/*****************************************************************************
* Product: DPP example, BSP for 80x86, QK/DOS, Open Watcom
* Last Updated for Version: 4.5.00
* Date of the Last Update: May 18, 2012
*
* Q u a n t u m L e a P s
* ---------------------------
* innovating embedded systems
*
* Copyright (C) 2002-2012 Quantum Leaps, LLC. All rights reserved.
*
* 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 2 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 .
*
* Contact information:
* Quantum Leaps Web sites: http://www.quantum-leaps.com
* http://www.state-machine.com
* e-mail: info@quantum-leaps.com
*****************************************************************************/
#include "qp_port.h"
#include "dpp.h"
#include "bsp.h"
#include "video.h"
#include /* to test the FPU */
#include /* for _dos_setvect()/_dos_getvect() */
#include /* for inp()/outp() */
#include /* for _exit() */
Q_DEFINE_THIS_FILE
/* Global-scope objects ----------------------------------------------------*/
Lib1_context * volatile impure_ptr1;
Lib2_context * volatile impure_ptr2;
/* Local-scope objects -----------------------------------------------------*/
static void interrupt (*l_dosTmrISR)();
static void interrupt (*l_dosKbdISR)();
static uint32_t l_delay = 0UL; /* loop counter limit in BSP_busyDelay() */
#ifdef Q_SPY
static uint16_t l_uart_base; /* QS data uplink UART base address */
static QSTimeCtr l_tickTime; /* keeps timestamp at tick */
static uint32_t l_lastTime; /* last timestamp */
static uint8_t l_tmr;
static uint8_t l_kbd;
#define UART_16550_TXFIFO_DEPTH 16
enum AppRecords { /* application-specific trace records */
PHILO_STAT = QS_USER
};
#endif
#define TMR_VECTOR 0x08
#define KBD_VECTOR 0x09
#define TMR_ISR_PRIO (0xFF)
#define KBD_ISR_PRIO (0xFF - 1)
#define M_PI 3.14159265358979323846264338327950288
static void dispPreemptions(uint8_t pisr); /* for testing, see NOTE01 */
static void busyDelay(void); /* for testing, see NOTE02 */
/*..........................................................................*/
void interrupt ISR_tmr(void) {
#ifdef Q_SPY
l_tickTime += 0x10000; /* add 16-bit rollover */
#endif
dispPreemptions(TMR_ISR_PRIO); /* for testing only, NOTE01 */
QK_ISR_ENTRY(); /* inform QK about entering the ISR */
QF_TICK(&l_tmr); /* call QF_tick() outside of critical section */
busyDelay(); /* for testing, NOTE02 */
QK_ISR_EXIT(); /* inform QK about exiting the ISR */
}
/*..........................................................................*/
void interrupt ISR_kbd(void) {
uint8_t key;
uint8_t kcr;
dispPreemptions(KBD_ISR_PRIO); /* for testing only, NOTE01 */
QK_ISR_ENTRY(); /* inform QK about entering the ISR */
key = inp(0x60); /* key scan code from the 8042 kbd controller */
kcr = inp(0x61); /* get keyboard control register */
outp(0x61, (uint8_t)(kcr | 0x80)); /* toggle acknowledge bit high */
outp(0x61, kcr); /* toggle acknowledge bit low */
if (key == (uint8_t)129) { /* ESC key pressed? */
static QEvt term = {TERMINATE_SIG, 0}; /* static event */
QF_PUBLISH(&term, &l_kbd); /* publish to all interested AOs */
}
else {
static QEvt test = {TEST_SIG, 0}; /* static event */
QACTIVE_POST(AO_Table, &test, &l_kbd);/* post a test event to Table */
}
Video_printNumAt(60, 12 + 0, VIDEO_FGND_YELLOW, key);/* display the key */
busyDelay(); /* for testing, NOTE02 */
QK_ISR_EXIT(); /* inform QK about exiting the ISR */
}
/*..........................................................................*/
void QF_onStartup(void) {
/* save the origingal DOS vectors ... */
l_dosTmrISR = _dos_getvect(TMR_VECTOR);
l_dosKbdISR = _dos_getvect(KBD_VECTOR);
QF_INT_DISABLE();
_dos_setvect(TMR_VECTOR, &ISR_tmr);
_dos_setvect(KBD_VECTOR, &ISR_kbd);
QF_INT_ENABLE();
}
/*..........................................................................*/
void QF_onCleanup(void) { /* restore the original DOS vectors ... */
QF_INT_DISABLE();
_dos_setvect(TMR_VECTOR, l_dosTmrISR);
_dos_setvect(KBD_VECTOR, l_dosKbdISR);
QF_INT_ENABLE();
QS_EXIT(); /* exit QS */
_exit(0); /* exit to DOS */
}
/*..........................................................................*/
void QK_onIdle(void) {
#ifdef Q_SPY
if ((inp(l_uart_base + 5) & (1 << 5)) != 0) { /* Tx FIFO empty? */
uint16_t fifo = UART_16550_TXFIFO_DEPTH; /* 16550 Tx FIFO depth */
uint8_t const *block;
QF_INT_DISABLE();
block = QS_getBlock(&fifo); /* try to get next block to transmit */
QF_INT_ENABLE();
while (fifo-- != 0) { /* any bytes in the block? */
outp(l_uart_base + 0, *block++);
}
}
#endif
}
/*..........................................................................*/
void BSP_init(int argc, char *argv[]) {
char const *com = "COM1";
uint8_t n;
if (argc > 1) {
l_delay = atol(argv[1]); /* set the delay counter for busy delay */
}
if (argc > 2) {
com = argv[2];
(void)com; /* avoid compiler warning if Q_SPY not defined */
}
if (!QS_INIT(com)) { /* initialize QS */
Q_ERROR();
}
QS_OBJ_DICTIONARY(&l_tmr);
QS_OBJ_DICTIONARY(&l_kbd);
Video_clearScreen(VIDEO_BGND_BLACK);
Video_clearRect( 0, 0, 80, 7, VIDEO_BGND_LIGHT_GRAY);
Video_clearRect( 0, 11, 80, 12, VIDEO_BGND_LIGHT_GRAY);
Video_clearRect( 0, 12, 41, 23, VIDEO_BGND_BLUE);
Video_clearRect(41, 12, 80, 23, VIDEO_BGND_RED);
Video_clearRect( 0, 23, 80, 24, VIDEO_BGND_LIGHT_GRAY);
n = VIDEO_FGND_BLUE;
Video_printStrAt(10, 0, n, " __");
Video_printStrAt(10, 1, n, " / | _ _ -|- _ _");
Video_printStrAt(10, 2, n, " \\__| | | _\\ | \\ | | | | \\ \\");
Video_printStrAt(10, 3, n, " | \\_/ |_| | | | \\_| | | |");
Video_printStrAt(10, 4, n, " |");
n = VIDEO_FGND_RED;
Video_printStrAt(43, 0, n, " _ __ ");
Video_printStrAt(43, 1, n, "| /_\\ | \\ TM");
Video_printStrAt(43, 2, n, "| \\_ _ |__/ _");
Video_printStrAt(43, 3, n, "| _\\ | |_");
Video_printStrAt(43, 4, n, "|___ |_| | _|");
Video_printStrAt(10, 5, VIDEO_FGND_BLUE,
"_____________________________________________________");
Video_printStrAt(10, 6, VIDEO_FGND_RED,
"i n n o v a t i n g e m b e d d e d s y s t e m s");
Video_printStrAt(18, 7, VIDEO_FGND_WHITE,
"Dining Philosophers Problem (DPP)");
Video_printStrAt(18, 8, VIDEO_FGND_WHITE, "QEP/C");
Video_printStrAt(28, 8, VIDEO_FGND_YELLOW, QEP_getVersion());
Video_printStrAt(18, 9, VIDEO_FGND_WHITE, "QF/C");
Video_printStrAt(28, 9, VIDEO_FGND_YELLOW, QF_getVersion());
Video_printStrAt(18, 10, VIDEO_FGND_WHITE, "QK/C");
Video_printStrAt(28, 10, VIDEO_FGND_YELLOW, QK_getVersion());
Video_printStrAt(41, 10, VIDEO_FGND_WHITE, "Delay Counter");
Video_printNumAt(54, 10, VIDEO_FGND_YELLOW, l_delay);
Video_printStrAt( 1, 11, VIDEO_FGND_BLUE,
"Active Object State Preemptions");
Video_printStrAt(42, 11, VIDEO_FGND_RED,
"ISR Calls Data Preemptions");
for (n = 0; n < N_PHILO; ++n) {
Video_printStrAt( 1, 12 + n, VIDEO_FGND_WHITE, "Philosopher");
Video_printNumAt(12, 12 + n, VIDEO_FGND_WHITE, n);
}
Video_printStrAt( 1, 12 + N_PHILO, VIDEO_FGND_WHITE, "Table");
Video_printStrAt(17, 12 + N_PHILO, VIDEO_FGND_YELLOW, "serving");
Video_printStrAt(42, 12 + 0, VIDEO_FGND_WHITE, "kbdISR");
Video_printStrAt(42, 12 + 1, VIDEO_FGND_WHITE, "tmrISR");
Video_printStrAt(10, 23, VIDEO_FGND_BLUE,
"* Copyright (c) Quantum Leaps, LLC * www.quantum-leaps.com *");
Video_printStrAt(28, 24, VIDEO_FGND_LIGHT_RED,
"<< Press Esc to quit >>");
}
/*..........................................................................*/
void BSP_displyPhilStat(uint8_t n, char const *stat) {
Video_printStrAt(17, 12 + n, VIDEO_FGND_YELLOW, stat);
QS_BEGIN(PHILO_STAT, AO_Philo[n]) /* application-specific record begin */
QS_U8(1, n); /* Philosopher number */
QS_STR(stat); /* Philosopher status */
QS_END()
}
/*..........................................................................*/
void Q_onAssert(char const Q_ROM * const Q_ROM_VAR file, int line) {
Video_clearRect ( 0, 24, 80, 25, VIDEO_BGND_RED);
Video_printStrAt( 0, 24, VIDEO_FGND_WHITE, "ASSERTION FAILED in file:");
Video_printStrAt(26, 24, VIDEO_FGND_YELLOW, file);
Video_printStrAt(57, 24, VIDEO_FGND_WHITE, "line:");
Video_printNumAt(62, 24, VIDEO_FGND_YELLOW, line);
QF_stop();
}
/*..........................................................................*/
void busyDelay(void) { /* for testing, see NOTE02 */
uint32_t volatile i = l_delay << 4;
while (i-- > 0UL) { /* busy-wait loop */
}
}
/*..........................................................................*/
void dispPreemptions(uint8_t pisr) { /* for testing, see NOTE01 */
if (pisr == TMR_ISR_PRIO) {
static uint32_t tmrIsrCtr; /* timer interrupt counter */
Video_printNumAt(51, 12 + 1, VIDEO_FGND_YELLOW, ++tmrIsrCtr);
}
else if (pisr == KBD_ISR_PRIO) {
static uint32_t kbdIsrCtr; /* kbd interrupt counter */
Video_printNumAt(51, 12 + 0, VIDEO_FGND_YELLOW, ++kbdIsrCtr);
}
else {
Q_ERROR(); /* unexpected interrupt priority */
}
if (QK_intNest_ == (uint8_t)0) { /* is this a task preemption? */
if (QK_currPrio_ > (uint8_t)0) {
static uint32_t preCtr[QF_MAX_ACTIVE + 1];
Video_printNumAt(30, 12 + QK_currPrio_ - 1, VIDEO_FGND_YELLOW,
++preCtr[QK_currPrio_]);
}
}
else if (QK_intNest_ == (uint8_t)1) { /* this is an ISR preemption */
if (pisr == TMR_ISR_PRIO) { /* TMR_ISR preempting KBD_ISR? */
static uint32_t kbdPreCtr; /* kbd ISR preemption counter */
Video_printNumAt(71, 12 + 0, VIDEO_FGND_YELLOW, ++kbdPreCtr);
}
else {
static uint32_t tmrPreCtr; /* tmr ISR preemption counter */
Video_printNumAt(71, 12 + 1, VIDEO_FGND_YELLOW, ++tmrPreCtr);
}
}
else {
Q_ERROR(); /* impossible ISR nesting level with just 2 ISRs */
}
}
/*--------------------------------------------------------------------------*/
void lib1_reent_init(uint8_t prio) {
impure_ptr1->x = (double)prio * (M_PI / 6.0);
}
/*..........................................................................*/
void lib1_test(void) {
uint32_t volatile i = l_delay;
while (i-- > 0UL) {
double volatile r = sin(impure_ptr1->x) * sin(impure_ptr1->x)
+ cos(impure_ptr1->x) * cos(impure_ptr1->x);
Q_ASSERT(fabs(r - 1.0) < 1e-99);
}
}
/*--------------------------------------------------------------------------*/
void lib2_reent_init(uint8_t prio) {
impure_ptr2->y = (double)prio * (M_PI / 6.0) + M_PI;
}
/*..........................................................................*/
void lib2_test(void) {
uint32_t volatile i = l_delay;
while (i-- > 0UL) {
double volatile r = sin(impure_ptr2->y) * sin(impure_ptr2->y)
+ cos(impure_ptr2->y) * cos(impure_ptr2->y);
Q_ASSERT(fabs(r - 1.0) < 1e-99);
}
}
/*--------------------------------------------------------------------------*/
#ifdef Q_SPY /* define QS callbacks */
/*..........................................................................*/
static uint8_t UART_config(char const *comName, uint32_t baud) {
switch (comName[3]) { /* Set the base address of the COMx port */
case '1': l_uart_base = (uint16_t)0x03F8; break; /* COM1 */
case '2': l_uart_base = (uint16_t)0x02F8; break; /* COM2 */
case '3': l_uart_base = (uint16_t)0x03E8; break; /* COM3 */
case '4': l_uart_base = (uint16_t)0x02E8; break; /* COM4 */
default: return (uint8_t)0; /* COM port out of range failure */
}
baud = (uint16_t)(115200UL / baud); /* divisor for baud rate */
outp(l_uart_base + 3, (1 << 7)); /* Set divisor access bit (DLAB) */
outp(l_uart_base + 0, (uint8_t)baud); /* Load divisor */
outp(l_uart_base + 1, (uint8_t)(baud >> 8));
outp(l_uart_base + 3, (1 << 1) | (1 << 0)); /* LCR:8-bits,no p,1stop */
outp(l_uart_base + 4, (1 << 3) | (1 << 1) | (1 << 0)); /* DTR,RTS,Out2 */
outp(l_uart_base + 1, 0); /* Put UART into the polling FIFO mode */
outp(l_uart_base + 2, (1 << 2) | (1 << 0)); /* FCR: enable, TX clear */
return (uint8_t)1; /* success */
}
/*..........................................................................*/
uint8_t QS_onStartup(void const *arg) {
static uint8_t qsBuf[2*1024]; /* buffer for Quantum Spy */
QS_initBuf(qsBuf, sizeof(qsBuf));
return UART_config((char const *)arg, 115200UL);
}
/*..........................................................................*/
void QS_onCleanup(void) {
}
/*..........................................................................*/
QSTimeCtr QS_onGetTime(void) { /* invoked with interrupts locked */
uint32_t now;
uint16_t count16; /* 16-bit count from the 8254 */
if (l_tickTime != 0) { /* time tick has started? */
outp(0x43, 0); /* latch the 8254's counter-0 count */
count16 = (uint16_t)inp(0x40); /* read the low byte of counter-0 */
count16 += ((uint16_t)inp(0x40) << 8); /* add on the hi byte */
now = l_tickTime + (0x10000 - count16);
if (l_lastTime > now) { /* are we going "back" in time? */
now += 0x10000; /* assume that there was one rollover */
}
l_lastTime = now;
}
else {
now = 0;
}
return (QSTimeCtr)now;
}
/*..........................................................................*/
void QS_onFlush(void) {
uint16_t fifo = UART_16550_TXFIFO_DEPTH; /* 16550 Tx FIFO depth */
uint8_t const *block;
while ((block = QS_getBlock(&fifo)) != (uint8_t *)0) {
/* busy-wait until TX FIFO empty */
while ((inp(l_uart_base + 5) & (1 << 5)) == 0) {
}
while (fifo-- != 0) { /* any bytes in the block? */
outp(l_uart_base + 0, *block++);
}
fifo = UART_16550_TXFIFO_DEPTH; /* re-load 16550 Tx FIFO depth */
}
}
#endif /* Q_SPY */
/*--------------------------------------------------------------------------*/
/*****************************************************************************
* NOTE01:
* The function call to displayPreemptions() is added only to monitor the
* "asynchronous" preemptions within the QK.
*
* NOTE02:
* The call to busyDelay() is added only to extend the execution time of the
* code to increase the chance of an asynchronous preemption.
*/