/***************************************************************************** * Product: "Blinky" on EK-TM4C123GXL board, cooperative Vanilla kernel * Last Updated for Version: 5.4.0 * Date of the Last Update: 2015-04-04 * * 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 . * * Contact information: * Web: 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 /*!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! * Assign a priority to EVERY ISR explicitly by calling NVIC_SetPriority(). * DO NOT LEAVE THE ISR PRIORITIES AT THE DEFAULT VALUE! */ enum KernelUnawareISRs { /* see NOTE00 */ /* ... */ MAX_KERNEL_UNAWARE_CMSIS_PRI /* keep always last */ }; /* "kernel-unaware" interrupts can't overlap "kernel-aware" interrupts */ Q_ASSERT_COMPILE(MAX_KERNEL_UNAWARE_CMSIS_PRI <= QF_AWARE_ISR_CMSIS_PRI); enum KernelAwareISRs { SYSTICK_PRIO = QF_AWARE_ISR_CMSIS_PRI, /* see NOTE00 */ /* ... */ MAX_KERNEL_AWARE_CMSIS_PRI /* keep always last */ }; /* "kernel-aware" interrupts should not overlap the PendSV priority */ Q_ASSERT_COMPILE(MAX_KERNEL_AWARE_CMSIS_PRI <= (0xFF >>(8-__NVIC_PRIO_BITS))); /* ISRs defined in this BSP ------------------------------------------------*/ void SysTick_Handler(void); void GPIOPortA_IRQHandler(void); /* Local-scope objects -----------------------------------------------------*/ #define LED_RED (1U << 1) #define LED_GREEN (1U << 3) #define LED_BLUE (1U << 2) static uint32_t const l_led_pin[] = { LED_GREEN, LED_RED, LED_BLUE }; #define BTN_SW1 (1U << 4) #define BTN_SW2 (1U << 0) /* ISRs used in this project ===============================================*/ void SysTick_Handler(void) { QF_TICK_X(0U, (void *)0); /* process time events for rate 0 */ } /* BSP functions ===========================================================*/ void BSP_init(void) { /* NOTE: SystemInit() already called from the startup code * but SystemCoreClock needs to be updated */ SystemCoreClockUpdate(); /* configure the FPU usage by choosing one of the options... * * Do NOT to use the automatic FPU state preservation and * do NOT to use the FPU lazy stacking. * * NOTE: * Use the following setting when FPU is used only by active objects * and NOT in any ISR. This setting is very efficient, but if any ISRs * start using the FPU, this can lead to corruption of the FPU registers. */ FPU->FPCCR &= ~((1U << FPU_FPCCR_ASPEN_Pos) | (1U << FPU_FPCCR_LSPEN_Pos)); /* 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 direction: output */ GPIOF->DEN |= (LED_RED | LED_GREEN | LED_BLUE); /* digital enable */ GPIOF->DATA_Bits[LED_RED] = 0; /* turn the LED off */ GPIOF->DATA_Bits[LED_GREEN] = 0; /* turn the LED off */ GPIOF->DATA_Bits[LED_BLUE] = 0; /* turn the LED off */ /* configure the Buttons */ 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[l_led_pin[n]] = 0U; } /*..........................................................................*/ void BSP_ledOn(uint_fast8_t n) { /* exercise the FPU with some floating point computations */ float volatile x = 3.1415926F; x = x + 2.7182818F; GPIOF->DATA_Bits[l_led_pin[n]] = 0xFFU; } /* QF callbacks ============================================================*/ void QF_onStartup(void) { /* set up the SysTick timer to fire at BSP_TICKS_PER_SEC rate */ SysTick_Config(SystemCoreClock / BSP_TICKS_PER_SEC); /* assing all priority bits for preemption-prio. and none to sub-prio. */ NVIC_SetPriorityGrouping(0U); /* set priorities of ALL ISRs used in the system, see NOTE00 * * !!!!!!!!!!!!!!!!!!!!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! * Assign a priority to EVERY ISR explicitly by calling NVIC_SetPriority(). * DO NOT LEAVE THE ISR PRIORITIES AT THE DEFAULT VALUE! */ NVIC_SetPriority(SysTick_IRQn, SYSTICK_PRIO); /* ... */ /* enable IRQs... */ } /*..........................................................................*/ void QF_onCleanup(void) { } /*..........................................................................*/ void QV_onIdle(void) { /* CATION: called with interrupts DISABLED, NOTE01 */ /* toggle LED2 on and then off, see NOTE02 */ BSP_ledOn (2U); /* turn LED2 on */ BSP_ledOff(2U); /* turn LED2 off */ #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 Cortex-M MCU. */ QV_CPU_SLEEP(); /* atomically go to sleep and enable interrupts */ #else QF_INT_ENABLE(); /* just enable interrupts */ #endif } /*..........................................................................*/ /* NOTE Q_onAssert() defined in assembly in startup_TM4C123GH6PM.s */ /***************************************************************************** * NOTE00: * The QF_AWARE_ISR_CMSIS_PRI constant from the QF port specifies the highest * ISR priority that is disabled by the QF framework. The value is suitable * for the NVIC_SetPriority() CMSIS function. * * Only ISRs prioritized at or below the QF_AWARE_ISR_CMSIS_PRI level (i.e., * with the numerical values of priorities equal or higher than * QF_AWARE_ISR_CMSIS_PRI) are allowed to call any QF services. These ISRs * are "QF-aware". * * Conversely, any ISRs prioritized above the QF_AWARE_ISR_CMSIS_PRI priority * level (i.e., with the numerical values of priorities less than * QF_AWARE_ISR_CMSIS_PRI) are never disabled and are not aware of the kernel. * Such "QF-unaware" ISRs cannot call any QF services. The only mechanism * by which a "QF-unaware" ISR can communicate with the QF framework is by * triggering a "QF-aware" ISR, which can post/publish events. * * NOTE01: * The QV_onIdle() callback is called with interrupts disabled, because the * determination of the idle condition might change by any interrupt posting * an event. QV_onIdle() must internally enable interrupts, ideally * atomically with putting the CPU to the power-saving mode. * * NOTE02: * One of the LEDs 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. */