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318 lines
13 KiB
C
318 lines
13 KiB
C
//============================================================================
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// BSP for "real-time" Example
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//
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// Copyright (C) 2005 Quantum Leaps, LLC. All rights reserved.
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//
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// Q u a n t u m L e a P s
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// ------------------------
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// Modern Embedded Software
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//
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// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-QL-commercial
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//
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// This software is dual-licensed under the terms of the open-source GNU
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// General Public License (GPL) or under the terms of one of the closed-
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// source Quantum Leaps commercial licenses.
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//
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// Redistributions in source code must retain this top-level comment block.
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// Plagiarizing this software to sidestep the license obligations is illegal.
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//
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// NOTE:
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// The GPL does NOT permit the incorporation of this code into proprietary
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// programs. Please contact Quantum Leaps for commercial licensing options,
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// which expressly supersede the GPL and are designed explicitly for
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// closed-source distribution.
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//
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// Quantum Leaps contact information:
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// <www.state-machine.com/licensing>
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// <info@state-machine.com>
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//============================================================================
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#include "qpc.h" // QP/C real-time event framework
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#include "bsp.h" // Board Support Package
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#include "app.h" // Application interface
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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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Q_DEFINE_THIS_FILE // define the name of this file for assertions
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// Local-scope defines -----------------------------------------------------
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// test pins on GPIO PA (output)
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#define TST1_PIN 7U
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#define TST2_PIN 6U
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#define TST3_PIN 4U
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#define TST4_PIN 1U
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#define TST5_PIN 0U
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#define TST6_PIN 9U
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#define TST7_PIN 5U // LED LD2-Green
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// Button pins available on the board (just one user Button B1 on PC.13)
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// button on GPIO PC (input)
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#define B1_PIN 13U
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//============================================================================
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// Error handler and ISRs...
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Q_NORETURN Q_onError(char const * const module, int_t const id) {
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// NOTE: this implementation of the error handler is intended only
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// for debugging and MUST be changed for deployment of the application
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// (assuming that you ship your production code with assertions enabled).
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Q_UNUSED_PAR(module);
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Q_UNUSED_PAR(id);
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QS_ASSERTION(module, id, 10000U); // report assertion to QS
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#ifndef NDEBUG
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// light up the user LED
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GPIOA->BSRR = (1U << TST7_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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//............................................................................
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// assertion failure handler for the STM32 library, including 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_onError(module, id);
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}
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//............................................................................
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#ifdef __UVISION_VERSION
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// dummy initialization of the ctors (not used in C)
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void _init(void);
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void _init(void) {
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}
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#endif // __UVISION_VERSION
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// ISRs used in the application ============================================
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void SysTick_Handler(void); // prototype
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void SysTick_Handler(void) {
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BSP_d1on();
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QK_ISR_ENTRY(); // inform QK about entering an ISR
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QTIMEEVT_TICK_X(0U, &l_SysTick_Handler); // time events at rate 0
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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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static struct {
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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 = ~GPIOC->IDR; // read Port C with state of Button B1
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uint32_t tmp = buttons.depressed; // save the 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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current = buttons.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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// immutable sporadic-press event
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static SporadicSpecEvt const sporadicA = {
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QEVT_INITIALIZER(SPORADIC_A_SIG),
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.toggles = 189U,
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};
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// immutable forward-press event
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static SporadicSpecEvt const sporadicB = {
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QEVT_INITIALIZER(SPORADIC_B_SIG),
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.toggles = 89U,
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};
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QACTIVE_POST(AO_Sporadic2, &sporadicA.super, &l_SysTick_Handler);
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QACTIVE_POST(AO_Sporadic2, &sporadicB.super, &l_SysTick_Handler);
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}
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else { // B1 is released
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QACTIVE_POST(AO_Periodic4, BSP_getEvtPeriodic4(0U), &l_SysTick_Handler);
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QACTIVE_POST(AO_Periodic1, BSP_getEvtPeriodic1(0U), &l_SysTick_Handler);
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}
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}
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QK_ISR_EXIT(); // inform QK about exiting an ISR
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BSP_d1off();
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}
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// BSP functions =============================================================
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void BSP_init(void) {
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// Configure the MPU to prevent NULL-pointer dereferencing ...
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MPU->RBAR = 0x0U // base address (NULL)
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| MPU_RBAR_VALID_Msk // valid region
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| (MPU_RBAR_REGION_Msk & 7U); // region #7
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MPU->RASR = (7U << MPU_RASR_SIZE_Pos) // 2^(7+1) region
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| (0x0U << MPU_RASR_AP_Pos) // no-access region
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| MPU_RASR_ENABLE_Msk; // region enable
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MPU->CTRL = MPU_CTRL_PRIVDEFENA_Msk // enable background region
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| MPU_CTRL_ENABLE_Msk; // enable the MPU
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__ISB();
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__DSB();
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// enable GPIO port PA clock
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RCC->IOPENR |= (1U << 0U);
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// set all used GPIOA pins as push-pull output, no pull-up, pull-down
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GPIOA->MODER &=
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~((3U << 2U*TST1_PIN) | (3U << 2U*TST2_PIN) | (3U << 2U*TST3_PIN) |
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(3U << 2U*TST4_PIN) | (3U << 2U*TST5_PIN) | (3U << 2U*TST6_PIN) |
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(3U << 2U*TST7_PIN));
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GPIOA->MODER |=
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((1U << 2U*TST1_PIN) | (1U << 2U*TST2_PIN) | (1U << 2U*TST3_PIN) |
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(1U << 2U*TST4_PIN) | (1U << 2U*TST5_PIN) | (1U << 2U*TST6_PIN) |
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(1U << 2U*TST7_PIN));
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GPIOA->OTYPER &=
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~((1U << TST1_PIN) | (1U << TST2_PIN) | (1U << TST3_PIN) |
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(1U << TST4_PIN) | (1U << TST5_PIN) | (1U << TST6_PIN) |
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(1U << TST7_PIN));
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GPIOA->PUPDR &=
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~((3U << 2U*TST1_PIN) | (3U << 2U*TST2_PIN) | (3U << 2U*TST3_PIN) |
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(3U << 2U*TST4_PIN) | (3U << 2U*TST5_PIN) | (3U << 2U*TST6_PIN) |
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(3U << 2U*TST7_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 pin on GPIOC as input, no pull-up, pull-down
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GPIOC->MODER &= ~(3U << 2U*B1_PIN);
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GPIOC->PUPDR &= ~(3U << 2U*B1_PIN);
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}
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//............................................................................
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void BSP_start(void) {
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// instantiate and start QP/C active objects...
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Periodic1_ctor();
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static QEvtPtr periodic1QSto[10]; // Event queue storage
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QActive_start(
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AO_Periodic1, // AO pointer to start
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1U, // QF-prio
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periodic1QSto, // storage for the AO's queue
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Q_DIM(periodic1QSto), // queue length
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(void *)0, 0U, // stack storage, size (not used)
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BSP_getEvtPeriodic1(0U)); // initialization param
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Sporadic2_ctor();
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static QEvtPtr sporadic2QSto[8]; // Event queue storage
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QActive_start(
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AO_Sporadic2, // AO pointer to start
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Q_PRIO(2U, 3U), // QF-prio/pre-thre.
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sporadic2QSto, // storage for the AO's queue
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Q_DIM(sporadic2QSto), // queue length
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(void *)0, 0U, // stack storage, size (not used)
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(void const *)0); // initialization param -- not used
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Sporadic3_ctor();
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static QEvtPtr sporadic3QSto[8]; // Event queue storage
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QActive_start(
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AO_Sporadic3, // AO pointer to start
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Q_PRIO(3U, 3U), // QF-prio/pre-thre.
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sporadic3QSto, // storage for the AO's queue
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Q_DIM(sporadic3QSto), // queue length
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(void *)0, 0U, // stack storage, size (not used)
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(void const *)0); // initialization param -- not used
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Periodic4_ctor();
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static QEvtPtr periodic4QSto[8]; // Event queue storage
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QActive_start(
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AO_Periodic4, // AO pointer to start
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4U, // QF-prio
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periodic4QSto, // storage for the AO's queue
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Q_DIM(periodic4QSto), // queue length
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(void *)0, 0U, // stack storage, size (not used)
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BSP_getEvtPeriodic4(0U)); // initialization event
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}
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//............................................................................
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void BSP_d1on(void) { GPIOA->BSRR = (1U << TST1_PIN); }
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void BSP_d1off(void) { GPIOA->BSRR = (1U << (TST1_PIN + 16U)); }
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//............................................................................
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void BSP_d2on(void) { GPIOA->BSRR = (1U << TST2_PIN); }
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void BSP_d2off(void) { GPIOA->BSRR = (1U << (TST2_PIN + 16U)); }
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//............................................................................
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void BSP_d3on(void) { GPIOA->BSRR = (1U << TST3_PIN); }
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void BSP_d3off(void) { GPIOA->BSRR = (1U << (TST3_PIN + 16U)); }
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//............................................................................
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void BSP_d4on(void) { GPIOA->BSRR = (1U << TST4_PIN); }
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void BSP_d4off(void) { GPIOA->BSRR = (1U << (TST4_PIN + 16U)); }
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//............................................................................
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void BSP_d5on(void) { GPIOA->BSRR = (1U << TST5_PIN); }
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void BSP_d5off(void) { GPIOA->BSRR = (1U << (TST5_PIN + 16U)); }
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//............................................................................
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void BSP_d6on(void) { GPIOA->BSRR = (1U << TST6_PIN); } // LED2
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void BSP_d6off(void) { GPIOA->BSRR = (1U << (TST6_PIN + 16U)); }
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//............................................................................
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void BSP_d7on(void) { GPIOA->BSRR = (1U << TST7_PIN); }
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void BSP_d7off(void) { GPIOA->BSRR = (1U << (TST7_PIN + 16U)); }
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//............................................................................
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QEvt const *BSP_getEvtPeriodic1(uint8_t num) {
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// immutable PERIODIC_SPEC events for Periodic1
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static PeriodicSpecEvt const periodicSpec1[] = {
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{
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QEVT_INITIALIZER(PERIODIC_SPEC_SIG),
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.toggles = 40U,
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.ticks = 5U,
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},
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{
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QEVT_INITIALIZER(PERIODIC_SPEC_SIG),
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.toggles = 30U,
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.ticks = 7U,
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}
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};
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Q_REQUIRE_ID(500, num < Q_DIM(periodicSpec1)); // must be in range
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return &periodicSpec1[num].super;
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}
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//............................................................................
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QEvt const *BSP_getEvtPeriodic4(uint8_t num) {
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// immutable PERIODIC_SPEC events for Periodic4
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static PeriodicSpecEvt const periodicSpec4[] = {
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{
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QEVT_INITIALIZER(PERIODIC_SPEC_SIG),
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.toggles = 20U,
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.ticks = 2U,
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},
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{
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QEVT_INITIALIZER(PERIODIC_SPEC_SIG),
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.toggles = 10U,
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.ticks = 1U,
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},
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};
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Q_REQUIRE_ID(600, num < Q_DIM(periodicSpec4)); // must be in range
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return &periodicSpec4[num].super;
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}
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// QF callbacks ==============================================================
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void QF_onStartup(void) {
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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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SysTick_Config((SystemCoreClock / BSP_TICKS_PER_SEC) + 1U);
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// set priorities of ISRs used in the system
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// NOTE: all interrupts are "kernel aware" in Cortex-M0+
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NVIC_SetPriority(SysTick_IRQn, 0U);
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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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#ifdef QF_ON_CONTEXT_SW
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// NOTE: the context-switch callback is called with interrupts DISABLED
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void QF_onContextSw(QActive *prev, QActive *next) {
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}
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#endif // QF_ON_CONTEXT_SW
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//............................................................................
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void QK_onIdle(void) {
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BSP_d7on(); // LED LD2
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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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__WFI(); // Wait-For-Interrupt
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#endif
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BSP_d7off();
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}
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