You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
255 lines
9.3 KiB
C
255 lines
9.3 KiB
C
/* Board Support Package (BSP) for the EK-TM4C123GXL board */
|
|
#include "qpc.h"
|
|
#include "bsp.h"
|
|
|
|
#include "TM4C123GH6PM_QL.h" /* the device specific header (TI) */
|
|
/* add other drivers if necessary... */
|
|
|
|
#include "my_printf.h" /* software tracing with printf() */
|
|
|
|
/* Local-scope objects -----------------------------------------------------*/
|
|
/* LEDs on the board */
|
|
#define LED_RED (1U << 1)
|
|
#define LED_GREEN (1U << 3)
|
|
#define LED_BLUE (1U << 2)
|
|
|
|
/* Buttons on the board */
|
|
#define BTN_SW1 (1U << 4)
|
|
#define BTN_SW2 (1U << 0)
|
|
|
|
/* Test pins */
|
|
#define PD0_PIN (1U << 0)
|
|
#define PD1_PIN (1U << 1)
|
|
|
|
/* Assertion handler ======================================================*/
|
|
Q_NORETURN Q_onAssert(char const * module, int_t id) {
|
|
// TBD: Perform corrective actions and damage control
|
|
// SPECIFIC to your particular system.
|
|
//
|
|
(void)module; /* unused parameter */
|
|
(void)id; /* unused parameter */
|
|
GPIOF_AHB->DATA_Bits[LED_RED | LED_GREEN | LED_BLUE] = 0xFFU; /* all ON */
|
|
#ifndef NDEBUG /* debug build? */
|
|
while (1) { /* tie the CPU in this endless loop */
|
|
}
|
|
#endif
|
|
NVIC_SystemReset(); /* reset the CPU */
|
|
}
|
|
//............................................................................
|
|
/* assert-handling function called by exception handlers in the startup code */
|
|
void assert_failed(char const * const module, int_t const id); // prototype
|
|
void assert_failed(char const * const module, int_t const id) {
|
|
Q_onAssert(module, id);
|
|
}
|
|
|
|
|
|
/* ISRs ===============================================*/
|
|
void SysTick_Handler(void); // prototype
|
|
void SysTick_Handler(void) {
|
|
GPIOD_AHB->DATA_Bits[PD0_PIN] = PD0_PIN;
|
|
|
|
QF_TICK_X(0U, (void *)0); /* process all QP/C time events */
|
|
|
|
/* Perform the debouncing of buttons. The algorithm for debouncing
|
|
* adapted from the book "Embedded Systems Dictionary" by Jack Ganssle
|
|
* and Michael Barr, page 71.
|
|
*/
|
|
/* state of the button debouncing, see below */
|
|
static struct ButtonsDebouncing {
|
|
uint32_t depressed;
|
|
uint32_t previous;
|
|
} buttons = { 0U, 0U };
|
|
uint32_t current = ~GPIOF_AHB->DATA_Bits[BTN_SW1 | BTN_SW2]; /* read SW1 & SW2 */
|
|
uint32_t tmp = buttons.depressed; /* save the debounced depressed buttons */
|
|
buttons.depressed |= (buttons.previous & current); /* set depressed */
|
|
buttons.depressed &= (buttons.previous | current); /* clear released */
|
|
buttons.previous = current; /* update the history */
|
|
tmp ^= buttons.depressed; /* changed debounced depressed */
|
|
if ((tmp & BTN_SW1) != 0U) { /* debounced SW1 state changed? */
|
|
if ((buttons.depressed & BTN_SW1) != 0U) { /* is SW1 depressed? */
|
|
/* post the "button-pressed" event from ISR */
|
|
static QEvt const buttonPressedEvt
|
|
= QEVT_INITIALIZER(BUTTON_PRESSED_SIG);
|
|
QACTIVE_POST(AO_TimeBomb, &buttonPressedEvt, 0U);
|
|
MY_PRINTF("BTN %s %d\n", "SW1", 1);
|
|
}
|
|
else { /* the button is released */
|
|
/* post the "button-released" event from ISR */
|
|
static QEvt const buttonReleasedEvt
|
|
= QEVT_INITIALIZER(BUTTON_RELEASED_SIG);
|
|
QACTIVE_POST(AO_TimeBomb, &buttonReleasedEvt, 0U);
|
|
MY_PRINTF("BTN %s %d\n", "SW1", 0);
|
|
}
|
|
}
|
|
if ((tmp & BTN_SW2) != 0U) { /* debounced SW2 state changed? */
|
|
if ((buttons.depressed & BTN_SW2) != 0U) { /* is SW2 depressed? */
|
|
/* post the "button-pressed" event from ISR */
|
|
static QEvt const button2PressedEvt
|
|
= QEVT_INITIALIZER(BUTTON2_PRESSED_SIG);
|
|
QACTIVE_POST(AO_TimeBomb, &button2PressedEvt, 0U);
|
|
MY_PRINTF("BTN %s %d\n", "SW2", 1);
|
|
}
|
|
else { /* the button is released */
|
|
/* post the "button-released" event from ISR */
|
|
static QEvt const button2ReleasedEvt
|
|
= QEVT_INITIALIZER(BUTTON2_RELEASED_SIG);
|
|
QACTIVE_POST(AO_TimeBomb, &button2ReleasedEvt, 0U);
|
|
MY_PRINTF("BTN %s %d\n", "SW2", 0);
|
|
}
|
|
}
|
|
GPIOD_AHB->DATA_Bits[PD0_PIN] = 0U;
|
|
}
|
|
|
|
/* BSP functions ===========================================================*/
|
|
void BSP_init(void) {
|
|
/* enable clock for to the peripherals used by this application... */
|
|
SYSCTL->RCGCGPIO |= (1U << 5); /* enable Run mode for GPIOF */
|
|
SYSCTL->RCGCGPIO |= (1U << 3); /* enable Run mode for GPIOD */
|
|
SYSCTL->GPIOHBCTL |= (1U << 5); /* enable AHB for GPIOF */
|
|
SYSCTL->GPIOHBCTL |= (1U << 3); /* enable AHB for GPIOD */
|
|
__ISB();
|
|
__DSB();
|
|
|
|
/* configure LEDs (digital output) */
|
|
GPIOF_AHB->DIR |= (LED_RED | LED_BLUE | LED_GREEN);
|
|
GPIOF_AHB->DEN |= (LED_RED | LED_BLUE | LED_GREEN);
|
|
GPIOF_AHB->DATA_Bits[LED_RED | LED_BLUE | LED_GREEN] = 0U;
|
|
|
|
/* configure Test pins (digital output) */
|
|
GPIOD_AHB->DIR |= (PD0_PIN | PD1_PIN);
|
|
GPIOD_AHB->DEN |= (PD0_PIN | PD1_PIN);
|
|
|
|
/* configure switches... */
|
|
|
|
/* unlock access to the SW2 pin because it is PROTECTED */
|
|
GPIOF_AHB->LOCK = 0x4C4F434BU; /* unlock GPIOCR register for SW2 */
|
|
/* commit the write (cast const away) */
|
|
*(uint32_t volatile *)&GPIOF_AHB->CR = 0x01U;
|
|
|
|
GPIOF_AHB->DIR &= ~(BTN_SW1 | BTN_SW2); /* input */
|
|
GPIOF_AHB->DEN |= (BTN_SW1 | BTN_SW2); /* digital enable */
|
|
GPIOF_AHB->PUR |= (BTN_SW1 | BTN_SW2); /* pull-up resistor enable */
|
|
|
|
*(uint32_t volatile *)&GPIOF_AHB->CR = 0x00U;
|
|
GPIOF_AHB->LOCK = 0x0; /* lock GPIOCR register for SW2 */
|
|
|
|
MY_PRINTF_INIT();
|
|
}
|
|
|
|
/*..........................................................................*/
|
|
void BSP_ledRedOn(void) {
|
|
GPIOF_AHB->DATA_Bits[LED_RED] = LED_RED;
|
|
MY_PRINTF("LED-%s is %d\n", "red", 1); /* -> "LED-red is 1\n" */
|
|
}
|
|
|
|
/*..........................................................................*/
|
|
void BSP_ledRedOff(void) {
|
|
GPIOF_AHB->DATA_Bits[LED_RED] = 0U;
|
|
MY_PRINTF("LED-%s is %d\n", "red", 0);
|
|
}
|
|
/*..........................................................................*/
|
|
void BSP_ledBlueOn(void) {
|
|
GPIOF_AHB->DATA_Bits[LED_BLUE] = LED_BLUE;
|
|
MY_PRINTF("LED-%s is %d\n", "blue", 1);
|
|
}
|
|
/*..........................................................................*/
|
|
void BSP_ledBlueOff(void) {
|
|
GPIOF_AHB->DATA_Bits[LED_BLUE] = 0U;
|
|
MY_PRINTF("LED-%s is %d\n", "blue", 0);
|
|
}
|
|
/*..........................................................................*/
|
|
void BSP_ledGreenOn(void) {
|
|
GPIOF_AHB->DATA_Bits[LED_GREEN] = LED_GREEN;
|
|
MY_PRINTF("LED-%s is %d\n", "green", 1);
|
|
}
|
|
/*..........................................................................*/
|
|
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 + 1U);
|
|
/* ... */
|
|
|
|
/* enable IRQs in the NVIC... */
|
|
/* ... */
|
|
}
|
|
/*..........................................................................*/
|
|
void QF_onCleanup(void) {
|
|
}
|
|
|
|
/*..........................................................................*/
|
|
void QV_onIdle(void) {
|
|
#ifdef NDEBUG
|
|
/* Put the CPU and peripherals to the low-power mode.
|
|
* you might need to customize the clock management for your application,
|
|
* see the datasheet for your particular Cortex-M MCU.
|
|
*/
|
|
QV_CPU_SLEEP(); /* atomically go to sleep and enable interrupts */
|
|
#else
|
|
QF_INT_ENABLE(); /* just enable interrupts */
|
|
#endif
|
|
}
|
|
|
|
/* support for MY_PRINTF() ====================================================*/
|
|
#ifdef SPY
|
|
|
|
#define UART_BAUD_RATE 115200U
|
|
#define UART_FR_TXFE (1U << 7)
|
|
#define UART_FR_RXFE (1U << 4)
|
|
#define UART_BUSY (1U << 3)
|
|
#define UART_TXFF (1U << 5)
|
|
#define UART_TXFIFO_DEPTH 16U
|
|
|
|
|
|
int fputc(int c, FILE *stream) {
|
|
(void)stream; /* unused parameter */
|
|
|
|
GPIOD_AHB->DATA_Bits[PD1_PIN] = PD1_PIN;
|
|
|
|
/* busy-wait as long as UART busy */
|
|
while ((UART0->FR & UART_BUSY) != 0) {
|
|
}
|
|
UART0->DR = c; /* write the byte into Data Register */
|
|
|
|
GPIOD_AHB->DATA_Bits[PD1_PIN] = 0;
|
|
|
|
return c;
|
|
}
|
|
|
|
void printf_init() {
|
|
/* enable clock for UART0 and GPIOA (used by UART0 pins) */
|
|
SYSCTL->RCGCUART |= (1U << 0); /* enable Run mode for UART0 */
|
|
SYSCTL->RCGCGPIO |= (1U << 0); /* enable Run mode for GPIOA */
|
|
|
|
/* configure UART0 pins for UART operation */
|
|
uint32_t tmp = (1U << 0) | (1U << 1);
|
|
GPIOA->DIR &= ~tmp;
|
|
GPIOA->SLR &= ~tmp;
|
|
GPIOA->ODR &= ~tmp;
|
|
GPIOA->PUR &= ~tmp;
|
|
GPIOA->PDR &= ~tmp;
|
|
GPIOA->AMSEL &= ~tmp; /* disable analog function on the pins */
|
|
GPIOA->AFSEL |= tmp; /* enable ALT function on the pins */
|
|
GPIOA->DEN |= tmp; /* enable digital I/O on the pins */
|
|
GPIOA->PCTL &= ~0x00U;
|
|
GPIOA->PCTL |= 0x11U;
|
|
|
|
/* configure the UART for the desired baud rate, 8-N-1 operation */
|
|
SystemCoreClockUpdate();
|
|
tmp = (((SystemCoreClock * 8U) / UART_BAUD_RATE) + 1U) / 2U;
|
|
UART0->IBRD = tmp / 64U;
|
|
UART0->FBRD = tmp % 64U;
|
|
UART0->LCRH = (0x3U << 5); /* configure 8-N-1 operation */
|
|
UART0->CTL = (1U << 0) /* UART enable */
|
|
| (1U << 8) /* UART TX enable */
|
|
| (1U << 9); /* UART RX enable */
|
|
}
|
|
#endif
|
|
|