tinySA/demos/SPC5/NIL-SPC560D-EVB/main.c

/*
    ChibiOS/RT - Copyright (C) 2006-2013 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 "nil.h"
#include "hal.h"
//#include "test.h"

#if 0
#define SHELL_WA_SIZE   THD_WORKING_AREA_SIZE(1024)
#define TEST_WA_SIZE    THD_WORKING_AREA_SIZE(256)

static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
  size_t n, size;

  (void)argv;
  if (argc > 0) {
    chprintf(chp, "Usage: mem\r\n");
    return;
  }
  n = chHeapStatus(NULL, &size);
  chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus());
  chprintf(chp, "heap fragments   : %u\r\n", n);
  chprintf(chp, "heap free total  : %u bytes\r\n", size);
}

static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
  static const char *states[] = {CH_STATE_NAMES};
  thread_t *tp;

  (void)argv;
  if (argc > 0) {
    chprintf(chp, "Usage: threads\r\n");
    return;
  }
  chprintf(chp, "    addr    stack prio refs     state time\r\n");
  tp = chRegFirstThread();
  do {
    chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s\r\n",
            (uint32_t)tp, (uint32_t)tp->p_ctx.sp,
            (uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
            states[tp->p_state]);
    tp = chRegNextThread(tp);
  } while (tp != NULL);
}

static void cmd_test(BaseSequentialStream *chp, int argc, char *argv[]) {
  thread_t *tp;

  (void)argv;
  if (argc > 0) {
    chprintf(chp, "Usage: test\r\n");
    return;
  }
  tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriorityX(),
                           TestThread, chp);
  if (tp == NULL) {
    chprintf(chp, "out of memory\r\n");
    return;
  }
  chThdWait(tp);
}

static const ShellCommand commands[] = {
  {"mem", cmd_mem},
  {"threads", cmd_threads},
  {"test", cmd_test},
  {NULL, NULL}
};

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

/*
 * LEDs blinker thread, times are in milliseconds.
 */
static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg) {

  (void)arg;

  while (TRUE) {
    unsigned i;

    for (i = 0; i < 4; i++) {
      palClearPad(PORT_E, PE_LED1);
      chThdSleepMilliseconds(100);
      palClearPad(PORT_E, PE_LED2);
      chThdSleepMilliseconds(100);
      palClearPad(PORT_E, PE_LED3);
      chThdSleepMilliseconds(100);
      palClearPad(PORT_E, PE_LED4);
      chThdSleepMilliseconds(100);
      palSetPad(PORT_E, PE_LED1);
      chThdSleepMilliseconds(100);
      palSetPad(PORT_E, PE_LED2);
      chThdSleepMilliseconds(100);
      palSetPad(PORT_E, PE_LED3);
      chThdSleepMilliseconds(100);
      palSetPad(PORT_E, PE_LED4);
      chThdSleepMilliseconds(300);
    }

    for (i = 0; i < 4; i++) {
      palTogglePort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED2) |
                            PAL_PORT_BIT(PE_LED3) | PAL_PORT_BIT(PE_LED4));
      chThdSleepMilliseconds(500);
      palTogglePort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED2) |
                            PAL_PORT_BIT(PE_LED3) | PAL_PORT_BIT(PE_LED4));
      chThdSleepMilliseconds(500);
    }

    for (i = 0; i < 4; i++) {
      palTogglePad(PORT_E, PE_LED1);
      chThdSleepMilliseconds(250);
      palTogglePad(PORT_E, PE_LED1);
      palTogglePad(PORT_E, PE_LED2);
      chThdSleepMilliseconds(250);
      palTogglePad(PORT_E, PE_LED2);
      palTogglePad(PORT_E, PE_LED3);
      chThdSleepMilliseconds(250);
      palTogglePad(PORT_E, PE_LED3);
      palTogglePad(PORT_E, PE_LED4);
      chThdSleepMilliseconds(250);
      palTogglePad(PORT_E, PE_LED4);
    }

    for (i = 0; i < 4; i++) {
      palClearPort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED3));
      palSetPort(PORT_E, PAL_PORT_BIT(PE_LED2) | PAL_PORT_BIT(PE_LED4));
      chThdSleepMilliseconds(500);
      palClearPort(PORT_E, PAL_PORT_BIT(PE_LED2) | PAL_PORT_BIT(PE_LED4));
      palSetPort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED3));
      chThdSleepMilliseconds(500);
    }

    palSetPort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED2) |
                       PAL_PORT_BIT(PE_LED3) | PAL_PORT_BIT(PE_LED4));
  }
}

/*
 * Threads static table, one entry per thread. The number of entries must
 * match NIL_CFG_NUM_THREADS.
 */
THD_TABLE_BEGIN
  THD_TABLE_ENTRY(waThread1, "blinker", Thread1, NULL)
THD_TABLE_END

/*
 * 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();

  /* This is now the idle thread loop, you may perform here a low priority
     task but you must never try to sleep or wait in this loop. Note that
     this tasks runs at the lowest priority level so any instruction added
     here will be executed after all other tasks have been started.*/
  while (true) {
  }
}