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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.h"
#include "hal.h"
#include "test.h"
#include "chprintf.h"
#include "shell.h"
#include "usbcfg.h"
/* Virtual serial port over USB.*/
static SerialUSBDriver SDU2;
/*===========================================================================*/
/* Command line related. */
/*===========================================================================*/
#define SHELL_WA_SIZE THD_WA_SIZE(2048)
#define TEST_WA_SIZE THD_WA_SIZE(256)
static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
size_t n, size;
(void)argv;
if (argc > 0) {
chprintf(chp, "Usage: mem\r\n");
return;
}
n = chHeapStatus(NULL, &size);
chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus());
chprintf(chp, "heap fragments : %u\r\n", n);
chprintf(chp, "heap free total : %u bytes\r\n", size);
}
static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
static const char *states[] = {THD_STATE_NAMES};
Thread *tp;
(void)argv;
if (argc > 0) {
chprintf(chp, "Usage: threads\r\n");
return;
}
chprintf(chp, " addr stack prio refs state time\r\n");
tp = chRegFirstThread();
do {
chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n",
(uint32_t)tp, (uint32_t)tp->p_ctx.r13,
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
states[tp->p_state], (uint32_t)tp->p_time);
tp = chRegNextThread(tp);
} while (tp != NULL);
}
static void cmd_test(BaseSequentialStream *chp, int argc, char *argv[]) {
Thread *tp;
(void)argv;
if (argc > 0) {
chprintf(chp, "Usage: test\r\n");
return;
}
tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(),
TestThread, chp);
if (tp == NULL) {
chprintf(chp, "out of memory\r\n");
return;
}
chThdWait(tp);
}
static const ShellCommand commands[] = {
{"mem", cmd_mem},
{"threads", cmd_threads},
{"test", cmd_test},
{NULL, NULL}
};
static const ShellConfig shell_cfg1 = {
(BaseSequentialStream *)&SDU2,
commands
};
/*
* Debug output and heartbeat thread.
*/
static WORKING_AREA(waThread1, 128);
static msg_t Thread1(void *arg) {
(void)arg;
systime_t time;
chRegSetThreadName("reader");
#if STM32_SERIAL_USE_USART2
BaseSequentialStream *chp = (BaseSequentialStream *)&SD2;
#endif
#if STM32_SERIAL_USE_USART3
BaseSequentialStream *chp = (BaseSequentialStream *)&SD3;
#endif
/* Blinky Light Loop */
palTogglePad(GPIOH, GPIOH_LED1);
palTogglePad(GPIOH, GPIOH_LED2);
while (TRUE) {
time = chTimeNow();
chprintf(chp, "Toggling LEDs: %u\r\n", time);
palTogglePad(GPIOH, GPIOH_LED1);
palTogglePad(GPIOH, GPIOH_LED2);
palTogglePad(GPIOI, GPIOI_LED3);
palTogglePad(GPIOI, GPIOI_LED4);
chThdSleep(MS2ST(500));
}
}
/*===========================================================================*/
/* Initialization and main thread. */
/*===========================================================================*/
/*
* Application entry point.
*/
int main(void) {
Thread *shelltp = NULL;
/*
* 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();
chSysInit();
/*
* Shell manager initialization.
*/
shellInit();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU2);
sduStart(&SDU2, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1000);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Activates the serial driver 2 using the driver default configuration.
* PA2(TX) and PA3(RX) are routed to USART2.
*/
#if STM32_SERIAL_USE_USART2
sdStart(&SD2, NULL);
palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));
#endif
#if STM32_SERIAL_USE_USART3
sdStart(&SD3, NULL);
palSetPadMode(GPIOC, 10, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOC, 11, PAL_MODE_ALTERNATE(7));
#endif
/*
* Creates the example thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 10, Thread1, NULL);
/*
* Normal main() thread activity, in this demo it just performs
* a shell respawn upon its termination.
*/
while (TRUE) {
if (!shelltp) {
if (SDU2.config->usbp->state == USB_ACTIVE) {
/* Spawns a new shell.*/
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
}
}
else {
/* If the previous shell exited.*/
if (chThdTerminated(shelltp)) {
/* Recovers memory of the previous shell.*/
chThdRelease(shelltp);
shelltp = NULL;
}
}
chThdSleepMilliseconds(500);
}
}
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