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180 lines
6.6 KiB
C
180 lines
6.6 KiB
C
/*****************************************************************************
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* BSP for NUCLEO-C031C6 with uC/OS-II RTOS
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*****************************************************************************/
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#include "uc_ao.h" /* uC/AO API */
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#include "bsp.h" /* Board Support Package */
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#include <stdbool.h> /* needed by the TI drivers */
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#include "stm32c0xx.h" /* CMSIS-compliant header file for the MCU used */
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/* add other drivers if necessary... */
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// LED marked "LD4" (PA.5) on the NUCLEO-C031C6 board
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#define LD4_PIN 5U
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// external LED to be inserted between GND (short leg) and
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// D12 (longer leg) on the CN9 connector
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#define LD5_PIN 6U
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// Button B1 (PC.13) on the NUCLEO-C031C6 board
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#define B1_PIN 13U
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/* uCOS-II application hooks ===============================================*/
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void App_TimeTickHook(void) {
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/* state of the button debouncing, see below */
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static struct ButtonsDebouncing {
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uint32_t depressed;
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uint32_t previous;
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} buttons = { 0U, 0U };
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uint32_t current;
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uint32_t tmp;
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TimeEvent_tick(); /* process all uC/AO time events */
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/* Perform the debouncing of buttons. The algorithm for debouncing
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* adapted from the book "Embedded Systems Dictionary" by Jack Ganssle
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* and Michael Barr, page 71.
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*/
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current = ~GPIOC->IDR; // read Port C with state of Button B1
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tmp = buttons.depressed; /* save the debounced depressed buttons */
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buttons.depressed |= (buttons.previous & current); /* set depressed */
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buttons.depressed &= (buttons.previous | current); /* clear released */
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buttons.previous = current; /* update the history */
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tmp ^= buttons.depressed; /* changed debounced depressed */
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if ((tmp & (1U << B1_PIN)) != 0U) { // debounced B1 state changed?
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if ((current & (1U << B1_PIN)) != 0U) { // is B1 depressed?
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/* post the "button-pressed" event */
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static Event const buttonPressedEvt = {BUTTON_PRESSED_SIG};
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Active_post(AO_BlinkyButton, &buttonPressedEvt);
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}
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else { /* the button is released */
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/* post the "button-released" event */
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static Event const buttonReleasedEvt = {BUTTON_RELEASED_SIG};
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Active_post(AO_BlinkyButton, &buttonReleasedEvt);
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}
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}
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}
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/*..........................................................................*/
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void App_TaskIdleHook(void) {
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#ifdef 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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*/
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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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void App_TaskCreateHook (OS_TCB *ptcb) { (void)ptcb; }
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void App_TaskDelHook (OS_TCB *ptcb) { (void)ptcb; }
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void App_TaskReturnHook (OS_TCB *ptcb) { (void)ptcb; }
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void App_TaskStatHook (void) {}
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void App_TaskSwHook (void) {}
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void App_TCBInitHook (OS_TCB *ptcb) { (void)ptcb; }
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/* BSP functions ===========================================================*/
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void BSP_init(void) {
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/* NOTE: SystemInit() has been already called from the startup code
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* but SystemCoreClock needs to be updated
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*/
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SystemCoreClockUpdate();
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// enable GPIOA clock port for the LEDs
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RCC->IOPENR |= (1U << 0U);
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// NUCLEO-C031C6 board has LED LD4 on GPIOA pin LD4_PIN
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// and external LED LD5 on GPIO LD5_PIN
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// set the LED pins as push-pull output, no pull-up, pull-down
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GPIOA->MODER &= ~((3U << 2U*LD4_PIN) | (3U << 2U*LD5_PIN));
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GPIOA->MODER |= ((1U << 2U*LD4_PIN) | (1U << 2U*LD5_PIN));
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GPIOA->OTYPER &= ~((1U << LD4_PIN) | (1U << LD5_PIN));
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GPIOA->OSPEEDR &= ~((3U << 2U*LD4_PIN) | (3U << 2U*LD5_PIN));
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GPIOA->OSPEEDR |= ((1U << 2U*LD4_PIN) | (1U << 2U*LD5_PIN));
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GPIOA->PUPDR &= ~((3U << 2U*LD4_PIN) | (3U << 2U*LD5_PIN));
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// enable GPIOC clock port for the Button B1
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RCC->IOPENR |= (1U << 2U);
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// configure Button B1 (PC.13) pins as input, no pull-up, pull-down
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GPIOC->MODER &= ~(3U << 2*B1_PIN);
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GPIOC->OSPEEDR &= ~(3U << 2*B1_PIN);
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GPIOC->OSPEEDR |= (1U << 2*B1_PIN);
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GPIOC->PUPDR &= ~(3U << 2*B1_PIN);
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// configure Button B1 interrupt as falling edge
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EXTI->EMR1 &= ~(1U << B1_PIN);
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EXTI->IMR1 |= (1U << B1_PIN);
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EXTI->RTSR1 &= ~(1U << B1_PIN);
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EXTI->FTSR1 |= (1U << B1_PIN);
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EXTI->EXTICR[3] &= ~(7U << 8); // EXTI port C line 13
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EXTI->EXTICR[3] |= (2U << 8); // EXTI port C line 13
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}
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/*..........................................................................*/
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void BSP_start(void) {
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/* NOTE: SystemInit() has been already called from the startup code
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* but SystemCoreClock needs to be updated
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*/
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SystemCoreClockUpdate();
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/* set up the SysTick timer to fire at BSP_TICKS_PER_SEC rate
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* NOTE: do NOT call OS_CPU_SysTickInit() from uC/OS-II
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*/
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SysTick_Config(SystemCoreClock / OS_TICKS_PER_SEC);
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/* set priorities of ALL ISRs used in the system, see NOTE1 */
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NVIC_SetPriority(SysTick_IRQn, CPU_CFG_KA_IPL_BOUNDARY + 1U);
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/* ... */
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/* enable IRQs in the NVIC... */
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/* ... */
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}
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/*..........................................................................*/
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void BSP_ledRedOn(void) {
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/* no red LED on board */
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}
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/*..........................................................................*/
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void BSP_ledRedOff(void) {
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/* no red LED on board */
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}
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/*..........................................................................*/
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void BSP_ledBlueOn(void) {
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/* no blue LED on board */
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}
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/*..........................................................................*/
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void BSP_ledBlueOff(void) {
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/* no blue LED on board */
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}
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/*..........................................................................*/
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void BSP_ledGreenOn(void) {
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GPIOA->BSRR = (1U << LD4_PIN); /* turn LED on */
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}
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/*..........................................................................*/
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void BSP_ledGreenOff(void) {
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GPIOA->BSRR = (1U << (LD4_PIN + 16U)); /* turn LED off */
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}
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//............................................................................
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Q_NORETURN Q_onAssert(char const * const module, int const id) {
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(void)module; // unused parameter
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(void)id; // unused parameter
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#ifndef NDEBUG
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GPIOA->BSRR = (1U << LD4_PIN); // turn LED on
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// for debugging, hang on in an endless loop...
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for (;;) {
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}
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#endif
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NVIC_SystemReset();
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}
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// error-handling function called by exception handlers in the startup code
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Q_NORETURN assert_failed(char const * const module, int const id);
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Q_NORETURN assert_failed(char const * const module, int const id) {
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Q_onAssert(module, id);
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}
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