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198 lines
7.3 KiB
C
198 lines
7.3 KiB
C
/*****************************************************************************
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* BSP for EK-TM4C123GXL with QP/C framework
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*****************************************************************************/
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#include "qpc.h" /* QP/C API */
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#include "bsp.h"
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#include "TM4C123GH6PM.h" /* the device specific header (TI) */
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/* add other drivers if necessary... */
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/* Local-scope objects -----------------------------------------------------*/
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/* LEDs on the board */
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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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/* Buttons on the board */
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#define BTN_SW1 (1U << 4)
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#define BTN_SW2 (1U << 0)
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/* Test pins */
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#define PD0_PIN (1U << 0)
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#define PD1_PIN (1U << 1)
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#ifdef Q_SPY
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#define UART_BAUD_RATE 115200U
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#define UART_FR_TXFE (1U << 7)
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#define UART_FR_RXFE (1U << 4)
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#define UART_TXFIFO_DEPTH 16U
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#endif
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/* Assertion handler ======================================================*/
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Q_NORETURN Q_onAssert(char const * module, int_t id) {
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/* TBD: Perform corrective actions and damage control
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* SPECIFIC to your particular system.
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*/
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(void)module; /* unused parameter */
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(void)id; /* unused parameter */
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GPIOF_AHB->DATA_Bits[LED_RED | LED_GREEN | LED_BLUE] = 0xFFU; /* all ON */
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#ifndef NDEBUG /* debug build? */
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while (1) { /* tie the CPU in this endless loop */
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}
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#endif
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NVIC_SystemReset(); /* reset the CPU */
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}
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//............................................................................
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/* assert-handling function called by exception handlers in the startup code */
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void assert_failed(char const * const module, int_t const id); // prototype
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void assert_failed(char const * const module, int_t const id) {
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Q_onAssert(module, id);
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}
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/* ISRs ===============================================*/
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void SysTick_Handler(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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QF_TICK_X(0U, (void *)0); /* process all QP/C 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 = ~GPIOF_AHB->DATA_Bits[BTN_SW1 | BTN_SW2]; /* read SW1 & SW2 */
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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 & BTN_SW1) != 0U) { /* debounced SW1 state changed? */
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if ((buttons.depressed & BTN_SW1) != 0U) { /* is SW1 depressed? */
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/* post the "button-pressed" event from ISR */
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static QEvt const buttonPressedEvt
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= QEVT_INITIALIZER(BUTTON_PRESSED_SIG);
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QACTIVE_POST(AO_TimeBomb, &buttonPressedEvt, 0U);
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}
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else { /* the button is released */
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/* post the "button-released" event from ISR */
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static QEvt const buttonReleasedEvt
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= QEVT_INITIALIZER(BUTTON_RELEASED_SIG);
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QACTIVE_POST(AO_TimeBomb, &buttonReleasedEvt, 0U);
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}
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}
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if ((tmp & BTN_SW2) != 0U) { /* debounced SW2 state changed? */
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if ((buttons.depressed & BTN_SW2) != 0U) { /* is SW2 depressed? */
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/* post the "button-pressed" event from ISR */
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static QEvt const button2PressedEvt
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= QEVT_INITIALIZER(BUTTON2_PRESSED_SIG);
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QACTIVE_POST(AO_TimeBomb, &button2PressedEvt, 0U);
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}
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else { /* the button is released */
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/* post the "button-released" event from ISR */
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static QEvt const button2ReleasedEvt
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= QEVT_INITIALIZER(BUTTON2_RELEASED_SIG);
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QACTIVE_POST(AO_TimeBomb, &button2ReleasedEvt, 0U);
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}
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}
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}
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/*..........................................................................*/
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void QV_onIdle(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-M MCU.
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*/
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QV_CPU_SLEEP(); /* atomically go to sleep and enable interrupts */
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#else
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QF_INT_ENABLE(); /* just enable interrupts */
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#endif
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}
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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 clock for to the peripherals used by this application... */
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SYSCTL->RCGCGPIO |= (1U << 5); /* enable Run mode for GPIOF */
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SYSCTL->GPIOHBCTL |= (1U << 5); /* enable AHB for GPIOF */
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__ISB();
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__DSB();
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/* configure LEDs (digital output) */
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GPIOF_AHB->DIR |= (LED_RED | LED_BLUE | LED_GREEN);
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GPIOF_AHB->DEN |= (LED_RED | LED_BLUE | LED_GREEN);
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GPIOF_AHB->DATA_Bits[LED_RED | LED_BLUE | LED_GREEN] = 0U;
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/* configure switches... */
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/* unlock access to the SW2 pin because it is PROTECTED */
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GPIOF_AHB->LOCK = 0x4C4F434BU; /* unlock GPIOCR register for SW2 */
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/* commit the write (cast const away) */
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*(uint32_t volatile *)&GPIOF_AHB->CR = 0x01U;
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GPIOF_AHB->DIR &= ~(BTN_SW1 | BTN_SW2); /* input */
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GPIOF_AHB->DEN |= (BTN_SW1 | BTN_SW2); /* digital enable */
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GPIOF_AHB->PUR |= (BTN_SW1 | BTN_SW2); /* pull-up resistor enable */
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*(uint32_t volatile *)&GPIOF_AHB->CR = 0x00U;
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GPIOF_AHB->LOCK = 0x0; /* lock GPIOCR register for SW2 */
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}
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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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* NOTE: do NOT call OS_CPU_SysTickInit() from uC/OS-II
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*/
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SysTick_Config(SystemCoreClock / BSP_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, QF_AWARE_ISR_CMSIS_PRI + 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 QF_onCleanup(void) {
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}
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/*..........................................................................*/
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void BSP_ledRedOn(void) {
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GPIOF_AHB->DATA_Bits[LED_RED] = LED_RED;
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}
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/*..........................................................................*/
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void BSP_ledRedOff(void) {
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GPIOF_AHB->DATA_Bits[LED_RED] = 0U;
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}
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/*..........................................................................*/
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void BSP_ledBlueOn(void) {
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GPIOF_AHB->DATA_Bits[LED_BLUE] = LED_BLUE;
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}
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/*..........................................................................*/
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void BSP_ledBlueOff(void) {
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GPIOF_AHB->DATA_Bits[LED_BLUE] = 0U;
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}
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/*..........................................................................*/
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void BSP_ledGreenOn(void) {
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GPIOF_AHB->DATA_Bits[LED_GREEN] = LED_GREEN;
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}
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/*..........................................................................*/
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void BSP_ledGreenOff(void) {
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GPIOF_AHB->DATA_Bits[LED_GREEN] = 0U;
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}
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