIO driver (TI) */
/* add other drivers if necessary... */

Q_DEFINE_THIS_FILE

#ifdef Q_SPY
    #error Simple Blinky Application does not provide Spy build configuration
#endif

/* Local-scope objects -----------------------------------------------------*/
/* LEDs on the board */
#define LED_RED      (1U << 1)
#define LED_GREEN    (1U << 3)
#define LED_BLUE     (1U << 2)

/* Buttons on the board */
#define BTN_SW1      (1U << 4)
#define BTN_SW2      (1U << 0)

/* ISRs used in this project ===============================================*/
/* example ISR handler for CMSIS-RTX */
void GPIOPortA_IRQHandler(void); /* prototype */
void GPIOPortA_IRQHandler(void) {
    QACTIVE_POST(AO_Blinky, Q_NEW(QEvt, DUMMY_SIG), /* for testing... */
                 (void *)0);
    /* NOTE:
    * There is no need to explicitly pend the PendSV exception, because
    * RTX handles this when signaling the task. (See OS_PEND_IRQ() macro
    * in RTX source code).
    */
}


/* RTX callbacks ===========================================================*/
void os_idle_demon(void); /* prototype */
void os_idle_demon(void) {
    /* The RTX idle demon is a system thread, running when no other thread
    * is ready to run.
    */

    for (;;) { /* idle-loop */
        QF_INT_DISABLE();
        GPIOF->DATA_Bits[LED_BLUE] = 0xFFU; /* turn LED on  */
        GPIOF->DATA_Bits[LED_BLUE] = 0x00U; /* turn LED off */
        QF_INT_ENABLE();

#ifdef NDEBUG
        /* Put the CPU and peripherals to the low-power mode.
        * You might need to customize the clock management for your
        * application, see the datasheet for your particular MCU.
        */
        __WFI(); /* Wait-For-Interrupt */
#endif
    } /* idle-loop */
}
/*..........................................................................*/
/* This function is called when RTX detects a runtime error.
* Parameter 'error_code' holds the runtime error code.
*/
void os_error(uint32_t err_code); /* prototype */
void os_error(uint32_t error_code) {
    /* perform customized error handling...  */
    GPIOF->DATA_Bits[LED_RED] = 0xFFU; /* turn LED on  */
    Q_ERROR_ID(error_code);  /* NOTE: does not return */
}


/* BSP functions ===========================================================*/
void BSP_init(void) {
    /* NOTE: SystemInit() has been already called from the startup code
    *  but SystemCoreClock needs to be updated
    */
    SystemCoreClockUpdate();

    /* enable clock to the peripherals used by the application */
    SYSCTL->RCGC2 |= (1U << 5); /* enable clock to GPIOF  */
    __NOP();                    /* wait after enabling clocks */
    __NOP();
    __NOP();

    /* configure the LEDs and push buttons */
    GPIOF->DIR |= (LED_RED | LED_GREEN | LED_BLUE); /* set as output */
    GPIOF->DEN |= (LED_RED | LED_GREEN | LED_BLUE);/* digital enable */
    GPIOF->DATA_Bits[LED_RED]   = 0U; /* turn the LED off */
    GPIOF->DATA_Bits[LED_GREEN] = 0U; /* turn the LED off */
    GPIOF->DATA_Bits[LED_BLUE]  = 0U; /* turn the LED off */

    /* configure the User Switches */
    GPIOF->DIR &= ~(BTN_SW1 | BTN_SW2); /*  set direction: input */
    ROM_GPIOPadConfigSet(GPIOF_BASE, (BTN_SW1 | BTN_SW2),
                         GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
}
/*..........................................................................*/
void BSP_ledOff(uint_fast8_t n) {
    GPIOF->DATA_Bits[LED_GREEN] = 0U;
}
/*..........................................................................*/
void BSP_ledOn(uint_fast8_t n) {
    /* exercise the FPU with some floating point computations */
    /* NOTE: this code can be only called from a task that created with
    * the option OS_TASK_OPT_SAVE_FP.
    */
    float volatile x;
    x = 3.1415926F;
    x = x + 2.7182818F;

    GPIOF->DATA_Bits[LED_GREEN] = 0xFFU;
}


/* QF callbacks ============================================================*/
void QF_onStartup(void) {
    /* configure the QF ticker thread */
    QF_setRtxTicker(1000U/BSP_TICKS_PER_SEC, osPriorityAboveNormal );

    /* set priorities of ISRs used in the system... */
    NVIC_SetPriority(GPIOA_IRQn,   1U);
    /* ... */

    /* enable IRQs in the NVIC... */
    NVIC_EnableIRQ(GPIOA_IRQn);
    /* ... */
}
/*..........................................................................*/
void QF_onCleanup(void) {
}
/*..........................................................................*/
void QF_onRtxTicker() {
    QF_TICK_X(0U, (void *)0); /* process all QF time events at tick rate 0 */
}

/*..........................................................................*/
/* NOTE Q_onAssert() defined in assembly in startup_TM4C123GH6PM.s */

/*****************************************************************************
* NOTE01:
* The User LED is used to visualize the idle loop activity. The brightness
* of the LED is proportional to the frequency of invcations of the idle loop.
* Please note that the LED is toggled with interrupts locked, so no interrupt
* execution time contributes to the brightness of the User LED.
*/