Simple "Blinky" example for the QP active object framework
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Diff: bsp.cpp
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--- a/bsp.cpp Mon Sep 26 02:21:01 2011 +0000 +++ b/bsp.cpp Tue Sep 04 22:41:20 2012 +0000 @@ -1,265 +1,340 @@ -////////////////////////////////////////////////////////////////////////////// -// Product: BSP for "Dining Philosophers Problem" example, QK kernel -// Last Updated for Version: 4.2.04 -// Date of the Last Update: Sep 25, 2011 -// -// Q u a n t u m L e a P s -// --------------------------- -// innovating embedded systems -// -// Copyright (C) 2002-2011 Quantum Leaps, LLC. All rights reserved. -// -// This software may be distributed and modified under the terms of the GNU -// General Public License version 2 (GPL) as published by the Free Software -// Foundation and appearing in the file GPL.TXT included in the packaging of -// this file. Please note that GPL Section 2[b] requires that all works based -// on this software must also be made publicly available under the terms of -// the GPL ("Copyleft"). -// -// Alternatively, this software may be distributed and modified under the -// terms of Quantum Leaps commercial licenses, which expressly supersede -// the GPL and are specifically designed for licensees interested in -// retaining the proprietary status of their code. -// -// Contact information: -// Quantum Leaps Web site: http://www.quantum-leaps.com -// e-mail: info@quantum-leaps.com -////////////////////////////////////////////////////////////////////////////// -#include "qp_port.h" -#include "dpp.h" -#include "bsp.h" -#include "LPC17xx.h" - -Q_DEFINE_THIS_FILE - -// Local-scope objects ------------------------------------------------------- -enum ISR_Priorities { // ISR priorities starting from the highest urgency - GPIOPORTA_PRIO, - SYSTICK_PRIO, - // ... -}; - -#define LED_PORT LPC_GPIO1 -#define LED1_BIT (1U << 18) -#define LED2_BIT (1U << 20) -#define LED3_BIT (1U << 21) -#define LED4_BIT (1U << 23) - -#ifdef Q_SPY - #include "mbed.h" // mbed is used only for the built-in serial - - QSTimeCtr l_tickTime; - QSTimeCtr l_tickPeriod; - static uint8_t l_SysTick_Handler; - - #define QSPY_BAUD_RATE 115200 - - enum AppRecords { // application-specific trace records - PHILO_STAT = QS_USER - }; - - Serial l_qspy(USBTX, USBRX); -#endif - -//............................................................................ -extern "C" void SysTick_Handler(void) { - QK_ISR_ENTRY(); // inform the QK kernel of entering the ISR - -#ifdef Q_SPY - uint32_t volatile dummy = SysTick->CTRL; // clear the COUNTFLAG in SysTick - l_tickTime += l_tickPeriod; // account for the clock rollover -#endif - - QF::TICK(&l_SysTick_Handler); // process all armed time events - - QK_ISR_EXIT(); // inform the QK kernel of exiting the ISR -} - -//............................................................................ -void BSP_init(void) { - SystemInit(); // initialize the clocking system - - // set LED port to output - LED_PORT->FIODIR |= (LED1_BIT | LED2_BIT | LED3_BIT | LED4_BIT); - - // clear the LEDs - LED_PORT->FIOCLR = (LED1_BIT | LED2_BIT | LED3_BIT | LED4_BIT); - - if (QS_INIT((void *)0) == 0) { // initialize the QS software tracing - Q_ERROR(); - } - QS_OBJ_DICTIONARY(&l_SysTick_Handler); -} -//............................................................................ -void BSP_displyPhilStat(uint8_t n, char const *stat) { - // represent LEDs in a const array for convenience - static uint32_t const led[] = { LED1_BIT, LED2_BIT, LED3_BIT, LED4_BIT }; - if (n < 3) { - if (stat[0] == 'e') { - LED_PORT->FIOSET = led[n]; - } - else { - LED_PORT->FIOCLR = led[n]; - } - } - - QS_BEGIN(PHILO_STAT, AO_Philo[n]) // application-specific record begin - QS_U8(1, n); // Philosopher number - QS_STR(stat); // Philosopher status - QS_END() -} -//............................................................................ -void BSP_busyDelay(void) { - uint32_t volatile i = 10; - while (i-- > 0UL) { // busy-wait loop - } -} - -//............................................................................ -void QF::onStartup(void) { - // set up the SysTick timer to fire at BSP_TICKS_PER_SEC rate - SysTick_Config(SystemCoreClock / BSP_TICKS_PER_SEC); - - // set priorities of all interrupts in the system... - NVIC_SetPriority(SysTick_IRQn, SYSTICK_PRIO); - NVIC_SetPriority(EINT0_IRQn, GPIOPORTA_PRIO); - - NVIC_EnableIRQ(EINT0_IRQn); -} -//............................................................................ -void QF::onCleanup(void) { -} -//............................................................................ -void QK::onIdle(void) { - - QF_INT_LOCK(dummy); - LED_PORT->FIOSET = LED4_BIT; // turn the LED4 on - __NOP(); // delay a bit to see some light intensity - __NOP(); - __NOP(); - __NOP(); - LED_PORT->FIOCLR = LED4_BIT; // turn the LED4 off - QF_INT_UNLOCK(dummy); - -#ifdef Q_SPY - if (l_qspy.writeable()) { - QF_INT_LOCK(dummy); - uint16_t b = QS::getByte(); - QF_INT_UNLOCK(dummy); - if (b != QS_EOD) { - l_qspy.putc((uint8_t)b); - } - } -#else - // 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-M3 MCU. - // - // Specifially for the mbed board, see the articles: - // * "Power Management" http://mbed.org/cookbook/Power-Management; and - // * "Interface Powerdown" at - // http://mbed.org/users/simon/notebook/interface-powerdown/ - // - __WFI(); -#endif -} - -//............................................................................ -void Q_onAssert(char const Q_ROM * const Q_ROM_VAR file, int line) { - (void)file; // avoid compiler warning - (void)line; // avoid compiler warning - QF_INT_LOCK(dummy); // make sure that all interrupts are disabled - // light up all LEDs - LED_PORT->FIOSET = (LED1_BIT | LED2_BIT | LED3_BIT | LED4_BIT); - - for (;;) { // NOTE: replace the loop with reset for final version - } -} - -//---------------------------------------------------------------------------- -#ifdef Q_SPY -//............................................................................ -uint8_t QS::onStartup(void const *arg) { - static uint8_t qsBuf[6*256]; // buffer for Quantum Spy - initBuf(qsBuf, sizeof(qsBuf)); - - l_qspy.baud(QSPY_BAUD_RATE); - - l_tickPeriod = SystemCoreClock / BSP_TICKS_PER_SEC; - l_tickTime = l_tickPeriod; // to start the timestamp at zero - - // setup the QS filters... - QS_FILTER_ON(QS_ALL_RECORDS); - -// QS_FILTER_OFF(QS_QEP_STATE_EMPTY); -// QS_FILTER_OFF(QS_QEP_STATE_ENTRY); -// QS_FILTER_OFF(QS_QEP_STATE_EXIT); -// QS_FILTER_OFF(QS_QEP_STATE_INIT); -// QS_FILTER_OFF(QS_QEP_INIT_TRAN); -// QS_FILTER_OFF(QS_QEP_INTERN_TRAN); -// QS_FILTER_OFF(QS_QEP_TRAN); -// QS_FILTER_OFF(QS_QEP_IGNORED); - - QS_FILTER_OFF(QS_QF_ACTIVE_ADD); - QS_FILTER_OFF(QS_QF_ACTIVE_REMOVE); - QS_FILTER_OFF(QS_QF_ACTIVE_SUBSCRIBE); - QS_FILTER_OFF(QS_QF_ACTIVE_UNSUBSCRIBE); - QS_FILTER_OFF(QS_QF_ACTIVE_POST_FIFO); - QS_FILTER_OFF(QS_QF_ACTIVE_POST_LIFO); - QS_FILTER_OFF(QS_QF_ACTIVE_GET); - QS_FILTER_OFF(QS_QF_ACTIVE_GET_LAST); - QS_FILTER_OFF(QS_QF_EQUEUE_INIT); - QS_FILTER_OFF(QS_QF_EQUEUE_POST_FIFO); - QS_FILTER_OFF(QS_QF_EQUEUE_POST_LIFO); - QS_FILTER_OFF(QS_QF_EQUEUE_GET); - QS_FILTER_OFF(QS_QF_EQUEUE_GET_LAST); - QS_FILTER_OFF(QS_QF_MPOOL_INIT); - QS_FILTER_OFF(QS_QF_MPOOL_GET); - QS_FILTER_OFF(QS_QF_MPOOL_PUT); - QS_FILTER_OFF(QS_QF_PUBLISH); - QS_FILTER_OFF(QS_QF_NEW); - QS_FILTER_OFF(QS_QF_GC_ATTEMPT); - QS_FILTER_OFF(QS_QF_GC); -// QS_FILTER_OFF(QS_QF_TICK); - QS_FILTER_OFF(QS_QF_TIMEEVT_ARM); - QS_FILTER_OFF(QS_QF_TIMEEVT_AUTO_DISARM); - QS_FILTER_OFF(QS_QF_TIMEEVT_DISARM_ATTEMPT); - QS_FILTER_OFF(QS_QF_TIMEEVT_DISARM); - QS_FILTER_OFF(QS_QF_TIMEEVT_REARM); - QS_FILTER_OFF(QS_QF_TIMEEVT_POST); - QS_FILTER_OFF(QS_QF_INT_LOCK); - QS_FILTER_OFF(QS_QF_INT_UNLOCK); - QS_FILTER_OFF(QS_QF_ISR_ENTRY); - QS_FILTER_OFF(QS_QF_ISR_EXIT); - -// QS_FILTER_OFF(QS_QK_MUTEX_LOCK); -// QS_FILTER_OFF(QS_QK_MUTEX_UNLOCK); -// QS_FILTER_OFF(QS_QK_SCHEDULE); - - return (uint8_t)1; // return success -} -//............................................................................ -void QS::onCleanup(void) { -} -//............................................................................ -QSTimeCtr QS::onGetTime(void) { // invoked with interrupts locked - if ((SysTick->CTRL & 0x00000100) == 0) { // COUNTFLAG no set? - return l_tickTime - (QSTimeCtr)SysTick->VAL; - } - else { // the rollover occured, but the SysTick_ISR did not run yet - return l_tickTime + l_tickPeriod - (QSTimeCtr)SysTick->VAL; - } -} -//............................................................................ -void QS::onFlush(void) { - uint16_t b; - QF_INT_LOCK(dummy); - while ((b = QS::getByte()) != QS_EOD) { - while (!l_qspy.writeable()) { // wait until serial port is writable - } - l_qspy.putc((uint8_t)b); - } - QF_INT_UNLOCK(dummy); -} -#endif // Q_SPY -//---------------------------------------------------------------------------- +////////////////////////////////////////////////////////////////////////////// +// Product: DPP example, configurable Vanilla/QK kernel +// Last Updated for Version: 4.5.02 +// Date of the Last Update: Sep 04, 2012 +// +// Q u a n t u m L e a P s +// --------------------------- +// innovating embedded systems +// +// Copyright (C) 2002-2012 Quantum Leaps, LLC. All rights reserved. +// +// This program is open source software: you can redistribute it and/or +// modify it under the terms of the GNU General Public License as published +// by the Free Software Foundation, either version 2 of the License, or +// (at your option) any later version. +// +// Alternatively, this program may be distributed and modified under the +// terms of Quantum Leaps commercial licenses, which expressly supersede +// the GNU General Public License and are specifically designed for +// licensees interested in retaining the proprietary status of their code. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +// Contact information: +// Quantum Leaps Web sites: http://www.quantum-leaps.com +// http://www.state-machine.com +// e-mail: info@quantum-leaps.com +////////////////////////////////////////////////////////////////////////////// +#include "qp_port.h" +#include "dpp.h" +#include "bsp.h" +#include "LPC17xx.h" +#ifdef Q_SPY + #include "mbed.h" // mbed is used only for the built-in serial +#endif + +////////////////////////////////////////////////////////////////////////////// +namespace DPP { + +Q_DEFINE_THIS_FILE + +enum ISR_Priorities { // ISR priorities starting from the highest urgency + GPIOPORTA_PRIO, + SYSTICK_PRIO + // ... +}; + +// Local-scope objects ------------------------------------------------------- +static uint32_t l_rnd; // random seed + +#define LED_PORT LPC_GPIO1 +#define LED1_BIT (1U << 18) +#define LED2_BIT (1U << 20) +#define LED3_BIT (1U << 21) +#define LED4_BIT (1U << 23) + +#ifdef Q_SPY + QP::QSTimeCtr l_tickTime; + QP::QSTimeCtr l_tickPeriod; + static uint8_t l_SysTick_Handler; + + #define QSPY_BAUD_RATE 115200U + + enum AppRecords { // application-specific trace records + PHILO_STAT = QP::QS_USER + }; + + Serial l_qspy(USBTX, USBRX); +#endif + +//............................................................................ +extern "C" void SysTick_Handler(void) { + QK_ISR_ENTRY(); // inform the QK kernel of entering the ISR + +#ifdef Q_SPY + uint32_t volatile dummy = SysTick->CTRL; // clear the COUNTFLAG in SysTick + l_tickTime += l_tickPeriod; // account for the clock rollover +#endif + + QP::QF::TICK(&l_SysTick_Handler); // process all armed time events + + QK_ISR_EXIT(); // inform the QK kernel of exiting the ISR +} + +//............................................................................ +void BSP_init(void) { + // set the system clock as specified in lm3s_config.h (20MHz from PLL) + SystemInit(); + + // set LED port to output + LED_PORT->FIODIR |= (LED1_BIT | LED2_BIT | LED3_BIT | LED4_BIT); + + // clear the LEDs + LED_PORT->FIOCLR = (LED1_BIT | LED2_BIT | LED3_BIT | LED4_BIT); + + // initialize the QS software tracing... + Q_ALLEGE(QS_INIT(static_cast<void *>(0))); + QS_RESET(); + QS_OBJ_DICTIONARY(&l_SysTick_Handler); +} +//............................................................................ +void BSP_terminate(int16_t const result) { + (void)result; +} +//............................................................................ +void BSP_displayPhilStat(uint8_t const n, char_t const * const stat) { + // represent LEDs in a const array for convenience + static uint32_t const led[] = { LED1_BIT, LED2_BIT, LED3_BIT, LED4_BIT }; + if (n < 3) { + if (stat[0] == 'e') { + LED_PORT->FIOSET = led[n]; + } + else { + LED_PORT->FIOCLR = led[n]; + } + } + + QS_BEGIN(PHILO_STAT, AO_Philo[n]) // application-specific record begin + QS_U8(1U, n); // Philosopher number + QS_STR(stat); // Philosopher status + QS_END() +} +//............................................................................ +void BSP_displayPaused(uint8_t const paused) { + (void)paused; +} +//............................................................................ +uint32_t BSP_random(void) { // a very cheap pseudo-random-number generator + // "Super-Duper" Linear Congruential Generator (LCG) + // LCG(2^32, 3*7*11*13*23, 0, seed) + // + l_rnd = l_rnd * (3U*7U*11U*13U*23U); + return l_rnd >> 8; +} +//............................................................................ +void BSP_randomSeed(uint32_t const seed) { + l_rnd = seed; +} + +//............................................................................ +extern "C" void Q_onAssert(char_t const * const file, int_t const line) { + (void)file; // avoid compiler warning + (void)line; // avoid compiler warning + QF_INT_DISABLE(); // make sure that all interrupts are disabled + // light up all LEDs + LED_PORT->FIOSET = (LED1_BIT | LED2_BIT | LED3_BIT | LED4_BIT); + + for (;;) { // NOTE: replace the loop with reset for final version + } +} + +} // namespace DPP +////////////////////////////////////////////////////////////////////////////// + +namespace QP { + +//............................................................................ +void QF::onStartup(void) { + // set up the SysTick timer to fire at BSP_TICKS_PER_SEC rate + (void)SysTick_Config(SystemCoreClock / DPP::BSP_TICKS_PER_SEC); + + // set priorities of all interrupts in the system... + NVIC_SetPriority(SysTick_IRQn, DPP::SYSTICK_PRIO); + NVIC_SetPriority(EINT0_IRQn, DPP::GPIOPORTA_PRIO); + + NVIC_EnableIRQ(EINT0_IRQn); +} +//............................................................................ +void QF::onCleanup(void) { +} +//............................................................................ +#ifdef QK_PREEMPTIVE + +void QK::onIdle(void) { + + QF_INT_DISABLE(); + LED_PORT->FIOSET = LED4_BIT; // turn the LED4 on + __NOP(); // delay a bit to see some light intensity + __NOP(); + __NOP(); + __NOP(); + LED_PORT->FIOCLR = LED4_BIT; // turn the LED4 off + QF_INT_ENABLE(); + +#ifdef Q_SPY + if (DPP::l_qspy.writeable()) { + + QF_INT_DISABLE(); + uint16_t b = QS::getByte(); + QF_INT_ENABLE(); + + if (b != QS_EOD) { + DPP::l_qspy.putc((uint8_t)b); + } + } +#else + // 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-M3 MCU. + // + // Specifially for the mbed board, see the articles: + // * "Power Management" http://mbed.org/cookbook/Power-Management; and + // * "Interface Powerdown" at + // http://mbed.org/users/simon/notebook/interface-powerdown/ + // + __WFI(); +#endif +} + +#else // non-preemptive Vanilla kernel + +void QF::onIdle(void) { // NOTE: called with interrupts DISABLED + + LED_PORT->FIOSET = LED4_BIT; // turn the LED4 on + __NOP(); // delay a bit to see some light intensity + __NOP(); + __NOP(); + __NOP(); + LED_PORT->FIOCLR = LED4_BIT; // turn the LED4 off + +#ifdef Q_SPY + QF_INT_ENABLE(); + if (DPP::l_qspy.writeable()) { + + QF_INT_DISABLE(); + uint16_t b = QS::getByte(); + QF_INT_ENABLE(); + + if (b != QS_EOD) { + DPP::l_qspy.putc((uint8_t)b); + } + } +#else + // 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-M3 MCU. + // + // Specifially for the mbed board, see the articles: + // * "Power Management" http://mbed.org/cookbook/Power-Management; and + // * "Interface Powerdown" at + // http://mbed.org/users/simon/notebook/interface-powerdown/ + // + __WFI(); + QF_INT_ENABLE(); +#endif +} + +#endif // QK_PREEMPTIVE + +//---------------------------------------------------------------------------- +#ifdef Q_SPY +//............................................................................ +bool QS::onStartup(void const *arg) { + static uint8_t qsBuf[6*256]; // buffer for Quantum Spy + initBuf(qsBuf, sizeof(qsBuf)); + + DPP::l_qspy.baud(QSPY_BAUD_RATE); + + DPP::l_tickPeriod = SystemCoreClock / DPP::BSP_TICKS_PER_SEC; + DPP::l_tickTime = DPP::l_tickPeriod; // to start the timestamp at zero + + // setup the QS filters... + QS_FILTER_ON(QS_ALL_RECORDS); + +// QS_FILTER_OFF(QS_QEP_STATE_EMPTY); +// QS_FILTER_OFF(QS_QEP_STATE_ENTRY); +// QS_FILTER_OFF(QS_QEP_STATE_EXIT); +// QS_FILTER_OFF(QS_QEP_STATE_INIT); +// QS_FILTER_OFF(QS_QEP_INIT_TRAN); +// QS_FILTER_OFF(QS_QEP_INTERN_TRAN); +// QS_FILTER_OFF(QS_QEP_TRAN); +// QS_FILTER_OFF(QS_QEP_IGNORED); + +// QS_FILTER_OFF(QS_QF_ACTIVE_ADD); +// QS_FILTER_OFF(QS_QF_ACTIVE_REMOVE); +// QS_FILTER_OFF(QS_QF_ACTIVE_SUBSCRIBE); +// QS_FILTER_OFF(QS_QF_ACTIVE_UNSUBSCRIBE); +// QS_FILTER_OFF(QS_QF_ACTIVE_POST_FIFO); +// QS_FILTER_OFF(QS_QF_ACTIVE_POST_LIFO); +// QS_FILTER_OFF(QS_QF_ACTIVE_GET); +// QS_FILTER_OFF(QS_QF_ACTIVE_GET_LAST); +// QS_FILTER_OFF(QS_QF_EQUEUE_INIT); +// QS_FILTER_OFF(QS_QF_EQUEUE_POST_FIFO); +// QS_FILTER_OFF(QS_QF_EQUEUE_POST_LIFO); +// QS_FILTER_OFF(QS_QF_EQUEUE_GET); +// QS_FILTER_OFF(QS_QF_EQUEUE_GET_LAST); +// QS_FILTER_OFF(QS_QF_MPOOL_INIT); +// QS_FILTER_OFF(QS_QF_MPOOL_GET); +// QS_FILTER_OFF(QS_QF_MPOOL_PUT); +// QS_FILTER_OFF(QS_QF_PUBLISH); +// QS_FILTER_OFF(QS_QF_NEW); +// QS_FILTER_OFF(QS_QF_GC_ATTEMPT); +// QS_FILTER_OFF(QS_QF_GC); +// QS_FILTER_OFF(QS_QF_TICK); +// QS_FILTER_OFF(QS_QF_TIMEEVT_ARM); +// QS_FILTER_OFF(QS_QF_TIMEEVT_AUTO_DISARM); +// QS_FILTER_OFF(QS_QF_TIMEEVT_DISARM_ATTEMPT); +// QS_FILTER_OFF(QS_QF_TIMEEVT_DISARM); +// QS_FILTER_OFF(QS_QF_TIMEEVT_REARM); +// QS_FILTER_OFF(QS_QF_TIMEEVT_POST); + QS_FILTER_OFF(QS_QF_CRIT_ENTRY); + QS_FILTER_OFF(QS_QF_CRIT_EXIT); + QS_FILTER_OFF(QS_QF_ISR_ENTRY); + QS_FILTER_OFF(QS_QF_ISR_EXIT); + + return true; // return success +} +//............................................................................ +void QS::onCleanup(void) { +} +//............................................................................ +QSTimeCtr QS::onGetTime(void) { // invoked with interrupts locked + if ((SysTick->CTRL & 0x00000100U) == 0U) { // COUNTFLAG no set? + return DPP::l_tickTime - (QSTimeCtr)SysTick->VAL; + } + else { // the rollover occured, but the SysTick_ISR did not run yet + return DPP::l_tickTime + DPP::l_tickPeriod - (QSTimeCtr)SysTick->VAL; + } +} +//............................................................................ +void QS::onFlush(void) { + uint16_t b; + QF_INT_DISABLE(); + while ((b = QS::getByte()) != QS_EOD) { + while (!DPP::l_qspy.writeable()) { // wait until serial is writable + } + DPP::l_qspy.putc((uint8_t)b); + } + QF_INT_ENABLE(); +} +#endif // Q_SPY +//---------------------------------------------------------------------------- + +} // namespace QP