📄 bsp.c
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}
break;
case 1:
if (AT91C_BASE_PIOB->PIO_ODSR & BSP_LED1) {
AT91C_BASE_PIOB->PIO_CODR = BSP_LED1;
} else {
AT91C_BASE_PIOB->PIO_SODR = BSP_LED1;
}
break;
case 2:
if (AT91C_BASE_PIOB->PIO_ODSR & BSP_LED2) {
AT91C_BASE_PIOB->PIO_CODR = BSP_LED2;
} else {
AT91C_BASE_PIOB->PIO_SODR = BSP_LED2;
}
break;
case 3:
if (AT91C_BASE_PIOB->PIO_ODSR & BSP_LED3) {
AT91C_BASE_PIOB->PIO_CODR = BSP_LED3;
} else {
AT91C_BASE_PIOB->PIO_SODR = BSP_LED3;
}
break;
case 4:
if (AT91C_BASE_PIOB->PIO_ODSR & BSP_LED4) {
AT91C_BASE_PIOB->PIO_CODR = BSP_LED4;
} else {
AT91C_BASE_PIOB->PIO_SODR = BSP_LED4;
}
break;
}
}
/*
*********************************************************************************************************
* TICKER INITIALIZATION
*
* Description : This function is called to initialize uC/OS-II's tick source which uses the PIT
* (typically a timer generating interrupts every 1 to 100 mS).
*
* Arguments : none
*
* Note(s) : 1) PIT Interrupt frequency:
*
* MCLK 1
* Freq = ---- * -----------
* 16 (PIV + 1)
*
*
* MCLK 1
* PIV = ( ---- * ------ ) - 1
* 16 Freq
*
* Where:
* MCLK = 48 MHz (i.e 48,000,000)
* Freq = Desired frequency (i.e. OS_TICKS_PER_SEC)
*********************************************************************************************************
*/
static void Tmr_TickInit (void)
{
CPU_INT32U counts;
CPU_INT32U cpu_frq;
/* Determine the number of counts per tick */
cpu_frq = BSP_CPU_ClkFreq();
counts = ((cpu_frq * 1000) / 16 / OS_TICKS_PER_SEC) - 1;
/* Set the vector address for PIT */
AT91C_BASE_AIC->AIC_SVR[AT91C_ID_SYS] = (CPU_INT32U)Tmr_TickISR_Handler;
AT91C_BASE_AIC->AIC_SMR[AT91C_ID_SYS] = AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL
| AT91C_AIC_PRIOR_LOWEST;
AT91C_BASE_AIC->AIC_ICCR = 1 << AT91C_ID_SYS;
AT91C_BASE_AIC->AIC_IECR = 1 << AT91C_ID_SYS;
/* Enable the PIT with the correct compare value */
AT91C_BASE_PITC->PITC_PIMR = AT91C_PITC_PITEN | AT91C_PITC_PITIEN | counts;
}
/*
*********************************************************************************************************
* OSView Timer Initialization
*
* Description : This function selects and initializes a timer for use with OSView and the Statistics Task
*
* Arguments : none
*********************************************************************************************************
*/
#if OS_VIEW_MODULE > 0
void OSView_TmrInit (void)
{
#if OS_VIEW_TIMER_SEL == 0
AT91C_BASE_PMC->PMC_PCER = (1 << 12); /* Enable the peripheral clk */
AT91C_BASE_TCB->TCB_TC0.TC_CCR = (1 << 1); /* TC0 timer disabled */
AT91C_BASE_TCB->TCB_TC0.TC_CMR &= ~(7 << 0); /* TIMER_CLOCK1 is input clk */
AT91C_BASE_TCB->TCB_TC0.TC_CCR = (1 << 0); /* TC0 timer enabled */
AT91C_BASE_TCB->TCB_TC0.TC_CCR = (1 << 2); /* SWTRG to reset and start */
#endif
#if OS_VIEW_TIMER_SEL == 1
AT91C_BASE_PMC->PMC_PCER = (1 << 13); /* Enable the peripheral clk */
AT91C_BASE_TCB->TCB_TC1.TC_CCR = (1 << 1); /* TC1 timer disabled */
AT91C_BASE_TCB->TCB_TC1.TC_CMR &= ~(7 << 0); /* TIMER_CLOCK1 is input clk */
AT91C_BASE_TCB->TCB_TC1.TC_CCR = (1 << 0); /* TC1 timer enabled */
AT91C_BASE_TCB->TCB_TC1.TC_CCR = (1 << 2); /* SWTRG to reset and start */
#endif
#if OS_VIEW_TIMER_SEL == 2
AT91C_BASE_PMC->PMC_PCER = (1 << 14); /* Enable the peripheral clk */
AT91C_BASE_TCB->TCB_TC2.TC_CCR = (1 << 1); /* TC2 timer disabled */
AT91C_BASE_TCB->TCB_TC2.TC_CMR &= ~(7 << 0); /* TIMER_CLOCK1 is input clk */
AT91C_BASE_TCB->TCB_TC2.TC_CCR = (1 << 0); /* TC2 timer enabled */
AT91C_BASE_TCB->TCB_TC2.TC_CCR = (1 << 2); /* SWTRG to reset and start */
#endif
}
#endif
/*
*********************************************************************************************************
* READ TIMER FOR uC/OS-View
*
* Description : This function is called to read the current counts of a 16 bit free running timer.
*
* Arguments : none
*
* Returns ; The 16 bit count (in a 32 bit variable) of the timer assuming the timer is an UP counter.
*********************************************************************************************************
*/
#if OS_VIEW_MODULE > 0
CPU_INT32U OSView_TmrRd (void)
{
CPU_INT32U cnts;
#if OS_VIEW_TIMER_SEL == 0
cnts = (CPU_INT32U)(AT91C_BASE_TCB->TCB_TC0.TC_CV & 0x0000FFFF); /* Read timer 0 */
#endif
#if OS_VIEW_TIMER_SEL == 1
cnts = (CPU_INT32U)(AT91C_BASE_TCB->TCB_TC1.TC_CV & 0x0000FFFF); /* Read timer 1 */
#endif
#if OS_VIEW_TIMER_SEL == 2
cnts = (CPU_INT32U)(AT91C_BASE_TCB->TCB_TC2.TC_CV & 0x0000FFFF); /* Read timer 2 */
#endif
return (cnts);
}
#endif
/*
*********************************************************************************************************
* PIT IRQ HANDLER
*
* Description : This function handles the PIT interrupt that is used to generate TICKs for uC/OS-II.
*
* Arguments : none
*********************************************************************************************************
*/
static void Tmr_TickISR_Handler (void)
{
CPU_INT32U status;
AT91C_BASE_AIC->AIC_IVR = 0; /* Write the IVR, as required in Protection Mode */
status = AT91C_BASE_PITC->PITC_PIVR;
(void)status; /* Prevent compiler warning about status set & not used */
OSTimeTick(); /* Tell uC/OS-II about clock tick */
/* Clear timer #0 interrupt */
AT91C_BASE_AIC->AIC_ICCR = 1 << AT91C_ID_SYS;
AT91C_BASE_AIC->AIC_EOICR = 0; /* Signal end of interrupt */
}
/*
*********************************************************************************************************
* Ser_Init
*
* Description : Initializes a debug serial port.
* This function initializes a serial port for communication purposes.
*
* Arguments : None.
*
* Returns : None.
*********************************************************************************************************
*/
void Ser_Init (CPU_INT32U baud)
{
CPU_INT32U peripheral_clk_frq;
peripheral_clk_frq = BSP_CPU_ClkFreq(); /* Get the UART input clock frequency */
AT91C_BASE_PIOA->PIO_PDR = (1 << 28) | (1 << 27); /* Set GPIOA pins 9 and 10 as DBGU UART pins */
AT91C_BASE_PIOA->PIO_ASR = (1 << 28) | (1 << 27); /* Select GPIOA attached peripheral (DBGU) */
AT91C_BASE_DBGU->DBGU_IDR = AT91C_US_RXRDY | /* Disable Rx interrupts */
AT91C_US_TXRDY; /* Disable Tx interrupt */
AT91C_BASE_DBGU->DBGU_CR = AT91C_US_RXEN | /* Enable the receiver */
AT91C_US_TXEN; /* Enable the transmitter */
AT91C_BASE_DBGU->DBGU_MR = AT91C_US_USMODE_NORMAL | /* Normal mode selected */
AT91C_US_PAR_NONE; /* No parity bit selected */
/* Set the DBGU baud rate to 38,400 */
AT91C_BASE_DBGU->DBGU_BRGR = (CPU_INT16U)((peripheral_clk_frq * 1000) / baud / 16);
AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_SYS); /* Enable the DBGU peripheral clock */
}
/*
*********************************************************************************************************
* Ser_WrByte
*
* Description : Writes a byte to a debug serial port.
* This function writes a single byte to a serial port. Note, this function
* also blocks until room is available in the UART for the byte to be sent.
*
* Arguments : A byte containing the value of the charcater to output.
*
* Returns : None.
*********************************************************************************************************
*/
void Ser_WrByte (CPU_INT08U b)
{
while ((AT91C_BASE_DBGU->DBGU_CSR & AT91C_US_TXRDY) == 0){ /* Wait for room in the transmit register. */
;
}
AT91C_BASE_DBGU->DBGU_THR = b;
}
/*
*********************************************************************************************************
* Ser_WrStr
*
* Description : Writes a string to a debug serial port.
* This funcion writes a character string to a serial port.
*
* Arguments : A string of characters.
*
* Returns : None.
*********************************************************************************************************
*/
void Ser_WrStr (CPU_INT08U *s)
{
while (*s) {
Ser_WrByte(*s++);
}
}
/*
*********************************************************************************************************
* Ser_RdByte
*
* Description : Reads a byte from a debug serial port.
* This funcion reads a byte from a serial port. This call blocks until a
* character appears at the port. Echo of the byte is also sent to the serial port.
*
* Arguments : None.
*
* Returns : A byte containing the value of the received charcater.
*********************************************************************************************************
*/
CPU_INT08U Ser_RdByte (void)
{
CPU_INT08U b;
while ((AT91C_BASE_DBGU->DBGU_CSR & AT91C_US_RXRDY) == 0) { /* Wait for a byte to show up. */
OSTimeDly(2);
}
b = (CPU_INT08U)(AT91C_BASE_DBGU->DBGU_RHR & 0x00FF); /* Read the character. */
return (b);
}
/*
*********************************************************************************************************
* Ser_RdStr
*
* Description : Reads a string from a debug serial port.
* This funcion reads a string from a serial port. This call blocks until a
* character appears at the port and the last character is a Carriage
* Return (0x0D).
*
* Arguments : The address of a character string to store the received string.
*
* Returns : A string with the bytes received.
*********************************************************************************************************
*/
void Ser_RdStr (CPU_INT08U *s, CPU_INT16U numBytes)
{
CPU_INT08U b;
CPU_INT08U i;
i = 0;
b = 0;
while ( b != 13 || i == numBytes) {
b = Ser_RdByte();
b = b & 0x000000FF;
if (b == 8) {
i--;
s[i] = ' ';
Ser_Printf("%c %c",b,b);
} else {
s[i] = b;
Ser_Printf("%c",s[i]);
i++;
}
}
s[i] = '\0';
Ser_Printf("\n");
}
/*
*********************************************************************************************************
* Ser_Printf
*
* Description : Formatted outout to the serial port.
* This funcion reads a string from a serial port. This call blocks until a
* character appears at the port and the last character is a Carriage
* Return (0x0D).
*
* Arguments : Format string follwing the C format convention.
*
* Returns : None.
*********************************************************************************************************
*/
void Ser_Printf (CPU_CHAR *format, ...)
{
static CPU_INT08U buffer[80 + 1];
va_list vArgs;
va_start(vArgs, format);
vsnprintf((char *)buffer, sizeof(buffer), (char const *)format, vArgs);
va_end(vArgs);
Ser_WrStr((CPU_CHAR*) buffer);
}
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