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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.h"
#include "hal.h"
#include "test.h"
#include "chprintf.h"
#include "shell.h"
/*
* Red LEDs blinker thread, times are in milliseconds.
*/
static WORKING_AREA(waThread1, 64);
static msg_t Thread1(void *arg) {
(void)arg;
chRegSetThreadName("red blinker");
while (TRUE) {
palSetPad(IOPORT6, P6_O_RED_LED);
chThdSleepMilliseconds(500);
palClearPad(IOPORT6, P6_O_RED_LED);
chThdSleepMilliseconds(500);
}
return 0;
}
/*
* Green LEDs blinker thread, times are in milliseconds.
*/
static WORKING_AREA(waThread2, 64);
static msg_t Thread2(void *arg) {
(void)arg;
chRegSetThreadName("green blinker");
while (TRUE) {
palSetPad(IOPORT6, P6_O_GREEN_LED);
chThdSleepMilliseconds(1500);
palClearPad(IOPORT6, P6_O_GREEN_LED);
chThdSleepMilliseconds(1500);
}
return 0;
}
static void cmd_mem(BaseChannel *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(BaseChannel *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.sp,
(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(BaseChannel *chp, int argc, char *argv[]) {
(void)argv;
if (argc > 0) {
chprintf(chp, "Usage: test\r\n");
return;
}
TestThread(chp);
}
static void cmd_reboot(BaseChannel *chp, int argc, char *argv[]){
(void)argv;
if (argc > 0) {
chprintf(chp, "Usage: rboot\r\n");
return;
}
chprintf(chp, "rebooting...\r\n");
chThdSleepMilliseconds(100);
WDTCTL = 0; /* Giving invalid value to watchdog cause reboot. */
}
static const ShellCommand commands[] = {
{"mem", cmd_mem},
{"threads", cmd_threads},
{"test", cmd_test},
{"reboot", cmd_reboot},
{NULL, NULL}
};
static const ShellConfig shell_cfg[] = {
{(BaseChannel *)&SD1, commands},
{(BaseChannel *)&SD2, commands},
};
/*
* Application entry point.
*/
int main(void) {
/* RTC initially stopped.*/
WDTCTL = WDTPW | WDTHOLD;
/*
* 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();
/*
* The main() function becomes a thread here then the interrupts are
* enabled and ChibiOS/RT goes live.
*/
/*
* Activates the serial driver 2 using the driver default configuration.
*/
sdStart(&SD1, NULL);
sdStart(&SD2, NULL);
/* Shell manager initialization.*/
shellInit();
static WORKING_AREA(waShell1, 512);
shellCreateStatic(&shell_cfg[0], waShell1, sizeof(waShell1), NORMALPRIO);
static WORKING_AREA(waShell2, 512);
shellCreateStatic(&shell_cfg[1], waShell2, sizeof(waShell2), NORMALPRIO);
/* Creates the blinker thread. */
Thread *th[] = {
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO+1, Thread1, NULL),
chThdCreateStatic(waThread2, sizeof(waThread2), NORMALPRIO+2, Thread2, NULL),
};
cnt_t idx;
for( idx = 0; idx < sizeof(th)/sizeof(th[0]); ++idx ) {
msg_t msg = chThdWait(th[idx]);
}
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop.
*/
while (TRUE) {
chThdSleepMilliseconds(500);
}
return 0;
}
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