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qpcpp/examples/uc-os2/arm-cm/dpp_nucleo-l053r8/bsp.cpp
MMS f16303644b amended
2022-10-26 19:47:39 -04:00

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//============================================================================
// Product: DPP example, NUCLEO-L053R8 board, uC/OS-II RTOS
// Last updated for version 6.9.3
// Last updated on 2021-03-03
//
// Q u a n t u m L e a P s
// ------------------------
// Modern Embedded Software
//
// Copyright (C) 2005-2021 Quantum Leaps. 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 <www.gnu.org/licenses>.
//
// Contact information:
// <www.state-machine.com/licensing>
// <info@state-machine.com>
//============================================================================
#include "qpcpp.hpp"
#include "dpp.hpp"
#include "bsp.hpp"
#include "stm32l0xx.h" // CMSIS-compliant header file for the MCU used
// add other drivers if necessary...
// namespace DPP *************************************************************
namespace DPP {
Q_DEFINE_THIS_FILE
// Local-scope defines -------------------------------------------------------
// LED pins available on the board (just one user LED LD2--Green on PA.5)
#define LED_LD2 (1U << 5)
// Button pins available on the board (just one user Button B1 on PC.13)
#define BTN_B1 (1U << 13)
static uint32_t l_rnd; // random seed
#ifdef Q_SPY
QP::QSTimeCtr QS_tickTime_;
QP::QSTimeCtr QS_tickPeriod_;
// QSpy source IDs
static QP::QSpyId const l_tickHook = { 0U };
enum AppRecords { // application-specific trace records
PHILO_STAT = QP::QS_USER,
ON_CONTEXT_SW
};
#endif
// ISRs used in the application ==============================================
// uCOS-II application hooks =================================================
extern "C" {
void App_TaskCreateHook (OS_TCB *ptcb) { (void)ptcb; }
void App_TaskDelHook (OS_TCB *ptcb) { (void)ptcb; }
//............................................................................
void App_TaskIdleHook(void) {
#if OS_CRITICAL_METHOD == 3u // Allocate storage for CPU status register
OS_CPU_SR cpu_sr;
#endif
// toggle LED2 on and then off, see NOTE01
OS_ENTER_CRITICAL();
//GPIOA->BSRR |= (LED_LD2); // turn LED[n] on
//GPIOA->BSRR |= (LED_LD2 << 16); // turn LED[n] off
OS_EXIT_CRITICAL();
#ifdef Q_SPY
if ((USART2->ISR & 0x0080U) != 0) { // is TXE empty?
uint16_t b;
OS_ENTER_CRITICAL();
b = QP::QS::getByte();
OS_EXIT_CRITICAL();
if (b != QP::QS_EOD) { // not End-Of-Data?
USART2->TDR = (b & 0xFFU); // put into the DR register
}
}
#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 Cortex-M3 MCU.
//
__WFI(); // Wait-For-Interrupt
#endif
}
//............................................................................
void App_TaskReturnHook (OS_TCB *ptcb) { (void)ptcb; }
void App_TaskStatHook (void) {}
void App_TaskSwHook (void) {}
void App_TCBInitHook (OS_TCB *ptcb) { (void)ptcb; }
//............................................................................
void App_TimeTickHook(void) {
// 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;
#ifdef Q_SPY
{
tmp = SysTick->CTRL; // clear CTRL_COUNTFLAG
QS_tickTime_ += QS_tickPeriod_; // account for the clock rollover
}
#endif
QP::QTimeEvt::TICK_X(0U, &l_tickHook); // 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 = ~GPIOC->IDR; // read Port C with the state of Button B1
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_B1) != 0U) { // debounced B1 state changed?
if ((buttons.depressed & BTN_B1) != 0U) { // is B1 depressed?
static QP::QEvt const pauseEvt = { PAUSE_SIG, 0U, 0U};
QP::QF::PUBLISH(&pauseEvt, &l_tickHook);
}
else { // the button is released
static QP::QEvt const serveEvt = { SERVE_SIG, 0U, 0U};
QP::QF::PUBLISH(&serveEvt, &l_tickHook);
}
}
}
} // extern "C"
// BSP functions ===========================================================*/
void BSP::init(void) {
// NOTE: SystemInit() has been already called from the startup code
// but SystemCoreClock needs to be updated
SystemCoreClockUpdate();
// enable GPIOA clock port for the LED LD2
RCC->IOPENR |= (1U << 0);
// configure LED (PA.5) pin as push-pull output, no pull-up, pull-down
GPIOA->MODER &= ~((3U << 2*5));
GPIOA->MODER |= ((1U << 2*5));
GPIOA->OTYPER &= ~((1U << 5));
GPIOA->OSPEEDR &= ~((3U << 2*5));
GPIOA->OSPEEDR |= ((1U << 2*5));
GPIOA->PUPDR &= ~((3U << 2*5));
// enable GPIOC clock port for the Button B1
RCC->IOPENR |= (1U << 2);
// configure Button (PC.13) pins as input, no pull-up, pull-down
GPIOC->MODER &= ~(3U << 2*13);
GPIOC->OSPEEDR &= ~(3U << 2*13);
GPIOC->OSPEEDR |= (1U << 2*13);
GPIOC->PUPDR &= ~(3U << 2*13);
randomSeed(1234U); // seed the random number generator
// initialize the QS software tracing...
if (QS_INIT((void *)0) == 0U) {
Q_ERROR();
}
QS_OBJ_DICTIONARY(&l_tickHook);
QS_USR_DICTIONARY(PHILO_STAT);
QS_USR_DICTIONARY(ON_CONTEXT_SW);
// setup the QS filters...
QS_GLB_FILTER(QP::QS_SM_RECORDS);
QS_GLB_FILTER(QP::QS_UA_RECORDS);
}
//............................................................................
void BSP::displayPhilStat(uint8_t n, char const *stat) {
if (stat[0] == 'h') {
GPIOA->BSRR |= LED_LD2; // turn LED on
}
else {
GPIOA->BSRR |= (LED_LD2 << 16); // turn LED off
}
QS_BEGIN_ID(PHILO_STAT, AO_Philo[n]->m_prio) // app-specific record begin
QS_U8(1, n); // Philosopher number
QS_STR(stat); // Philosopher status
QS_END()
}
//............................................................................
void BSP::displayPaused(uint8_t paused) {
// not enough LEDs to implement this feature
if (paused != 0U) {
//GPIOA->BSRR |= (LED_LD2); // turn LED[n] on
}
else {
//GPIOA->BSRR |= (LED_LD2 << 16); // turn LED[n] off
}
}
//............................................................................
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;
}
} // namespace DPP
// namespace QP **************************************************************
namespace QP {
// QF callbacks ============================================================*/
void QF::onStartup(void) {
// set up the SysTick timer to fire at BSP_TICKS_PER_SEC rate
// NOTE: do NOT call OS_CPU_SysTickInit() from uC/OS-II
SysTick_Config(SystemCoreClock / DPP::BSP::TICKS_PER_SEC);
// set priorities of ALL ISRs used in the system
NVIC_SetPriority(SysTick_IRQn, 1U);
// ...
// enable IRQs in the NVIC...
// ...
}
//............................................................................
void QF::onCleanup(void) {
}
//............................................................................
extern "C"
Q_NORETURN Q_onAssert(char const * const module, int_t const loc) {
//
// NOTE: add here your application-specific error handling
//
(void)module;
(void)loc;
QS_ASSERTION(module, loc, 10000U); // report assertion to QS
#ifndef NDEBUG
// wait until button B1 is pressed...
while ((GPIOC->IDR & BTN_B1) != 0U) {
GPIOA->BSRR |= (LED_LD2); // turn LED2 on
GPIOA->BSRR |= (LED_LD2 << 16); // turn LED2 off
}
#endif
NVIC_SystemReset();
}
// QS callbacks ============================================================*/
#ifdef Q_SPY
//............................................................................
#define __DIV(__PCLK, __BAUD) (((__PCLK / 4) *25)/(__BAUD))
#define __DIVMANT(__PCLK, __BAUD) (__DIV(__PCLK, __BAUD)/100)
#define __DIVFRAQ(__PCLK, __BAUD) \
(((__DIV(__PCLK, __BAUD) - (__DIVMANT(__PCLK, __BAUD) * 100)) \
* 16 + 50) / 100)
#define __USART_BRR(__PCLK, __BAUD) \
((__DIVMANT(__PCLK, __BAUD) << 4)|(__DIVFRAQ(__PCLK, __BAUD) & 0x0F))
//............................................................................
bool QS::onStartup(void const *arg) {
static uint8_t qsBuf[1024]; // buffer for Quantum Spy
(void)arg; // avoid the "unused parameter" compiler warning
initBuf(qsBuf, sizeof(qsBuf));
// enable peripheral clock for USART2
RCC->IOPENR |= ( 1ul << 0); // Enable GPIOA clock
RCC->APB1ENR |= ( 1ul << 17); // Enable USART#2 clock
// Configure PA3 to USART2_RX, PA2 to USART2_TX
GPIOA->AFR[0] &= ~((15ul << 4* 3) | (15ul << 4* 2) );
GPIOA->AFR[0] |= (( 4ul << 4* 3) | ( 4ul << 4* 2) );
GPIOA->MODER &= ~(( 3ul << 2* 3) | ( 3ul << 2* 2) );
GPIOA->MODER |= (( 2ul << 2* 3) | ( 2ul << 2* 2) );
USART2->BRR = __USART_BRR(SystemCoreClock, 115200ul); // baud rate
USART2->CR3 = 0x0000; // no flow control
USART2->CR2 = 0x0000; // 1 stop bit
USART2->CR1 = ((1ul << 2) | // enable RX
(1ul << 3) | // enable TX
(0ul << 12) | // 8 data bits
(0ul << 28) | // 8 data bits
(1ul << 0) ); // enable USART
DPP::QS_tickPeriod_ = SystemCoreClock / DPP::BSP::TICKS_PER_SEC;
DPP::QS_tickTime_ = DPP::QS_tickPeriod_; // to start the timestamp at zero
return true; // return success
}
//............................................................................
void QS::onCleanup(void) {
}
//............................................................................
QSTimeCtr QS::onGetTime(void) { // NOTE: invoked with interrupts DISABLED
if ((SysTick->CTRL & SysTick_CTRL_COUNTFLAG_Msk) == 0) { // not set?
return DPP::QS_tickTime_ - static_cast<QSTimeCtr>(SysTick->VAL);
}
else { // the rollover occured, but the SysTick_ISR did not run yet
return DPP::QS_tickTime_ + DPP::QS_tickPeriod_
- static_cast<QSTimeCtr>(SysTick->VAL);
}
}
//............................................................................
void QS::onFlush(void) {
uint16_t b;
#if OS_CRITICAL_METHOD == 3u // Allocate storage for CPU status register
OS_CPU_SR cpu_sr;
#endif
OS_ENTER_CRITICAL();
while ((b = getByte()) != QS_EOD) { // while not End-Of-Data...
OS_EXIT_CRITICAL();
while ((USART2->ISR & 0x0080U) == 0U) { // while TXE not empty
}
USART2->TDR = (b & 0xFFU); // put into the DR register
OS_ENTER_CRITICAL();
}
OS_EXIT_CRITICAL();
}
//............................................................................
//! callback function to reset the target (to be implemented in the BSP)
void QS::onReset(void) {
NVIC_SystemReset();
}
//............................................................................
//! callback function to execute a user command (to be implemented in BSP)
void QS::onCommand(uint8_t cmdId,
uint32_t param1, uint32_t param2, uint32_t param3)
{
(void)cmdId;
(void)param1;
(void)param2;
(void)param3;
}
#endif // Q_SPY
//----------------------------------------------------------------------------
} // namespace QP
/*****************************************************************************
* NOTE01:
* Usually, one of the LEDs is used to visualize the idle loop activity.
* However, the board has not enough LEDs (only one, actually), so this
* feature is disabled.
*/
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