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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013 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 "fs.hpp"
#include "fatfs_fsimpl.hpp"
#include "test.h"
using namespace chibios_rt;
using namespace chibios_fatfs;
/*
* 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 LED3.
static const seqop_t LED3_sequence[] =
{
{BITSET, PAL_PORT_BIT(GPIOD_LED3)},
{SLEEP, 800},
{BITCLEAR, PAL_PORT_BIT(GPIOD_LED3)},
{SLEEP, 200},
{GOTO, 0}
};
// Flashing sequence for LED4.
static const seqop_t LED4_sequence[] =
{
{BITSET, PAL_PORT_BIT(GPIOD_LED4)},
{SLEEP, 600},
{BITCLEAR, PAL_PORT_BIT(GPIOD_LED4)},
{SLEEP, 400},
{GOTO, 0}
};
// Flashing sequence for LED5.
static const seqop_t LED5_sequence[] =
{
{BITSET, PAL_PORT_BIT(GPIOD_LED5)},
{SLEEP, 400},
{BITCLEAR, PAL_PORT_BIT(GPIOD_LED5)},
{SLEEP, 600},
{GOTO, 0}
};
// Flashing sequence for LED6.
static const seqop_t LED6_sequence[] =
{
{BITSET, PAL_PORT_BIT(GPIOD_LED6)},
{SLEEP, 200},
{BITCLEAR, PAL_PORT_BIT(GPIOD_LED6)},
{SLEEP, 800},
{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 BaseStaticThread<128> {
private:
const seqop_t *base, *curr; // Thread local variables.
protected:
virtual msg_t main(void) {
setName("sequencer");
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(GPIOD, curr->value);
break;
case BITSET:
palSetPort(GPIOD, curr->value);
break;
}
curr++;
}
}
public:
SequencerThread(const seqop_t *sequence) : BaseStaticThread<128>() {
base = curr = sequence;
}
};
/*
* Tester thread class. This thread executes the test suite.
*/
class TesterThread : public BaseStaticThread<256> {
protected:
virtual msg_t Main(void) {
setName("tester");
return TestThread(&SD2);
}
public:
TesterThread(void) : BaseStaticThread<256>() {
}
};
/* Static threads instances.*/
static TesterThread tester;
static SequencerThread blinker1(LED3_sequence);
static SequencerThread blinker2(LED4_sequence);
static SequencerThread blinker3(LED5_sequence);
static SequencerThread blinker4(LED6_sequence);
static FatFSWrapper fs;
/*
* Application entry point.
*/
int main(void) {
/*
* 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();
fs.mount();
fs.unmount();
/*
* Activates the serial driver 2 using the driver default configuration.
* PA2(TX) and PA3(RX) are routed to USART2.
*/
sdStart(&SD2, NULL);
palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));
/*
* Starts several instances of the SequencerThread class, each one operating
* on a different LED.
*/
blinker1.start(NORMALPRIO + 10);
blinker2.start(NORMALPRIO + 10);
blinker3.start(NORMALPRIO + 10);
blinker4.start(NORMALPRIO + 10);
/*
* Serves timer events.
*/
while (true) {
if (palReadPad(GPIOA, GPIOA_BUTTON)) {
tester.start(NORMALPRIO);
tester.wait();
};
}
return 0;
}
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