rt_agent.c

LPC23XX USB读写SD卡 例程 来自MCU123开发板配套光盘

    }
        
    status = send_msg_raw(&msg, format);        // Send message

/* Don't send errors for term data in blocking mode */
#if RTA_TERM_W_BLOCKING                         
    if (type != RTA_CMD_TERM_DATA) {
#endif
      if (status) {                               // Send an error message
        // Configure the buffer overrun message         
        msg.header.split.type = RTA_CMD_ERROR;     
        msg.header.split.length = status;   
        send_msg_raw(&msg, MSG_FORMAT_SHORT);     // Send message
      }
#if RTA_TERM_W_BLOCKING
    }
#endif

  }
  else {
    status = RTA_ERR_NOT_INIT;
  }

  return (status);
}

/*
 *  Send RTX Kernel task switch information to the host via Real-Time Agent
 *    Parameters:     tsk:    pointer to task entry point
 *                    time:   system time
 *    Return Value:   RTA_STATUS (0 = OK)
 */
void RTA_Task_Mon (unsigned int time, unsigned int tcount, unsigned int tsk) {
  unsigned int msg[3];

  //if (rta.rtx_mon) {
    msg[0] = time;
    msg[1] = tcount;
    msg[2] = tsk;
    RTA_Msg (RTA_CMD_RTX_TASK_SWITCH, &msg[0], 3); 
  //}
}

/*==============================================================================
   RTA Receive Functions
==============================================================================*/

/*  
 *  Handle a read/write address from the host
 *    Parameters:      rx_word:   received address word
 *    Return Value:    None 
 */
static void main_addr(unsigned int rx_word) {
  rta.rw_addr = rx_word;
  rta.state = RTA_STATE_COMMAND;
}

/*
 *  Handle a mem read from the host
 *    Parameters:      length:   length of data to read in words
 *    Return Value:    None
 */
static void main_mem_rd_32(unsigned int length){
  // Return the data that was requested to read
  RTA_Msg(RTA_CMD_MEM_READ_32, 
          (unsigned int *)rta.rw_addr, 
          length);
}

/*
 *  Handle a 8-bit mem write from the host
 *    Parameters:      data:   data to write
 *    Return Value:    None
 */
static void main_mem_wr_8(unsigned int data) {
  unsigned int byte = 0;

  // Write data (8-bit)
  while ((rta.rw_addr < rta.w_end_addr) && (byte < 32)) {
    *((unsigned char *)rta.rw_addr) = (data >> byte) & 0x000000FF;
    rta.rw_addr += sizeof(unsigned char);
    byte+=8;
  }

  // Switch back to command mode when write finished
  if (rta.rw_addr >= rta.w_end_addr) {
    rta.state = RTA_STATE_COMMAND;  
  }
}

/*
 *  Handle a 16-bit mem write from the host
 *    Parameters:      data:   data to write
 *    Return Value:    None
 */
static void main_mem_wr_16(unsigned int data) {
  unsigned int halfword = 0;

  // Write data (16-bit)
  while ((rta.rw_addr < rta.w_end_addr) && (halfword < 32)) {
    *((unsigned short *)rta.rw_addr) = (data >> halfword) & 0x0000FFFF;
    rta.rw_addr += sizeof(unsigned short);
    halfword+=16;
  } 

  // Switch back to command mode when write finished
  if (rta.rw_addr >= rta.w_end_addr) {
    rta.state = RTA_STATE_COMMAND;  
  }
}

/*
 *  Handle a 32-bit mem write from the host
 *    Parameters:      data:   data to write
 *    Return Value:    None
 */
static void main_mem_wr_32(unsigned int data) {
  // Write data (32-bit)
  *((unsigned int *)rta.rw_addr) = data;
  rta.rw_addr += sizeof(unsigned int);

  // Switch back to command mode when write finished
  if (rta.rw_addr >= rta.w_end_addr) {
    rta.state = RTA_STATE_COMMAND;  
  }
}

/*
 *  Handle commands from the host
 *    Parameters:      rx_word:   command word received
 *                     val:   Data
 *    Return Value:    None
 */
static void main_cmd(unsigned int rx_word) {
  unsigned int iTemp;

  /* Could check sequence number and magic number here, but
     do not because of the processing time cost */
  switch (rx_word >> 24) {                    // Message type  
    case RTA_CMD_SYNC:
      if (rx_word == RTA_SYNC_WORD) {
        RTA_SYNC();
      }
      else {
        RTA_RESET();
      } 
    break;

    case RTA_CMD_GET_VERSION:
      iTemp = RTA_VERSION;
      RTA_Msg(RTA_CMD_GET_VERSION, &iTemp, RTA_SHORT_MSG);
    break;

    case RTA_CMD_TERM_DATA:
#if (RTA_TERM_SUPPORT)
      // Pass term data to term in buffer
      term_in.data[RTA_TERM_IN_MASK & term_in.wr_idx++] = rx_word & 0x000000FF;
#endif
    break;

    case RTA_CMD_SET_ADDRESS:
      rta.state = RTA_STATE_ADDRESS;
    break;

    case RTA_CMD_MEM_READ_32:                
      main_mem_rd_32(rx_word & 0x000000FF);
    break;  

    /* Special mode messages */
    case RTA_CMD_MEM_WRITE_8:
      rta.w_end_addr = rta.rw_addr + ((rx_word & 0x000000FF)); 
      rta.state = RTA_STATE_MEM_WRITE_8;                
    break;

    case RTA_CMD_MEM_WRITE_16:
      rta.w_end_addr = rta.rw_addr + ((rx_word & 0x000000FF) << 1); 
      rta.state = RTA_STATE_MEM_WRITE_16;                
    break;

    case RTA_CMD_MEM_WRITE_32:
      rta.w_end_addr = rta.rw_addr + ((rx_word & 0x000000FF) << 2); 
      rta.state = RTA_STATE_MEM_WRITE_32;                
    break;

    /* RTX monitoring messages */
    case RTA_CMD_RTX_MON_START:
      rta.rtx_mon = 1;
    break;

    case RTA_CMD_RTX_MON_STOP:
      rta.rtx_mon = 0;
    break;

    default:
      RTA_RESET();
  }
}

/*
 *  RTA Receive word (interrupt context)
 *    Parameters:      None
 *    Return Value:    None
 */
#if (RTA_EXPORT_IRQS)
void RTA_rx_word_ext (void)
#else
__irq void RTA_rx_word (void)
#endif
{
  unsigned int rx_word;

  RX_IRQ_ACK();                               // Acknowledge Interrupt

  RX_WORD();                                  // Read word from hardware                                
  state_funcs[rta.state](rx_word);            // Call state machine
}

/*==============================================================================
   RTA Transmit Functions
==============================================================================*/

/*
 *  Write data to the RTA output buffer
 *    Parameters:      data:   data word to write
 *    Return Value:    None
 */
static __forceinline void RTA_out_write(unsigned int data) {
  rta.out.data[RTA_OUT_MASK & rta.out.wr_idx++] = data;
}


/*
 *  Read memory for the data out buffer. This must be a
 *  function call as it needs to be written in 
 *  ASM so that register locations are predicatable
 *  for the Data Abort handler as is may cause a data abort
 *    Parameters:      addrData:   address to read
 *    Return Value:    Data read
 */
__asm unsigned int __RTA_rd_adr (unsigned int *addrData) {
        LDR     R0,[R0,#0]          ; Load the data at addrData
        BX      LR                  ; Return
}

__asm unsigned int DAbt_Handler (void) {
        LDR     R0,=RTA_NO_MEM_FLAG ; Move No_Mem_Flag into R0
        SUBS    PC,LR,#4            ; Return past the data abort instruction
}

/*
 *  Send a message to the host
 *    Parameters:      msg:     pointer to the message
 *                     //format:  format of the message (LONG or SHORT)
 *                     Message format is now determined by a NULL data pointer
 *    Return Value:    RTA_STATUS (0 = OK)
 */
static RTA_STATUS send_msg_raw (RTA_msg_t *msg, MSG_FORMAT format) {
  RTA_STATUS retVal = RTA_OK;
  unsigned int type = msg->header.split.type;
  const unsigned int *data = msg->data;            // Local pointer to the data
  unsigned int length = msg->header.split.length;
  unsigned int temp;                           
  

  TX_IRQ_DISABLE();                                // Disable RTA Tx Interrupt

  // Special case for sync (and reset) messages
  if ((type == RTA_CMD_UNKNOWN) || (type == RTA_CMD_SYNC)) {
    // Have to reset the states and buffer pointers in SWI so it is safe
    rta.state = RTA_STATE_COMMAND;
    rta.out.rd_idx = rta.out.wr_idx; /* = 0; */     // Set buffer empty condition    
    rta.tx_seq_no = RTA_INITIAL_SEQ_NO;             // Reset sequence number
  }

  /* Check there is enough buffer for the message, otherwise discard it
     Note: We leave at least RTA_MAX_MSG_LEN in the buffer at all times
     for req/rsp messages from the host */ 
  temp = (format == MSG_FORMAT_SHORT) ? 1 : length; // Message length
  if (!(type & DVA_REQ_RSP_BIT)) {
    temp += (RTA_MAX_MSG_LEN/4);                          // Buffer reserved for req/rsp messages
    if (type == RTA_CMD_ERROR) {                        // Buffer reserved for error messages
      temp--;
    } 
  }

  if ( ((rta.out.rd_idx - rta.out.wr_idx - 1) & RTA_OUT_MASK) <   // Buffer free 
       temp) {                                              
    TX_IRQ_ENABLE();
    return (RTA_ERR_BUF_OVERRUN);
  } 

  // First put the sequence number into the header
  msg->header.split.seq_no = (unsigned int)rta.tx_seq_no++;

  // Now write header to the buffer (or short message)
  RTA_out_write(msg->header.raw);

  // Write the long message
  if (format == MSG_FORMAT_LONG) {
    // temp isused for checksum
    temp = msg->header.raw;

    for (; length>0; length--) {      
      /* type reused as temp data store */
      type = __RTA_rd_adr((unsigned int *)data++);
      temp += type;   
      RTA_out_write(type);
    }
    RTA_out_write(temp);
  }

  TX_IRQ_ENABLE();                              // Enable RTA Tx Interrupt

  return (retVal);
}

/*
 *  RTA Transmit word (interrupt context)
 *    Parameters:      None
 *    Return Value:    None
 */
#if (RTA_EXPORT_IRQS)
void RTA_tx_word_ext (void)
#else
__irq void RTA_tx_word (void)
#endif
{
  unsigned int tx_word;

  TX_IRQ_ACK();                                 // Acknowledge Interrupt
                                           
  if (rta.out.rd_idx == rta.out.wr_idx) {       // Check for buffer empty
    TX_IRQ_DISABLE();                           // Disable RTA Tx Interrupt                       
  }
  else {                                        // Write data if buffer not empty
    // Write word to the RTA                  
    tx_word = rta.out.data[RTA_OUT_MASK & rta.out.rd_idx++];
    TX_WORD();                                  // Write word to hardware                                             
  }
}

/*
 *  RTA Default Interrupt
 *    Parameters:      None
 *    Return Value:    None
 */
static __irq void RTA_def_irq (void) {
  DEF_IRQ_ACK();
}
    

/*==============================================================================
   RTA Terminal Emulator Functions 
==============================================================================*/

#if (RTA_TERM_SUPPORT)

/*     
 *  Check is there is a character available in the terminal emulator buffer
 *    Parameters:      None
 *    Return Value:    Number of characters in buffer
 */
unsigned int RTA_TermIsKey (void) {
  return ((term_in.wr_idx - term_in.rd_idx) & RTA_TERM_IN_MASK);
}

/*
 *  Get a character from the terminal. This function blocks until a
 *  character is available
 *    Parameters:      None
 *    Return Value:    Character read from terminal
 */
unsigned int RTA_TermGetChar (void) {
  int ch;

  while (term_in.rd_idx == term_in.wr_idx); // Block waiting for character
  
  ch = term_in.data[RTA_TERM_IN_MASK & term_in.rd_idx++]; // Read char from buffer

#if (RTA_TERM_ECHO)
  RTA_TermPutChar(ch);                      // Echo the character back to the serial window
#endif
   
  return (ch);
}

/*
 *  Write a character to the terminal
 *    Parameters:      ch:    Character to write to the terminal
 *    Return Value:    Character written to the terminal
 */
unsigned int RTA_TermPutChar (unsigned int ch) {

#if (RTA_TERM_W_BLOCKING)
  RTA_STATUS status;

  do {
    status = RTA_Msg(RTA_CMD_TERM_DATA, &ch, RTA_SHORT_MSG);
  } while (status == RTA_ERR_BUF_OVERRUN);
#else
  RTA_Msg(RTA_CMD_TERM_DATA, &ch, RTA_SHORT_MSG);
#endif

  return (ch);
}

#else  /* if RTA_TERM_SUPPORT */

unsigned int RTA_TermIsKey (void) { 
  return(0); 
}

unsigned int RTA_TermGetChar (void) {
  return (0);
}

unsigned int RTA_TermPutChar (unsigned int ch) {
  return (0);
}

#endif /* else RTA_TERM_SUPPORT */


#else  /* if RTA_ENABLED */
/*==============================================================================
   DISABLED (STUBBED) CODE SECTION 
==============================================================================*/                 

RTA_STATUS RTA_Init (void) {
  return (RTA_ERR_DISABLED);
}

RTA_STATUS RTA_Msg (unsigned int type, unsigned int *data, unsigned int length) {
  return (RTA_ERR_DISABLED);
}

unsigned int RTA_TermIsKey (void) { 
  return(0); 
}

unsigned int RTA_TermGetChar (void) {
  return (0);
}

unsigned int RTA_TermPutChar (unsigned int ch) {
  return (0);
}

__asm unsigned int DAbt_Handler (void) {
        B       DAbt_Handler  ; Loop forever
}

#endif /* else RTA_ENABLED */