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https://github.com/QuantumLeaps/qpcpp.git
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441 lines
18 KiB
C++
441 lines
18 KiB
C++
//****************************************************************************
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// Product: "Dining Philosophers Problem" example, preemptive QK kernel
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// Last Updated for Version: 5.2.0
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// Date of the Last Update: Dec 28, 2013
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//
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// Q u a n t u m L e a P s
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// ---------------------------
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// innovating embedded systems
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//
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// Copyright (C) 2002-2013 Quantum Leaps, LLC. All rights reserved.
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//
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// This program is open source software: you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as published
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// by the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// Alternatively, this program may be distributed and modified under the
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// terms of Quantum Leaps commercial licenses, which expressly supersede
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// the GNU General Public License and are specifically designed for
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// licensees interested in retaining the proprietary status of their code.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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//
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// Contact information:
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// Quantum Leaps Web sites: http://www.quantum-leaps.com
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// http://www.state-machine.com
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// e-mail: info@quantum-leaps.com
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//****************************************************************************
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#include "qp_port.h"
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#include "dpp.h"
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#include "bsp.h"
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extern "C" {
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#include "tm4c_cmsis.h"
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#include "sysctl.h"
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#include "gpio.h"
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#include "rom.h"
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}
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//****************************************************************************
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namespace DPP {
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Q_DEFINE_THIS_FILE
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//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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// Assign a priority to EVERY ISR explicitly by calling NVIC_SetPriority().
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// DO NOT LEAVE THE ISR PRIORITIES AT THE DEFAULT VALUE!
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//
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enum KernelUnawareISRs { // see NOTE00
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// ...
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MAX_KERNEL_UNAWARE_CMSIS_PRI // keep always last
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};
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// "kernel-unaware" interrupts can't overlap "kernel-aware" interrupts
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Q_ASSERT_COMPILE(MAX_KERNEL_UNAWARE_CMSIS_PRI <= QF_AWARE_ISR_CMSIS_PRI);
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enum KernelAwareISRs {
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GPIOPORTA_PRIO = QF_AWARE_ISR_CMSIS_PRI, // see NOTE00
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SYSTICK_PRIO,
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// ...
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MAX_KERNEL_AWARE_CMSIS_PRI // keep always last
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};
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// "kernel-aware" interrupts should not overlap the PendSV priority
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Q_ASSERT_COMPILE(MAX_KERNEL_AWARE_CMSIS_PRI <= (0xFF >>(8-__NVIC_PRIO_BITS)));
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// ISRs defined in this BSP --------------------------------------------------
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extern "C" void SysTick_Handler(void);
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extern "C" void GPIOPortA_IRQHandler(void);
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// Local-scope objects -------------------------------------------------------
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static uint32_t l_rnd; // random seed
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#define LED_RED (1U << 1)
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#define LED_GREEN (1U << 3)
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#define LED_BLUE (1U << 2)
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#define USR_SW1 (1U << 4)
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#define USR_SW2 (1U << 0)
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#ifdef Q_SPY
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QP::QSTimeCtr QS_tickTime_;
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QP::QSTimeCtr QS_tickPeriod_;
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static uint8_t l_SysTick_Handler;
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static uint8_t l_GPIOPortA_IRQHandler;
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uint32_t const UART_BAUD_RATE = static_cast<uint32_t>(115200U);
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uint32_t const UART_FR_TXFE = static_cast<uint32_t>(0x80U);
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uint16_t const UART_TXFIFO_DEPTH = static_cast<uint16_t>(16U);
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enum AppRecords { // application-specific trace records
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PHILO_STAT = QP::QS_USER
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};
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#endif
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//............................................................................
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extern "C" void SysTick_Handler(void) {
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QK_ISR_ENTRY(); // infrom QK about entering an ISR
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#ifdef Q_SPY
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{
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uint32_t dummy = SysTick->CTRL; // clear SysTick_CTRL_COUNTFLAG
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QS_tickTime_ += QS_tickPeriod_; // account for the clock rollover
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}
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#endif
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QP::QF::TICK_X(0U, &l_SysTick_Handler); // process time events at rate 0
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static uint32_t btn_debounced = USR_SW1;
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static uint8_t debounce_state = 0U;
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uint32_t btn = GPIOF->DATA_Bits[USR_SW1]; // read the user sw1
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switch (debounce_state) {
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case 0:
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if (btn != btn_debounced) {
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debounce_state = 1U; // transition to the next state
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}
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break;
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case 1:
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if (btn != btn_debounced) {
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debounce_state = 2U; // transition to the next state
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}
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else {
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debounce_state = 0U; // transition back to state 0
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}
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break;
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case 2:
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if (btn != btn_debounced) {
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debounce_state = 3U; // transition to the next state
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}
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else {
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debounce_state = 0U; // transition back to state 0
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}
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break;
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case 3:
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if (btn != btn_debounced) {
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btn_debounced = btn; // save the debounced button value
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if (btn == 0U) { // is the button depressed?
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static QP::QEvt const pauseEvt =
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QEVT_INITIALIZER(PAUSE_SIG);
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QP::QF::PUBLISH(&pauseEvt, &l_SysTick_Handler);
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}
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else {
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static QP::QEvt const pauseEvt =
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QEVT_INITIALIZER(PAUSE_SIG);
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QP::QF::PUBLISH(&pauseEvt, &l_SysTick_Handler);
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}
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}
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debounce_state = 0U; // transition back to state 0
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break;
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default:
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Q_ERROR();
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break;
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}
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QK_ISR_EXIT(); // inform QK about exiting an ISR
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}
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//............................................................................
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extern "C" void GPIOPortA_IRQHandler(void) {
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QK_ISR_ENTRY(); // infrom QK about entering an ISR
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DPP::AO_Table->POST(Q_NEW(QP::QEvt, DPP::MAX_PUB_SIG), // for testing
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&l_GPIOPortA_IRQHandler);
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QK_ISR_EXIT(); // infrom QK about exiting an ISR
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}
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//............................................................................
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void BSP_init(void) {
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// Enable the floating-point unit
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SCB->CPACR |= (0xFU << 20);
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// Enable lazy stacking for interrupt handlers. This allows FPU
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// instructions to be used within interrupt handlers, but at the
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// expense of extra stack and CPU usage.
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//
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FPU->FPCCR |= (1U << FPU_FPCCR_ASPEN_Pos) | (1U << FPU_FPCCR_LSPEN_Pos);
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// Set the clocking to run directly from the crystal
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ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC
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| SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
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// enable clock to the peripherals used by the application
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SYSCTL->RCGC2 |= (1U << 5); // enable clock to GPIOF
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__NOP(); // wait after enabling clocks
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__NOP();
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__NOP();
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// configure the LEDs and push buttons
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GPIOF->DIR |= (LED_RED | LED_GREEN | LED_BLUE); // set direction: output
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GPIOF->DEN |= (LED_RED | LED_GREEN | LED_BLUE); // digital enable
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GPIOF->DATA_Bits[LED_RED] = 0; // turn the LED off
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GPIOF->DATA_Bits[LED_GREEN] = 0; // turn the LED off
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GPIOF->DATA_Bits[LED_BLUE] = 0; // turn the LED off
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// configure the User Switches
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GPIOF->DIR &= ~(USR_SW1 | USR_SW2); // set direction: input
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ROM_GPIOPadConfigSet(GPIO_PORTF_BASE, (USR_SW1 | USR_SW2),
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GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
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BSP_randomSeed(1234U);
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Q_ALLEGE(QS_INIT(static_cast<void *>(0)));
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QS_OBJ_DICTIONARY(&l_SysTick_Handler);
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QS_OBJ_DICTIONARY(&l_GPIOPortA_IRQHandler);
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QS_USR_DICTIONARY(PHILO_STAT);
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}
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//............................................................................
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void BSP_displayPhilStat(uint8_t const n, char_t const * const stat) {
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GPIOF->DATA_Bits[LED_BLUE] = ((stat[0] == 'e') ? LED_BLUE : 0U);
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QS_BEGIN(PHILO_STAT, AO_Philo[n]) // application-specific record begin
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QS_U8(1U, n); // Philosopher number
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QS_STR(stat); // Philosopher status
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QS_END()
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}
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//............................................................................
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void BSP_displayPaused(uint8_t const paused) {
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GPIOF->DATA_Bits[LED_RED] = ((paused != 0U) ? LED_RED : 0U);
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}
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//............................................................................
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uint32_t BSP_random(void) { // a very cheap pseudo-random-number generator
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// code for testing the hardware FPU...
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float volatile x = 3.1415926F;
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x = x + 2.7182818F;
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// "Super-Duper" Linear Congruential Generator (LCG)
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// LCG(2^32, 3*7*11*13*23, 0, seed)
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//
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l_rnd = l_rnd * (3U*7U*11U*13U*23U);
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return l_rnd >> 8;
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}
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//............................................................................
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void BSP_randomSeed(uint32_t const seed) {
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l_rnd = seed;
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}
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//............................................................................
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void BSP_terminate(int16_t const result) {
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(void)result;
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}
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} // namespace DPP
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//............................................................................
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extern "C" void Q_onAssert(char const Q_ROM * const file, int_t line) {
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assert_failed(file, line);
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}
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//............................................................................
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// error routine that is called if the CMSIS library encounters an error
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extern "C" void assert_failed(char const *file, int line) {
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(void)file; // avoid compiler warning
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(void)line; // avoid compiler warning
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QF_INT_DISABLE(); // make sure that all interrupts are disabled
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ROM_SysCtlReset(); // reset the system
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}
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//****************************************************************************
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namespace QP {
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//............................................................................
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void QF::onStartup(void) {
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// set up the SysTick timer to fire at BSP_TICKS_PER_SEC rate
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(void)SysTick_Config(ROM_SysCtlClockGet() / DPP::BSP_TICKS_PER_SEC);
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// assing all priority bits for preemption-prio. and none to sub-prio.
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NVIC_SetPriorityGrouping(0U);
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// set priorities of ALL ISRs used in the system, see NOTE00
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//
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// !!!!!!!!!!!!!!!!!!!!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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// Assign a priority to EVERY ISR explicitly by calling NVIC_SetPriority().
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// DO NOT LEAVE THE ISR PRIORITIES AT THE DEFAULT VALUE!
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//
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NVIC_SetPriority(SysTick_IRQn, DPP::SYSTICK_PRIO);
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NVIC_SetPriority(GPIOPortA_IRQn, DPP::GPIOPORTA_PRIO);
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// enable IRQs...
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NVIC_EnableIRQ(GPIOPortA_IRQn);
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NVIC_EnableIRQ(GPIOPortA_IRQn);
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}
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//............................................................................
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void QF::onCleanup(void) {
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}
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//............................................................................
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void QK::onIdle(void) {
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// toggle the User LED on and then off, see NOTE01
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QF_INT_DISABLE();
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GPIOF->DATA_Bits[LED_GREEN] = LED_GREEN; // turn the Green LED on
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GPIOF->DATA_Bits[LED_GREEN] = 0; // turn the Green LED off
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QF_INT_ENABLE();
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#ifdef Q_SPY
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if ((UART0->FR & DPP::UART_FR_TXFE) != 0U) { // TX done?
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uint16_t fifo = DPP::UART_TXFIFO_DEPTH; // max bytes we can accept
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QF_INT_DISABLE();
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uint8_t const *block = QS::getBlock(&fifo); // try to get next block
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QF_INT_ENABLE();
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while (fifo-- != 0) { // any bytes in the block?
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UART0->DR = *block++; // put into the FIFO
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}
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}
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#elif defined NDEBUG
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// put the CPU and peripherals to the low-power mode
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// you might need to customize the clock management for your application,
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// see the datasheet for your particular Cortex-M3 MCU.
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__WFI(); // Wait-For-Interrupt
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#endif
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}
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//----------------------------------------------------------------------------
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#ifdef Q_SPY
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//............................................................................
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bool QS::onStartup(void const *) {
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static uint8_t qsBuf[6*256]; // buffer for Quantum Spy
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uint32_t tmp;
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initBuf(qsBuf, sizeof(qsBuf));
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// enable the peripherals used by the UART0
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SYSCTL->RCGC1 |= (1U << 0); // enable clock to UART0
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SYSCTL->RCGC2 |= (1U << 0); // enable clock to GPIOA
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__NOP(); // wait after enabling clocks
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__NOP();
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__NOP();
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// configure UART0 pins for UART operation
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tmp = (1 << 0) | (1 << 1);
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GPIOA->DIR &= ~tmp;
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GPIOA->AFSEL |= tmp;
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GPIOA->DR2R |= tmp; // set 2mA drive, DR4R and DR8R are cleared
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GPIOA->SLR &= ~tmp;
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GPIOA->ODR &= ~tmp;
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GPIOA->PUR &= ~tmp;
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GPIOA->PDR &= ~tmp;
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GPIOA->DEN |= tmp;
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// configure the UART for the desired baud rate, 8-N-1 operation
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tmp = (((ROM_SysCtlClockGet() * 8U) / DPP::UART_BAUD_RATE) + 1U) / 2U;
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UART0->IBRD = tmp / 64U;
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UART0->FBRD = tmp % 64U;
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UART0->LCRH = 0x60U; // configure 8-N-1 operation
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UART0->LCRH |= 0x10U;
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UART0->CTL |= (1U << 0) | (1U << 8) | (1U << 9);
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DPP::QS_tickPeriod_ = ROM_SysCtlClockGet() / DPP::BSP_TICKS_PER_SEC;
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DPP::QS_tickTime_ = DPP::QS_tickPeriod_; // to start the timestamp at zero
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// setup the QS filters...
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QS_FILTER_ON(QS_ALL_RECORDS);
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// QS_FILTER_OFF(QS_QEP_STATE_EMPTY);
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// QS_FILTER_OFF(QS_QEP_STATE_ENTRY);
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// QS_FILTER_OFF(QS_QEP_STATE_EXIT);
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// QS_FILTER_OFF(QS_QEP_STATE_INIT);
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// QS_FILTER_OFF(QS_QEP_INIT_TRAN);
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// QS_FILTER_OFF(QS_QEP_INTERN_TRAN);
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// QS_FILTER_OFF(QS_QEP_TRAN);
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// QS_FILTER_OFF(QS_QEP_IGNORED);
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// QS_FILTER_OFF(QS_QF_ACTIVE_ADD);
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// QS_FILTER_OFF(QS_QF_ACTIVE_REMOVE);
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// QS_FILTER_OFF(QS_QF_ACTIVE_SUBSCRIBE);
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// QS_FILTER_OFF(QS_QF_ACTIVE_UNSUBSCRIBE);
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// QS_FILTER_OFF(QS_QF_ACTIVE_POST_FIFO);
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// QS_FILTER_OFF(QS_QF_ACTIVE_POST_LIFO);
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// QS_FILTER_OFF(QS_QF_ACTIVE_GET);
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// QS_FILTER_OFF(QS_QF_ACTIVE_GET_LAST);
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// QS_FILTER_OFF(QS_QF_EQUEUE_INIT);
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// QS_FILTER_OFF(QS_QF_EQUEUE_POST_FIFO);
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// QS_FILTER_OFF(QS_QF_EQUEUE_POST_LIFO);
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// QS_FILTER_OFF(QS_QF_EQUEUE_GET);
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// QS_FILTER_OFF(QS_QF_EQUEUE_GET_LAST);
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// QS_FILTER_OFF(QS_QF_MPOOL_INIT);
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// QS_FILTER_OFF(QS_QF_MPOOL_GET);
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// QS_FILTER_OFF(QS_QF_MPOOL_PUT);
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// QS_FILTER_OFF(QS_QF_PUBLISH);
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// QS_FILTER_OFF(QS_QF_NEW);
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// QS_FILTER_OFF(QS_QF_GC_ATTEMPT);
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// QS_FILTER_OFF(QS_QF_GC);
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// QS_FILTER_OFF(QS_QF_TICK);
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// QS_FILTER_OFF(QS_QF_TIMEEVT_ARM);
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// QS_FILTER_OFF(QS_QF_TIMEEVT_AUTO_DISARM);
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// QS_FILTER_OFF(QS_QF_TIMEEVT_DISARM_ATTEMPT);
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// QS_FILTER_OFF(QS_QF_TIMEEVT_DISARM);
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// QS_FILTER_OFF(QS_QF_TIMEEVT_REARM);
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// QS_FILTER_OFF(QS_QF_TIMEEVT_POST);
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QS_FILTER_OFF(QS_QF_CRIT_ENTRY);
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QS_FILTER_OFF(QS_QF_CRIT_EXIT);
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QS_FILTER_OFF(QS_QF_ISR_ENTRY);
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QS_FILTER_OFF(QS_QF_ISR_EXIT);
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return true; // return success
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}
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//............................................................................
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void QS::onCleanup(void) {
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}
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//............................................................................
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QSTimeCtr QS::onGetTime(void) { // invoked with interrupts disabled
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QSTimeCtr ret = DPP::QS_tickTime_ - static_cast<QSTimeCtr>(SysTick->VAL);
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if ((SysTick->CTRL & SysTick_CTRL_COUNTFLAG_Msk) != 0U) { // flag set?
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ret += DPP::QS_tickPeriod_;
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}
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return ret;
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}
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//............................................................................
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void QS::onFlush(void) {
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uint16_t fifo = DPP::UART_TXFIFO_DEPTH; // Tx FIFO depth
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uint8_t const *block;
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while ((block = getBlock(&fifo)) != static_cast<uint8_t *>(0)) {
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// busy-wait until TX FIFO empty
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while ((UART0->FR & DPP::UART_FR_TXFE) == 0U) {
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}
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while (fifo-- != 0U) { // any bytes in the block?
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UART0->DR = *block++; // put into the TX FIFO
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}
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fifo = DPP::UART_TXFIFO_DEPTH; // re-load the Tx FIFO depth
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}
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}
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#endif // Q_SPY
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//----------------------------------------------------------------------------
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} // namespace QP
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//****************************************************************************
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// NOTE01:
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// The User LED is used to visualize the idle loop activity. The brightness
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// of the LED is proportional to the frequency of invcations of the idle loop.
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// Please note that the LED is toggled with interrupts locked, so no interrupt
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// execution time contributes to the brightness of the User LED.
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//
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