void MutexA
(
uint32_t parameter
)
{
MUTEX_ATTR_STRUCT mutex_init;
/* initialize a mutex Mutex1 */
if (_mutatr_init(&mutex_init) == MQX_EOK) {
_mutatr_set_wait_protocol(&mutex_init,MUTEX_QUEUEING);
_mutatr_set_sched_protocol(&mutex_init,MUTEX_NO_PRIO_INHERIT);
_mutex_init(&Mutex1,&mutex_init);
}
/*
** LOOP -
*/
while ( TRUE ) {
if (_mutex_lock(&Mutex1) != MQX_EOK) {
/* an error occurred */
}
/* access shared resource */
_time_delay_ticks(1);
_mutex_unlock(&Mutex1);
} /* endwhile */
} /*end of task*/
void Sender
(
uint_32 parameter
)
{
_mqx_uint msg[MSG_SIZE];
_task_id created_task;
created_task = _task_create(0, RESPONDER, 0);
if (created_task == MQX_NULL_TASK_ID) {
/* task creation failed */
}
/*
* Service the message queue - Sender_Queue
*/
_lwmsgq_receive((pointer)sender_queue, msg, LWMSGQ_RECEIVE_BLOCK_ON_EMPTY, 0, 0);
_lwmsgq_send((pointer)responder_queue, msg, LWMSGQ_SEND_BLOCK_ON_FULL);
/*
** LOOP -
*/
while ( TRUE ) {
/*
* Service the message queue - Sender_Queue
*/
_lwmsgq_receive((pointer)sender_queue, msg, LWMSGQ_RECEIVE_BLOCK_ON_EMPTY, 0, 0);
_time_delay_ticks(3);
_lwmsgq_send((pointer)responder_queue, msg, LWMSGQ_SEND_BLOCK_ON_FULL);
putchar('.');
} /* endwhile */
} /*end of task*/
/*
** ===================================================================
** Event : Task3_task (module mqx_tasks)
**
** Component : Task3 [MQXLite_task]
** Description :
** MQX task routine. The routine is generated into mqx_tasks.c
** file.
** Parameters :
** NAME - DESCRIPTION
** task_init_data -
** Returns : Nothing
** ===================================================================
*/
void Task3_task(uint32_t task_init_data)
{
for(;;){
volatile int16 xr,yr,zr;
uint16 br;
static char * st1 ="\n\rAccelerometer x value: " ;
static char * st2 ="\n\rAccelerometer y value: " ;
static char * st3 ="\n\rAccelerometer z value: " ;
static char * st4 ="\n\rLight Sensor value: " ;
_lwsem_wait(&i2csem);
xr=xw, yr=yw, zr=zw, br=bw;
_lwsem_post(&i2csem);
Term1_Cls();
Term1_MoveTo(1,1);
Term1_SendStr(st1);
Term1_SendNum(xr);
Term1_SendStr(st2);
Term1_SendNum(yr);
Term1_SendStr(st3);
Term1_SendNum(zr);
Term1_SendStr(st4);
Term1_SendNum(br);
Term1_SendStr(" ");
_time_delay_ticks(50);
}
//Term1_SendStr("\r \n");
}
void SemA
(
uint32_t parameter
)
{
_mqx_uint sem_result;
void *Sem1_handle;
/* create semaphore - sem.Sem1 */
sem_result = _sem_create("sem.Sem1", 1, 0);
if (sem_result != MQX_OK) {
/* semaphore sem.Sem1 not be created */
} /* endif */
/* open connection to semaphore sem.Sem1 */
sem_result = _sem_open("sem.Sem1",&Sem1_handle);
if (sem_result != MQX_OK) {
/* could not open sem.Sem1 */
} /* endif */
/*
** LOOP -
*/
while ( TRUE ) {
/* wait for semaphore sem.Sem1 */
sem_result = _sem_wait_ticks(Sem1_handle, NO_TIMEOUT);
if (sem_result != MQX_OK) {
/* waiting on semaphore sem.Sem1 failed */
}
/* semaphore obtained, perform work */
_time_delay_ticks(1);
/* semaphore protected work done, release semaphore */
sem_result = _sem_post(Sem1_handle);
} /* endwhile */
} /*end of task*/
/*
** ===================================================================
** Event : kernel_log_task (module mqx_tasks)
**
** Component : Task4 [MQXLite_task]
** Description :
** MQX task routine. The routine is generated into mqx_tasks.c
** file.
** Parameters :
** NAME - DESCRIPTION
** task_init_data -
** Returns : Nothing
** ===================================================================
*/
void kernel_log_task(uint32_t task_init_data) {
int counter = 0;
while (1) {
counter++;
/* Write your code here ... */
_time_delay_ticks(60000 / 5);
_klog_show_stack_usage();
}
}
/*
** ===================================================================
** Event : Task1_task (module mqx_tasks)
**
** Component : Task1 [MQXLite_task]
** Description :
** MQX task routine. The routine is generated into mqx_tasks.c
** file.
** Parameters :
** NAME - DESCRIPTION
** task_init_data -
** Returns : Nothing
** ===================================================================
*/
void Task1_task(uint32_t task_init_data)
{
Light_Sense_Calibrate(TRUE);
for(;;){
Light_Sense_Measure(TRUE);
_lwsem_wait(&adcsem);
Light_Sense_GetValue16(&bw);
_lwsem_post(&adcsem);
_time_delay_ticks(2);
}
}
void ATimeSliceTask
(
uint32_t parameter
)
{
/*
** LOOP -
*/
while ( TRUE ) {
_time_delay_ticks(3);
} /* endwhile */
} /*end of task*/
void Task1_task2(uint32_t task_init_data)
{
LWSEM_STRUCT lwsem;
LDD_TDeviceData* btn1_ptr, *led_ptr;
uint32_t button_press_count = 0;
button_state_t button_state, button_last_state;
_lwsem_create(&lwsem, 0);
btn1_ptr = GPIO1_Init(&lwsem);
/* TODO: Enable pull up because board does not have external pull up resistor */
PORTC_PCR3 |= PORT_PCR_PE_MASK | PORT_PCR_PS_MASK;
led_ptr = LED_Init(NULL);
printf("\n====================== GPIO Example ======================\n");
printf("The (SW1) button is configured to trigger GPIO interrupt.\n");
printf("Press the (SW1) button 3x to continue.\n\n");
button_press_count = 1;
while(button_press_count < 4){
/* wait for button press, lwsem is set in button isr */
_lwsem_wait(&lwsem);
printf("Button pressed %dx\r", button_press_count++);
}
printf("The (SW1) button state is now polled.\n");
printf("Press the (SW1) button to switch LED on or off\n\n");
while (1)
{
if (0 == GPIO1_GetFieldValue(btn1_ptr, BUTTON1))
{
button_state = BUTTON_PRESSED;
}
else
{
button_state = BUTTON_RELEASED;
}
if (button_state != button_last_state) {
printf("Button %s\r", button_state == BUTTON_PRESSED ? "pressed " : "released");
button_last_state = button_state;
/* Set LED on or off arcodingly */
LED_PutVal(led_ptr, button_state == BUTTON_PRESSED ? FALSE : TRUE);
}
/* Check button state every 20 ticks*/
_time_delay_ticks(20);
}
}
void simulated_ISR_task
(
uint_32 initial_data
)
{
while (TRUE) {
_time_delay_ticks(200);
if (_lwevent_set(&lwevent,0x01) != MQX_OK) {
printf("\nSet Event failed");
_task_block();
}
}
}
/*TASK---------------------------------------------------------------
*
* Task Name : LWEventA
* Comments :
*
*END*--------------------------------------------------------------*/
void LWEventA
(
uint32_t parameter
)
{
_mqx_uint event_result;
while ( TRUE ) {
/* set lwevent bit */
event_result = _lwevent_set(&lwevent, 1);
if (event_result != MQX_OK) {
/* setting the event event.Event1 failed */
} /* endif */
_time_delay_ticks(1);
}
}
/*
** ===================================================================
** Event : Task2_task (module mqx_tasks)
**
** Component : Task2 [MQXLite_task]
** Description :
** MQX task routine. The routine is generated into mqx_tasks.c
** file.
** Parameters :
** NAME - DESCRIPTION
** task_init_data -
** Returns : Nothing
** ===================================================================
*/
void Task2_task(uint32_t task_init_data)
{
for(;;){
byte c;
Accel_SendChar(0x00);
Accel_RecvChar(&c);
Accel_SendStop();
if (c&&0x01){
Accel_SendChar(0x01);
Accel_RecvBlock(vec, 6, &snt);
Accel_SendStop();
_lwsem_wait(&i2csem);
xw=vec[0]; yw=vec[1]; zw=vec[2];
_lwsem_post(&i2csem);
}
_time_delay_ticks(2);
}
}
/*
** ===================================================================
** Event : ColorTask (module mqx_tasks)
**
** Component : Task3 [MQXLite_task]
** Description :
** MQX task routine. The routine is generated into mqx_tasks.c
** file.
** Parameters :
** NAME - DESCRIPTION
** task_init_data -
** Returns : Nothing
** ===================================================================
*/
void ColorTask(uint32_t task_init_data)
{
LDD_TError Error;
signed char Color[3];
while(1)
{
Error = !ReadAccRegs(I2C_DeviceData, &DataState, OUT_X_MSB, 3 * ACC_REG_SIZE, (uint8_t*) Color); // Read x,y,z acceleration data.
if (!Error) {
if (!BlinkFlag) {
PWMTimerRGB_Enable(PWMTimerRGB_DeviceData);
PWMTimerRGB_SetOffsetTicks(PWMTimerRGB_DeviceData, 0,1000*(1<<(abs(Color[0]/10)))); // x axis - red LED
PWMTimerRGB_SetOffsetTicks(PWMTimerRGB_DeviceData, 1, 1000*(1<<(abs(Color[1]/10)))); // y axis - green LED
PWMTimerRGB_SetOffsetTicks(PWMTimerRGB_DeviceData, 2, 1000*(1<<(abs(Color[2]/10)))); // z axis - blue LED
}
}
_time_delay_ticks(1);
}
}
/*TASK---------------------------------------------------------------
*
* Task Name : LWSemB
* Comments :
*
*END*--------------------------------------------------------------*/
void LWSemB
(
uint32_t parameter
)
{
_mqx_uint sem_result;
while ( TRUE ) {
/* wait for lw semaphore until it is available */
sem_result = _lwsem_wait_ticks(&lwsem, NO_TIMEOUT);
if (sem_result != MQX_OK) {
/* waiting on semaphore sem.Sem1 failed */
}
/* semaphore obtained, perform work */
_time_delay_ticks(1);
/* semaphore protected work done, release semaphore */
sem_result = _lwsem_post(&lwsem);
}
}
void LWEventA
(
uint_32 parameter
)
{
_mqx_uint event_result;
/*
** LOOP -
*/
while ( TRUE ) {
/* set lwevent bit */
event_result = _lwevent_set(&lwevent, 1);
if (event_result != MQX_OK) {
/* setting the event event.Event1 failed */
} /* endif */
_time_delay_ticks(1);
} /* endwhile */
} /*end of task*/
void MutexB
(
uint32_t parameter
)
{
/*
** LOOP -
*/
while ( TRUE ) {
if (_mutex_lock(&Mutex1) != MQX_EOK) {
/* an error occurred */
}
/* access shared resource */
_time_delay_ticks(1);
_mutex_unlock(&Mutex1);
} /* endwhile */
} /*end of task*/
void client_task
(
uint_32 index
)
{
_mqx_uint msg[MSG_SIZE];
while (TRUE) {
msg[0] = ('A'+ index);
printf("Client Task %ld\n", index);
_lwmsgq_send((pointer)server_queue, msg, LWMSGQ_SEND_BLOCK_ON_FULL);
_time_delay_ticks(1);
/* wait for a return message */
_lwmsgq_receive((pointer)client_queue, msg, LWMSGQ_RECEIVE_BLOCK_ON_EMPTY, 0, 0);
}
}
void main_task
(
uint32_t initial_data
)
{
MY_ISR_STRUCT_PTR isr_ptr;
uint32_t result;
/* Create the lightweight semaphore */
result = _lwsem_create(&lwsem, 0);
if (result != MQX_OK) {
printf("\nCreating sem failed: 0x%X", result);
_task_block();
}
isr_ptr = _mem_alloc_zero((_mem_size)sizeof(MY_ISR_STRUCT));
isr_ptr->TICK_COUNT = 0;
isr_ptr->OLD_ISR_DATA = _int_get_isr_data(BSP_TIMER_INTERRUPT_VECTOR);
isr_ptr->OLD_ISR = _int_get_isr(BSP_TIMER_INTERRUPT_VECTOR);
/* Native MQX interrupt handling method, ISR is installed into the interrupt vector table in kernel */
if(! _int_install_isr(BSP_TIMER_INTERRUPT_VECTOR, new_tick_isr, isr_ptr))
{
printf("Install interrupt handler to interrupt vector table of MQX kernel failed.\n");
_task_block();
}
#ifndef DEMO_ENABLE_KERNEL_ISR
_time_delay_ticks(200);
printf("\nTick count = %d\n", isr_ptr->TICK_COUNT);
_task_block();
#else
printf("\n====================== ISR Example =======================\n");
printf("Press the SW1 to blink LED1, press it again to turn it off\n");
while(1)
{
_lwsem_wait(&lwsem);
num_tick = isr_ptr->TICK_COUNT;
}
#endif /* DEMO_ENABLE_KERNEL_ISR */
}
void simulated_ISR_task
(
uint32_t initial_data
)
{
void *event_ptr;
/* open event connection */
if (_event_open("event.global",&event_ptr) != MQX_OK) {
printf("\nOpen Event failed");
_task_block();
}
while (TRUE) {
_time_delay_ticks(200);
if (_event_set(event_ptr,0x01) != MQX_OK) {
printf("\nSet Event failed");
_task_block();
}
}
}
void main_task
(
uint_32 initial_data
)
{
_mqx_uint result;
_mqx_uint i;
/* Create the kernel log */
result = _klog_create(2*1024, 0);
if (result != MQX_OK) {
printf("Main task: _klog_create failed %08x", result);
_mqx_exit(0);
}
/* Enable kernel logging */
_klog_control(KLOG_ENABLED | KLOG_CONTEXT_ENABLED |
KLOG_INTERRUPTS_ENABLED| KLOG_SYSTEM_CLOCK_INT_ENABLED |
KLOG_FUNCTIONS_ENABLED | KLOG_TIME_FUNCTIONS |
KLOG_INTERRUPT_FUNCTIONS, TRUE);
/* Write data into kernel log */
for (i = 0; i < 10; i++) {
_time_delay_ticks(5 * i);
}
/* Disable kernel logging */
_klog_control(0xFFFFFFFF, FALSE);
/* Read data from the kernel log */
printf("\nKernel log contains:\n");
while (_klog_display()){
}
_mqx_exit(0);
}
/*
** ===================================================================
** Event : Task1_task (module mqx_tasks)
**
** Component : Task1 [MQXLite_task]
** Description :
** MQX task routine. The routine is generated into mqx_tasks.c
** file.
** Parameters :
** NAME - DESCRIPTION
** task_init_data -
** Returns : Nothing
** ===================================================================
*/
void Task1_task(uint32_t task_init_data)
{
static float alpha=0.01;
int16 vec[3];
int16 current[3]; //current
int16 previous[3]; //previous
int counter;
int i;
for(;;){
byte c;
Accel_SendChar(0x00);
Accel_RecvChar(&c);
Accel_SendStop();
if (c&&0x01){
for(counter=0;counter<31;counter++){
Accel_SendChar(0x01);
Accel_RecvBlock(&vec, 6, &snt);
Accel_SendStop();
// current[0]=(vec[0]&0x1f - vec[0]&0x20) *256 + vec[1];
// current[1]=(vec[2]&0x1f - vec[2]&0x20) *256 + vec[3];
// current[2]=(vec[4]&0x1f - vec[4]&0x20) *256 + vec[5];
//Term1_SendNum();
for(i=0; i<3; i++){
current[i]=current[i]/2048;
previous[i]= current[i];
}
_lwsem_wait(&i2csem);
for(i=0; i<3; i++){
result[i]= alpha * (float)current[i] + (1-alpha) * (float)previous[i];
}
_lwsem_post(&i2csem);
}
}
_time_delay_ticks(5);
}
}
static void usr_task(uint_32 initial_data)
{
_mqx_uint *msg;
pointer ptr;
/* allocate message object from default User memory pool */
msg = (_mqx_uint*)_usr_mem_alloc(MSG_SIZE * sizeof(_mqx_uint));
while (1)
{
/* build the message with our signature */
msg[0] = ('A'+ initial_data);
/* demonstrate allocation from user pool created dynamically */
ptr = _usr_mem_alloc_from(usr_pool_id, 16);
/* send message to the privilege task and wait 'random' number of time */
_usr_lwmsgq_send((pointer)que, msg, LWMSGQ_SEND_BLOCK_ON_FULL);
_time_delay_ticks((initial_data + 1)* 10);
/* this memory was not really needed, just for a demo purpose */
_usr_mem_free(ptr);
}
}
void _io_pcb_mqxa_read_task
(
/* [IN] the device info */
uint_32 parameter
)
{ /* Body */
IO_PCB_MQXA_INFO_STRUCT_PTR info_ptr;
IO_PCB_STRUCT_PTR pcb_ptr;
uchar_ptr input_ptr;
uchar_ptr input_init_ptr;
boolean got_length = 0;
_mem_size input_length = 0;
_mem_size max_length = 0;
_mem_size count = 0;
_mqx_uint state = 0;
_mqx_uint next_state = 0;
uchar crc0 = 0;
uchar crc1 = 0;
uchar packet_crc0 = 0;
uchar packet_crc1 = 0;
uchar tmp;
uchar c;
info_ptr = (IO_PCB_MQXA_INFO_STRUCT_PTR)parameter;
/* Get a PCB */
pcb_ptr = _io_pcb_alloc(info_ptr->READ_PCB_POOL, FALSE);
#if MQX_CHECK_ERRORS
if (pcb_ptr == NULL) {
_task_block();
} /* Endif */
#endif
max_length = info_ptr->INIT.INPUT_MAX_LENGTH;
input_init_ptr = pcb_ptr->FRAGMENTS[0].FRAGMENT;
state = AP_STATE_SYNC; /* Waiting for sync */
next_state = AP_STATE_SYNC; /* Waiting for sync */
while (TRUE) {
if (info_ptr->INIT.IS_POLLED) {
while (!fstatus(info_ptr->FD)) {
_time_delay_ticks(1);
} /* Endwhile */
} /* Endif */
c = (uchar)fgetc(info_ptr->FD);
switch (state) {
case AP_STATE_SYNC:
if (c == AP_SYNC) {
/* Sync detected. Start packet reception. */
state = AP_STATE_READING;
next_state = AP_STATE_SYNC;
count = 0;
input_ptr = input_init_ptr;
crc0 = 0x7e;
crc1 = 0x7e;
got_length = FALSE;
} /* Endif */
break;
case AP_STATE_SYNC_SKIP:
if (c != AP_SYNC) {
/* Single sync detected. Restart message reception. */
count = 0;
input_ptr = input_init_ptr;
crc0 = 0x7e;
crc1 = 0x7e;
got_length = FALSE;
*input_ptr++ = c;
++count;
AP_CHECKSUM(c, crc0, crc1);
state = AP_STATE_READING;
} else {
state = next_state;
} /* Endif */
break;
case AP_STATE_READING:
*input_ptr++ = c;
++count;
AP_CHECKSUM(c, crc0, crc1);
if (got_length ) {
if (count >= input_length){
state = AP_STATE_CS0;
} /* Endif */
} else {
if ( count > MQXA_MSG_CONTROL_OFFSET) {
/* The complete packet header has been read in */
input_length = GET_LENGTH(input_init_ptr);
if (input_length > max_length) {
next_state = AP_STATE_SYNC;
++info_ptr->RX_PACKETS_TOO_LONG;
} else {
got_length = TRUE;
if (count >= input_length) {
state = AP_STATE_CS0;
} /* Endif */
} /* Endif */
} /* Endif */
} /* Endif */
if (c == AP_SYNC) {
next_state = state;
state = AP_STATE_SYNC_SKIP;
} /* Endif */
break;
case AP_STATE_CS0:
packet_crc0 = c;
state = AP_STATE_CS1;
if (c == AP_SYNC) {
next_state = state;
state = AP_STATE_SYNC_SKIP;
} /* Endif */
break;
case AP_STATE_CS1:
packet_crc1 = c;
state = AP_STATE_DONE;
if (c == AP_SYNC) {
next_state = state;
state = AP_STATE_SYNC_SKIP;
} /* Endif */
break;
default:
state = AP_STATE_SYNC;
break;
} /* Endswitch */
if ( state == AP_STATE_DONE ) {
/* Calculate the CRCs */
crc1 = (crc1 + 2 * crc0) & 0xFF;
tmp = crc0 - crc1;
crc1 = (crc1 - (crc0 * 2)) & 0xFF;
crc0 = tmp & 0xFF;
if ((crc0 == packet_crc0) && (crc1 == packet_crc1)) {
++info_ptr->RX_PACKETS;
pcb_ptr->FRAGMENTS[0].LENGTH = input_length;
if (info_ptr->READ_CALLBACK_FUNCTION) {
/* Start CR 398 */
(*info_ptr->READ_CALLBACK_FUNCTION)(info_ptr->CALLBACK_FD, pcb_ptr);
/* End CR */
} else {
_queue_enqueue((QUEUE_STRUCT_PTR)&info_ptr->READ_QUEUE,
(QUEUE_ELEMENT_STRUCT_PTR)&pcb_ptr->QUEUE);
_lwsem_post(&info_ptr->READ_LWSEM);
}/* Endif */
pcb_ptr = _io_pcb_alloc(info_ptr->READ_PCB_POOL, TRUE);
/* Start CR 385 */
if (pcb_ptr == NULL) {
/* Start CR 399 */
while (pcb_ptr == NULL) {
_time_delay_ticks(2);
pcb_ptr = _io_pcb_alloc(info_ptr->READ_PCB_POOL, TRUE);
} /* Endwhile */
/* End CR 399 */
} /* Endif */
/* End CR 385 */
input_init_ptr = pcb_ptr->FRAGMENTS[0].FRAGMENT;
} else {
++info_ptr->RX_PACKETS_BAD_CRC;
} /* Endif */
state = AP_STATE_SYNC;
} /* Endif */
} /* Endwhile */
} /* Endbody */
_mqx_int _io_usb_mfs_open_internal
(
IO_USB_MFS_STRUCT_PTR info_ptr,
CLASS_CALL_STRUCT_PTR ccs_ptr
)
{ /* Body */
uint_32 i;
USB_STATUS error;
REQ_SENSE_DATA_FORMAT sense;
error = usb_mass_ufi_inquiry(&info_ptr->COMMAND, (uchar_ptr) &info_ptr->INQUIRY_DATA, sizeof(INQUIRY_DATA_FORMAT));
if ((error!=MQX_OK) && (error!=USB_STATUS_TRANSFER_QUEUED)) {
return IO_ERROR_INQUIRE;
} /* Endif */
if (_lwsem_wait_ticks(&info_ptr->COMMAND_DONE, USBCFG_MFS_LWSEM_TIMEOUT) != MQX_OK) {
/* Send the call now */
/* Wait for the completion */
usb_mass_ufi_cancel(&info_ptr->COMMAND);
return IO_ERROR_TIMEOUT;
} /* Endif */
if (info_ptr->COMMAND_STATUS != MQX_OK) {
return IO_ERROR_INQUIRE;
} /* Endif */
for (i = 0; i < USBCFG_MFS_MAX_RETRIES; i++)
{
if (i) {
/* Delay for a user-specified amount of time */
_time_delay_ticks(USBCFG_MFS_OPEN_READ_CAPACITY_RETRY_DELAY);
}
/* Send the call now */
error = usb_mass_ufi_read_capacity(&info_ptr->COMMAND, (uchar_ptr) &info_ptr->CAPACITY,
sizeof(MASS_STORAGE_READ_CAPACITY_CMD_STRUCT_INFO));
if ((error!=MQX_OK) && (error!=USB_STATUS_TRANSFER_QUEUED)) {
return IO_ERROR_READ;
} /* Endif */
if (_lwsem_wait_ticks(&info_ptr->COMMAND_DONE, USBCFG_MFS_LWSEM_TIMEOUT) != MQX_OK) {
usb_mass_ufi_cancel(&info_ptr->COMMAND);
return IO_ERROR_TIMEOUT;
} /* Endif */
if (info_ptr->COMMAND_STATUS == MQX_OK)
break;
error = usb_mass_ufi_request_sense(&info_ptr->COMMAND, (char_ptr)&sense, sizeof(REQ_SENSE_DATA_FORMAT));
if ((error!=MQX_OK) && (error!=USB_STATUS_TRANSFER_QUEUED)) {
return IO_ERROR_READ;
}
if (_lwsem_wait_ticks(&info_ptr->COMMAND_DONE, USBCFG_MFS_LWSEM_TIMEOUT) != MQX_OK) {
usb_mass_ufi_cancel(&info_ptr->COMMAND);
return IO_ERROR_TIMEOUT;
}
}
if (info_ptr->COMMAND_STATUS == MQX_OK) {
info_ptr->BCOUNT = LONG_BE_TO_HOST(*(uint_32*)&info_ptr->CAPACITY.BLLBA);
info_ptr->BLENGTH = LONG_BE_TO_HOST(*(uint_32*)&info_ptr->CAPACITY.BLENGTH);
/* should read this to support low level format */
info_ptr->NUMBER_OF_HEADS = 0;
info_ptr->NUMBER_OF_TRACKS = 0;
info_ptr->SECTORS_PER_TRACK = 0;
info_ptr->SIZE_BYTES = info_ptr->BLENGTH * info_ptr->BCOUNT;
} /* Endif */
return (_mqx_int)info_ptr->COMMAND_STATUS;
} /* Endbody */
/*!
* \brief MQX API handler for usermode - part of wrapper around standard MQX API
* which require privilege mode.
*
* \param[in] api_no API number - number of wrapped function
* \param[in] params generic parameter - direct use with called MQX API fn
*
* \return uint32_t return of called function
*/
uint32_t _mqx_api_call_handler
(
// [IN] API number - number of wrapped function
MQX_API_NUMBER_ENUM api_no,
// [IN] generic parameter - direct use with called MQX API fn
MQX_API_CALL_PARAMS_PTR params
)
{
int32_t res = -1;
uint32_t param0 = params->param0;
uint32_t param1 = params->param1;
uint32_t param2 = params->param2;
uint32_t param3 = params->param3;
uint32_t param4 = params->param4;
switch (api_no) {
// _lwsem
case MQX_API_LWSEM_POLL:
if (MQX_OK == (res = _lwsem_usr_check((LWSEM_STRUCT_PTR)param0)))
res = (uint32_t)_lwsem_poll((LWSEM_STRUCT_PTR)param0);
break;
case MQX_API_LWSEM_POST:
if (MQX_OK == (res = _lwsem_usr_check((LWSEM_STRUCT_PTR)param0)))
res = _lwsem_post((LWSEM_STRUCT_PTR)param0);
break;
case MQX_API_LWSEM_WAIT:
if (MQX_OK == (res = _lwsem_usr_check((LWSEM_STRUCT_PTR)param0)))
res = _lwsem_wait((LWSEM_STRUCT_PTR)param0);
break;
case MQX_API_LWSEM_CREATE:
res = _lwsem_create_internal((LWSEM_STRUCT_PTR)param0, (_mqx_int)param1, (bool)param2, TRUE);
break;
#if MQX_HAS_TICK
case MQX_API_LWSEM_WAIT_FOR:
if (MQX_OK == (res = _lwsem_usr_check((LWSEM_STRUCT_PTR)param0)) && (!param1 || _psp_mem_check_access(param1, sizeof(MQX_TICK_STRUCT), MPU_UM_RW)))
res = _lwsem_wait_for((LWSEM_STRUCT_PTR)param0, (MQX_TICK_STRUCT_PTR)param1);
break;
case MQX_API_LWSEM_WAIT_TICKS:
if (MQX_OK == (res = _lwsem_usr_check((LWSEM_STRUCT_PTR)param0)))
res = _lwsem_wait_ticks((LWSEM_STRUCT_PTR)param0, (_mqx_uint)param1);
break;
case MQX_API_LWSEM_WAIT_UNTIL:
if (MQX_OK == (res = _lwsem_usr_check((LWSEM_STRUCT_PTR)param0)) && (!param1 || _psp_mem_check_access(param1, sizeof(MQX_TICK_STRUCT), MPU_UM_RW)))
res = _lwsem_wait_until((LWSEM_STRUCT_PTR)param0, (MQX_TICK_STRUCT_PTR)param1);
break;
case MQX_API_LWSEM_DESTROY:
if (MQX_OK == (res = _lwsem_usr_check((LWSEM_STRUCT_PTR)param0))) {
res = _lwsem_destroy_internal((LWSEM_STRUCT_PTR)param0, TRUE);
}
break;
#endif // MQX_HAS_TICK
// _lwevent
#if MQX_USE_LWEVENTS
case MQX_API_LWEVENT_CLEAR:
if (MQX_OK == (res = _lwevent_usr_check((LWEVENT_STRUCT_PTR)param0)))
res = _lwevent_clear((LWEVENT_STRUCT_PTR)param0, (_mqx_uint)param1);
break;
case MQX_API_LWEVENT_SET:
if (MQX_OK == (res = _lwevent_usr_check((LWEVENT_STRUCT_PTR)param0)))
res = _lwevent_set((LWEVENT_STRUCT_PTR)param0, (_mqx_uint)param1);
break;
case MQX_API_LWEVENT_SET_AUTO_CLEAR:
if (MQX_OK == (res = _lwevent_usr_check((LWEVENT_STRUCT_PTR)param0)))
res = _lwevent_set_auto_clear((LWEVENT_STRUCT_PTR)param0, (_mqx_uint)param1);
break;
case MQX_API_LWEVENT_WAIT_FOR:
if (MQX_OK == (res = _lwevent_usr_check((LWEVENT_STRUCT_PTR)param0)) && \
(!param3 || _psp_mem_check_access(param3, sizeof(MQX_TICK_STRUCT), MPU_UM_RW))) {
res = _lwevent_wait_for((LWEVENT_STRUCT_PTR)param0, (_mqx_uint)param1, (bool)param2, (MQX_TICK_STRUCT_PTR)param3);
}
break;
case MQX_API_LWEVENT_WAIT_FOR_TICKS:
if (MQX_OK == (res = _lwevent_usr_check((LWEVENT_STRUCT_PTR)param0))) {
res = _lwevent_wait_ticks((LWEVENT_STRUCT_PTR)param0, (_mqx_uint)param1, (bool)param2, (_mqx_uint)param3);
}
break;
case MQX_API_LWEVENT_WAIT_UNTIL:
if (MQX_OK == (res = _lwevent_usr_check((LWEVENT_STRUCT_PTR)param0)) && \
(!param3 || _psp_mem_check_access(param3, sizeof(MQX_TICK_STRUCT), MPU_UM_RW))) {
res = _lwevent_wait_until((LWEVENT_STRUCT_PTR)param0, (_mqx_uint)param1, (bool)param2, (MQX_TICK_STRUCT_PTR)param3);
}
break;
case MQX_API_LWEVENT_GET_SIGNALLED:
res = _lwevent_get_signalled();
break;
case MQX_API_LWEVENT_CREATE:
res = _lwevent_create_internal((LWEVENT_STRUCT_PTR)param0, (_mqx_uint)param1, TRUE);
break;
case MQX_API_LWEVENT_DESTROY:
if (MQX_OK == (res = _lwevent_usr_check((LWEVENT_STRUCT_PTR)param0))) {
res = _lwevent_destroy_internal((LWEVENT_STRUCT_PTR)param0, TRUE);
}
break;
#endif
#if MQX_USE_LWMSGQ
case MQX_API_LWMSGQ_INIT:
res = _lwmsgq_init_internal((void *)param0, (_mqx_uint)param1, (_mqx_uint)param2, TRUE);
break;
case MQX_API_LWMSGQ_RECEIVE:
if (MQX_OK == (res = _lwmsgq_usr_check((LWMSGQ_STRUCT_PTR)param0)) && \
_psp_mem_check_access(param1, ((LWMSGQ_STRUCT_PTR)param0)->MSG_SIZE, MPU_UM_RW) && \
(!param4 || _psp_mem_check_access(param4, sizeof(MQX_TICK_STRUCT), MPU_UM_RW)))
res = _lwmsgq_receive((void *)param0, (_mqx_max_type_ptr)param1, (_mqx_uint)param2, (_mqx_uint)param3, (MQX_TICK_STRUCT_PTR)param4);
break;
case MQX_API_LWMSGQ_SEND:
if (MQX_OK == (res = _lwmsgq_usr_check((LWMSGQ_STRUCT_PTR)param0)) && \
_psp_mem_check_access(param1, ((LWMSGQ_STRUCT_PTR)param0)->MSG_SIZE, MPU_UM_RW))
res = _lwmsgq_send((void *)param0, (_mqx_max_type_ptr)param1, (_mqx_uint)param2);
break;
#endif // MQX_USE_LWMSGQ
case MQX_API_TASK_CREATE:
res = _task_create_internal((_processor_number)param0, (_mqx_uint)param1, (uint32_t)param2, TRUE);
break;
case MQX_API_TASK_DESTROY:
res = _task_destroy_internal((_task_id)param0, TRUE);
break;
case MQX_API_TASK_ABORT:
res = _task_abort_internal((_task_id)param0, TRUE);
break;
case MQX_API_TASK_READY:
_task_ready((void *)param0);
res = MQX_OK; // irelevant, function is without return value
break;
case MQX_API_TASK_SET_ERROR:
res = _task_set_error((_mqx_uint)param0);
break;
case MQX_API_TASK_GET_TD:
res = (uint32_t)_task_get_td((_task_id)param0);
break;
#if MQX_USE_LWMEM
case MQX_API_LWMEM_ALLOC:
res = (uint32_t)_usr_lwmem_alloc_internal((_mem_size)param0);
break;
case MQX_API_LWMEM_ALLOC_FROM:
if (_psp_mem_check_access(param0, sizeof(LWMEM_POOL_STRUCT), MPU_UM_RW) && \
_psp_mem_check_access((uint32_t)(((LWMEM_POOL_STRUCT_PTR)param0)->POOL_ALLOC_START_PTR), (char*)(((LWMEM_POOL_STRUCT_PTR)param0)->POOL_ALLOC_END_PTR) - (char*)(((LWMEM_POOL_STRUCT_PTR)param0)->POOL_ALLOC_START_PTR), MPU_UM_RW))
res = (uint32_t)_lwmem_alloc_from((_lwmem_pool_id)param0, (_mem_size)param1);
else
res = 0; // NULL, allocation failed
break;
case MQX_API_LWMEM_FREE:
if (_psp_mem_check_access(param0, 4, MPU_UM_RW))
res = _lwmem_free((void *)param0);
break;
case MQX_API_LWMEM_CREATE_POOL:\
if (_psp_mem_check_access(param0, sizeof(LWMEM_POOL_STRUCT), MPU_UM_RW) && \
_psp_mem_check_access(param1, param2, MPU_UM_RW))
res = (uint32_t)_lwmem_create_pool((LWMEM_POOL_STRUCT_PTR)param0, (void *)param1, (_mem_size)param2);
break;
case MQX_API_LWMEM_REALLOC:
if (_psp_mem_check_access(param0, 4, MPU_UM_RW))
res = (uint32_t)_lwmem_realloc((void *)param0,(_mem_size)param1);
break;
#endif // MQX_USE_LWMEM
// _time
case MQX_API_TIME_DELAY:
_time_delay(param0);
res = MQX_OK; // irelevant, function is without return value
break;
#if MQX_HAS_TICK
case MQX_API_TIME_DELAY_TICKS:
_time_delay_ticks(param0);
res = MQX_OK; // irelevant, function is without return value
break;
case MQX_API_TIME_GET_ELAPSED_TICKS:
if (_psp_mem_check_access(param0, sizeof(MQX_TICK_STRUCT), MPU_UM_RW)) {
_time_get_elapsed_ticks((MQX_TICK_STRUCT_PTR)param0);
res = MQX_OK; // irelevant, function is without return value
}
else {
_task_set_error(MQX_ACCESS_ERROR);
}
break;
#endif // MQX_HAS_TICK
default:
while (1);
}
return res;
}
