qpc/examples/arm-cr/blinky_launchxl2-tms57012/qv/bsp.c

/*****************************************************************************
* Product: "Blinky" on LAUCHXL2-TMS570LS12 board, cooperative QV kernel
* Last Updated for Version: 5.7.0
* Date of the Last Update:  2016-08-28
*
*                    Q u a n t u m     L e a P s
*                    ---------------------------
*                    innovating embedded systems
*
* Copyright (C) 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 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:
* http://www.state-machine.com
* mailto:info@state-machine.com
*****************************************************************************/
#include "qpc.h"
#include "blinky.h"
#include "bsp.h"

#include "sys_common.h"
#include "sys_core.h"
#include "sys_vim.h"
#include "system.h"
#include "gio.h"
#include "rti.h"
#include "het.h"
/* add other drivers if necessary... */

//Q_DEFINE_THIS_FILE

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

/* ISRs defined in this BSP ------------------------------------------------*/

/* Local-scope objects -----------------------------------------------------*/
#define LED2_PIN    1
#define LED2_PORT   gioPORTB

#define LED3_PIN    2
#define LED3_PORT   gioPORTB

/* NOTE: Switch-A is multiplexed on the same port/pin as LED3,
* so you can use one or the other but not both simultaneously.
*/
#define SWA_PIN     2
#define SWA_PORT    gioPORTB

#define SWB_PIN     15
#define SWB_PORT    hetREG1

#define VIM_RAM     ((t_isrFuncPTR *)0xFFF82000U)

/* ISRs used in this project ===============================================*/
/* NOTE:
* The QV kernel can use the standard interrupt implementation generated
* by the HALCoGen. Here the RTI COMPARE0 is handled in a "notification"
* function called from rtiCompare0Interrupt() in the rti.c module.
*/
void rtiNotification(uint32 notification) {
    if (notification == rtiNOTIFICATION_COMPARE0) {
        QF_TICK_X(0U, (void *)0); /* process time events for rate 0 */
    }
}

/* BSP functions ===========================================================*/
void BSP_init(void) {
    /* configure the LEDs */
    gioInit();
    LED2_PORT->DIR |= (1U << LED2_PIN);  /* set as output */
    LED3_PORT->DIR |= (1U << LED3_PIN);  /* set as output */

    /* configure the Buttons */
    SWB_PORT->DIR  &= (1U << SWB_PIN);    /* set as input */
}

/*..........................................................................*/
void BSP_ledOff(void) {
    LED2_PORT->DCLR = (1U << LED2_PIN);
}
/*..........................................................................*/
void BSP_ledOn(void) {
    /* exercise the FPU with some floating point computations */
    float volatile x = 3.1415926F;
    x = x + 2.7182818F;

    LED2_PORT->DSET = (1U << LED2_PIN);
}


/* QF callbacks ============================================================*/
void QF_onStartup(void) {
    rtiInit(); /* configure RTI with UC counter of 7 */
    rtiSetPeriod(rtiCOUNTER_BLOCK0,
                 (uint32)((RTI_FREQ*1E6/(7+1))/BSP_TICKS_PER_SEC));
    rtiEnableNotification(rtiNOTIFICATION_COMPARE0); /* enable interrupt */
    rtiStartCounter(rtiCOUNTER_BLOCK0);

    /* NOTE: don't need to install the IRQ handler in VIM_RAM, because
    * the standard handler rtiCompare0Interrupt() installed in the
    * HALCoGen code is adequate
    */
    vimREG->FIRQPR0 &= ~(1U << 2);   /* designate interrupt as IRQ, NOTE00 */
    vimREG->REQMASKSET0 = (1U << 2); /* enable RTI interrupt */

    QF_INT_ENABLE_ALL(); /* enable all interrupts (IRQ and FIQ) */
}
/*..........................................................................*/
void QF_onCleanup(void) {
}
/*..........................................................................*/
void QV_onIdle(void) { /* CATION: called with interrupts DISABLED, NOTE01 */
    /* toggle LED1 on and then off, see NOTE01 */
    LED3_PORT->DSET = (1U << LED3_PIN);
    LED3_PORT->DCLR = (1U << LED3_PIN);

#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-R MCU.
    */
    QV_CPU_SLEEP();  /* atomically go to sleep and enable interrupts */
#else
    QF_INT_ENABLE(); /* just enable interrupts */
#endif
}

/*..........................................................................*/
void Q_onAssert(char const *module, int loc) {
    /*
    * NOTE: add here your application-specific error handling
    */
    (void)module;
    (void)loc;
    QS_ASSERTION(module, loc, (uint32_t)10000U); /* report assertion to QS */
    systemREG1->SYSECR = 0; /* perform system reset */
}

/*****************************************************************************
* NOTE00:
* The FIQ-type interrupts are never disabled in this QP port, therefore
* they can always preempt any code, including the IRQ-handlers (ISRs).
* Therefore, FIQ-type interrupts are "kernel-unaware" and must NEVER call
* any QP services, such as posting 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.
*/