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

/*****************************************************************************
* Product: DPP example, EK-TM4C123GLX board, CMSIS-RTOS RTX
* Last Updated for Version: 5.4.0
* Date of the Last Update:  2015-03-27
*
*                    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 "dpp.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

/* 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)

static uint32_t l_rnd;  /* random seed */

#ifdef Q_SPY
    /* event-source identifiers used for tracing */
    static uint8_t const l_rtx_ticker = 0U;
    static uint8_t const l_GPIOPortA_IRQHandler = 0U;

    #define UART_BAUD_RATE      115200U
    #define UART_FR_TXFE        0x80U
    #define UART_TXFIFO_DEPTH   16U

    enum AppRecords { /* application-specific trace records */
        PHILO_STAT = QS_USER
    };

#endif

/* ISRs used in this project ===============================================*/
/* example ISR handler for CMSIS-RTX */
void GPIOPortA_IRQHandler(void); /* prototype */
void GPIOPortA_IRQHandler(void) {
    QACTIVE_POST(AO_Table, Q_NEW(QEvt, MAX_SIG), /* for testing... */
                 &l_GPIOPortA_IRQHandler);
    /* 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 idle demon is a system thread, running when no other thread is
    * ready to run.
    */

    for (;;) { /*  idle loop */
        /* toggle the User LED on and then off, see NOTE01 */
        QF_INT_DISABLE();
        GPIOF->DATA_Bits[LED_BLUE] = 0xFFU; /* turn the LED on  */
        GPIOF->DATA_Bits[LED_BLUE] = 0U;    /* turn the LED off */
        QF_INT_ENABLE();

#ifdef Q_SPY
        if ((UART0->FR & UART_FR_TXFE) != 0) { /* TX done? */
            uint16_t fifo = UART_TXFIFO_DEPTH; /* max bytes we can accept */
            uint8_t const *block;

            QF_INT_DISABLE();
            block = QS_getBlock(&fifo); /* get next block to transmit */
            QF_INT_ENABLE();

            while (fifo-- != 0) {     /* any bytes in the block? */
                UART0->DR = *block++; /* put into the FIFO */
            }
        }
#elif defined NDEBUG
        /* Put the CPU and peripherals to the low-power mode.
        * You might need to customize the clock management for your project,
        * see the datasheet for your particular Cortex-M3 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] = LED_RED; /* turn red 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);

    BSP_randomSeed(1234U);

    /* initialize the QS software tracing... */
    if (QS_INIT((void *)0) == 0U) {
        Q_ERROR();
    }
    QS_OBJ_DICTIONARY(&l_rtx_ticker);
    QS_OBJ_DICTIONARY(&l_GPIOPortA_IRQHandler);
}
/*..........................................................................*/
void BSP_displayPhilStat(uint8_t n, char const *stat) {
    /* exercise the FPU with some floating point computations... */
    float volatile x;
    x = 3.1415926F;
    x = x + 2.7182818F;

    GPIOF->DATA_Bits[LED_GREEN] =
         ((stat[0] == 'e')   /* Is Philo[n] eating? */
         ? 0xFFU             /* turn the LED1 on  */
         : 0U);              /* turn the 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) {
    GPIOF->DATA_Bits[LED_GREEN] = ((paused != 0U) ? 0xFFU : 0U);
}
/*..........................................................................*/
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 * (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) {
    /* 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() {
    /* state of the button debouncing, see below */
    static struct ButtonsDebouncing {
        uint32_t depressed;
        uint32_t previous;
    } buttons = { ~0U, ~0U };
    uint32_t current;
    uint32_t tmp;

    QF_TICK_X(0U, &l_rtx_ticker); /* process time events for 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 = ~GPIOF->DATA_Bits[BTN_SW1 | BTN_SW2];  /* read SW1 and SW2 */
    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 & BTN_SW1) != 0U) {  /* debounced SW1 state changed? */
        if ((buttons.depressed & BTN_SW1) != 0U) { /* is SW1 depressed? */
            static QEvt const pauseEvt = { PAUSE_SIG, 0U, 0U};
            QF_PUBLISH(&pauseEvt, &l_rtx_ticker);
        }
        else {            /* the button is released */
            static QEvt const serveEvt = { SERVE_SIG, 0U, 0U};
            QF_PUBLISH(&serveEvt, &l_rtx_ticker);
        }
    }
}

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


/* QS callbacks ============================================================*/
#ifdef Q_SPY
/*..........................................................................*/
uint8_t QS_onStartup(void const *arg) {
    static uint8_t qsBuf[2*1024]; /* buffer for Quantum Spy */
    uint32_t tmp;
    QS_initBuf(qsBuf, sizeof(qsBuf));

    /* enable the peripherals used by the UART0 */
    SYSCTL->RCGC1 |= (1U << 0);    /* enable clock to UART0 */
    SYSCTL->RCGC2 |= (1U << 0);    /* enable clock to GPIOA */
    __NOP();                       /* wait after enabling clocks */
    __NOP();
    __NOP();

    /* configure UART0 pins for UART operation */
    tmp = (1U << 0) | (1U << 1);
    GPIOA->DIR   &= ~tmp;
    GPIOA->AFSEL |= tmp;
    GPIOA->DR2R  |= tmp;   /* set 2mA drive, DR4R and DR8R are cleared */
    GPIOA->SLR   &= ~tmp;
    GPIOA->ODR   &= ~tmp;
    GPIOA->PUR   &= ~tmp;
    GPIOA->PDR   &= ~tmp;
    GPIOA->DEN   |= tmp;

    /* configure the UART for the desired baud rate, 8-N-1 operation */
    tmp = (((SystemCoreClock * 8U) / UART_BAUD_RATE) + 1U) / 2U;
    UART0->IBRD   = tmp / 64U;
    UART0->FBRD   = tmp % 64U;
    UART0->LCRH   = 0x60U; /* configure 8-N-1 operation */
    UART0->LCRH  |= 0x10U;
    UART0->CTL   |= (1U << 0) | (1U << 8) | (1U << 9);

    /* 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) { /* NOTE: invoked with interrupts DISABLED */
    /* NOTE:
    * QS_onGetTime() cannot call the offical RTX osKernelSysTick() service,
    * because osKernelSysTick() is a SVC function, which can't execute
    * with interrupts disabled. Therefore, QS_onGetTime() calls directly
    * the function svcKernelSysTick().
    */
    uint32_t svcKernelSysTick(void); /* prototype declaration */
    return (QSTimeCtr)svcKernelSysTick();
}
/*..........................................................................*/
void QS_onFlush(void) {
    uint16_t fifo = UART_TXFIFO_DEPTH; /* Tx FIFO depth */
    uint8_t const *block;
    QF_INT_DISABLE();
    while ((block = QS_getBlock(&fifo)) != (uint8_t *)0) {
        QF_INT_ENABLE();
        /* busy-wait until TX FIFO empty */
        while ((UART0->FR & UART_FR_TXFE) == 0) {
        }

        while (fifo-- != 0) {    /* any bytes in the block? */
            UART0->DR = *block++; /* put into the TX FIFO */
        }
        fifo = UART_TXFIFO_DEPTH; /* re-load the Tx FIFO depth */
        QF_INT_DISABLE();
    }
    QF_INT_ENABLE();
}
#endif /* Q_SPY */
/*--------------------------------------------------------------------------*/

/*****************************************************************************
* 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.
*/