qpc/examples/arm-cm/blinky_ek-tm4c123gxl/qk/bsp.c

/*****************************************************************************
* Product: "Blinky" example, EK-TM4C123GXL board, preemptive QK kernel
* Last updated for version 5.6.0
* Last updated on  2015-12-18
*
*                    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 "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) {
    QK_ISR_ENTRY();   /* inform QK about entering an ISR */
    QF_TICK_X(0U, (void *)0); /* process time events for rate 0 */
    QK_ISR_EXIT();  /* inform QK about exiting an ISR */
}


/* 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... */
#if 1
    /* OPTION 1:
    * Use the automatic FPU state preservation and the FPU lazy stacking.
    *
    * NOTE:
    * Use the following setting when FPU is used in more than one task or
    * in any ISRs. This setting is the safest and recommended, but requires
    * extra stack space and CPU cycles.
    */
    FPU->FPCCR |= (1U << FPU_FPCCR_ASPEN_Pos) | (1U << FPU_FPCCR_LSPEN_Pos);
#else
    /* OPTION 2:
    * 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 in ONE task only and not
    * in any ISR. This setting is very efficient, but if more than one task
    * (or ISR) start using the FPU, this can lead to corruption of the
    * FPU registers. This option should be used with CAUTION.
    */
    FPU->FPCCR &= ~((1U << FPU_FPCCR_ASPEN_Pos)
                   | (1U << FPU_FPCCR_LSPEN_Pos));
#endif

    /* enable clock for to the peripherals used by this application... */
    SYSCTL->RCGCGPIO |= (1U << 5); /* enable Run mode for GPIOF */

    /* 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]   = 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 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 QK_onIdle(void) {
    /* toggle LED2 on and then off, see NOTE01 */
    QF_INT_DISABLE();
    GPIOF->DATA_Bits[LED_BLUE] = 0xFFU;
    GPIOF->DATA_Bits[LED_BLUE] = 0x00U;
    QF_INT_ENABLE();

#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-M3 MCU.
    */
    __WFI(); /* Wait-For-Interrupt */
#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 */
    NVIC_SystemReset();
}

/*****************************************************************************
* 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:
* 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.
*/