/*..........................................................................*/
void QK_onIdle(void) {
/* toggle the User LED on and then off, see NOTE01 */
QF_INT_DISABLE();
GPIOF->DATA_Bits[USER_LED] = USER_LED; /* turn the User LED on */
GPIOF->DATA_Bits[USER_LED] = 0; /* turn the User LED off */
QF_INT_ENABLE();
#ifdef Q_SPY
if ((UART0->FR & UART_FR_TXFE) != 0) { /* TX done? */
uint16_t fifo = UART_TXFIFO_DEPTH; /* max bytes we can accept */
uint8_t const *block;
QF_INT_DISABLE();
block = QS_getBlock(&fifo); /* try to get next block to transmit */
QF_INT_ENABLE();
while (fifo-- != 0) { /* any bytes in the block? */
UART0->DR = *block++; /* put into the FIFO */
}
}
#elif defined NDEBUG
/* Put the CPU and peripherals to the low-power mode.
* you might need to customize the clock management for your application,
* see the datasheet for your particular MCU.
*/
__WFI(); /* Wait-For-Interrupt */
#endif
}
//............................................................................
void QK::onIdle(void) {
// toggle the User LED on and then off, see NOTE01
QF_INT_DISABLE();
GPIOF->DATA_Bits[USER_LED] = USER_LED; // turn the User LED on
GPIOF->DATA_Bits[USER_LED] = 0U; // turn the User LED off
QF_INT_ENABLE();
#ifdef Q_SPY
if ((UART0->FR & UART_FR_TXFE) != 0U) { // TX done?
uint16_t fifo = UART_TXFIFO_DEPTH; // max bytes we can accept
uint8_t const *block;
QF_INT_DISABLE();
block = QS::getBlock(&fifo); // try to get next block to transmit
QF_INT_ENABLE();
while (fifo-- != 0U) { // any bytes in the block?
UART0->DR = *block++; // put into the FIFO
}
}
#elif defined NDEBUG
// Put the CPU and peripherals to the low-power mode.
// you might need to customize the clock management for your application,
// see the datasheet for your particular MCU.
//
__WFI(); // Wait-For-Interrupt
#endif
}
/*..........................................................................*/
__ramfunc
void QK_onIdle(void) {
/* toggle first LED on and off, see NOTE01 */
QF_INT_DISABLE();
LED_ON(3); /* turn LED on */
LED_OFF(3); /* turn LED off */
QF_INT_ENABLE();
#ifdef Q_SPY
/* use the idle cycles for QS transmission... */
if ((AT91C_BASE_DBGU->DBGU_CSR & AT91C_US_TXBUFE) != 0) { /* not busy? */
uint16_t nBytes = 0xFFFFU; /* get all available bytes */
uint8_t const *block;
QF_INT_DISABLE();
if ((block = QS_getBlock(&nBytes)) != (uint8_t *)0) { /* new block? */
AT91C_BASE_DBGU->DBGU_TPR = (uint32_t)block;
AT91C_BASE_DBGU->DBGU_TCR = (uint32_t)nBytes;
nBytes = 0xFFFFU; /* get all available bytes */
if ((block = QS_getBlock(&nBytes)) != (uint8_t *)0) {/*another? */
AT91C_BASE_DBGU->DBGU_TNPR = (uint32_t)block;
AT91C_BASE_DBGU->DBGU_TNCR = (uint32_t)nBytes;
}
}
QF_INT_ENABLE();
}
#elif defined NDEBUG /* only if not debugging (idle mode hinders debugging) */
AT91C_BASE_PMC->PMC_SCDR = 1;/* Power-Management: disable the CPU clock */
/* NOTE: an interrupt starts the CPU clock again */
#endif
}
/*..........................................................................*/
void QK_onIdle(void) {
QF_INT_DISABLE();
SLED_ON(); /* switch the System LED on and off */
asm(" nop");
asm(" nop");
asm(" nop");
asm(" nop");
SLED_OFF();
QF_INT_ENABLE();
#ifdef Q_SPY
if (CSL_FEXT(l_uartObj.uartRegs->LSR, UART_LSR_THRE)) {
uint16_t b;
QF_INT_DISABLE();
b = QS_getByte();
QF_INT_ENABLE();
if (b != QS_EOD) { /* not End-Of-Data? */
CSL_FSET(l_uartObj.uartRegs->THR, 7U, 0U, b);
}
}
#elif defined NDEBUG
/* Put the CPU and peripherals to the low-power mode.
* you might need to customize the clock management for your application,
* see the datasheet for your particular TMS320C5500 device.
*/
asm(" IDLE");
#endif
}
/*..........................................................................*/
void QK_onIdle(void) {
/* toggle the LED on and then off, see NOTE01 */
QF_INT_DISABLE();
omxEval_led_on(LED_1);
omxEval_led_off(LED_1);
QF_INT_ENABLE();
#ifdef Q_SPY
if ((USART3->SR & USART_FLAG_TXE) != 0) { /* is TXE empty? */
uint16_t b;
QF_INT_DISABLE();
b = QS_getByte();
QF_INT_ENABLE();
if (b != QS_EOD) { /* not End-Of-Data? */
USART3->DR = (b & 0xFF); /* put into the DR register */
}
}
#elif defined NDEBUG
__WFI(); /* wait for interrupt */
#endif
}
/*..........................................................................*/
void QS_onFlush(void) {
uint16_t b;
QF_INT_DISABLE();
while ((b = QS_getByte()) != QS_EOD) { /* next QS byte available? */
QF_INT_ENABLE();
while ((IFG2 & UCA0TXIFG) == 0U) { /* TX not ready? */
}
UCA0TXBUF = (uint8_t)b; /* stick the byte to the TX BUF */
QF_INT_DISABLE();
}
QF_INT_ENABLE();
}
/*..........................................................................*/
static void initialize(void) {
uint8_t p;
QActive *a;
/* set priorities all registered active objects... */
for (p = (uint8_t)1; p <= (uint8_t)QF_MAX_ACTIVE; ++p) {
a = QF_ROM_ACTIVE_GET_(p);
Q_ASSERT(a != (QActive *)0); /* QF_active[p] must be initialized */
a->prio = p; /* set the priority of the active object */
}
/* trigger initial transitions in all registered active objects... */
for (p = (uint8_t)1; p <= (uint8_t)QF_MAX_ACTIVE; ++p) {
a = QF_ROM_ACTIVE_GET_(p);
#ifndef QF_FSM_ACTIVE
QHsm_init(&a->super); /* initial tran. */
#else
QFsm_init(&a->super); /* initial tran. */
#endif
}
QF_INT_DISABLE();
QK_currPrio_ = (uint8_t)0; /* set the priority for the QK idle loop */
p = QK_schedPrio_();
if (p != (uint8_t)0) {
QK_sched_(p); /* process all events produced so far */
}
QF_INT_ENABLE();
}
//............................................................................
extern "C" void Q_onAssert(char const * const file, int line) {
(void)file; // avoid compiler warning
(void)line; // avoid compiler warning
QF_INT_DISABLE(); // make sure that all interrupts are disabled
for (;;) { // NOTE: replace the loop with reset for final version
}
}
/*..........................................................................*/
void Q_onAssert(char const * const file, int line) {
(void)file; /* avoid compiler warning */
(void)line; /* avoid compiler warning */
QF_INT_DISABLE(); /* make sure that all interrupts are disabled */
for (;;) { /* NOTE: replace the loop with reset for final version */
}
}
/*..........................................................................*/
void QF_onIdle(void) { /* called with interrupts disabled, see NOTE01 */
//QF_INT_DISABLE();
//GPIOSetValue(LED_PORT, LED_BIT, LED_ON); /* LED on */
//GPIOSetValue(LED_PORT, LED_BIT, LED_OFF); /* LED off */
//QF_INT_ENABLE();
#ifdef Q_SPY
QF_INT_ENABLE();
if ((LPC_UART->LSR & LSR_THRE) != 0) { /* is THR empty? */
uint16_t b;
QF_INT_DISABLE();
b = QS_getByte();
QF_INT_ENABLE();
if (b != QS_EOD) { /* not End-Of-Data? */
LPC_UART->THR = (b & 0xFF); /* put into the THR register */
}
}
#elif defined NDEBUG
/* Put the CPU and peripherals to the low-power mode.
* you might need to customize the clock management for your application,
* see the datasheet for your particular Cortex-M3 MCU.
*/
__WFI(); /* Wait-For-Interrupt */
QF_INT_ENABLE();
#else
QF_INT_ENABLE();
#endif
}
/*..........................................................................*/
void QF_onIdle(void) { /* entered with interrupts disabled, NOTE01 */
LED_ON (IDLE_LED); /* blink the IDLE LED, see NOTE02 */
LED_OFF(IDLE_LED);
#ifdef Q_SPY
QF_INT_ENABLE(); /* enable interrupts, see NOTE01 */
while (U2STAbits.UTXBF == 0U) { /* TX Buffer not full? */
uint16_t b;
QF_INT_DISABLE();
b = QS_getByte();
QF_INT_ENABLE();
if (b == QS_EOD) { /* End-Of-Data reached? */
break; /* break out of the loop */
}
U2TXREG = (uint8_t)b; /* stick the byte to TXREG for transmission */
}
#elif defined NDEBUG
__asm__ volatile("disi #0x0001");
Idle(); /* transition to Idle mode, see NOTE03 */
#else
QF_INT_ENABLE(); /* enable interrupts, see NOTE01 */
#endif
}
/*..........................................................................*/
void QV_onIdle(void) { /* called with interrupts DISABLED, see NOTE1 */
/* toggle the User LED, see NOTE2 , not enough LEDs to implement! */
//PORTB |= LED_L;
//PORTB &= ~LED_L;
#ifdef Q_SPY
QF_INT_ENABLE();
if ((UCSR0A & (1U << UDRE0)) != 0U) {
uint16_t b;
QF_INT_DISABLE();
b = QS_getByte();
QF_INT_ENABLE();
if (b != QS_EOD) {
UDR0 = (uint8_t)b; /* stick the byte to the TX UDR0 */
}
}
#elif defined NDEBUG
/* Put the CPU and peripherals to the low-power mode.
* you might need to customize the clock management for your application,
* see the datasheet for your particular AVR MCU.
*/
SMCR = (0 << SM0) | (1 << SE); /* idle mode, adjust to your project */
QV_CPU_SLEEP(); /* atomically go to sleep and enable interrupts */
#else
QF_INT_ENABLE(); /* just enable interrupts */
#endif
}
/*..........................................................................*/
void QF_onIdle(void) { /* entered with interrupts DISABLED, see NOTE01 */
/* toggle the Green LED on and then off, see NOTE02 */
GPIOF->DATA_Bits[LED_GREEN] = LED_GREEN; /* turn the Green LED on */
GPIOF->DATA_Bits[LED_GREEN] = 0; /* turn the Green LED off */
float volatile x = 3.1415926F;
x = x + 2.7182818F;
#ifdef Q_SPY
QF_INT_ENABLE();
if ((UART0->FR & UART_FR_TXFE) != 0) { /* TX done? */
uint16_t fifo = UART_TXFIFO_DEPTH; /* max bytes we can accept */
uint8_t const *block;
QF_INT_DISABLE();
block = QS_getBlock(&fifo); /* try to get next block to transmit */
QF_INT_ENABLE();
while (fifo-- != 0) { /* any bytes in the block? */
UART0->DR = *block++; /* put into the FIFO */
}
}
#elif defined NDEBUG
/* Put the CPU and peripherals to the low-power mode.
* you might need to customize the clock management for your application,
* see the datasheet for your particular Cortex-M3 MCU.
*/
asm(" WFI"); /* Wait-For-Interrupt */
#endif
QF_INT_ENABLE(); /* always enable interrupts */
}
/*..........................................................................*/
void QV_onIdle(void) { /* NOTE: called with interrutps DISABLED, see NOTE1 */
/* toggle LED2 on and then off, see NOTE2 */
P1OUT |= LED2; /* turn LED2 on */
P1OUT &= ~LED2; /* turn LED2 off */
#ifdef Q_SPY
QF_INT_ENABLE();
if (((IFG2 & UCA0TXIFG)) != 0U) { /* UART not transmitting? */
uint16_t b;
QF_INT_DISABLE();
b = QS_getByte();
QF_INT_ENABLE();
if (b != QS_EOD) {
UCA0TXBUF = (uint8_t)b; /* stick the byte to the TX BUF */
}
}
#elif defined NDEBUG
/* Put the CPU and peripherals to the low-power mode.
* you might need to customize the clock management for your application,
* see the datasheet for your particular MSP430 MCU.
*/
__low_power_mode_1(); /* Enter LPM1; also ENABLES interrupts */
#else
QF_INT_ENABLE(); /* just enable interrupts */
#endif
}
/* NOTE: the QK scheduler is entered and exited with interrupts DISABLED */
void QK_sched_(uint8_t p) {
uint8_t pin = QK_currPrio_; /* save the initial priority */
QActive *a;
#ifdef QK_TLS /* thread-local storage used? */
uint8_t pprev = pin;
#endif
do {
QEvt const *e;
a = QF_active_[p]; /* obtain the pointer to the AO */
QK_currPrio_ = p; /* this becomes the current task priority */
#ifdef QK_TLS /* thread-local storage used? */
if (p != pprev) { /* are we changing threads? */
QK_TLS(a); /* switch new thread-local storage */
pprev = p;
}
#endif
QS_BEGIN_NOCRIT_(QS_QK_SCHEDULE, QS_priv_.aoObjFilter, a)
QS_TIME_(); /* timestamp */
QS_U8_(p); /* the priority of the AO */
QS_U8_(pin); /* the preempted priority */
QS_END_NOCRIT_()
QF_INT_ENABLE(); /* unconditionally enable interrupts */
e = QActive_get_(a); /* get the next event for this AO */
QMSM_DISPATCH(&a->super, e); /* dispatch to the AO */
QF_gc(e); /* garbage collect the event, if necessary */
QF_INT_DISABLE(); /* disable interrupts */
#if (QF_MAX_ACTIVE <= 8) /* new highest-prio AO ready to run */
QPSet8_findMax(&QK_readySet_, p);
#else
QPSet64_findMax(&QK_readySet_, p);
#endif
if (p <= pin) { /* below the current preemption threshold? */
p = (uint8_t)0;
}
#ifndef QK_NO_MUTEX
else if (p <= QK_ceilingPrio_) { /* below the mutex ceiling? */
p = (uint8_t)0;
}
else {
/* empty */
}
#endif
} while (p != (uint8_t)0);
QK_currPrio_ = pin; /* restore the initial priority */
#ifdef QK_TLS /* thread-local storage used? */
if (pin != (uint8_t)0) { /* no extended context for the idle loop */
a = QF_active_[pin]; /* the pointer to the preempted AO */
QK_TLS(a); /* restore the original TLS */
}
#endif
}
void QK_onIdle(void) {
#ifdef Q_SPY /* use the idle cycles for QS transmission */
if ((AT91C_BASE_DBGU->DBGU_CSR & AT91C_US_TXBUFE) != 0) { /* not busy? */
uint16_t nBytes = 0xFFFF;
uint8_t const *block;
QF_INT_DISABLE();
if ((block = QS_getBlock(&nBytes)) != (uint8_t *)0) { /* new block? */
AT91C_BASE_DBGU->DBGU_TPR = (uint32_t)block;
AT91C_BASE_DBGU->DBGU_TCR = (uint32_t)nBytes;
nBytes = 0xFFFF;
if ((block = QS_getBlock(&nBytes)) != (uint8_t *)0) {/*another? */
AT91C_BASE_DBGU->DBGU_TNPR = (uint32_t)block;
AT91C_BASE_DBGU->DBGU_TNCR = (uint32_t)nBytes;
}
}
QF_INT_ENABLE();
}
#elif defined NDEBUG /* only if not debugging (idle mode hinders debugging) */
AT91C_BASE_PMC->PMC_SCDR = 1;/* Power-Management: disable the CPU clock */
/* NOTE: an interrupt starts the CPU clock again */
#endif
}
/*..........................................................................*/
void Q_onAssert(char const Q_ROM * const file, int line) {
/* implement the error-handling policy for your application!!! */
QF_INT_DISABLE(); /* disable all interrupts */
/* cause the reset of the CPU... */
WDTCTL = WDTPW | WDTHOLD;
__asm(" push &0xFFFE");
/* return from function does the reset */
}
//****************************************************************************
static void thread_idle(void * const /* par */) { // idle thread handler
QF_INT_DISABLE();
QF::onStartup(); // application-specific startup callback
QF_INT_ENABLE();
for (;;) {
QXK::onIdle();
}
}
/*..........................................................................*/
void QF_stop(void) {
/* restore the original DOS vectors ... */
QF_INT_DISABLE();
_dos_setvect(TMR_VECTOR, l_dosTmrISR);
_dos_setvect(KBD_VECTOR, l_dosKbdISR);
QF_INT_ENABLE();
_exit(0); /* exit to DOS */
}
/*..........................................................................*/
void QS_onFlush(void) {
uint16_t fifo = UART_TXFIFO_DEPTH; /* Tx FIFO depth */
uint8_t const *block;
QF_INT_DISABLE();
while ((block = QS_getBlock(&fifo)) != (uint8_t *)0) {
QF_INT_ENABLE();
/* busy-wait until TX FIFO empty */
while ((UART0->FR & UART_FR_TXFE) == 0) {
}
while (fifo-- != 0) { /* any bytes in the block? */
UART0->DR = *block++; /* put into the TX FIFO */
}
fifo = UART_TXFIFO_DEPTH; /* re-load the Tx FIFO depth */
QF_INT_DISABLE();
}
QF_INT_ENABLE();
}
/*..........................................................................*/
void QF_onStartup(void) {
/* save the origingal DOS vectors ... */
l_dosTmrISR = _dos_getvect(TMR_VECTOR);
l_dosKbdISR = _dos_getvect(KBD_VECTOR);
QF_INT_DISABLE();
_dos_setvect(TMR_VECTOR, &ISR_tmr);
_dos_setvect(KBD_VECTOR, &ISR_kbd);
QF_INT_ENABLE();
}
static void uart_tx1() {
static uint16_t b;
QF_INT_DISABLE(); {
b = QS_getByte();
} QF_INT_ENABLE();
if (b != QS_EOD) { /* Have a byte to TX? */
nrf_drv_uart_tx((const uint8_t*)&b //This cast works only on LE
, 1);
}
}
/**
* 获取系统当前TICK数
*
* @return
*/
u32 GetCurTicks()
{
u32 ticks = 0;
QF_INT_DISABLE();
ticks = s_Ticks;
QF_INT_ENABLE();
return ticks;
}
//............................................................................
void vApplicationIdleHook(void) {
// toggle the User LED on and then off, see NOTE2
QF_INT_DISABLE();
BSP_LED_On(LED3);
BSP_LED_On(LED3);
QF_INT_ENABLE();
// Some flating point code is to exercise the VFP...
double x = 1.73205;
x = x * 1.73205;
#ifdef Q_SPY
QP::QS::rxParse(); // parse all the received bytes
if ((DPP::l_uartHandle.Instance->ISR & UART_FLAG_TXE) != 0U) {//TXE empty?
uint16_t b;
QF_INT_DISABLE();
b = QP::QS::getByte();
QF_INT_ENABLE();
if (b != QP::QS_EOD) { // not End-Of-Data?
DPP::l_uartHandle.Instance->TDR = (b & 0xFFU); // put into TDR
}
}
#elif defined NDEBUG
// Put the CPU and peripherals to the low-power mode.
// you might need to customize the clock management for your application,
// see the datasheet for your particular Cortex-M MCU.
//
// !!!CAUTION!!!
// The WFI instruction stops the CPU clock, which unfortunately disables
// the JTAG port, so the ST-Link debugger can no longer connect to the
// board. For that reason, the call to __WFI() has to be used with CAUTION.
//
// NOTE: If you find your board "frozen" like this, strap BOOT0 to VDD and
// reset the board, then connect with ST-Link Utilities and erase the part.
// The trick with BOOT(0) is it gets the part to run the System Loader
// instead of your broken code. When done disconnect BOOT0, and start over.
//__WFI(); // Wait-For-Interrupt
#endif
}
/*..........................................................................*/
void QS_onFlush(void) {
uint16_t b;
QF_INT_DISABLE();
while ((b = QS_getByte()) != QS_EOD) { /* next QS trace byte available? */
QF_INT_ENABLE();
while ((UCSR0A & (1U << UDRE0)) == 0U) { /* TX UDR not empty? */
}
UDR0 = (uint8_t)b; /* stick the byte to the TX UDR */
}
QF_INT_ENABLE();
}
/* ISRs and ISR "wrappers" ================================================*/
__ramfunc
void BSP_irq(void) {
IntVector vect = (IntVector)AT91C_BASE_AIC->AIC_IVR; /* read the IVR */
AT91C_BASE_AIC->AIC_IVR = (AT91_REG)vect; /* write AIC_IVR if protected */
QF_INT_ENABLE(); /* allow nesting interrupts */
(*vect)(); /* call the IRQ ISR via the pointer to function */
QF_INT_DISABLE(); /* disable interrups for the exit sequence */
AT91C_BASE_AIC->AIC_EOICR = 0; /* write AIC_EOICR to clear interrupt */
}
/*..........................................................................*/
void QS_onFlush(void) {
uint16_t b;
QF_INT_DISABLE();
while ((b = QS_getByte()) != QS_EOD) { /* while not End-Of-Data... */
QF_INT_ENABLE();
while ((USART2->SR & 0x0080U) == 0U) { /* while TXE not empty */
}
USART2->DR = (b & 0xFFU); /* put into the DR register */
}
QF_INT_ENABLE();
}
/*..........................................................................*/
void QF_stop(void) {
/* restore the original DOS vectors ... */
if (l_dosTmrISR != (void interrupt (*)(void))0) { /* DOS vectors saved? */
QF_INT_DISABLE();
_dos_setvect(TMR_VECTOR, l_dosTmrISR);
_dos_setvect(KBD_VECTOR, l_dosKbdISR);
QF_INT_ENABLE();
}
/* clear the display */
//Video_clearScreen(VIDEO_BGND_BLACK | VIDEO_FGND_LIGHT_GRAY);
_exit(0); /* exit to DOS */
}
/*..........................................................................*/
void QS_onFlush(void) {
uint16_t b;
QF_INT_DISABLE();
while ((b = QS_getByte()) != QS_EOD) { /* while not End-Of-Data... */
QF_INT_ENABLE();
while ((LPC_UART0->LSR & 0x20U) == 0U) { /* while THR empty... */
}
LPC_UART0->THR = (b & 0xFFU); /* put into the DR register */
}
QF_INT_ENABLE();
}
/*..........................................................................*/
int16_t QF_run(void) {
QF_INT_DISABLE();
initialize();
QF_onStartup(); /* startup callback */
QF_INT_ENABLE();
for (;;) { /* the QK idle loop */
QK_onIdle(); /* invoke the QK on-idle callback */
}
return (int16_t)0; /* this unreachable return is to make compiler happy */
}
