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