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
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
|
/*
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.hpp"
#include "fs.hpp"
#include "hal.h"
#include "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 msg_t Main(void) {
setName("sequencer");
while (true) {
switch(curr->action) {
case SLEEP:
sleep(curr->value);
break;
case GOTO:
curr = &base[curr->value];
continue;
case STOP:
return 0;
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 msg_t Main(void) {
setName("tester");
return TestThread(&SD2);
}
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();
};
}
return 0;
}
|
