modern-embedded-programming-course/lesson-27/tm4c123-qxk-keil/bsp.c

/* Board Support Package (BSP) for the EK-TM4C123GXL board */
#include "qpc.h"   // for the QXK kernel (part of QP/C)
#include "bsp.h"
#include "TM4C123GH6PM.h" /* the TM4C MCU Peripheral Access Layer (TI) */

/* on-board LEDs */
#define LED_RED   (1U << 1)
#define LED_BLUE  (1U << 2)
#define LED_GREEN (1U << 3)

/* on-board switch */
#define BTN_SW1   (1U << 4)

static uint32_t volatile l_tickCtr;

void SysTick_Handler(void) {
    QXK_ISR_ENTRY();  /* inform QXK about entering an ISR */

    QF_TICK_X(0U, (void *)0); /* process time events for rate 0 */

    QXK_ISR_EXIT(); /* inform QXK about exiting an ISR */
}

void GPIOPortF_IRQHandler(void) {
    QXK_ISR_ENTRY();  /* inform QXK about entering an ISR */
    if ((GPIOF_AHB->RIS & BTN_SW1) != 0U) { /* interrupt caused by SW1? */
        QXSemaphore_signal(&SW1_sema);
    }
    GPIOF_AHB->ICR = 0xFFU; /* clear interrupt sources */
    QXK_ISR_EXIT(); /* inform QXK about exiting an ISR */
}

void BSP_init(void) {
    SYSCTL->GPIOHBCTL |= (1U << 5); /* enable AHB for GPIOF */
    SYSCTL->RCGCGPIO  |= (1U << 5); /* enable Run Mode for GPIOF */

    GPIOF_AHB->DIR |= (LED_RED | LED_BLUE | LED_GREEN);
    GPIOF_AHB->DEN |= (LED_RED | LED_BLUE | LED_GREEN);

    /* configure switch SW1 */
    GPIOF_AHB->DIR &= ~BTN_SW1; /* input */
    GPIOF_AHB->DEN |= BTN_SW1; /* digital enable */
    GPIOF_AHB->PUR |= BTN_SW1; /* pull-up resistor enable */

    /* GPIO interrupt setup for SW1 */
    GPIOF_AHB->IS  &= ~BTN_SW1; /* edge detect for SW1 */
    GPIOF_AHB->IBE &= ~BTN_SW1; /* only one edge generate the interrupt */
    GPIOF_AHB->IEV &= ~BTN_SW1; /* a falling edge triggers the interrupt */
    GPIOF_AHB->IM  |= BTN_SW1;  /* enable GPIOF interrupt for SW1 */
}

void BSP_ledRedOn(void) {
    GPIOF_AHB->DATA_Bits[LED_RED] = LED_RED;
}

void BSP_ledRedOff(void) {
    GPIOF_AHB->DATA_Bits[LED_RED] = 0U;
}

void BSP_ledBlueOn(void) {
    GPIOF_AHB->DATA_Bits[LED_BLUE] = LED_BLUE;
}

void BSP_ledBlueOff(void) {
    GPIOF_AHB->DATA_Bits[LED_BLUE] = 0U;
}

void BSP_ledGreenOn(void) {
    GPIOF_AHB->DATA_Bits[LED_GREEN] = LED_GREEN;
}

void BSP_ledGreenOff(void) {
    GPIOF_AHB->DATA_Bits[LED_GREEN] = 0U;
}

/* callbacks ---------------------------------------------------------------*/
void QF_onStartup(void) {
    SystemCoreClockUpdate();
    SysTick_Config(SystemCoreClock / BSP_TICKS_PER_SEC);

    /* set the interrupt priorities of "kernel aware" interrupts */
    NVIC_SetPriority(SysTick_IRQn, QF_AWARE_ISR_CMSIS_PRI);
    NVIC_SetPriority(GPIOF_IRQn,   QF_AWARE_ISR_CMSIS_PRI + 1);

    /* enable IRQs in NVIC... */
    NVIC_EnableIRQ(GPIOF_IRQn);
}
/*..........................................................................*/
void QF_onCleanup(void) {
}

void QXK_onIdle(void) {
    GPIOF_AHB->DATA_Bits[LED_RED] = LED_RED;
    GPIOF_AHB->DATA_Bits[LED_RED] = 0U;
    //__WFI(); /* stop the CPU and Wait for Interrupt */
}

//............................................................................
_Noreturn void Q_onAssert(char const * const module, int const id) {
    (void)module; // unused parameter
    (void)id;     // unused parameter
#ifndef NDEBUG
    // light up all LEDs
    GPIOF_AHB->DATA_Bits[LED_GREEN | LED_RED | LED_BLUE] = 0xFFU;
    // for debugging, hang on in an endless loop...
    for (;;) {
    }
#endif
    NVIC_SystemReset();
}
//............................................................................
_Noreturn void assert_failed(char const * const module, int const id);
_Noreturn void assert_failed(char const * const module, int const id) {
    Q_onAssert(module, id);
}