bsp.c

a super good method for designing finite state machine

/*****************************************************************************
* PELICAN crossing example
* Last Updated for Version: 1.5.00
* Date of the Last Update:  Oct 16, 2006
*
* Copyright (C) 2002-2006 Quantum Leaps, LLC. All rights reserved.
*
* This software may be distributed and modified under the terms of the GNU
* General Public License version 2 (GPL) as published by the Free Software
* Foundation and appearing in the file GPL.TXT included in the packaging of
* this file. Please note that GPL Section 2[b] requires that all works based
* on this software must also be made publicly available under the terms of
* the GPL ("Copyleft").
*
* Alternatively, this software may be distributed and modified under the
* terms of Quantum Leaps commercial licenses, which expressly allow the
* licensees to retain the proprietary status of their code. The licensees
* who use this software under one of Quantum Leaps commercial licenses do
* not use this software under the GPL and therefore are not subject to any
* of its terms.
*
* Contact information:
* Quantum Leaps Web site:  http://www.quantum-leaps.com
* Quantum Leaps licensing: http://www.quantum-leaps.com/licensing
* Quantum Leaps products:  http://www.quantum-leaps.com/products
* e-mail:                  [e-mail]
*****************************************************************************/
#include "qpn_port.h"
#include "bsp.h"

#include <conio.h>                                           /* for kbhit() */
#include <stdlib.h>                                          /* for _exit() */

/* Local-scope objects -----------------------------------------------------*/
static void interrupt (*l_dosTickISR)();
static uint32_t l_tickCtr;

#define TICK_VECTOR     0x08

/* Direct Video Access .....................................................*/
enum VideoColor {
    /* foreground */
    VIDEO_FGND_BLACK        = 0x00,
    VIDEO_FGND_BLUE         = 0x01,
    VIDEO_FGND_GREEN        = 0x02,
    VIDEO_FGND_CYAN         = 0x03,
    VIDEO_FGND_RED          = 0x04,
    VIDEO_FGND_PURPLE       = 0x05,
    VIDEO_FGND_BROWN        = 0x06,
    VIDEO_FGND_LIGHT_GRAY   = 0x07,
    VIDEO_FGND_DARK_GRAY    = 0x08,
    VIDEO_FGND_LIGHT_BLUE   = 0x09,
    VIDEO_FGND_LIGHT_GREEN  = 0x0A,
    VIDEO_FGND_LIGHT_CYAN   = 0x0B,
    VIDEO_FGND_LIGHT_RED    = 0x0C,
    VIDEO_FGND_LIGHT_PURPLE = 0x0D,
    VIDEO_FGND_YELLOW       = 0x0E,
    VIDEO_FGND_WHITE        = 0x0F,
    /* background */
    VIDEO_BGND_BLACK        = 0x00,
    VIDEO_BGND_BLUE         = 0x10,
    VIDEO_BGND_GREEN        = 0x20,
    VIDEO_BGND_CYAN         = 0x30,
    VIDEO_BGND_RED          = 0x40,
    VIDEO_BGND_PURPLE       = 0x50,
    VIDEO_BGND_BROWN        = 0x60,
    VIDEO_BGND_LIGHT_GRAY   = 0x70,

    VIDEO_BGND_BLINK        = 0x80
};
/*..........................................................................*/
static void Video_clearScreen(uint8_t bgColor);
static void Video_clearRect(uint8_t x1, uint8_t y1, uint8_t x2, uint8_t y2,
                     uint8_t bgColor);
static void Video_printChAt(uint8_t x, uint8_t y, uint8_t color, char ch);
static void Video_printStrAt(uint8_t x, uint8_t y, uint8_t color,
                      char const *str);
static void Video_printNumAt(uint8_t x, uint8_t y, uint8_t color,
                      uint32_t num);

/*..........................................................................*/
static void interrupt tickISR() {                             /* see NOTE01 */

    QF_tick();                          /* process all time events (timers) */
    Video_printNumAt(20, 17, VIDEO_FGND_YELLOW, ++l_tickCtr);

    outportb(0x20, 0x20); /* EOI (End-Of-Interrupt) to the master 8259A PIC */
}
/*..........................................................................*/
#if 0
/* The following alternative implementation of the ISR requires defining
* the macro QF_ISR_NEST in "qpn_port.h" to allow interrupt nesting.
*/
static void interrupt tickISR() {                             /* see NOTE02 */
    /*clear any level-sensitive interrupt sources before enabling interrupts*/
    enable();                                   /* enable interrupt nesting */

    QF_tick();                          /* process all time events (timers) */
    Video_printNumAt(20, 17, VIDEO_FGND_YELLOW, ++l_tickCtr);

    disable();        /* disable interrupts for the exit from the interrupt */
    outportb(0x20, 0x20); /* EOI (End-Of-Interrupt) to the master 8259A PIC */
}
#endif
/*..........................................................................*/
void BSP_init(void) {
    uint8_t n;

    Video_clearScreen(VIDEO_BGND_BLACK);
    Video_clearRect( 0,  0, 80,  7, VIDEO_BGND_LIGHT_GRAY);
    Video_clearRect( 0, 11, 41, 12, VIDEO_BGND_LIGHT_GRAY);
    Video_clearRect( 0,  7, 41, 11, VIDEO_BGND_RED);
    Video_clearRect( 0, 12, 41, 23, VIDEO_BGND_BLUE);
    Video_clearRect( 0, 23, 80, 24, VIDEO_BGND_LIGHT_GRAY);

    n = VIDEO_FGND_BLUE;
    Video_printStrAt(10, 0, n, "  __");
    Video_printStrAt(10, 1, n, " /  |      _   _ -|-     _ _");
    Video_printStrAt(10, 2, n, " \\__| | |  _\\ | \\ | | | | \\ \\");
    Video_printStrAt(10, 3, n, "    | \\_/ |_| | | | \\_| | | |");
    Video_printStrAt(10, 4, n, "    |");
    n = VIDEO_FGND_RED;
    Video_printStrAt(43, 0, n, "    _       __ ");
    Video_printStrAt(43, 1, n, "|  /_\\     |  \\  TM");
    Video_printStrAt(43, 2, n, "|  \\_   _  |__/ _");
    Video_printStrAt(43, 3, n, "|       _\\ |   |_");
    Video_printStrAt(43, 4, n, "|___   |_| |    _|");
    Video_printStrAt(10, 5, VIDEO_FGND_BLUE,
                     "_____________________________________________________");
    Video_printStrAt(10, 6, VIDEO_FGND_RED,
                     "i n n o v a t i n g   e m b e d d e d   s y s t e m s");
    Video_printStrAt(10,  8, VIDEO_FGND_WHITE,
                    "PELICAN Crossing Example");
    Video_printStrAt(10,  9, VIDEO_FGND_WHITE, "QP-nano");
    Video_printStrAt(20,  9, VIDEO_FGND_YELLOW, QP_getVersion());

    Video_printStrAt(4, 11, VIDEO_FGND_BLUE,
                     "Active Object   State");
    Video_printStrAt(4, 13, VIDEO_FGND_WHITE, "PELICAN");
    Video_printStrAt(4, 14, VIDEO_FGND_WHITE, "Pedestrian");

    Video_printStrAt(4, 17, VIDEO_FGND_WHITE, "Tick #");

    n = VIDEO_FGND_WHITE | VIDEO_BGND_BLACK;
    Video_printStrAt(43,  7, n, "      谀哪哪哪