Dining Philosophers Problem (DPP) example for the QP active object framework. Demonstrates: event-driven programming, hierarchical state machines in C++, modeling and graphical state machine design, code generation, preemptive multitasking, software tracing, power saving mode, direct event posting, publish-subscribe. More information available in the [[/users/QL/notebook|Quantum Leaps Notebook pages]]. See also [[http://www.state-machine.com|state-machine.com]].
bsp.cpp
- Committer:
- QL
- Date:
- 2012-09-05
- Revision:
- 5:15aad9bccbbd
- Parent:
- 4:6189d844a1a2
File content as of revision 5:15aad9bccbbd:
////////////////////////////////////////////////////////////////////////////// // 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