/* Copyright 2012 Jun Wako This program 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 2 of the License, or (at your option) any later version. This program 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 . */ /* * scan matrix */ #include #include #include #include #include "print.h" #include "debug.h" #include "util.h" #include "matrix.h" #ifndef DEBOUNCE # define DEBOUNCE 5 #endif static uint8_t debouncing = DEBOUNCE; /* matrix state(1:on, 0:off) */ static matrix_row_t matrix[MATRIX_ROWS]; static matrix_row_t matrix_debouncing[MATRIX_ROWS]; static matrix_row_t read_cols(void); static void init_cols(void); static void unselect_rows(void); static void select_row(uint8_t row); inline uint8_t matrix_rows(void) { return MATRIX_ROWS; } inline uint8_t matrix_cols(void) { return MATRIX_COLS; } void matrix_init(void) { // initialize row and col unselect_rows(); init_cols(); // initialize matrix state: all keys off for (uint8_t i=0; i < MATRIX_ROWS; i++) { matrix[i] = 0; matrix_debouncing[i] = 0; } //debug debug_matrix = true; LED_ON(); _delay_ms(500); LED_OFF(); } uint8_t matrix_scan(void) { for (uint8_t i = 0; i < MATRIX_ROWS; i++) { select_row(i); _delay_us(30); // without this wait read unstable value. matrix_row_t cols = read_cols(); if (matrix_debouncing[i] != cols) { matrix_debouncing[i] = cols; if (debouncing) { debug("bounce!: "); debug_hex(debouncing); debug("\n"); } debouncing = DEBOUNCE; } unselect_rows(); } if (debouncing) { if (--debouncing) { _delay_ms(1); } else { for (uint8_t i = 0; i < MATRIX_ROWS; i++) { matrix[i] = matrix_debouncing[i]; } } } matrix_scan_quantum(); return 1; } inline bool matrix_is_on(uint8_t row, uint8_t col) { return (matrix[row] & ((matrix_row_t)1< 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 
/*
    ChibiOS - Copyright (C) 2006..2018 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 "shell.h"
#include "chprintf.h"

#define SHELL_WA_SIZE       THD_WORKING_AREA_SIZE(4096)
#define CONSOLE_WA_SIZE     THD_WORKING_AREA_SIZE(4096)
#define TEST_WA_SIZE        THD_WORKING_AREA_SIZE(4096)

#define cputs(msg) chMsgSend(cdtp, (msg_t)msg)

static thread_t *cdtp;
static thread_t *shelltp1;
static thread_t *shelltp2;

static const ShellCommand commands[] = {
  {NULL, NULL}
};

static const ShellConfig shell_cfg1 = {
  (BaseSequentialStream *)&SD1,
  commands
};

static const ShellConfig shell_cfg2 = {
  (BaseSequentialStream *)&SD2,
  commands
};

/*
 * Console print server done using synchronous messages. This makes the access
 * to the C printf() thread safe and the print operation atomic among threads.
 * In this example the message is the zero terminated string itself.
 */
static THD_FUNCTION(console_thread, arg) {

  (void)arg;
  while (!chThdShouldTerminateX()) {
    thread_t *tp = chMsgWait();
    puts((char *)chMsgGet(tp));
    fflush(stdout);
    chMsgRelease(tp, MSG_OK);
  }
}

/**
 * @brief Shell termination handler.
 *
 * @param[in] id event id.
 */
static void termination_handler(eventid_t id) {

  (void)id;
  if (shelltp1 && chThdTerminatedX(shelltp1)) {
    chThdWait(shelltp1);
    shelltp1 = NULL;
    chThdSleepMilliseconds(10);
    cputs("Init: shell on SD1 terminated");
    chSysLock();
    oqResetI(&SD1.oqueue);
    chSchRescheduleS();
    chSysUnlock();
  }
  if (shelltp2 && chThdTerminatedX(shelltp2)) {
    chThdWait(shelltp2);
    shelltp2 = NULL;
    chThdSleepMilliseconds(10);
    cputs("Init: shell on SD2 terminated");
    chSysLock();
    oqResetI(&SD2.oqueue);
    chSchRescheduleS();
    chSysUnlock();
  }
}

static event_listener_t sd1fel, sd2fel;

/**
 * @brief SD1 status change handler.
 *
 * @param[in] id event id.
 */
static void sd1_handler(eventid_t id) {
  eventflags_t flags;

  (void)id;
  flags = chEvtGetAndClearFlags(&sd1fel);
  if ((flags & CHN_CONNECTED) && (shelltp1 == NULL)) {
    cputs("Init: connection on SD1");
    shelltp1 = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
                                   "shell1", NORMALPRIO + 10,
                                   shellThread, (void *)&shell_cfg1);
  }
  if (flags & CHN_DISCONNECTED) {
    cputs("Init: disconnection on SD1");
    chSysLock();
    iqResetI(&SD1.iqueue);
    chSchRescheduleS();
    chSysUnlock();
  }
}

/**
 * @brief SD2 status change handler.
 *
 * @param[in] id event id.
 */
static void sd2_handler(eventid_t id) {
  eventflags_t flags;

  (void)id;
  flags = chEvtGetAndClearFlags(&sd2fel);
  if ((flags & CHN_CONNECTED) && (shelltp2 == NULL)) {
    cputs("Init: connection on SD2");
    shelltp2 = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
                                   "shell2", NORMALPRIO + 10,
                                   shellThread, (void *)&shell_cfg2);
  }
  if (flags & CHN_DISCONNECTED) {
    cputs("Init: disconnection on SD2");
    chSysLock();
    iqResetI(&SD2.iqueue);
    chSchRescheduleS();
    chSysUnlock();
  }
}

static evhandler_t fhandlers[] = {
  termination_handler,
  sd1_handler,
  sd2_handler
};

/*------------------------------------------------------------------------*
 * Simulator main.                                                        *
 *------------------------------------------------------------------------*/
int main(void) {
  event_listener_t tel;

  /*
   * 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();

  /*
   * Serial ports (simulated) initialization.
   */
  sdStart(&SD1, NULL);
  sdStart(&SD2, NULL);

  /*
   * Shell manager initialization.
   */
  shellInit();
  chEvtRegister(&shell_terminated, &tel, 0);

  /*
   * Console thread started.
   */
  cdtp = chThdCreateFromHeap(NULL, CONSOLE_WA_SIZE, "console",
                             NORMALPRIO + 1, console_thread, NULL);

  /*
   * Initializing connection/disconnection events.
   */
  cputs("Shell service started on SD1, SD2");
  cputs("  - Listening for connections on SD1");
  chEvtRegister(chnGetEventSource(&SD1), &sd1fel, 1);
  cputs("  - Listening for connections on SD2");
  chEvtRegister(chnGetEventSource(&SD2), &sd2fel, 2);

  /*
   * Events servicing loop.
   */
  while (!chThdShouldTerminateX())
    chEvtDispatch(fhandlers, chEvtWaitOne(ALL_EVENTS));

  /*
   * Clean simulator exit.
   */
  chEvtUnregister(chnGetEventSource(&SD1), &sd1fel);
  chEvtUnregister(chnGetEventSource(&SD2), &sd2fel);
  return 0;
}
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