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modern-embedded-programming.../lesson-48/stm32c031-keil/bsp.c

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/*****************************************************************************
* BSP for STM32 NUCLEO-C031C6 with QP/C framework
*****************************************************************************/
#include "qpc.h" /* QP/C API */
#include "bsp.h"
#include "stm32c0xx.h" // CMSIS-compliant header file for the MCU used
/* add other drivers if necessary... */
Q_DEFINE_THIS_FILE // define the name of this file for assertions
// Local-scope defines -----------------------------------------------------
// LED pins available on the board (just one user LED LD4--Green on PA.5)
#define LD4_PIN 5U
// external LED to be inserted between GND (short leg) and
// D12 (longer leg) on the CN9 connector
#define LD5_PIN 6U
// Button pins available on the board (just one user Button B1 on PC.13)
#define B1_PIN 13U
#ifdef Q_SPY
QSTimeCtr QS_tickTime_;
QSTimeCtr QS_tickPeriod_;
// QSpy source IDs
static QSpyId const l_SysTick_Handler = { 0U };
#endif
/* 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 */
#ifndef NDEBUG /* debug build? */
GPIOA->BSRR = (1U << LD5_PIN); // turn LD5 on
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) {
QTIMEEVT_TICK_X(0U, &l_SysTick_Handler); // time events at rate 0
// Perform the debouncing of buttons. The algorithm for debouncing
// adapted from the book "Embedded Systems Dictionary" by Jack Ganssle
// and Michael Barr, page 71.
static struct {
uint32_t depressed;
uint32_t previous;
} buttons = { 0U, 0U };
uint32_t current = ~GPIOC->IDR; // read Port C with state of Button B1
uint32_t tmp = buttons.depressed; // save the 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
current = buttons.depressed;
if ((tmp & (1U << B1_PIN)) != 0U) { // debounced B1 state changed?
if ((current & (1U << B1_PIN)) != 0U) { // is B1 depressed?
/* post the "button-pressed" event from ISR */
static QEvt const pressEvt = QEVT_INITIALIZER(BUTTON_PRESSED_SIG);
QACTIVE_POST(AO_TimeBomb, &pressEvt, 0U);
QS_BEGIN_ID(QS_USER, 0)
QS_STR("SW1");
QS_U8(1U, 1U);
QS_END()
}
else { /* the button is released */
/* post the "button-released" event from ISR */
static QEvt const releaseEvt = QEVT_INITIALIZER(BUTTON_RELEASED_SIG);
QACTIVE_POST(AO_TimeBomb, &releaseEvt, 0U);
QS_BEGIN_ID(QS_USER, 0)
QS_STR("SW1");
QS_U8(1U, 0U);
QS_END()
}
}
#ifdef Q_SPY
tmp = SysTick->CTRL; // clear CTRL_COUNTFLAG
QS_tickTime_ += QS_tickPeriod_; // account for the clock rollover
#endif
}
/*..........................................................................*/
void QV_onIdle(void) {
#ifdef Q_SPY
// interrupts still disabled
QS_rxParse(); // parse all the received bytes
QF_INT_ENABLE();
if ((USART2->ISR & (1U << 7U)) != 0U) { // is TXE empty?
QF_INT_DISABLE();
uint16_t b = QS_getByte();
QF_INT_ENABLE();
if (b != QS_EOD) { // not End-Of-Data?
USART2->TDR = b; // put into the DR register
}
}
#elif defined 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
}
/* BSP functions ===========================================================*/
void BSP_init(void) {
// enable GPIOA clock port for the LED LD4
RCC->IOPENR |= (1U << 0U);
// NUCLEO-C031C6 board has LED LD4 on GPIOA pin LD4_PIN
// and external LED LD5 on GPIO LD5_PIN
// set the LED pins as push-pull output, no pull-up, pull-down
GPIOA->MODER &= ~((3U << 2U*LD4_PIN) | (3U << 2U*LD5_PIN));
GPIOA->MODER |= ((1U << 2U*LD4_PIN) | (1U << 2U*LD5_PIN));
GPIOA->OTYPER &= ~((1U << LD4_PIN) | (1U << LD5_PIN));
GPIOA->OSPEEDR &= ~((3U << 2U*LD4_PIN) | (3U << 2U*LD5_PIN));
GPIOA->OSPEEDR |= ((1U << 2U*LD4_PIN) | (1U << 2U*LD5_PIN));
GPIOA->PUPDR &= ~((3U << 2U*LD4_PIN) | (3U << 2U*LD5_PIN));
// enable GPIOC clock port for the Button B1
RCC->IOPENR |= (1U << 2U);
// configure Button B1 pin on GPIOC as input, no pull-up, pull-down
GPIOC->MODER &= ~(3U << 2U*B1_PIN);
GPIOC->PUPDR &= ~(3U << 2U*B1_PIN);
// initialize the QS software tracing...
if (!QS_INIT((void *)0)) {
Q_ERROR();
}
/* setup the QS filters... */
//QS_GLB_FILTER(QS_UA_RECORDS); /* all User records */
//QS_GLB_FILTER(QS_SM_RECORDS); /* state machine records */
QS_GLB_FILTER(QS_ALL_RECORDS); /* all QS records */
QS_GLB_FILTER(-QS_QF_TICK); /* disable */
/* prodice the QS dictionaries... */
QS_OBJ_DICTIONARY(AO_TimeBomb);
QS_SIG_DICTIONARY(BUTTON_PRESSED_SIG, (void *)0);
QS_SIG_DICTIONARY(BUTTON_RELEASED_SIG, (void *)0);
QS_SIG_DICTIONARY(TIMEOUT_SIG, (void *)0);
}
/*..........................................................................*/
void QF_onStartup(void) {
/* set up the SysTick timer to fire at BSP_TICKS_PER_SEC rate
* NOTE: do NOT call OS_CPU_SysTickInit() from uC/OS-II
*/
SystemCoreClockUpdate();
SysTick_Config(SystemCoreClock / BSP_TICKS_PER_SEC);
/* set priorities of ALL ISRs used in the system, see NOTE1 */
NVIC_SetPriority(SysTick_IRQn, QF_AWARE_ISR_CMSIS_PRI + 1U);
/* ... */
/* enable IRQs in the NVIC... */
/* ... */
}
/*..........................................................................*/
void QF_onCleanup(void) {
}
/*..........................................................................*/
void BSP_ledRedOn(void) {
GPIOA->BSRR = (1U << LD4_PIN); // turn LD4 on
QS_BEGIN_ID(QS_USER, 0)
QS_STR("red");
QS_U8(1U, 1U);
QS_END()
}
/*..........................................................................*/
void BSP_ledRedOff(void) {
GPIOA->BSRR = (1U << (LD4_PIN + 16U)); // turn LD4 off
QS_BEGIN_ID(QS_USER, 0)
QS_STR("red");
QS_U8(1U, 0U);
QS_END()
}
/*..........................................................................*/
void BSP_ledBlueOn(void) {
//GPIOA->BSRR = (1U << LD4_PIN); // turn LD4 on
QS_BEGIN_ID(QS_USER, 0)
QS_STR("blue");
QS_U8(1U, 1U);
QS_END()
}
/*..........................................................................*/
void BSP_ledBlueOff(void) {
//GPIOA->BSRR = (1U << (LD4_PIN + 16U)); // turn LD4 off
QS_BEGIN_ID(QS_USER, 0)
QS_STR("blue");
QS_U8(1U, 0U);
QS_END()
}
/*..........................................................................*/
void BSP_ledGreenOn(void) {
GPIOA->BSRR = (1U << LD5_PIN); // turn LD5 on
QS_BEGIN_ID(QS_USER, 0)
QS_STR("green");
QS_U8(1U, 1U);
QS_END()
}
/*..........................................................................*/
void BSP_ledGreenOff(void) {
GPIOA->BSRR = (1U << (LD5_PIN + 16U)); // turn LD5 off
QS_BEGIN_ID(QS_USER, 0)
QS_STR("green");
QS_U8(1U, 0U);
QS_END()
}
/* QS callbacks ============================================================*/
#ifdef Q_SPY
//............................................................................
static uint16_t const UARTPrescTable[12] = {
1U, 2U, 4U, 6U, 8U, 10U, 12U, 16U, 32U, 64U, 128U, 256U
};
#define UART_DIV_SAMPLING16(__PCLK__, __BAUD__, __CLOCKPRESCALER__) \
((((__PCLK__)/UARTPrescTable[(__CLOCKPRESCALER__)]) \
+ ((__BAUD__)/2U)) / (__BAUD__))
#define UART_PRESCALER_DIV1 0U
// USART2 pins PA.2 and PA.3
#define USART2_TX_PIN 2U
#define USART2_RX_PIN 3U
//............................................................................
uint8_t QS_onStartup(void const *arg) {
Q_UNUSED_PAR(arg);
static uint8_t qsTxBuf[2*1024]; // buffer for QS-TX channel
QS_initBuf(qsTxBuf, sizeof(qsTxBuf));
static uint8_t qsRxBuf[100]; // buffer for QS-RX channel
QS_rxInitBuf(qsRxBuf, sizeof(qsRxBuf));
// enable peripheral clock for USART2
RCC->IOPENR |= ( 1U << 0U); // Enable GPIOA clock for USART pins
RCC->APBENR1 |= ( 1U << 17U); // Enable USART#2 clock
// Configure PA to USART2_RX, PA to USART2_TX
GPIOA->AFR[0] &= ~((15U << 4U*USART2_RX_PIN) | (15U << 4U*USART2_TX_PIN));
GPIOA->AFR[0] |= (( 1U << 4U*USART2_RX_PIN) | ( 1U << 4U*USART2_TX_PIN));
GPIOA->MODER &= ~(( 3U << 2U*USART2_RX_PIN) | ( 3U << 2U*USART2_TX_PIN));
GPIOA->MODER |= (( 2U << 2U*USART2_RX_PIN) | ( 2U << 2U*USART2_TX_PIN));
// baud rate
USART2->BRR = UART_DIV_SAMPLING16(
SystemCoreClock, 115200U, UART_PRESCALER_DIV1);
USART2->CR3 = 0x0000U | // no flow control
(1U << 12U); // disable overrun detection (OVRDIS)
USART2->CR2 = 0x0000U; // 1 stop bit
USART2->CR1 = ((1U << 2U) | // enable RX
(1U << 3U) | // enable TX
(1U << 5U) | // enable RX interrupt
(0U << 12U) | // 8 data bits
(0U << 28U) | // 8 data bits
(1U << 0U)); // enable USART
QS_tickPeriod_ = SystemCoreClock / BSP_TICKS_PER_SEC;
QS_tickTime_ = QS_tickPeriod_; // to start the timestamp at zero
return 1U; // return success
}
//............................................................................
void QS_onCleanup(void) {
}
//............................................................................
QSTimeCtr QS_onGetTime(void) { // NOTE: invoked with interrupts DISABLED
if ((SysTick->CTRL & 0x00010000U) == 0U) { // not set?
return QS_tickTime_ - (QSTimeCtr)SysTick->VAL;
}
else { // the rollover occured, but the SysTick_ISR did not run yet
return QS_tickTime_ + QS_tickPeriod_ - (QSTimeCtr)SysTick->VAL;
}
}
//............................................................................
void QS_onFlush(void) {
for (;;) {
QF_INT_DISABLE();
uint16_t b = QS_getByte();
if (b != QS_EOD) {
while ((USART2->ISR & (1U << 7U)) == 0U) { // while TXE not empty
QF_INT_ENABLE();
QF_CRIT_EXIT_NOP();
QF_INT_DISABLE();
}
USART2->TDR = b; // put into the DR register
QF_INT_ENABLE();
}
else {
QF_INT_ENABLE();
break;
}
}
}
/*..........................................................................*/
/*! callback function to reset the target (to be implemented in the BSP) */
void QS_onReset(void) {
NVIC_SystemReset();
}
/*..........................................................................*/
/*! callback function to execute a user command (to be implemented in BSP) */
void QS_onCommand(uint8_t cmdId,
uint32_t param1, uint32_t param2, uint32_t param3)
{
QS_BEGIN_ID(QS_USER + 1U, 0U) /* app-specific record */
QS_U8(2, cmdId);
QS_U32(8, param1);
QS_U32(8, param2);
QS_U32(8, param3);
QS_END()
}
/*..........................................................................*/
// ISR for receiving bytes from the QSPY Back-End
// NOTE: This ISR is "QF-unaware" meaning that it does not interact with
// the QF/QV and is not disabled. Such ISRs cannot post or publish events.
void USART2_IRQHandler(void); // prototype
void USART2_IRQHandler(void) { // used in QS-RX (kernel UNAWARE interrutp)
// is RX register NOT empty?
if ((USART2->ISR & (1U << 5U)) != 0U) {
uint32_t b = USART2->RDR;
QS_RX_PUT(b);
}
QV_ARM_ERRATUM_838869();
}
#endif /* Q_SPY */
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