159 lines
3.9 KiB
C++
159 lines
3.9 KiB
C++
/*
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ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <ch.hpp>
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#include <evtimer.h>
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#include <test.h>
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#include <lpc214x.h>
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#include <lpc214x_serial.h>
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using namespace chibios_rt;
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/*
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* LED blink sequences.
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* NOTE: Sequences must always be terminated by a GOTO instruction.
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* NOTE: The sequencer language could be easily improved but this is outside
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* the scope of this demo.
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*/
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#define SLEEP 0
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#define GOTO 1
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#define STOP 2
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#define BITCLEAR 3
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#define BITSET 4
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typedef struct {
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uint8_t action;
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uint32_t value;
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} seqop_t;
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// Flashing sequence for LED1.
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static const seqop_t LED1_sequence[] =
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{
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{BITCLEAR, 0x00000400},
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{SLEEP, 200},
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{BITSET, 0x00000400},
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{SLEEP, 1800},
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{GOTO, 0}
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};
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// Flashing sequence for LED2.
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static const seqop_t LED2_sequence[] =
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{
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{SLEEP, 1000},
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{BITCLEAR, 0x00000800},
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{SLEEP, 200},
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{BITSET, 0x00000800},
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{SLEEP, 1800},
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{GOTO, 1}
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};
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// Flashing sequence for LED3.
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static const seqop_t LED3_sequence[] =
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{
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{BITCLEAR, 0x80000000},
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{SLEEP, 200},
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{BITSET, 0x80000000},
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{SLEEP, 300},
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{GOTO, 0}
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};
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/*
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* Sequencer thread class. It can drive LEDs or other output pins.
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* Any sequencer is just an instance of this class, all the details are
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* totally encapsulated and hidden to the application level.
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*/
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class SequencerThread : EnhancedThread<64> {
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private:
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const seqop_t *base, *curr; // Thread local variables.
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protected:
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virtual msg_t Main(void) {
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while (true) {
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switch(curr->action) {
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case SLEEP:
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Sleep(curr->value);
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break;
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case GOTO:
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curr = &base[curr->value];
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continue;
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case STOP:
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return 0;
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case BITCLEAR:
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IO0CLR = curr->value;
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break;
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case BITSET:
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IO0SET = curr->value;
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break;
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}
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curr++;
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}
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}
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public:
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SequencerThread(const seqop_t *sequence) : EnhancedThread<64>("sequencer") {
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base = curr = sequence;
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}
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};
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/*
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* Executed as an event handler at 500mS intervals.
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*/
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static void TimerHandler(eventid_t id) {
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if (!(IO0PIN & 0x00018000)) // Both buttons
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TestThread(&COM1);
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}
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/*
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* Entry point, the interrupts are disabled on entry.
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* This is the real "application".
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*/
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int main(int argc, char **argv) {
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static const evhandler_t evhndl[] = {
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TimerHandler
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};
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static EvTimer evt;
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struct EventListener el0;
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System::Init(); // ChibiOS/RT goes live here.
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evtInit(&evt, 500); // Initializes an event timer.
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evtStart(&evt); // Starts the event timer.
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chEvtRegister(&evt.et_es, &el0, 0); // Registers a listener on the source.
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/*
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* Starts serveral instances of the SequencerThread class, each one operating
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* on a different LED.
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*/
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SequencerThread blinker1(LED1_sequence);
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SequencerThread blinker2(LED2_sequence);
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SequencerThread blinker3(LED3_sequence);
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/*
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* Serves timer events.
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*/
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while (true)
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Event::Wait(ALL_EVENTS, evhndl);
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return 0;
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}
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