//////////////////////////////////////////////////////////////////////////////
// Product: DPP example, uC/OS-II
// Last Updated for Version: 4.5.00
// Date of the Last Update: May 20, 2012
//
// Q u a n t u m L e a P s
// ---------------------------
// innovating embedded systems
//
// Copyright (C) 2002-2012 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 2 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:
// Quantum Leaps Web sites: http://www.quantum-leaps.com
// http://www.state-machine.com
// e-mail: info@quantum-leaps.com
//////////////////////////////////////////////////////////////////////////////
#include "qp_port.h"
#include "dpp.h"
#include "bsp.h"
#include "video.h"
#include // for _dos_setvect()/_dos_getvect()
#include // for inp()/outp()
//#include // for _exit()
extern "C" void _exit(int status);
extern "C" long int atol(const char *nptr);
Q_DEFINE_THIS_FILE
// Local-scope objects -------------------------------------------------------
static void interrupt (*l_dosTickISR)();
static uint32_t l_delay = 0UL; // limit for the loop counter in busyDelay()
#ifdef Q_SPY
static uint16_t l_uart_base; // QS data uplink UART base address
static QSTimeCtr l_tickTime; // keeps timetsamp at tick
static uint8_t l_tickHook;
static uint8_t l_kbdTask;
#define UART_16550_TXFIFO_DEPTH 16
enum AppRecords { // application-specific trace records
PHILO_STAT = QS_USER
};
#endif
#define TMR_VECTOR 0x08
#define DOS_CHAIN_VECTOR 0x81
//............................................................................
extern "C" void ucosTask(void *) {
QF::onStartup(); // start interrupts including the clock tick, NOTE01
for (;;) {
OSTimeDly(OS_TICKS_PER_SEC/10); // sleep for 1/10 s
if (kbhit()) { // poll for a new keypress
uint8_t key = (uint8_t)getch();
if (key == 0x1B) { // is this the ESC key?
QF::PUBLISH(Q_NEW(QEvt, TERMINATE_SIG), &l_kbdTask);
}
else { // other key pressed
Video::printNumAt(30, 13 + N_PHILO, Video::FGND_YELLOW, key);
}
}
}
}
//............................................................................
void BSP_init(int argc, char *argv[]) {
if (argc > 1) {
l_delay = atol(argv[1]); // set the delay counter for busy delay
}
char const *com = "COM1";
if (argc > 2) {
com = argv[2];
com = com; // avoid the compiler warning about unused variable
}
if (!QS_INIT(com)) { // initialize QS
Q_ERROR();
}
QS_OBJ_DICTIONARY(&l_tickHook);
QS_OBJ_DICTIONARY(&l_kbdTask);
uint8_t n;
Video::clearScreen(Video::BGND_BLACK);
Video::clearRect( 0, 0, 80, 7, Video::BGND_LIGHT_GRAY);
Video::clearRect( 0, 11, 80, 12, Video::BGND_LIGHT_GRAY);
Video::clearRect( 0, 12, 41, 23, Video::BGND_BLUE);
Video::clearRect(41, 12, 80, 23, Video::BGND_RED);
Video::clearRect( 0, 23, 80, 24, Video::BGND_LIGHT_GRAY);
n = Video::FGND_BLUE;
Video::printStrAt(10, 0, n, " __");
Video::printStrAt(10, 1, n, " / | _ _ -|- _ _");
Video::printStrAt(10, 2, n, " \\__| | | _\\ | \\ | | | | \\ \\");
Video::printStrAt(10, 3, n, " | \\_/ |_| | | | \\_| | | |");
Video::printStrAt(10, 4, n, " |");
n = Video::FGND_RED;
Video::printStrAt(43, 0, n, " _ __ ");
Video::printStrAt(43, 1, n, "| /_\\ | \\ TM");
Video::printStrAt(43, 2, n, "| \\_ _ |__/ _");
Video::printStrAt(43, 3, n, "| _\\ | |_");
Video::printStrAt(43, 4, n, "|___ |_| | _|");
Video::printStrAt(10, 5, Video::FGND_BLUE,
"_____________________________________________________");
Video::printStrAt(10, 6, Video::FGND_RED,
"i n n o v a t i n g e m b e d d e d s y s t e m s");
Video::printStrAt(18, 7, Video::FGND_WHITE,
"Dining Philosophers Example");
Video::printStrAt(18, 8, Video::FGND_WHITE, "QEP/C++");
Video::printStrAt(28, 8, Video::FGND_YELLOW, QEP::getVersion());
Video::printStrAt(18, 9, Video::FGND_WHITE, "QF/C++");
Video::printStrAt(28, 9, Video::FGND_YELLOW, QF::getVersion());
Video::printStrAt(18, 10, Video::FGND_WHITE, "uC/OS-II");
// uC/OS-II version is returned as an integer value multiplied by 100
Video::printNumAt(29, 10, Video::FGND_YELLOW, OSVersion()%100);
Video::printStrAt(28, 10, Video::FGND_YELLOW, "2.");
Video::printStrAt( 1, 11, Video::FGND_BLUE,
"Active Object State Data");
for (n = 0; n < N_PHILO; ++n) {
Video::printStrAt( 1, 12 + n, Video::FGND_WHITE, "Philosopher");
Video::printNumAt(12, 12 + n, Video::FGND_WHITE, n + 1);
}
Video::printStrAt( 1, 12 + N_PHILO, Video::FGND_WHITE, "Table");
Video::printStrAt(17, 12 + N_PHILO, Video::FGND_YELLOW, "serving");
Video::printStrAt( 1, 12 + N_PHILO + 1, Video::FGND_WHITE, "ucosTask");
Video::printStrAt(17, 12 + N_PHILO + 1, Video::FGND_YELLOW, "active");
Video::printStrAt(4, 23, Video::FGND_BLUE,
"* Copyright (c) Quantum Leaps, LLC * www.quantum-leaps.com *");
Video::printStrAt(28, 24, Video::FGND_LIGHT_RED,
"<< Press Esc to quit >>");
}
//............................................................................
void BSP_displyPhilStat(uint8_t n, char const *stat) {
Video::printStrAt(17, 12 + n, Video::FGND_YELLOW, stat);
}
//............................................................................
void BSP_busyDelay(void) {
uint32_t volatile i = l_delay;
while (i-- > 0UL) { // busy-wait loop
}
}
//............................................................................
void QF::onStartup(void) {
uint16_t count = (uint16_t)(((1193180 * 2) / OS_TICKS_PER_SEC + 1) >> 1);
QF_CRIT_STAT_TYPE crit_stat;
QF_CRIT_ENTRY(crit_stat);
// save the origingal DOS vectors ...
l_dosTickISR = _dos_getvect(TMR_VECTOR);
// install the original DOS timer vector for uC/OS-II to chain
_dos_setvect(DOS_CHAIN_VECTOR, l_dosTickISR);
// install the uC/OS-II tick vector
_dos_setvect(TMR_VECTOR, (void interrupt (*)())&OSTickISR);
outp(0x43, 0x36); // use mode-3 for timer 0 in the 8254
outp(0x40, count & 0xFF); // load low byte of timer 0
outp(0x40, (count >> 8) & 0xFF); // load high byte of timer 0
QF_CRIT_EXIT(crit_stat);
}
//............................................................................
void QF::onCleanup(void) { // restore the original DOS vectors ...
QF_CRIT_STAT_TYPE crit_stat;
QF_CRIT_ENTRY(crit_stat);
outp(0x43, 0x36); // use mode-3 for timer 0 in the 8254
outp(0x40, 0); // load low byte of timer 0
outp(0x40, 0); // load high byte of timer 0
_dos_setvect(TMR_VECTOR, l_dosTickISR); // restore the original DOS vector
QF_CRIT_EXIT(crit_stat);
QS_EXIT(); // cleanp the QS software tracing
_exit(0); // exit to DOS
}
//............................................................................
void OSTimeTickHook(void) {
QF::TICK(&l_tickHook);
}
//............................................................................
void OSTaskIdleHook(void) {
#ifdef Q_SPY
if ((inp(l_uart_base + 5) & (1 << 5)) != 0) { // Tx FIFO empty?
uint16_t fifo = UART_16550_TXFIFO_DEPTH; // 16550 Tx FIFO depth
uint8_t const *block;
QF_CRIT_STAT_TYPE crit_stat;
QF_CRIT_ENTRY(crit_stat);
block = QS::getBlock(&fifo); // try to get next block to transmit
QF_CRIT_EXIT(crit_stat);
while (fifo-- != 0) { // any bytes in the block?
outp(l_uart_base + 0, *block++);
}
}
#endif
}
//............................................................................
void Q_onAssert(char const Q_ROM * const Q_ROM_VAR file, int line) {
Video::clearRect(0, 24, 80, 25, Video::BGND_RED);
Video::printStrAt(0, 24, Video::FGND_WHITE, "ASSERTION FAILED in file:");
Video::printStrAt(26, 24, Video::FGND_YELLOW, file);
Video::printStrAt(57, 24, Video::FGND_WHITE, "line:");
Video::printNumAt(62, 24, Video::FGND_YELLOW, line);
QF::stop();
}
//----------------------------------------------------------------------------
#ifdef Q_SPY // define QS callbacks
//............................................................................
static bool UART_config(char const *comName, uint32_t baud) {
switch (comName[3]) { // Set the base address of the COMx port
case '1': l_uart_base = (uint16_t)0x03F8; break; // COM1
case '2': l_uart_base = (uint16_t)0x02F8; break; // COM2
case '3': l_uart_base = (uint16_t)0x03E8; break; // COM3
case '4': l_uart_base = (uint16_t)0x02E8; break; // COM4
default: return (uint8_t)0; // COM port out of range failure
}
baud = (uint16_t)(115200UL / baud); // divisor for baud rate
outp(l_uart_base + 3, (1 << 7)); // Set divisor access bit (DLAB)
outp(l_uart_base + 0, (uint8_t)baud); // Load divisor
outp(l_uart_base + 1, (uint8_t)(baud >> 8));
outp(l_uart_base + 3, (1 << 1) | (1 << 0)); // LCR:8-bits,no p,1stop
outp(l_uart_base + 4, (1 << 3) | (1 << 1) | (1 << 0)); // DTR,RTS,Out
outp(l_uart_base + 1, 0); // Put UART into the polling FIFO mode
outp(l_uart_base + 2, (1 << 2) | (1 << 0)); // FCR: enable, TX clear
return true; // success
}
//............................................................................
bool QS::onStartup(void const *arg) {
static uint8_t qsBuf[1*1024]; // buffer for Quantum Spy
initBuf(qsBuf, sizeof(qsBuf));
return UART_config((char const *)arg, 115200UL);
}
//............................................................................
void QS::onCleanup(void) {
}
//............................................................................
QSTimeCtr QS::onGetTime(void) { // invoked with interrupts locked
static uint32_t l_lastTime;
uint32_t now;
uint16_t count16; // 16-bit count from the 8254
outp(0x43, 0); // latch the 8254's counter-0 count
count16 = (uint16_t)inp(0x40); // read the low byte of counter-0
count16 += ((uint16_t)inp(0x40) << 8); // add on the hi byte
now = l_tickTime + (0x10000 - count16);
if (l_lastTime > now) { // are we going "back" in time?
now += 0x10000; // assume that there was one rollover
}
l_lastTime = now;
return (QSTimeCtr)now;
}
//............................................................................
void QS::onFlush(void) {
uint16_t fifo = UART_16550_TXFIFO_DEPTH; // 16550 Tx FIFO depth
uint8_t const *block;
while ((block = getBlock(&fifo)) != (uint8_t *)0) {
// busy-wait until TX FIFO empty
while ((inp(l_uart_base + 5) & (1 << 5)) == 0) {
}
while (fifo-- != 0) { // any bytes in the block?
outp(l_uart_base + 0, *block++);
}
fifo = UART_16550_TXFIFO_DEPTH; // re-load 16550 Tx FIFO depth
}
}
#endif // Q_SPY
//----------------------------------------------------------------------------