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
|
/*
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"
/*
* GPT1 callback.
*/
static void gpt1cb(GPTDriver *gptp) {
(void)gptp;
palClearPad(IOPORT3, GPIOC_LED);
chSysLockFromIsr();
gptStartOneShotI(&GPTD2, 200); /* 0.02 second pulse.*/
chSysUnlockFromIsr();
}
/*
* GPT2 callback.
*/
static void gpt2cb(GPTDriver *gptp) {
(void)gptp;
palSetPad(IOPORT3, GPIOC_LED);
}
/*
* GPT1 configuration.
*/
static const GPTConfig gpt1cfg = {
10000, /* 10kHz timer clock.*/
gpt1cb /* Timer callback.*/
};
/*
* GPT2 configuration.
*/
static const GPTConfig gpt2cfg = {
10000, /* 10kHz timer clock.*/
gpt2cb /* Timer callback.*/
};
/*
* 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();
/*
* Initializes the GPT drivers 1 and 2.
*/
gptStart(&GPTD1, &gpt1cfg);
gptPolledDelay(&GPTD1, 10); /* Small delay.*/
gptStart(&GPTD2, &gpt2cfg);
gptPolledDelay(&GPTD2, 10); /* Small delay.*/
/*
* Normal main() thread activity, it changes the GPT1 period every
* five seconds.
*/
while (TRUE) {
gptStartContinuous(&GPTD1, 5000);
chThdSleepMilliseconds(5000);
gptStopTimer(&GPTD1);
gptStartContinuous(&GPTD1, 2500);
chThdSleepMilliseconds(5000);
gptStopTimer(&GPTD1);
}
return 0;
}
|
