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qpc/examples/msp430/dpp_msp-exp430g2/qk/bsp.c
Quantum Leaps cd6736f1fd 5.4.0
2015-04-28 13:45:35 -04:00

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/*****************************************************************************
* Product: DPP on MSP-EXP430G2 board, preemptive QK 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 <http://www.gnu.org/licenses/>.
*
* Contact information:
* Web: www.state-machine.com
* Email: info@state-machine.com
*****************************************************************************/
#include "qpc.h"
#include "dpp.h"
#include "bsp.h"
#include <msp430g2553.h> /* MSP430 variant used */
/* add other drivers if necessary... */
Q_DEFINE_THIS_FILE
/* Local-scope objects -----------------------------------------------------*/
/* 8MHz clock setting, see BSP_init() */
#define BSP_MCK 8000000U
#define BSP_SMCLK 8000000U
/* LEDs on the MSP-EXP430G2 board */
#define LED1 (1U << 0)
#define LED2 (1U << 6)
/* Buttons on the MSP-EXP430G2 board */
#define BTN1 (1U << 3)
/* random seed */
static uint32_t l_rnd;
#ifdef Q_SPY
#define TXD (1U << 2)
#define RXD (1U << 1)
QSTimeCtr QS_tickTime_;
static uint8_t const l_timerA_ISR = 0U;
enum AppRecords { /* application-specific trace records */
PHILO_STAT = QS_USER
};
#endif
/* ISRs used in this project ===============================================*/
#if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__)
__interrupt void TIMER0_A0_ISR(void); /* prototype */
#pragma vector=TIMER0_A0_VECTOR
__interrupt void TIMER0_A0_ISR(void)
#elif defined(__GNUC__)
void __attribute__ ((interrupt(TIMER0_A0_VECTOR)))
TIMER0_A0_ISR(void)
#else
#error MSP430 compiler not supported!
#endif
{
/* state of the button debouncing, see below */
static struct ButtonsDebouncing {
uint8_t depressed;
uint8_t previous;
} buttons = { (uint8_t)~0U, (uint8_t)~0U };
uint8_t current;
uint8_t tmp;
QK_ISR_ENTRY(); /* inform QK about entering the ISR */
TACTL &= ~TAIFG; /* clear the interrupt pending flag */
#ifdef Q_SPY
QS_tickTime_ +=
(((BSP_SMCLK / 8) + BSP_TICKS_PER_SEC/2) / BSP_TICKS_PER_SEC) + 1;
#endif
QF_TICK_X(0U, (void *)0); /* process all time events at rate 0 */
/* Perform the debouncing of buttons. The algorithm for debouncing
* adapted from the book "Embedded Systems Dictionary" by Jack Ganssle
* and Michael Barr, page 71.
*/
current = ~P1IN; /* read P1 port with the state of BTN1 */
tmp = buttons.depressed; /* save the debounced depressed buttons */
buttons.depressed |= (buttons.previous & current); /* set depressed */
buttons.depressed &= (buttons.previous | current); /* clear released */
buttons.previous = current; /* update the history */
tmp ^= buttons.depressed; /* changed debounced depressed */
if ((tmp & BTN1) != 0U) { /* debounced BTN1 state changed? */
if ((buttons.depressed & BTN1) != 0U) { /* is BTN1 depressed? */
static QEvt const pauseEvt = { PAUSE_SIG, 0U, 0U};
QF_PUBLISH(&pauseEvt, &l_timerA_ISR);
}
else { /* the button is released */
static QEvt const serveEvt = { SERVE_SIG, 0U, 0U};
QF_PUBLISH(&serveEvt, &l_timerA_ISR);
}
}
QK_ISR_EXIT(); /* inform QK about exiting the ISR */
}
/* BSP functions ===========================================================*/
void BSP_init(void) {
WDTCTL = WDTPW | WDTHOLD; /* stop watchdog timer */
/* configure the Basic Clock Module */
DCOCTL = 0; /* Select lowest DCOx and MODx settings */
BCSCTL1 = CALBC1_8MHZ; /* Set DCO */
DCOCTL = CALDCO_8MHZ;
/* configure pins for LEDs */
P1DIR |= (LED1 | LED2); /* set LED1 and LED2 pins to output */
/* configure pin for Button */
P1DIR &= ~BTN1; /* set BTN1 pin as input */
P1OUT |= BTN1; /* drive output to hi */
P1REN |= BTN1; /* enable internal pull up register */
if (QS_INIT((void *)0) == 0) { /* initialize the QS software tracing */
Q_ERROR();
}
QS_OBJ_DICTIONARY(&l_timerA_ISR);
QS_USR_DICTIONARY(PHILO_STAT);
}
/*..........................................................................*/
void BSP_displayPhilStat(uint8_t n, char const *stat) {
if (stat[0] == 'h') { /* is Philo hungry? */
P1OUT |= LED1; /* turn LED1 on */
}
else {
P1OUT &= ~LED1; /* turn LED1 off */
}
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 BSP_displayPaused(uint8_t paused) {
/* not enouhg LEDs to implement this feature */
if (paused != 0U) {
//P1OUT |= LED1;
}
else {
//P1OUT &= ~LED1;
}
}
/*..........................................................................*/
uint32_t BSP_random(void) { /* a very cheap pseudo-random-number generator */
/* "Super-Duper" Linear Congruential Generator (LCG)
* LCG(2^32, 3*7*11*13*23, 0, seed)
*/
l_rnd = l_rnd * ((uint32_t)3U*7U*11U*13U*23U);
return l_rnd >> 8;
}
/*..........................................................................*/
void BSP_randomSeed(uint32_t seed) {
l_rnd = seed;
}
/*..........................................................................*/
void BSP_terminate(int16_t result) {
(void)result;
}
/* QF callbacks ============================================================*/
void QF_onStartup(void) {
TACTL = (ID_3 | TASSEL_2 | MC_1); /* SMCLK, /8 divider, upmode */
TACCR0 = (((BSP_SMCLK / 8U) + BSP_TICKS_PER_SEC/2U) / BSP_TICKS_PER_SEC);
CCTL0 = CCIE; /* CCR0 interrupt enabled */
}
/*..........................................................................*/
void QF_onCleanup(void) {
}
/*..........................................................................*/
void QK_onIdle(void) {
/* toggle LED2 on and then off, see NOTE1 */
QF_INT_DISABLE();
P1OUT |= LED2; /* turn LED2 on */
P1OUT &= ~LED2; /* turn LED2 off */
QF_INT_ENABLE();
#ifdef Q_SPY
if (((IFG2 & UCA0TXIFG)) != 0U) { /* UART not transmitting? */
uint16_t b;
QF_INT_DISABLE();
b = QS_getByte();
QF_INT_ENABLE();
if (b != QS_EOD) {
UCA0TXBUF = (uint8_t)b; /* stick the byte to the TX BUF */
}
}
#elif defined 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 MSP430 MCU.
*/
__low_power_mode_1(); /* Enter LPM1; also ENABLES interrupts */
#endif
}
/*..........................................................................*/
void Q_onAssert(char const Q_ROM * const file, int line) {
/* implement the error-handling policy for your application!!! */
QF_INT_DISABLE(); /* disable all interrupts */
/* cause the reset of the CPU... */
WDTCTL = WDTPW | WDTHOLD;
__asm(" push &0xFFFE");
/* return from function does the reset */
}
/* QS callbacks ============================================================*/
#ifdef Q_SPY
uint8_t QS_onStartup(void const *arg) {
static uint8_t qsBuf[80]; /* buffer for QS; RAM is tight! */
uint16_t tmp;
QS_initBuf(qsBuf, sizeof(qsBuf));
/* configure the UART pins... */
P1DIR |= (RXD | TXD); /* config RX and TX pins as outputs */
P1OUT &= ~(RXD | TXD); /* drive RX and TX pins hi */
P1SEL |= (RXD | TXD); /* select the UART function... */
P1SEL2 |= (RXD | TXD); /* ... for RXD and TXD */
/* configure the hardware UART... */
UCA0CTL1 |= UCSSEL_2; /* select SMCLK for the UART */
tmp = BSP_SMCLK / 9600U; /* baud-rate value for 9600 bauds */
UCA0BR0 = (uint8_t)tmp; /* load the baud-rate register low */
UCA0BR1 = (uint8_t)(tmp >> 8); /* load the baud-rate register hi */
UCA0MCTL = UCBRS0; /* modulation UCBRSx = 1 */
UCA0CTL1 &= ~UCSWRST; /* initialize USCI state machine */
/* setup the QS filters... */
QS_FILTER_ON(QS_QEP_STATE_ENTRY);
QS_FILTER_ON(QS_QEP_STATE_EXIT);
QS_FILTER_ON(QS_QEP_STATE_INIT);
QS_FILTER_ON(QS_QEP_INIT_TRAN);
QS_FILTER_ON(QS_QEP_INTERN_TRAN);
QS_FILTER_ON(QS_QEP_TRAN);
QS_FILTER_ON(QS_QEP_IGNORED);
QS_FILTER_ON(QS_QEP_DISPATCH);
QS_FILTER_ON(QS_QEP_UNHANDLED);
// QS_FILTER_ON(QS_QF_ACTIVE_ADD);
// QS_FILTER_ON(QS_QF_ACTIVE_REMOVE);
// QS_FILTER_ON(QS_QF_ACTIVE_SUBSCRIBE);
// QS_FILTER_ON(QS_QF_ACTIVE_UNSUBSCRIBE);
// QS_FILTER_ON(QS_QF_ACTIVE_POST_FIFO);
// QS_FILTER_ON(QS_QF_ACTIVE_POST_LIFO);
// QS_FILTER_ON(QS_QF_ACTIVE_GET);
// QS_FILTER_ON(QS_QF_ACTIVE_GET_LAST);
// QS_FILTER_ON(QS_QF_EQUEUE_INIT);
// QS_FILTER_ON(QS_QF_EQUEUE_POST_FIFO);
// QS_FILTER_ON(QS_QF_EQUEUE_POST_LIFO);
// QS_FILTER_ON(QS_QF_EQUEUE_GET);
// QS_FILTER_ON(QS_QF_EQUEUE_GET_LAST);
// QS_FILTER_ON(QS_QF_MPOOL_INIT);
// QS_FILTER_ON(QS_QF_MPOOL_GET);
// QS_FILTER_ON(QS_QF_MPOOL_PUT);
// QS_FILTER_ON(QS_QF_PUBLISH);
// QS_FILTER_ON(QS_QF_RESERVED8);
// QS_FILTER_ON(QS_QF_NEW);
// QS_FILTER_ON(QS_QF_GC_ATTEMPT);
// QS_FILTER_ON(QS_QF_GC);
QS_FILTER_ON(QS_QF_TICK);
// QS_FILTER_ON(QS_QF_TIMEEVT_ARM);
// QS_FILTER_ON(QS_QF_TIMEEVT_AUTO_DISARM);
// QS_FILTER_ON(QS_QF_TIMEEVT_DISARM_ATTEMPT);
// QS_FILTER_ON(QS_QF_TIMEEVT_DISARM);
// QS_FILTER_ON(QS_QF_TIMEEVT_REARM);
// QS_FILTER_ON(QS_QF_TIMEEVT_POST);
// QS_FILTER_ON(QS_QF_TIMEEVT_CTR);
// QS_FILTER_ON(QS_QF_CRIT_ENTRY);
// QS_FILTER_ON(QS_QF_CRIT_EXIT);
// QS_FILTER_ON(QS_QF_ISR_ENTRY);
// QS_FILTER_ON(QS_QF_ISR_EXIT);
// QS_FILTER_ON(QS_QF_INT_DISABLE);
// QS_FILTER_ON(QS_QF_INT_ENABLE);
// QS_FILTER_ON(QS_QF_ACTIVE_POST_ATTEMPT);
// QS_FILTER_ON(QS_QF_EQUEUE_POST_ATTEMPT);
// QS_FILTER_ON(QS_QF_MPOOL_GET_ATTEMPT);
// QS_FILTER_ON(QS_QF_RESERVED1);
// QS_FILTER_ON(QS_QF_RESERVED0);
// QS_FILTER_ON(QS_QK_MUTEX_LOCK);
// QS_FILTER_ON(QS_QK_MUTEX_UNLOCK);
// QS_FILTER_ON(QS_QK_SCHEDULE);
// QS_FILTER_ON(QS_QK_RESERVED1);
// QS_FILTER_ON(QS_QK_RESERVED0);
// QS_FILTER_ON(QS_QEP_TRAN_HIST);
// QS_FILTER_ON(QS_QEP_TRAN_EP);
// QS_FILTER_ON(QS_QEP_TRAN_XP);
// QS_FILTER_ON(QS_QEP_RESERVED1);
// QS_FILTER_ON(QS_QEP_RESERVED0);
QS_FILTER_ON(QS_SIG_DICT);
QS_FILTER_ON(QS_OBJ_DICT);
QS_FILTER_ON(QS_FUN_DICT);
QS_FILTER_ON(QS_USR_DICT);
QS_FILTER_ON(QS_EMPTY);
QS_FILTER_ON(QS_RESERVED3);
QS_FILTER_ON(QS_RESERVED2);
QS_FILTER_ON(QS_TEST_RUN);
QS_FILTER_ON(QS_TEST_FAIL);
QS_FILTER_ON(QS_ASSERT_FAIL);
return (uint8_t)1; /* return success */
}
/*..........................................................................*/
void QS_onCleanup(void) {
}
/*..........................................................................*/
QSTimeCtr QS_onGetTime(void) { /* invoked with interrupts DISABLED */
if ((TACTL & TAIFG) == 0U) { /* interrupt not pending? */
return QS_tickTime_ + TAR;
}
else { /* the rollover occured, but the timerA_ISR did not run yet */
return QS_tickTime_
+ (((BSP_SMCLK/8U) + BSP_TICKS_PER_SEC/2U)/BSP_TICKS_PER_SEC) + 1U
+ TAR;
}
}
/*..........................................................................*/
void QS_onFlush(void) {
uint16_t b;
QF_INT_DISABLE();
while ((b = QS_getByte()) != QS_EOD) { /* next QS byte available? */
QF_INT_ENABLE();
while ((IFG2 & UCA0TXIFG) == 0U) { /* TX not ready? */
}
UCA0TXBUF = (uint8_t)b; /* stick the byte to the TX BUF */
QF_INT_DISABLE();
}
QF_INT_ENABLE();
}
#endif /* Q_SPY */
/*****************************************************************************
* NOTE1:
* 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.
*/
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