/*..........................................................................*/
void SysTick_Handler(void) {
static uint32_t btn_debounced = USR_SW1;
static uint8_t debounce_state = 0U;
uint32_t btn;
QK_ISR_ENTRY(); /* inform QK about entering an ISR */
#ifdef Q_SPY
{
uint32_t dummy = SysTick->CTRL; /* clear SysTick_CTRL_COUNTFLAG */
QS_tickTime_ += QS_tickPeriod_; /* account for the clock rollover */
}
#endif
QF_TICK_X(0U, &l_SysTick_Handler); /* process time events for rate 0 */
/* debounce the SW1 button... */
btn = GPIOF->DATA_Bits[USR_SW1]; /* read the push btn */
switch (debounce_state) {
case 0:
if (btn != btn_debounced) {
debounce_state = 1U; /* transition to the next state */
}
break;
case 1:
if (btn != btn_debounced) {
debounce_state = 2U; /* transition to the next state */
}
else {
debounce_state = 0U; /* transition back to state 0 */
}
break;
case 2:
if (btn != btn_debounced) {
debounce_state = 3U; /* transition to the next state */
}
else {
debounce_state = 0U; /* transition back to state 0 */
}
break;
case 3:
if (btn != btn_debounced) {
btn_debounced = btn; /* save the debounced button value */
if (btn == 0U) { /* is the button depressed? */
static QEvt const pauseEvt = { PAUSE_SIG, 0U, 0U};
QF_PUBLISH(&pauseEvt, &l_SysTick_Handler);
}
else {
static QEvt const pauseEvt = { PAUSE_SIG, 0U, 0U};
QF_PUBLISH(&pauseEvt, &l_SysTick_Handler);
}
}
debounce_state = 0U; /* transition back to state 0 */
break;
}
QK_ISR_EXIT(); /* inform QK about exiting an ISR */
}
/*..........................................................................*/
void QF_onClockTick(void) {
QF_TICK_X(0U, (void *)0); /* perform the QF clock tick processing */
if (_kbhit()) { /* any key pressed? */
switch (_getch()) {
case '\33': { /* ESC pressed? */
QF_stop();
break;
}
}
}
}
void TIMER0_A0_ISR (void)
#else
#error Compiler not supported!
#endif
{
#ifdef NDEBUG
__low_power_mode_off_on_exit(); /* see NOTE1 */
#endif
QF_TICK_X(0U, (void *)0); /* process all time events at rate 0 */
}
void SysTick_Handler(void) {
QK_ISR_ENTRY(); /* inform QK-nano about ISR entry */
#ifdef Q_SPY
uint32_t dummy = SysTick->CTRL; /* clear NVIC_ST_CTRL_COUNT flag */
QS_tickTime_ += QS_tickPeriod_; /* account for the clock rollover */
#endif
QF_TICK_X(0U, &l_SysTick_Handler); /* process time events for rate 0 */
QK_ISR_EXIT(); /* inform QK-nano about ISR exit */
}
/*..........................................................................*/
void QF_onClockTick(void) {
QF_TICK_X(0U, &l_clock_tick); /* perform the QF clock tick processing */
if (_kbhit()) { /* any key pressed? */
int ch = _getch();
if (ch == '\33') { /* see if the ESC key pressed */
QF_PUBLISH(Q_NEW(QEvt, TERMINATE_SIG), &l_clock_tick);
}
else if (ch == 'p') {
QF_PUBLISH(Q_NEW(QEvt, PAUSE_SIG), &l_clock_tick);
}
}
}
/*..........................................................................*/
void QF_onClockTick(void) {
struct timeval timeout = { 0, 0 }; /* timeout for select() */
fd_set con; /* FD set representing the console */
QF_TICK_X(0U, (void *)0); /* process all QF time events at rate 0 */
FD_ZERO(&con);
FD_SET(0, &con);
/* check if a console input is available, returns immediately */
if (0 != select(1, &con, 0, 0, &timeout)) { /* any descriptor set? */
char ch;
read(0, &ch, 1);
if (ch == '\33') { /* ESC pressed? */
QF_stop();
}
}
}
TIMER0_A0_ISR(void)
#else
#error MSP430 compiler not supported!
#endif
{
/* state of the button debouncing, see below */
static struct ButtonsDebouncing {
uint8_t depressed;
uint8_t previous;
} buttons = { (uint8_t)~0U, (uint8_t)~0U };
uint8_t current;
uint8_t tmp;
TACTL &= ~TAIFG; /* clear the interrupt pending flag */
#ifdef NDEBUG
__low_power_mode_off_on_exit(); /* see NOTE1 */
#endif
#ifdef Q_SPY
QS_tickTime_ +=
(((BSP_SMCLK / 8) + BSP_TICKS_PER_SEC/2) / BSP_TICKS_PER_SEC) + 1;
#endif
QF_TICK_X(0U, (void *)0); /* process all time events at rate 0 */
/* Perform the debouncing of buttons. The algorithm for debouncing
* adapted from the book "Embedded Systems Dictionary" by Jack Ganssle
* and Michael Barr, page 71.
*/
current = ~P1IN; /* read P1 port with the state of BTN1 */
tmp = buttons.depressed; /* save the debounced depressed buttons */
buttons.depressed |= (buttons.previous & current); /* set depressed */
buttons.depressed &= (buttons.previous | current); /* clear released */
buttons.previous = current; /* update the history */
tmp ^= buttons.depressed; /* changed debounced depressed */
if ((tmp & BTN1) != 0U) { /* debounced BTN1 state changed? */
if ((buttons.depressed & BTN1) != 0U) { /* is BTN1 depressed? */
static QEvt const pauseEvt = { PAUSE_SIG, 0U, 0U};
QF_PUBLISH(&pauseEvt, &l_timerA_ISR);
}
else { /* the button is released */
static QEvt const serveEvt = { SERVE_SIG, 0U, 0U};
QF_PUBLISH(&serveEvt, &l_timerA_ISR);
}
}
}
/* ISRs used in the application ==========================================*/
void SysTick_Handler(void) { /* system clock tick ISR */
/* state of the button debouncing, see below */
static struct ButtonsDebouncing {
uint32_t depressed;
uint32_t previous;
} buttons = { ~0U, ~0U };
uint32_t current;
uint32_t tmp;
QK_ISR_ENTRY(); /* inform QK about entering an ISR */
#ifdef Q_SPY
{
tmp = SysTick->CTRL; /* clear CTRL_COUNTFLAG */
QS_tickTime_ += QS_tickPeriod_; /* account for the clock rollover */
}
#endif
QF_TICK_X(0U, &l_SysTick_Handler); /* process time events for rate 0 */
/* get state of the user button */
/* Perform the debouncing of buttons. The algorithm for debouncing
* adapted from the book "Embedded Systems Dictionary" by Jack Ganssle
* and Michael Barr, page 71.
*/
current = ~GPIOC->IDR; /* read Port C with the state of Button B1 */
tmp = buttons.depressed; /* save the debounced depressed buttons */
buttons.depressed |= (buttons.previous & current); /* set depressed */
buttons.depressed &= (buttons.previous | current); /* clear released */
buttons.previous = current; /* update the history */
tmp ^= buttons.depressed; /* changed debounced depressed */
if ((tmp & BTN_B1) != 0U) { /* debounced B1 state changed? */
if ((buttons.depressed & BTN_B1) != 0U) { /* is B1 depressed? */
static QEvt const pauseEvt = { PAUSE_SIG, 0U, 0U};
QF_PUBLISH(&pauseEvt, &l_SysTick_Handler);
}
else { /* the button is released */
static QEvt const serveEvt = { SERVE_SIG, 0U, 0U};
QF_PUBLISH(&serveEvt, &l_SysTick_Handler);
}
}
QK_ISR_EXIT(); /* inform QK about exiting an ISR */
}
/*..........................................................................*/
void SysTick_Handler(void) {
/* state of the button debouncing, see below */
static struct ButtonsDebouncing {
uint32_t depressed;
uint32_t previous;
} buttons = { ~0U, ~0U };
uint32_t current;
uint32_t volatile tmp;
QK_ISR_ENTRY(); /* inform QK about ISR entry */
++l_nTicks; /* count the number of clock ticks */
#ifdef Q_SPY
tmp = SysTick->CTRL; /* clear SysTick_CTRL_COUNTFLAG */
QS_tickTime_ += QS_tickPeriod_; /* account for the clock rollover */
#endif
QF_TICK_X(0U, &l_SysTick_Handler); /* process time events for rate 0 */
/* Perform the debouncing of buttons. The algorithm for debouncing
* adapted from the book "Embedded Systems Dictionary" by Jack Ganssle
* and Michael Barr, page 71.
*/
current = ~GPIOF->DATA_Bits[USER_BTN]; /* read USER_BTN */
tmp = buttons.depressed; /* save the debounced depressed buttons */
buttons.depressed |= (buttons.previous & current); /* set depressed */
buttons.depressed &= (buttons.previous | current); /* clear released */
buttons.previous = current; /* update the history */
tmp ^= buttons.depressed; /* changed debounced depressed */
if ((tmp & USER_BTN) != 0U) { /* debounced USER_BTN state changed? */
if ((buttons.depressed & USER_BTN) != 0U) { /* is BTN depressed? */
static QEvt const bd = { BTN_DOWN_SIG, 0U, 0U };
QF_PUBLISH(&bd, &l_SysTick_Handler);
}
else { /* the button is released */
static QEvt const bu = { BTN_UP_SIG, 0U, 0U };
QF_PUBLISH(&bu, &l_SysTick_Handler);
}
}
QK_ISR_EXIT(); /* inform QK about ISR exit */
}
/* ISRs --------------------------------------------------------------------*/
__ramfunc
static void ISR_tick(void) {
/* state of the button debouncing, see below */
static struct ButtonsDebouncing {
uint32_t depressed;
uint32_t previous;
} buttons = { ~0U, ~0U };
uint32_t current;
uint32_t volatile tmp;
/* clear the interrupt source */
tmp = AT91C_BASE_PITC->PITC_PIVR;
QF_TICK_X(0U, &l_ISR_tick); /* process all time events at tick rate 0 */
/* Perform the debouncing of buttons. The algorithm for debouncing
* adapted from the book "Embedded Systems Dictionary" by Jack Ganssle
* and Michael Barr, page 71.
*/
current = ~AT91C_BASE_PIOA->PIO_PDSR;/* read PIOA with state of Buttons */
tmp = buttons.depressed; /* save the debounced depressed buttons */
buttons.depressed |= (buttons.previous & current); /* set depressed */
buttons.depressed &= (buttons.previous | current); /* clear released */
buttons.previous = current; /* update the history */
tmp ^= buttons.depressed; /* changed debounced depressed */
if ((tmp & l_btn[0]) != 0U) { /* debounced BTN_P1 state changed? */
if ((buttons.depressed & l_btn[0]) != 0U) { /* is BTN_P1 depressed? */
static QEvt const pauseEvt = { PAUSE_SIG, 0U, 0U};
QF_PUBLISH(&pauseEvt, &l_ISR_tick);
}
else { /* the button is released */
static QEvt const serveEvt = { SERVE_SIG, 0U, 0U};
QF_PUBLISH(&serveEvt, &l_ISR_tick);
}
}
}
__interrupt void timer2_ISR(void) {
/* state of the button debouncing, see below */
static struct ButtonsDebouncing {
uint8_t depressed;
uint8_t previous;
} buttons = { 0xFFU, 0xFFU };
uint8_t current;
uint8_t tmp;
QF_TICK_X(0U, &l_ISR_TIMER2_COMPA); /* process time events at rate 0 */
#ifdef Q_SPY
BSP_tickTime += (F_CPU / BSP_TICKS_PER_SEC / 1024U);
#endif
/* Perform the debouncing of buttons. The algorithm for debouncing
* adapted from the book "Embedded Systems Dictionary" by Jack Ganssle
* and Michael Barr, page 71.
*/
current = PIND; /* read PORTD with the state of BTN_EXT */
tmp = buttons.depressed; /* save the debounced depressed buttons */
buttons.depressed |= (buttons.previous & current); /* set depressed */
buttons.depressed &= (buttons.previous | current); /* clear released */
buttons.previous = current; /* update the history */
tmp ^= buttons.depressed; /* changed debounced depressed */
if ((tmp & BTN_EXT) != 0U) { /* debounced BTN_EXT state changed? */
if ((buttons.depressed & BTN_EXT) != 0U) { /* is BTN_EXT depressed? */
static QEvt const pauseEvt = { PAUSE_SIG, 0U, 0U};
QF_PUBLISH(&pauseEvt, &l_ISR_TIMER2_COMPA);
}
else { /* the button is released */
static QEvt const serveEvt = { SERVE_SIG, 0U, 0U};
QF_PUBLISH(&serveEvt, &l_ISR_TIMER2_COMPA);
}
}
}
/*..........................................................................*/
void QF_onRtxTicker() {
QF_TICK_X(0U, (void *)0); /* process all QF time events at tick rate 0 */
}
/*..........................................................................*/
void SysTick_Handler(void) { /* system clock tick ISR */
QF_TICK_X(0U, (void *)0); /* process all armed time events */
}
/*..........................................................................*/
void QF_onClockTick(void) {
static QEvt const tickEvt = { TIME_TICK_SIG, 0U, 0U };
QF_TICK_X(0U, &l_clock_tick); /* process time events for rate 0 */
QF_PUBLISH(&tickEvt, &l_clock_tick); /* publish the tick event */
}
