bsp.cpp

00001 //////////////////////////////////////////////////////////////////////////////
00002 // Product: DPP example, configurable Vanilla/QK kernel
00003 // Last Updated for Version: 4.5.02
00004 // Date of the Last Update:  Sep 04, 2012
00005 //
00006 //                    Q u a n t u m     L e a P s
00007 //                    ---------------------------
00008 //                    innovating embedded systems
00009 //
00010 // Copyright (C) 2002-2012 Quantum Leaps, LLC. All rights reserved.
00011 //
00012 // This program is open source software: you can redistribute it and/or
00013 // modify it under the terms of the GNU General Public License as published
00014 // by the Free Software Foundation, either version 2 of the License, or
00015 // (at your option) any later version.
00016 //
00017 // Alternatively, this program may be distributed and modified under the
00018 // terms of Quantum Leaps commercial licenses, which expressly supersede
00019 // the GNU General Public License and are specifically designed for
00020 // licensees interested in retaining the proprietary status of their code.
00021 //
00022 // This program is distributed in the hope that it will be useful,
00023 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00024 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
00025 // GNU General Public License for more details.
00026 //
00027 // You should have received a copy of the GNU General Public License
00028 // along with this program. If not, see <http://www.gnu.org/licenses/>.
00029 //
00030 // Contact information:
00031 // Quantum Leaps Web sites: http://www.quantum-leaps.com
00032 //                          http://www.state-machine.com
00033 // e-mail:                  info@quantum-leaps.com
00034 //////////////////////////////////////////////////////////////////////////////
00035 #include "qp_port.h"
00036 #include "dpp.h"
00037 #include "bsp.h"
00038 #include "LPC17xx.h"
00039 #ifdef Q_SPY
00040     #include "mbed.h"             // mbed is used only for the built-in serial
00041 #endif
00042 
00043 //////////////////////////////////////////////////////////////////////////////
00044 namespace DPP {
00045 
00046 Q_DEFINE_THIS_FILE
00047 
00048 enum ISR_Priorities {      // ISR priorities starting from the highest urgency
00049     GPIOPORTA_PRIO,
00050     SYSTICK_PRIO
00051     // ...
00052 };
00053 
00054 // Local-scope objects -------------------------------------------------------
00055 static uint32_t l_rnd;                                          // random seed
00056 
00057 #define LED_PORT      LPC_GPIO1
00058 #define LED1_BIT     (1U << 18)
00059 #define LED2_BIT     (1U << 20)
00060 #define LED3_BIT     (1U << 21)
00061 #define LED4_BIT     (1U << 23)
00062 
00063 #ifdef Q_SPY
00064     QP::QSTimeCtr l_tickTime;
00065     QP::QSTimeCtr l_tickPeriod;
00066     static uint8_t l_SysTick_Handler;
00067 
00068     #define QSPY_BAUD_RATE  115200U
00069 
00070     enum AppRecords {                    // application-specific trace records
00071         PHILO_STAT = QP::QS_USER
00072     };
00073 
00074     Serial l_qspy(USBTX, USBRX);
00075 #endif
00076 
00077 //............................................................................
00078 extern "C" void SysTick_Handler(void) {
00079     QK_ISR_ENTRY();                // inform the QK kernel of entering the ISR
00080 
00081 #ifdef Q_SPY
00082     uint32_t volatile dummy = SysTick->CTRL; // clear the COUNTFLAG in SysTick
00083     l_tickTime += l_tickPeriod;              // account for the clock rollover
00084 #endif
00085 
00086     QP::QF::TICK(&l_SysTick_Handler);         // process all armed time events
00087 
00088     QK_ISR_EXIT();                  // inform the QK kernel of exiting the ISR
00089 }
00090 
00091 //............................................................................
00092 void BSP_init(void) {
00093     // set the system clock as specified in lm3s_config.h (20MHz from PLL)
00094     SystemInit();
00095 
00096                                                      // set LED port to output
00097     LED_PORT->FIODIR |= (LED1_BIT | LED2_BIT | LED3_BIT | LED4_BIT);
00098     
00099                                                              // clear the LEDs
00100     LED_PORT->FIOCLR  = (LED1_BIT | LED2_BIT | LED3_BIT | LED4_BIT);
00101 
00102                                       // initialize the QS software tracing...
00103     Q_ALLEGE(QS_INIT(static_cast<void *>(0)));
00104     QS_RESET();
00105     QS_OBJ_DICTIONARY(&l_SysTick_Handler);
00106 }
00107 //............................................................................
00108 void BSP_terminate(int16_t const result) {
00109     (void)result;
00110 }
00111 //............................................................................
00112 void BSP_displayPhilStat(uint8_t const n, char_t const * const stat) {
00113                             // represent LEDs in a const array for convenience
00114     static uint32_t const led[] = { LED1_BIT, LED2_BIT, LED3_BIT, LED4_BIT };
00115     if (n < 3) {
00116         if (stat[0] == 'e') {
00117             LED_PORT->FIOSET = led[n];
00118         }
00119         else {
00120             LED_PORT->FIOCLR = led[n];
00121         }
00122     }
00123     
00124     QS_BEGIN(PHILO_STAT, AO_Philo[n])     // application-specific record begin
00125         QS_U8(1U, n);                                    // Philosopher number
00126         QS_STR(stat);                                    // Philosopher status
00127     QS_END()
00128 }
00129 //............................................................................
00130 void BSP_displayPaused(uint8_t const paused) {
00131     (void)paused;
00132 }
00133 //............................................................................
00134 uint32_t BSP_random(void) {     // a very cheap pseudo-random-number generator
00135     // "Super-Duper" Linear Congruential Generator (LCG)
00136     // LCG(2^32, 3*7*11*13*23, 0, seed)
00137     //
00138     l_rnd = l_rnd * (3U*7U*11U*13U*23U);
00139     return l_rnd >> 8;
00140 }
00141 //............................................................................
00142 void BSP_randomSeed(uint32_t const seed) {
00143     l_rnd = seed;
00144 }
00145 
00146 //............................................................................
00147 extern "C" void Q_onAssert(char_t const * const file, int_t const line) {
00148     (void)file;                                      // avoid compiler warning
00149     (void)line;                                      // avoid compiler warning
00150     QF_INT_DISABLE();            // make sure that all interrupts are disabled
00151                                                           // light up all LEDs
00152     LED_PORT->FIOSET = (LED1_BIT | LED2_BIT | LED3_BIT | LED4_BIT);
00153 
00154     for (;;) {          // NOTE: replace the loop with reset for final version
00155     }
00156 }
00157 
00158 }                                                             // namespace DPP
00159 //////////////////////////////////////////////////////////////////////////////
00160 
00161 namespace QP {
00162 
00163 //............................................................................
00164 void QF::onStartup(void) {
00165                  // set up the SysTick timer to fire at BSP_TICKS_PER_SEC rate
00166     (void)SysTick_Config(SystemCoreClock / DPP::BSP_TICKS_PER_SEC);
00167 
00168                           // set priorities of all interrupts in the system...
00169     NVIC_SetPriority(SysTick_IRQn, DPP::SYSTICK_PRIO);
00170     NVIC_SetPriority(EINT0_IRQn,   DPP::GPIOPORTA_PRIO);
00171 
00172     NVIC_EnableIRQ(EINT0_IRQn);
00173 }
00174 //............................................................................
00175 void QF::onCleanup(void) {
00176 }
00177 //............................................................................
00178 #ifdef QK_PREEMPTIVE
00179 
00180 void QK::onIdle(void) {
00181 
00182     QF_INT_DISABLE();
00183     LED_PORT->FIOSET = LED4_BIT;                           // turn the LED4 on
00184     __NOP();                        // delay a bit to see some light intensity
00185     __NOP();
00186     __NOP();
00187     __NOP();
00188     LED_PORT->FIOCLR = LED4_BIT;                          // turn the LED4 off
00189     QF_INT_ENABLE();
00190 
00191 #ifdef Q_SPY
00192     if (DPP::l_qspy.writeable()) {
00193     
00194         QF_INT_DISABLE();
00195         uint16_t b = QS::getByte();
00196         QF_INT_ENABLE();
00197 
00198         if (b != QS_EOD) {
00199             DPP::l_qspy.putc((uint8_t)b);
00200         }
00201     }
00202 #else    
00203     // Put the CPU and peripherals to the low-power mode. You might need to
00204     // customize the clock management for your application, see the datasheet
00205     // for your particular Cortex-M3 MCU.
00206     //
00207     // Specifially for the mbed board, see the articles:
00208     // * "Power Management" http://mbed.org/cookbook/Power-Management; and
00209     // * "Interface Powerdown" at 
00210     //   http://mbed.org/users/simon/notebook/interface-powerdown/
00211     // 
00212     __WFI();
00213 #endif
00214 }
00215 
00216 #else                                         // non-preemptive Vanilla kernel
00217 
00218 void QF::onIdle(void) {               // NOTE: called with interrupts DISABLED
00219 
00220     LED_PORT->FIOSET = LED4_BIT;                           // turn the LED4 on
00221     __NOP();                        // delay a bit to see some light intensity
00222     __NOP();
00223     __NOP();
00224     __NOP();
00225     LED_PORT->FIOCLR = LED4_BIT;                          // turn the LED4 off
00226 
00227 #ifdef Q_SPY
00228     QF_INT_ENABLE();
00229     if (DPP::l_qspy.writeable()) {
00230     
00231         QF_INT_DISABLE();
00232         uint16_t b = QS::getByte();
00233         QF_INT_ENABLE();
00234 
00235         if (b != QS_EOD) {
00236             DPP::l_qspy.putc((uint8_t)b);
00237         }
00238     }
00239 #else    
00240     // Put the CPU and peripherals to the low-power mode. You might need to
00241     // customize the clock management for your application, see the datasheet
00242     // for your particular Cortex-M3 MCU.
00243     //
00244     // Specifially for the mbed board, see the articles:
00245     // * "Power Management" http://mbed.org/cookbook/Power-Management; and
00246     // * "Interface Powerdown" at 
00247     //   http://mbed.org/users/simon/notebook/interface-powerdown/
00248     // 
00249     __WFI();
00250     QF_INT_ENABLE();
00251 #endif
00252 }
00253 
00254 #endif                                                        // QK_PREEMPTIVE
00255 
00256 //----------------------------------------------------------------------------
00257 #ifdef Q_SPY
00258 //............................................................................
00259 bool QS::onStartup(void const *arg) {
00260     static uint8_t qsBuf[6*256];                     // buffer for Quantum Spy
00261     initBuf(qsBuf, sizeof(qsBuf));
00262     
00263     DPP::l_qspy.baud(QSPY_BAUD_RATE);
00264     
00265     DPP::l_tickPeriod = SystemCoreClock / DPP::BSP_TICKS_PER_SEC;
00266     DPP::l_tickTime   = DPP::l_tickPeriod;   // to start the timestamp at zero
00267 
00268                                                     // setup the QS filters...
00269     QS_FILTER_ON(QS_ALL_RECORDS);
00270 
00271 //    QS_FILTER_OFF(QS_QEP_STATE_EMPTY);
00272 //    QS_FILTER_OFF(QS_QEP_STATE_ENTRY);
00273 //    QS_FILTER_OFF(QS_QEP_STATE_EXIT);
00274 //    QS_FILTER_OFF(QS_QEP_STATE_INIT);
00275 //    QS_FILTER_OFF(QS_QEP_INIT_TRAN);
00276 //    QS_FILTER_OFF(QS_QEP_INTERN_TRAN);
00277 //    QS_FILTER_OFF(QS_QEP_TRAN);
00278 //    QS_FILTER_OFF(QS_QEP_IGNORED);
00279 
00280 //    QS_FILTER_OFF(QS_QF_ACTIVE_ADD);
00281 //    QS_FILTER_OFF(QS_QF_ACTIVE_REMOVE);
00282 //    QS_FILTER_OFF(QS_QF_ACTIVE_SUBSCRIBE);
00283 //    QS_FILTER_OFF(QS_QF_ACTIVE_UNSUBSCRIBE);
00284 //    QS_FILTER_OFF(QS_QF_ACTIVE_POST_FIFO);
00285 //    QS_FILTER_OFF(QS_QF_ACTIVE_POST_LIFO);
00286 //    QS_FILTER_OFF(QS_QF_ACTIVE_GET);
00287 //    QS_FILTER_OFF(QS_QF_ACTIVE_GET_LAST);
00288 //    QS_FILTER_OFF(QS_QF_EQUEUE_INIT);
00289 //    QS_FILTER_OFF(QS_QF_EQUEUE_POST_FIFO);
00290 //    QS_FILTER_OFF(QS_QF_EQUEUE_POST_LIFO);
00291 //    QS_FILTER_OFF(QS_QF_EQUEUE_GET);
00292 //    QS_FILTER_OFF(QS_QF_EQUEUE_GET_LAST);
00293 //    QS_FILTER_OFF(QS_QF_MPOOL_INIT);
00294 //    QS_FILTER_OFF(QS_QF_MPOOL_GET);
00295 //    QS_FILTER_OFF(QS_QF_MPOOL_PUT);
00296 //    QS_FILTER_OFF(QS_QF_PUBLISH);
00297 //    QS_FILTER_OFF(QS_QF_NEW);
00298 //    QS_FILTER_OFF(QS_QF_GC_ATTEMPT);
00299 //    QS_FILTER_OFF(QS_QF_GC);
00300 //    QS_FILTER_OFF(QS_QF_TICK);
00301 //    QS_FILTER_OFF(QS_QF_TIMEEVT_ARM);
00302 //    QS_FILTER_OFF(QS_QF_TIMEEVT_AUTO_DISARM);
00303 //    QS_FILTER_OFF(QS_QF_TIMEEVT_DISARM_ATTEMPT);
00304 //    QS_FILTER_OFF(QS_QF_TIMEEVT_DISARM);
00305 //    QS_FILTER_OFF(QS_QF_TIMEEVT_REARM);
00306 //    QS_FILTER_OFF(QS_QF_TIMEEVT_POST);
00307     QS_FILTER_OFF(QS_QF_CRIT_ENTRY);
00308     QS_FILTER_OFF(QS_QF_CRIT_EXIT);
00309     QS_FILTER_OFF(QS_QF_ISR_ENTRY);
00310     QS_FILTER_OFF(QS_QF_ISR_EXIT);
00311 
00312     return true;                                             // return success
00313 }
00314 //............................................................................
00315 void QS::onCleanup(void) {
00316 }
00317 //............................................................................
00318 QSTimeCtr QS::onGetTime(void) {              // invoked with interrupts locked
00319     if ((SysTick->CTRL & 0x00000100U) == 0U) {            // COUNTFLAG no set?
00320         return DPP::l_tickTime - (QSTimeCtr)SysTick->VAL;
00321     }
00322     else {        // the rollover occured, but the SysTick_ISR did not run yet
00323         return DPP::l_tickTime + DPP::l_tickPeriod - (QSTimeCtr)SysTick->VAL;
00324     }
00325 }
00326 //............................................................................
00327 void QS::onFlush(void) {
00328     uint16_t b;
00329     QF_INT_DISABLE();
00330     while ((b = QS::getByte()) != QS_EOD) {
00331         while (!DPP::l_qspy.writeable()) {    // wait until serial is writable
00332         }
00333         DPP::l_qspy.putc((uint8_t)b);
00334     }
00335     QF_INT_ENABLE();
00336 }
00337 #endif                                                                // Q_SPY
00338 //----------------------------------------------------------------------------
00339 
00340 }                                                              // namespace QP