1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
|
/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
#include "ch.h"
#include "hal.h"
#include "chprintf.h"
#include "shell.h"
/*
* Red LED blinker thread, times are in milliseconds.
*/
static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker1");
while (true) {
palSetPad(GPIOG, GPIOG_LED1);
chThdSleepMilliseconds(50);
palSetPad(GPIOD, GPIOD_LED2);
chThdSleepMilliseconds(300);
palClearPad(GPIOG, GPIOG_LED1);
chThdSleepMilliseconds(50);
palClearPad(GPIOD, GPIOD_LED2);
chThdSleepMilliseconds(300);
}
}
/*
* Green LED blinker thread, times are in milliseconds.
*/
static THD_WORKING_AREA(waThread2, 128);
static THD_FUNCTION(Thread2, arg) {
(void)arg;
chRegSetThreadName("blinker2");
while (true) {
palSetPad(GPIOD, GPIOD_LED3);
chThdSleepMilliseconds(50);
palSetPad(GPIOK, GPIOK_LED4);
chThdSleepMilliseconds(300);
palClearPad(GPIOD, GPIOD_LED3);
chThdSleepMilliseconds(50);
palClearPad(GPIOK, GPIOK_LED4);
chThdSleepMilliseconds(300);
}
}
/*===========================================================================*/
/* Command line related. */
/*===========================================================================*/
#define SHELL_WA_SIZE THD_WORKING_AREA_SIZE(2048)
static const ShellCommand commands[] = {
{NULL, NULL}
};
static const ShellConfig shell_cfg1 = {
(BaseSequentialStream *)&SD3,
commands
};
/*===========================================================================*/
/* Initialization and main thread. */
/*===========================================================================*/
/*
* 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();
chSysInit();
/*
* Shell manager initialization.
*/
shellInit();
/*
* Activates the serial driver 2 using the driver default configuration.
*/
sdStart(&SD3, NULL);
/*
* Creating the blinker threads.
*/
chThdCreateStatic(waThread1, sizeof(waThread1),
NORMALPRIO + 10, Thread1, NULL);
chThdSleepMilliseconds(100);
chThdCreateStatic(waThread2, sizeof(waThread2),
NORMALPRIO + 10, Thread2, NULL);
/*
* Normal main() thread activity, spawning shells.
*/
while (true) {
thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg1);
chThdWait(shelltp); /* Waiting termination. */
chThdSleepMilliseconds(1000);
}
}
|
