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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012 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 "ch.hpp"
#include "hal.h"
#include "test.h"
#include "evtimer.h"
#define BOTH_BUTTONS (PAL_PORT_BIT(PA_BUTTON1) | PAL_PORT_BIT(PA_BUTTON2))
using namespace chibios_rt;
/*
* LED blink sequences.
* NOTE: Sequences must always be terminated by a GOTO instruction.
* NOTE: The sequencer language could be easily improved but this is outside
* the scope of this demo.
*/
#define SLEEP 0
#define GOTO 1
#define STOP 2
#define BITCLEAR 3
#define BITSET 4
typedef struct {
uint8_t action;
uint32_t value;
} seqop_t;
// Flashing sequence for LED1.
static const seqop_t LED1_sequence[] =
{
{BITCLEAR, PAL_PORT_BIT(PA_LED1)},
{SLEEP, 200},
{BITSET, PAL_PORT_BIT(PA_LED1)},
{SLEEP, 1800},
{GOTO, 0}
};
// Flashing sequence for LED2.
static const seqop_t LED2_sequence[] =
{
{SLEEP, 1000},
{BITCLEAR, PAL_PORT_BIT(PA_LED2)},
{SLEEP, 200},
{BITSET, PAL_PORT_BIT(PA_LED2)},
{SLEEP, 1800},
{GOTO, 1}
};
// Flashing sequence for LED3.
static const seqop_t LED3_sequence[] =
{
{BITCLEAR, PAL_PORT_BIT(PA_LEDUSB)},
{SLEEP, 200},
{BITSET, PAL_PORT_BIT(PA_LEDUSB)},
{SLEEP, 300},
{GOTO, 0}
};
/*
* Sequencer thread class. It can drive LEDs or other output pins.
* Any sequencer is just an instance of this class, all the details are
* totally encapsulated and hidden to the application level.
*/
class SequencerThread : public EnhancedThread<128> {
private:
const seqop_t *base, *curr; // Thread local variables.
protected:
virtual msg_t Main(void) {
while (true) {
switch(curr->action) {
case SLEEP:
Sleep(curr->value);
break;
case GOTO:
curr = &base[curr->value];
continue;
case STOP:
return 0;
case BITCLEAR:
palClearPort(IOPORT1, curr->value);
break;
case BITSET:
palSetPort(IOPORT1, curr->value);
break;
}
curr++;
}
}
public:
SequencerThread(const seqop_t *sequence) : EnhancedThread<128>("sequencer") {
base = curr = sequence;
}
};
/*
* Tester thread class. This thread executes the test suite.
*/
class TesterThread : public EnhancedThread<128> {
protected:
virtual msg_t Main(void) {
return TestThread(&SD1);
}
public:
TesterThread(void) : EnhancedThread<128>("tester") {
}
};
/*
* Executed as an event handler at 500mS intervals.
*/
static void TimerHandler(eventid_t id) {
(void)id;
if (!(palReadPort(IOPORT1) & BOTH_BUTTONS)) { // Both buttons
TesterThread tester;
tester.Wait();
};
}
/*
* Application entry point.
*/
int main(void) {
static const evhandler_t evhndl[] = {
TimerHandler
};
static EvTimer evt;
struct EventListener el0;
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
System::Init();
/*
* Activates the serial driver 2 using the driver default configuration.
*/
sdStart(&SD1, NULL);
evtInit(&evt, 500); // Initializes an event timer.
evtStart(&evt); // Starts the event timer.
chEvtRegister(&evt.et_es, &el0, 0); // Registers a listener on the source.
/*
* Starts several instances of the SequencerThread class, each one operating
* on a different LED.
*/
SequencerThread blinker1(LED1_sequence);
SequencerThread blinker2(LED2_sequence);
SequencerThread blinker3(LED3_sequence);
/*
* Serves timer events.
*/
while (true)
Event::Dispatch(evhndl, Event::WaitOne(ALL_EVENTS));
return 0;
}
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