/* ChibiOS - Copyright (C) 2006..2016 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.hpp" #include "hal.h" #include "ch_test.h" using namespace chibios_rt; /* * LED blink sequences. * NOTE: Sequences must always be terminated by a GOTO instruction. * NOTE: The sequencer language could be easily improved but this is outside * the scope of this demo. */ #define SLEEP 0 #define GOTO 1 #define STOP 2 #define BITCLEAR 3 #define BITSET 4 typedef struct { uint8_t action; uint32_t value; } seqop_t; // Flashing sequence for LED3. static const seqop_t LED3_sequence[] = { {BITSET, PAL_PORT_BIT(GPIOD_LED3)}, {SLEEP, 800}, {BITCLEAR, PAL_PORT_BIT(GPIOD_LED3)}, {SLEEP, 200}, {GOTO, 0} }; // Flashing sequence for LED4. static const seqop_t LED4_sequence[] = { {BITSET, PAL_PORT_BIT(GPIOD_LED4)}, {SLEEP, 600}, {BITCLEAR, PAL_PORT_BIT(GPIOD_LED4)}, {SLEEP, 400}, {GOTO, 0} }; // Flashing sequence for LED5. static const seqop_t LED5_sequence[] = { {BITSET, PAL_PORT_BIT(GPIOD_LED5)}, {SLEEP, 400}, {BITCLEAR, PAL_PORT_BIT(GPIOD_LED5)}, {SLEEP, 600}, {GOTO, 0} }; // Flashing sequence for LED6. static const seqop_t LED6_sequence[] = { {BITSET, PAL_PORT_BIT(GPIOD_LED6)}, {SLEEP, 200}, {BITCLEAR, PAL_PORT_BIT(GPIOD_LED6)}, {SLEEP, 800}, {GOTO, 0} }; /* * Sequencer thread class. It can drive LEDs or other output pins. * Any sequencer is just an instance of this class, all the details are * totally encapsulated and hidden to the application level. */ class SequencerThread : public BaseStaticThread<128> { private: const seqop_t *base, *curr; // Thread local variables. protected: virtual void main(void) { setName("sequencer"); while (true) { switch(curr->action) { case SLEEP: sleep(MS2ST(curr->value)); break; case GOTO: curr = &base[curr->value]; continue; case STOP: return; case BITCLEAR: palClearPort(GPIOD, curr->value); break; case BITSET: palSetPort(GPIOD, curr->value); break; } curr++; } } public: SequencerThread(const seqop_t *sequence) : BaseStaticThread<128>() { base = curr = sequence; } }; /* * Tester thread class. This thread executes the test suite. */ class TesterThread : public BaseStaticThread<256> { protected: virtual void main(void) { setName("tester"); test_execute((BaseSequentialStream *)&SD2); exit(test_global_fail); } public: TesterThread(void) : BaseStaticThread<256>() { } }; /* Static threads instances.*/ static TesterThread tester; static SequencerThread blinker1(LED3_sequence); static SequencerThread blinker2(LED4_sequence); static SequencerThread blinker3(LED5_sequence); static SequencerThread blinker4(LED6_sequence); /* * 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(); System::init(); /* * Activates the serial driver 2 using the driver default configuration. * PA2(TX) and PA3(RX) are routed to USART2. */ sdStart(&SD2, NULL); palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7)); palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7)); /* * Starts several instances of the SequencerThread class, each one operating * on a different LED. */ blinker1.start(NORMALPRIO + 10); blinker2.start(NORMALPRIO + 10); blinker3.start(NORMALPRIO + 10); blinker4.start(NORMALPRIO + 10); /* * Serves timer events. */ while (true) { if (palReadPad(GPIOA, GPIOA_BUTTON)) { tester.start(NORMALPRIO); tester.wait(); }; BaseThread::sleep(MS2ST(500)); } return 0; } 32'>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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377