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Diffstat (limited to 'demos/Win32-MinGW/demo.c')
| -rw-r--r-- | demos/Win32-MinGW/demo.c | 305 |
1 files changed, 305 insertions, 0 deletions
diff --git a/demos/Win32-MinGW/demo.c b/demos/Win32-MinGW/demo.c new file mode 100644 index 000000000..166923d2c --- /dev/null +++ b/demos/Win32-MinGW/demo.c @@ -0,0 +1,305 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free 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 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT 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/>.
+*/
+
+#include <string.h>
+#include <stdio.h>
+
+#include <ch.h>
+
+static ULONG32 wdguard;
+static BYTE8 wdarea[UserStackSize(2048)];
+
+static ULONG32 iguard;
+static BYTE8 iarea[UserStackSize(2048)];
+
+static ULONG32 cdguard;
+static BYTE8 cdarea[UserStackSize(2048)];
+static Thread *cdtp;
+
+static t_msg WatchdogThread(void *arg);
+static t_msg ConsoleThread(void *arg);
+static t_msg InitThread(void *arg);
+
+void InitCore(void);
+extern FullDuplexDriver COM1, COM2;
+
+#define cprint(msg) chMsgSend(cdtp, (t_msg)msg)
+
+/*------------------------------------------------------------------------*
+ * Simulator main, start here your threads, examples inside. *
+ *------------------------------------------------------------------------*/
+int main(void) {
+
+ InitCore();
+
+ // Startup ChibiOS/RT.
+ chSysInit();
+ chThdCreate(NORMALPRIO + 2, 0, wdarea, sizeof(wdarea), WatchdogThread, NULL);
+ cdtp = chThdCreate(NORMALPRIO + 1, 0, cdarea, sizeof(cdarea), ConsoleThread, NULL);
+ chThdCreate(NORMALPRIO, 0, iarea, sizeof(iarea), InitThread, NULL);
+ chSysPause();
+ return 0;
+}
+
+/*
+ * Watchdog thread, it checks magic values located under the various stack
+ * areas. The system is halted if something is wrong.
+ */
+static t_msg WatchdogThread(void *arg) {
+ wdguard = 0xA51F2E3D;
+ iguard = 0xA51F2E3D;
+ cdguard = 0xA51F2E3D;
+ while (TRUE) {
+
+ if ((wdguard != 0xA51F2E3D) ||
+ (iguard != 0xA51F2E3D) ||
+ (cdguard != 0xA51F2E3D)) {
+ printf("Halted by watchdog");
+ chSysHalt();
+ }
+ chThdSleep(5);
+ }
+ return 0;
+}
+
+/*
+ * Console print server done using synchronous messages. This makes the access
+ * to the C printf() thread safe and the print operation atomic among threads.
+ * In this example the message is the zero termitated string itself.
+ */
+static t_msg ConsoleThread(void *arg) {
+
+ while (!chThdShouldTerminate()) {
+ printf((char *)chMsgWait());
+ chMsgRelease(RDY_OK);
+ }
+ return 0;
+}
+
+static void PrintLineFDD(FullDuplexDriver *sd, char *msg) {
+
+ while (*msg)
+ chFDDPut(sd, *msg++);
+}
+
+static BOOL GetLineFDD(FullDuplexDriver *sd, char *line, int size) {
+ char *p = line;
+
+ while (TRUE) {
+ short c = chIQGet(&sd->sd_iqueue);
+ if (c < 0)
+ return TRUE;
+ if (c == 4) {
+ PrintLineFDD(sd, "^D\r\n");
+ return TRUE;
+ }
+ if (c == 8) {
+ if (p != line) {
+ chFDDPut(sd, (BYTE8)c);
+ chFDDPut(sd, 0x20);
+ chFDDPut(sd, (BYTE8)c);
+ p--;
+ }
+ continue;
+ }
+ if (c == '\r') {
+ PrintLineFDD(sd, "\r\n");
+ *p = 0;
+ return FALSE;
+ }
+ if (c < 0x20)
+ continue;
+ if (p < line + size - 1) {
+ chFDDPut(sd, (BYTE8)c);
+ *p++ = (BYTE8)c;
+ }
+ }
+}
+
+/*
+ * Example thread, not much to see here. It simulates the CTRL-C but there
+ * are no real signals involved.
+ */
+static t_msg HelloWorldThread(void *arg) {
+ int i;
+ short c;
+ FullDuplexDriver *sd = (FullDuplexDriver *)arg;
+
+ for (i = 0; i < 100; i++) {
+
+ PrintLineFDD(sd, "Hello World\r\n");
+ c = chFDDGetTimeout(sd, 33);
+ switch (c) {
+ case -1:
+ continue;
+ case -2:
+ return 1;
+ case 3:
+ PrintLineFDD(sd, "^C\r\n");
+ return 0;
+ default:
+ chThdSleep(33);
+ }
+ }
+ return 0;
+}
+
+static BOOL checkend(FullDuplexDriver *sd) {
+
+ char * lp = strtok(NULL, " \009"); /* It is not thread safe but this is a demo.*/
+ if (lp) {
+ PrintLineFDD(sd, lp);
+ PrintLineFDD(sd, " ?\r\n");
+ return TRUE;
+ }
+ return FALSE;
+}
+
+/*
+ * Simple command shell thread, the argument is the serial line for the
+ * standard input and output. It recognizes few simple commands.
+ */
+static t_msg ShellThread(void *arg) {
+ FullDuplexDriver *sd = (FullDuplexDriver *)arg;
+ char *lp, line[64];
+ Thread *tp;
+ BYTE8 tarea[UserStackSize(1024)];
+
+ chIQReset(&sd->sd_iqueue);
+ chOQReset(&sd->sd_oqueue);
+ PrintLineFDD(sd, "ChibiOS/RT Command Shell\r\n\n");
+ while (TRUE) {
+ PrintLineFDD(sd, "ch> ");
+ if (GetLineFDD(sd, line, sizeof(line))) {
+ PrintLineFDD(sd, "\nlogout");
+ break;
+ }
+ lp = strtok(line, " \009"); // Note: not thread safe but it is just a demo.
+ if (lp) {
+ if ((stricmp(lp, "help") == 0) ||
+ (stricmp(lp, "h") == 0) ||
+ (stricmp(lp, "?") == 0)) {
+ if (checkend(sd))
+ continue;
+ PrintLineFDD(sd, "Commands:\r\n");
+ PrintLineFDD(sd, " help,h,? - This help\r\n");
+ PrintLineFDD(sd, " exit - Logout from ChibiOS/RT\r\n");
+ PrintLineFDD(sd, " time - Prints the system timer value\r\n");
+ PrintLineFDD(sd, " hello - Runs the Hello World demo thread\r\n");
+ }
+ else if (stricmp(lp, "exit") == 0) {
+ if (checkend(sd))
+ continue;
+ PrintLineFDD(sd, "\nlogout");
+ break;
+ }
+ else if (stricmp(lp, "time") == 0) {
+ if (checkend(sd))
+ continue;
+ sprintf(line, "Time: %d\r\n", chSysGetTime());
+ PrintLineFDD(sd, line);
+ }
+ else if (stricmp(lp, "hello") == 0) {
+ if (checkend(sd))
+ continue;
+ tp = chThdCreate(NORMALPRIO, 0, tarea, sizeof(tarea),
+ HelloWorldThread, sd);
+ if (chThdWait(tp))
+ break; // Lost connection while executing the hello thread.
+ }
+ else {
+ PrintLineFDD(sd, lp);
+ PrintLineFDD(sd, " ?\r\n");
+ }
+ }
+ }
+ return 0;
+}
+
+static BYTE8 s1area[UserStackSize(4096)];
+static Thread *s1;
+EventListener s1tel;
+
+static void COM1Handler(t_eventid id) {
+ t_dflags flags;
+
+ if (s1 && chThdTerminated(s1)) {
+ s1 = NULL;
+ cprint("Init: disconnection on COM1\n");
+ }
+ flags = chFDDGetAndClearFlags(&COM1);
+ if ((flags & SD_CONNECTED) && (s1 == NULL)) {
+ cprint("Init: connection on COM1\n");
+ s1 = chThdCreate(NORMALPRIO, P_SUSPENDED, s1area, sizeof(s1area),
+ ShellThread, &COM1);
+ chEvtRegister(chThdGetExitEventSource(s1), &s1tel, 0);
+ chThdResume(s1);
+ }
+ if ((flags & SD_DISCONNECTED) && (s1 != NULL))
+ chIQReset(&COM1.sd_iqueue);
+}
+
+static BYTE8 s2area[UserStackSize(4096)];
+static Thread *s2;
+EventListener s2tel;
+
+static void COM2Handler(t_eventid id) {
+ t_dflags flags;
+
+ if (s2 && chThdTerminated(s2)) {
+ s2 = NULL;
+ cprint("Init: disconnection on COM2\n");
+ }
+ flags = chFDDGetAndClearFlags(&COM2);
+ if ((flags & SD_CONNECTED) && (s2 == NULL)) {
+ cprint("Init: connection on COM2\n");
+ s2 = chThdCreate(NORMALPRIO, P_SUSPENDED, s2area, sizeof(s1area),
+ ShellThread, &COM2);
+ chEvtRegister(chThdGetExitEventSource(s2), &s2tel, 1);
+ chThdResume(s2);
+ }
+ if ((flags & SD_DISCONNECTED) && (s2 != NULL))
+ chIQReset(&COM2.sd_iqueue);
+}
+
+static t_evhandler fhandlers[2] = {
+ COM1Handler,
+ COM2Handler
+};
+
+/*
+ * Init-like thread, it starts the shells and handles their termination.
+ * It is a good example of events usage.
+ */
+static t_msg InitThread(void *arg) {
+ EventListener c1fel, c2fel;
+
+ cprint("Console service started on COM1, COM2\n");
+ cprint(" - Listening for connections on COM1\n");
+ chFDDGetAndClearFlags(&COM1);
+ chEvtRegister(&COM1.sd_sevent, &c1fel, 0);
+ cprint(" - Listening for connections on COM2\n");
+ chFDDGetAndClearFlags(&COM2);
+ chEvtRegister(&COM2.sd_sevent, &c2fel, 1);
+ while (!chThdShouldTerminate())
+ chEvtWait(ALL_EVENTS, fhandlers);
+ chEvtUnregister(&COM2.sd_sevent, &c2fel); // Never invoked but this is an example...
+ chEvtUnregister(&COM1.sd_sevent, &c1fel); // Never invoked but this is an example...
+ return 0;
+}
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