void rit_enable(void_func_t function, uint32_t time_ms)
{
if (0 == function) {
return;
}
// Divide by zero guard
if(0 == time_ms) {
time_ms = 1;
}
// Power up first otherwise writing to RIT will give us Hard Fault
lpc_pconp(pconp_rit, true);
// Enable CLK/1 to simplify RICOMPVAL calculation below
lpc_pclk(pclk_rit, clkdiv_1);
LPC_RIT->RICTRL = 0;
LPC_RIT->RICOUNTER = 0;
LPC_RIT->RIMASK = 0;
LPC_RIT->RICOMPVAL = sys_get_cpu_clock() / (1000 / time_ms);
// Clear timer upon match, and enable timer
const uint32_t isr_clear_bitmask = (1 << 0);
const uint32_t timer_clear_bitmask = (1 << 1);
const uint32_t timer_enable_bitmask = (1 << 3);
LPC_RIT->RICTRL = isr_clear_bitmask | timer_clear_bitmask | timer_enable_bitmask;
// Enable System Interrupt and connect the callback
g_rit_callback = function;
vTraceSetISRProperties(RIT_IRQn, "RIT", IP_RIT);
NVIC_EnableIRQ(RIT_IRQn);
}
void APP_Init(void) {
//DbgConsole_Printf("hello world.\r\n");
#if PL_CONFIG_HAS_SHELL_QUEUE
SQUEUE_Init();
#endif
semSW2 = xSemaphoreCreateBinary();
if (semSW2==NULL) { /* semaphore creation failed */
for(;;){} /* error */
}
vQueueAddToRegistry(semSW2, "Sem_SW2");
semSW3 = xSemaphoreCreateBinary();
if (semSW3==NULL) { /* semaphore creation failed */
for(;;){} /* error */
}
vQueueAddToRegistry(semSW3, "Sem_SW3");
semLED = xSemaphoreCreateBinary();
if (semLED==NULL) { /* semaphore creation failed */
for(;;){} /* error */
}
vQueueAddToRegistry(semLED, "Sem_LED");
semMouse = xSemaphoreCreateBinary();
if (semMouse==NULL) { /* semaphore creation failed */
for(;;){} /* error */
}
vQueueAddToRegistry(semMouse, "Sem_Mouse");
semKbd = xSemaphoreCreateBinary();
if (semKbd==NULL) { /* semaphore creation failed */
for(;;){} /* error */
}
vQueueAddToRegistry(semKbd, "Sem_Kbd");
#if 0 /*! \todo 1 Increase stack size by 50 */
if (xTaskCreate(ButtonTask, "Buttons", configMINIMAL_STACK_SIZE+50, NULL, tskIDLE_PRIORITY+2, NULL) != pdPASS) { /*! \todo 1 Increase stack size by 50 */
#else
if (xTaskCreate(ButtonTask, "Buttons", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+2, NULL) != pdPASS) {
#endif
for(;;){} /* error */
}
if (xTaskCreate(AppTask, "App", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
for(;;){} /* error */
}
#if configUSE_TRACE_HOOKS
vTraceSetISRProperties("ISR_USB", TRACE_PRIO_ISR_USB);
#endif
}
/**
* Enables a port pin interrupt by inserting entry to the linked list, and writing to the
* enable register to enable the interrupt.
*
* @param [in] pin_number 0-31
* @param [in] type The type of the interrupt (rising or falling)
* @param [in] func The callback function.
* @param [in] list_head_ptr The pointer of the linked list to add the interrupt configuration to.
* @param [in] int_en_reg_ptr The pointer of CPU register to enable the interrupt
*/
static void eint3_enable(uint8_t pin_num, eint_intr_t type, void_func_t func,
eint3_entry_t **list_head_ptr, volatile uint32_t *int_en_reg_ptr)
{
const uint32_t pin_mask = (UINT32_C(1) << pin_num);
eint3_entry_t *e = NULL;
if (0 != pin_mask && NULL != func && NULL != (e = malloc(sizeof(*e))) )
{
/* Insert new entry at the head of the list */
e->callback = func;
e->pin_mask = pin_mask;
e->next = *list_head_ptr;
*list_head_ptr = e;
/* Enable the interrupt */
*int_en_reg_ptr |= e->pin_mask;
/* EINT3 shares pin interrupts with Port0 and Port2 */
vTraceSetISRProperties(EINT3_IRQn, "EINT3", IP_eint);
NVIC_EnableIRQ(EINT3_IRQn);
}
}
bool CAN_init(can_t can, uint32_t baudrate_kbps, uint16_t rxq_size, uint16_t txq_size,
can_void_func_t bus_off_cb, can_void_func_t data_ovr_cb)
{
if (!CAN_VALID(can)){
return false;
}
can_struct_t *pStruct = CAN_STRUCT_PTR(can);
LPC_CAN_TypeDef *pCAN = pStruct->pCanRegs;
bool failed = true;
/* Enable CAN Power, and select the PINS
* CAN1 is at P0.0, P0.1 and P0.21, P0.22
* CAN2 is at P0.4, P0.5 and P2.7, P2.8
* On SJ-One board, we have P0.0, P0.1, and P2.7, P2.8
*/
if (can1 == can) {
LPC_SC->PCONP |= can1_pconp_mask;
LPC_PINCON->PINSEL0 &= ~(0xF << 0);
LPC_PINCON->PINSEL0 |= (0x5 << 0);
}
else if (can2 == can){
LPC_SC->PCONP |= can2_pconp_mask;
LPC_PINCON->PINSEL4 &= ~(0xF << 14);
LPC_PINCON->PINSEL4 |= (0x5 << 14);
}
/* Create the queues with minimum size of 1 to avoid NULL pointer reference */
if (!pStruct->rxQ) {
pStruct->rxQ = xQueueCreate(rxq_size ? rxq_size : 1, sizeof(can_msg_t));
}
if (!pStruct->txQ) {
pStruct->txQ = xQueueCreate(txq_size ? txq_size : 1, sizeof(can_msg_t));
}
/* The CAN dividers must all be the same for both CANs
* Set the dividers of CAN1, CAN2, ACF to CLK / 1
*/
lpc_pclk(pclk_can1, clkdiv_1);
lpc_pclk(pclk_can2, clkdiv_1);
lpc_pclk(pclk_can_flt, clkdiv_1);
pCAN->MOD = can_mod_reset;
pCAN->IER = 0x0; // Disable All CAN Interrupts
pCAN->GSR = 0x0; // Clear error counters
pCAN->CMR = 0xE; // Abort Tx, release Rx, clear data over-run
/**
* About the AFMR register :
* B0 B1
* Filter Mode | AccOff bit | AccBP bit | CAN Rx interrupt
* Off Mode 1 0 No messages accepted
* Bypass Mode X 1 All messages accepted
* FullCAN 0 0 HW acceptance filtering
*/
LPC_CANAF->AFMR = afmr_disabled;
// Clear pending interrupts and the CAN Filter RAM
LPC_CANAF_RAM->mask[0] = pCAN->ICR;
memset((void*)&(LPC_CANAF_RAM->mask[0]), 0, sizeof(LPC_CANAF_RAM->mask));
/* Zero out the filtering registers */
LPC_CANAF->SFF_sa = 0;
LPC_CANAF->SFF_GRP_sa = 0;
LPC_CANAF->EFF_sa = 0;
LPC_CANAF->EFF_GRP_sa = 0;
LPC_CANAF->ENDofTable = 0;
/* Do not accept any messages until CAN filtering is enabled */
LPC_CANAF->AFMR = afmr_disabled;
/* Set the baud-rate. You can verify the settings by visiting:
* http://www.kvaser.com/en/support/bit-timing-calculator.html
*/
do {
const uint32_t baudDiv = sys_get_cpu_clock() / (1000 * baudrate_kbps);
const uint32_t SJW = 3;
const uint32_t SAM = 0;
uint32_t BRP = 0, TSEG1 = 0, TSEG2 = 0, NT = 0;
/* Calculate suitable nominal time value
* NT (nominal time) = (TSEG1 + TSEG2 + 3)
* NT <= 24
* TSEG1 >= 2*TSEG2
*/
failed = true;
for(NT=24; NT > 0; NT-=2) {
if ((baudDiv % NT)==0) {
BRP = baudDiv / NT - 1;
NT--;
TSEG2 = (NT/3) - 1;
TSEG1 = NT -(NT/3) - 1;
failed = false;
break;
}
}
if (!failed) {
pCAN->BTR = (SAM << 23) | (TSEG2<<20) | (TSEG1<<16) | (SJW<<14) | BRP;
// CANx->BTR = 0x002B001D; // 48Mhz 100Khz
}
} while (0);
/* If everything okay so far, enable the CAN interrupts */
if (!failed) {
/* At minimum, we need Rx/Tx interrupts */
pCAN->IER = (intr_rx | intr_all_tx);
/* Enable BUS-off interrupt and callback if given */
if (bus_off_cb) {
pStruct->bus_error = bus_off_cb;
pCAN->IER |= g_can_bus_err_intr;
}
/* Enable data-overrun interrupt and callback if given */
if (data_ovr_cb) {
pStruct->data_overrun = data_ovr_cb;
pCAN->IER |= intr_ovrn;
}
/* Finally, enable the actual CPU core interrupt */
vTraceSetISRProperties(CAN_IRQn, "CAN", IP_can);
NVIC_EnableIRQ(CAN_IRQn);
}
/* return true if all is well */
return (false == failed);
}
int main( void )
{
BaseType_t res = pdPASS;
rtc_t rtc;
TickType_t xTimeNow;
/* Seed the random number generator. */
xTimeNow = 0;//xTaskGetTickCount();
prvSRand( 0);
#if configUSE_TRACE_FACILITY == 1
vTraceInitTraceData();
vTraceSetISRProperties(TIID_EthRx, "i_EthRx", IPRI_EthRx);
vTraceSetISRProperties(TIID_EthTx, "i_EthTx", IPRI_EthTx);
vTraceSetISRProperties(TIID_EthSys, "i_EthSys", IPRI_EthSys);
vTraceSetISRProperties(TIID_Tmr0, "i_Tmr0", IPRI_Tmr0);
vTraceSetISRProperties(TIID_Tmr1, "i_Tmr1", IPRI_Tmr1);
vTraceSetISRProperties(TIID_Tmr2, "i_Tmr2", IPRI_Tmr2);
vTraceSetISRProperties(TIID_rtc, "i_rtc", IPRI_rtc);
vTraceSetISRProperties(TIID_uart0, "i_uart0", IPRI_uart0);
vTraceSetISRProperties(TIID_uart1, "i_uart1", IPRI_uart1);
vTraceSetISRProperties(TIID_button0, "i_swb0", IPRI_button0);
vTraceSetISRProperties(TIID_button1, "i_swb1", IPRI_button1);
vTraceSetISRProperties(TIID_button2, "i_swb2", IPRI_button2);
// uiTraceStart();
// vTraceStop()
#endif
#if INCLUDE_CONSOLE == 1 || INCLUDE_MODEM == 1 // Include serial port 0 or serial port 1
initSerial();
#endif
#if INCLUDE_RTC == 1 // Include Realtime Clock
initRTC();
#endif
#if INCLUDE_BUTTONS == 1
initButtons();
#endif
#if INCLUDE_NETWORK
/* Initialise the RTOS's TCP/IP stack. The tasks that use the network
are created in the vApplicationIPNetworkEventHook() hook function
below. The hook function is called when the network connects. */
res = FreeRTOS_IPInit( ucIPAddress, ucNetMask, ucGatewayAddress, ucDNSServerAddress, ucMACAddress );
//vRegisterSampleCLICommands();
vRegisterTCPCLICommands();
vRegisterMonitorCLICommands();
// Commandline interface (Telnet port 5010)
vStartTCPCommandInterpreterTask( 2048, 5010, tskIDLE_PRIORITY + 1);
#endif
#ifdef INCLUDE_MONITOR
// Demo Sysinfo
// Connect putty 115200,8,1,n (ansi terminal) to get the status informations
res = xTaskCreate( sysinfo, "SysInfo", configMINIMAL_STACK_SIZE*2, (void *)portMAX_DELAY, PRIO_SYSINFO, NULL);
#endif
#if INCLUDE_LED5x7 == 1
initLED5x7();
res = xTaskCreate( TaskLED, "TaskLED", configMINIMAL_STACK_SIZE, (void *)portMAX_DELAY, PRIO_LED, NULL);
#endif
#ifdef CPM22
memset(cpmmem,0,sizeof(cpmmem));
res = xTaskCreate( prvTCPCpmIOTask, "CPMIO", configMINIMAL_STACK_SIZE*2, (void*)cpmmem, PRIO_CPMIO, NULL);
#endif
vTaskStartScheduler();
return res;
}
