//
//===============================================================
// 操作系统启动初始化
// os_idle_demon 高一级别任务
//===============================================================
__task void init_task(void) {
//
//--------------------------------------
// 测试引脚
gpio.pinMode(testPin, OUTPUT);
// dac.init (testDac);
//
//--------------------------------------
// usb 标准任务，起动 setSem
serialCommu.setSem();
serialCommu.begin();
//
//--------------------------------------
//== sd 卡初始化起动
sdReader.init();
//
//--------------------------------------
//== ADC 初始化
adc.initCh(PIN_AI1, ADC_FACTOR_32);
adc.initCh(PIN_AI2, ADC_FACTOR_32);
adc.initCh(PIN_AI3, ADC_FACTOR_32);
adc.initCh(AUTO_LEAVER_PIN, ADC_FACTOR_4);
adc.start ();
//
//------------------------------------
// 建立任务 越前面优先级越低
os_tsk_create_user(lcdTask, 2, lcdStk, sizeof(lcdStk) );
os_tsk_create_user(mainLoopTask, 3, main_loop_stk, sizeof(main_loop_stk) );
os_tsk_create_user(sdReaderTask, 4, sdReaderStk, sizeof(sdReaderStk) );
os_tsk_create_user(commuTsk, 5, commuStk, sizeof(commuStk) );
os_tsk_create_user(gcodeTsk, 6, gcodeStk, sizeof(gcodeStk) );
os_tsk_delete_self();
}
__task void task_init (void)
{
task1 = os_tsk_create_user( Monitor, 1, &StackMonitor, sizeof(StackMonitor));
task2 = os_tsk_create_user( KEYHandler, 2, &StackKey, sizeof(StackKey));
task3 = os_tsk_create_user( CMDHandler, 3, &StackCmd, sizeof(StackCmd));
os_tsk_delete_self ();
}
__task void init(void)
{
t_LedTask1=os_tsk_create_user(LedTask1,1,LedTask1Stack,sizeof(LedTask1Stack));
t_LedTask1=os_tsk_create_user(LedTask2,2,LedTask2Stack,sizeof(LedTask2Stack));
t_UsartTask=os_tsk_create_user(UsartTask,3,UsartTaskStack,sizeof(UsartTaskStack));
os_tsk_delete_self();
}
/*** This is the parent task entry ***/
void main_task (void)
{
#ifdef CYASSL_KEIL_TCP_NET
init_TcpNet ();
os_tsk_create (tcp_tick, 2);
os_tsk_create (tcp_poll, 1);
#endif
#ifdef CYASSL_MDK_SHELL
#ifdef HAVE_KEIL_RTX
os_tsk_create_user(shell_main, 1, Shell_stack, SHELL_STACKSIZE) ;
#else
shell_main() ;
#endif
#else
/************************************/
/*** USER APPLICATION HERE ***/
/************************************/
printf("USER LOGIC STARTED\n") ;
#endif
#ifdef HAVE_KEIL_RTX
CYASSL_MSG("Terminating tcp_main\n") ;
os_tsk_delete_self ();
#endif
}
__task void init (void) {
/* Add System initialisation code here */
init_io ();
init_display ();
init_TcpNet ();
/* Initialize Tasks */
os_tsk_prio_self (100);
os_tsk_create (blink_led, 20);
os_tsk_create (timer_task, 30);
os_tsk_create_user (tcp_task, 0, &tcp_stack, sizeof(tcp_stack));
os_tsk_delete_self();
}
__task void main_task(void)
{
// State processing
uint16_t flags = 0;
// LED
gpio_led_state_t hid_led_value = GPIO_LED_ON;
gpio_led_state_t cdc_led_value = GPIO_LED_ON;
gpio_led_state_t msc_led_value = GPIO_LED_ON;
// USB
uint32_t usb_state_count = USB_BUSY_TIME;
// thread running after usb connected started
uint8_t thread_started = 0;
// button state
main_reset_state_t main_reset_button_state = MAIN_RESET_RELEASED;
// Initialize settings
config_init();
// Initialize our serial mailbox
os_mbx_init(&serial_mailbox, sizeof(serial_mailbox));
// Get a reference to this task
main_task_id = os_tsk_self();
// leds
gpio_init();
// Turn off LED
gpio_set_hid_led(GPIO_LED_ON);
gpio_set_cdc_led(GPIO_LED_ON);
gpio_set_msc_led(GPIO_LED_ON);
// do some init with the target before USB and files are configured
prerun_target_config();
// Update versions and IDs
info_init();
// USB
usbd_init();
vfs_user_enable(true);
usbd_connect(0);
usb_state = USB_CONNECTING;
usb_state_count = USB_CONNECT_DELAY;
// Start timer tasks
os_tsk_create_user(timer_task_30mS, TIMER_TASK_30_PRIORITY, (void *)stk_timer_30_task, TIMER_TASK_30_STACK);
// Target running
target_set_state(RESET_RUN);
while(1) {
os_evt_wait_or( FLAGS_MAIN_RESET // Put target in reset state
| FLAGS_MAIN_90MS // 90mS tick
| FLAGS_MAIN_30MS // 30mS tick
| FLAGS_MAIN_POWERDOWN // Power down interface
| FLAGS_MAIN_DISABLEDEBUG // Disable target debug
| FLAGS_MAIN_PROC_USB // process usb events
,NO_TIMEOUT);
// Find out what event happened
flags = os_evt_get();
if (flags & FLAGS_MAIN_PROC_USB) {
USBD_Handler();
}
if (flags & FLAGS_MAIN_RESET) {
target_set_state(RESET_RUN);
}
if (flags & FLAGS_MAIN_POWERDOWN) {
// Disable debug
target_set_state(NO_DEBUG);
// Disconnect USB
usbd_connect(0);
// Turn off LED
gpio_set_hid_led(GPIO_LED_OFF);
gpio_set_cdc_led(GPIO_LED_OFF);
gpio_set_msc_led(GPIO_LED_OFF);
// TODO: put the interface chip in sleep mode
while(1);
}
if (flags & FLAGS_MAIN_DISABLEDEBUG) {
// Disable debug
target_set_state(NO_DEBUG);
}
if (flags & FLAGS_MAIN_90MS) {
// Update USB busy status
vfs_user_periodic(90); // FLAGS_MAIN_90MS
// Update USB connect status
switch (usb_state) {
case USB_DISCONNECTING:
usb_state = USB_DISCONNECTED;
usbd_connect(0);
break;
case USB_CONNECTING:
// Wait before connecting
if (DECZERO(usb_state_count) == 0) {
usbd_connect(1);
usb_state = USB_CHECK_CONNECTED;
}
break;
case USB_CHECK_CONNECTED:
if(usbd_configured()) {
if (!thread_started) {
os_tsk_create_user(hid_process, DAP_TASK_PRIORITY, (void *)stk_dap_task, DAP_TASK_STACK);
serial_task_id = os_tsk_create_user(serial_process, SERIAL_TASK_PRIORITY, (void *)stk_serial_task, SERIAL_TASK_STACK);
thread_started = 1;
}
usb_state = USB_CONNECTED;
}
break;
case USB_CONNECTED:
case USB_DISCONNECTED:
default:
break;
}
}
// 30mS tick used for flashing LED when USB is busy
if (flags & FLAGS_MAIN_30MS) {
// handle reset button without eventing
switch (main_reset_button_state) {
default:
case MAIN_RESET_RELEASED:
if (0 == gpio_get_sw_reset()) {
main_reset_button_state = MAIN_RESET_PRESSED;
target_forward_reset(true);
}
break;
case MAIN_RESET_PRESSED:
// ToDo: add a counter to do a mass erase or target recovery after xxx seconds of being held
if (1 == gpio_get_sw_reset()) {
main_reset_button_state = MAIN_RESET_TARGET;
}
break;
case MAIN_RESET_TARGET:
target_forward_reset(false);
main_reset_button_state = MAIN_RESET_RELEASED;
break;
}
if (hid_led_usb_activity && ((hid_led_state == MAIN_LED_FLASH) || (hid_led_state == MAIN_LED_FLASH_PERMANENT))) {
// Flash DAP LED ONCE
if (hid_led_value) {
hid_led_value = GPIO_LED_OFF;
} else {
hid_led_value = GPIO_LED_ON; // Turn on
if (hid_led_state == MAIN_LED_FLASH) {
hid_led_usb_activity = 0;
}
}
// Update hardware
gpio_set_hid_led(hid_led_value);
}
if (msc_led_usb_activity && ((msc_led_state == MAIN_LED_FLASH) || (msc_led_state == MAIN_LED_FLASH_PERMANENT))) {
// Flash MSD LED ONCE
if (msc_led_value) {
msc_led_value = GPIO_LED_OFF;
} else {
msc_led_value = GPIO_LED_ON; // Turn on
if (msc_led_state == MAIN_LED_FLASH) {
msc_led_usb_activity = 0;
}
}
// Update hardware
gpio_set_msc_led(msc_led_value);
}
if (cdc_led_usb_activity && ((cdc_led_state == MAIN_LED_FLASH) || (cdc_led_state == MAIN_LED_FLASH_PERMANENT))) {
// Flash CDC LED ONCE
if (cdc_led_value) {
cdc_led_value = GPIO_LED_OFF;
} else {
cdc_led_value = GPIO_LED_ON; // Turn on
if (cdc_led_state == MAIN_LED_FLASH) {
cdc_led_usb_activity = 0;
}
}
// Update hardware
gpio_set_cdc_led(cdc_led_value);
}
}
}
}
__task void main_task(void) {
// State processing
uint16_t flags;
// LED
uint8_t dap_led_value = 1;
uint8_t cdc_led_value = 1;
uint8_t msd_led_value = 1;
// USB
uint32_t usb_state_count;
// thread running after usb connected started
uint8_t thread_started = 0;
// button state
char button_activated;
// string containing unique ID
uint8_t * id_str;
// Get a reference to this task
main_task_id = os_tsk_self();
// leds
gpio_init();
usbd_init();
swd_init();
// Turn on LED
gpio_set_dap_led(1);
gpio_set_cdc_led(1);
gpio_set_msd_led(1);
// Setup reset button
gpio_enable_button_flag(main_task_id, FLAGS_MAIN_RESET);
button_activated = 1;
// USB
usbd_connect(0);
usb_busy = USB_IDLE;
usb_busy_count = 0;
usb_state = USB_CONNECTING;
usb_state_count = USB_CONNECT_DELAY;
// Update HTML version information file
update_html_file();
// Start timer tasks
os_tsk_create_user(timer_task_30mS, TIMER_TASK_30_PRIORITY, (void *)stk_timer_30_task, TIMER_TASK_30_STACK);
// Target running
target_set_state(RESET_RUN_WITH_DEBUG);
// start semihost task
semihost_init();
semihost_enable();
while(1) {
os_evt_wait_or( FLAGS_MAIN_RESET // Put target in reset state
| FLAGS_MAIN_90MS // 90mS tick
| FLAGS_MAIN_30MS // 30mS tick
| FLAGS_MAIN_POWERDOWN // Power down interface
| FLAGS_MAIN_DISABLEDEBUG // Power down interface
| FLAGS_MAIN_USB_DISCONNECT, // Disable target debug
NO_TIMEOUT);
// Find out what event happened
flags = os_evt_get();
if (flags & FLAGS_MAIN_USB_DISCONNECT) {
usb_busy = USB_IDLE; // USB not busy
usb_state_count = 4;
usb_state = USB_DISCONNECT_CONNECT; // disconnect the usb
}
if (flags & FLAGS_MAIN_RESET) {
cdc_led_state = LED_OFF;
gpio_set_cdc_led(0);
//usbd_cdc_ser_flush();
if (send_uID) {
// set the target in reset to not receive char on the serial port
target_set_state(RESET_HOLD);
// send uid
id_str = get_uid_string();
USBD_CDC_ACM_DataSend(id_str, strlen((const char *)id_str));
send_uID = 0;
}
// Reset target
target_set_state(RESET_RUN);
cdc_led_state = LED_FLASH;
gpio_set_cdc_led(1);
button_activated = 0;
}
if (flags & FLAGS_MAIN_POWERDOWN) {
// Stop semihost task
semihost_disable();
// Disable debug
target_set_state(NO_DEBUG);
// Disconnect USB
usbd_connect(0);
// Turn off LED
gpio_set_dap_led(0);
gpio_set_cdc_led(0);
gpio_set_msd_led(0);
// TODO: put the interface chip in sleep mode
while (1) { }
}
if (flags & FLAGS_MAIN_DISABLEDEBUG) {
// Stop semihost task
semihost_disable();
// Disable debug
target_set_state(NO_DEBUG);
}
if (flags & FLAGS_MAIN_90MS) {
if (!button_activated) {
gpio_enable_button_flag(main_task_id, FLAGS_MAIN_RESET);
button_activated = 1;
}
// Update USB busy status
switch (usb_busy) {
case USB_ACTIVE:
if (DECZERO(usb_busy_count) == 0) {
usb_busy=USB_IDLE;
}
break;
case USB_IDLE:
default:
break;
}
// Update USB connect status
switch (usb_state) {
case USB_DISCONNECTING:
// Wait until USB is idle before disconnecting
if (usb_busy == USB_IDLE) {
usbd_connect(0);
usb_state = USB_DISCONNECTED;
}
break;
case USB_DISCONNECT_CONNECT:
// Wait until USB is idle before disconnecting
if ((usb_busy == USB_IDLE) && (DECZERO(usb_state_count) == 0)) {
usbd_connect(0);
usb_state = USB_CONNECTING;
// Update HTML file
update_html_file();
}
break;
case USB_CONNECTING:
// Wait before connecting
if (DECZERO(usb_state_count) == 0) {
usbd_connect(1);
usb_state = USB_CHECK_CONNECTED;
}
break;
case USB_CHECK_CONNECTED:
if(usbd_configured()) {
if (!thread_started) {
os_tsk_create_user(hid_process, DAP_TASK_PRIORITY, (void *)stk_dap_task, DAP_TASK_STACK);
serial_task_id = os_tsk_create_user(serial_process, SERIAL_TASK_PRIORITY, (void *)stk_serial_task, SERIAL_TASK_STACK);
thread_started = 1;
}
usb_state = USB_CONNECTED;
}
break;
case USB_CONNECTED:
case USB_DISCONNECTED:
default:
break;
}
}
// 30mS tick used for flashing LED when USB is busy
if (flags & FLAGS_MAIN_30MS) {
if (dap_led_usb_activity && ((dap_led_state == LED_FLASH) || (dap_led_state == LED_FLASH_PERMANENT))) {
// Flash DAP LED ONCE
if (dap_led_value) {
dap_led_value = 0;
} else {
dap_led_value = 1; // Turn on
if (dap_led_state == LED_FLASH) {
dap_led_usb_activity = 0;
}
}
// Update hardware
gpio_set_dap_led(dap_led_value);
}
if (msd_led_usb_activity && ((msd_led_state == LED_FLASH) || (msd_led_state == LED_FLASH_PERMANENT))) {
// Flash MSD LED ONCE
if (msd_led_value) {
msd_led_value = 0;
} else {
msd_led_value = 1; // Turn on
if (msd_led_state == LED_FLASH) {
msd_led_usb_activity = 0;
}
}
// Update hardware
gpio_set_msd_led(msd_led_value);
}
if (cdc_led_usb_activity && ((cdc_led_state == LED_FLASH) || (cdc_led_state == LED_FLASH_PERMANENT))) {
// Flash CDC LED ONCE
if (cdc_led_value) {
cdc_led_value = 0;
} else {
cdc_led_value = 1; // Turn on
if (cdc_led_state == LED_FLASH) {
cdc_led_usb_activity = 0;
}
}
// Update hardware
gpio_set_cdc_led(cdc_led_value);
}
}
}
}
__task void main_task(void) {
// State processing
uint16_t flags;
// LED
uint8_t dap_led_value = 1;
uint8_t cdc_led_value = 1;
uint8_t msd_led_value = 1;
// USB
uint32_t usb_state_count;
// thread running after usb connected started
uint8_t thread_started = 0;
// button state
char button_activated;
// string containing unique ID
uint8_t * id_str;
// Initialize our serial mailbox
os_mbx_init(&serial_mailbox, sizeof(serial_mailbox));
// Get a reference to this task
main_task_id = os_tsk_self();
// leds
gpio_init();
// Turn off LED
gpio_set_dap_led(1);
gpio_set_cdc_led(1);
gpio_set_msd_led(1);
#ifdef BOARD_UBLOX_C027
PORT_SWD_SETUP();
// wait until reset output to the target is pulled high
while (!PIN_nRESET_IN()) {
/* wait doing nothing */
}
os_dly_wait(4);
// if the reset input from button is low then enter isp programming mode
if (!(LPC_GPIO->B[19/*RESET_PIN*/ + (1/*RESET_PORT*/ << 5)] & 1)) {
enter_isp();
}
#endif
usbd_init();
swd_init();
// Setup reset button
gpio_enable_button_flag(main_task_id, FLAGS_MAIN_RESET);
button_activated = 1;
// USB
usbd_connect(0);
usb_busy = USB_IDLE;
usb_busy_count = 0;
usb_state = USB_CONNECTING;
usb_state_count = USB_CONNECT_DELAY;
// Update HTML version information file
update_html_file();
// Start timer tasks
os_tsk_create_user(timer_task_30mS, TIMER_TASK_30_PRIORITY, (void *)stk_timer_30_task, TIMER_TASK_30_STACK);
#ifndef BOARD_UBLOX_C027
// Target running
//target_set_state(RESET_RUN_WITH_DEBUG);
#endif
#ifdef BOARD_NRF51822AA
// Target running
target_set_state(RESET_RUN);
#endif
// start semihost task
semihost_init();
semihost_enable();
while(1) {
os_evt_wait_or( FLAGS_MAIN_RESET // Put target in reset state
| FLAGS_MAIN_90MS // 90mS tick
| FLAGS_MAIN_30MS // 30mS tick
| FLAGS_MAIN_POWERDOWN // Power down interface
| FLAGS_MAIN_DISABLEDEBUG // Power down interface
#ifdef USE_USB_EJECT_INSERT
| FLAGS_MAIN_USB_DISCONNECT // Disable target debug
| FLAGS_MAIN_USB_MEDIA_EJECT, // Eject file system
#else
| FLAGS_MAIN_USB_DISCONNECT, // Disable target debug
#endif
NO_TIMEOUT);
// Find out what event happened
flags = os_evt_get();
if (flags & FLAGS_MAIN_USB_DISCONNECT) {
usb_busy = USB_IDLE; // USB not busy
usb_state_count = 4;
usb_state = USB_DISCONNECT_CONNECT; // disconnect the usb
}
#ifdef USE_USB_EJECT_INSERT
if (flags & FLAGS_MAIN_USB_MEDIA_EJECT) {
EjectInsertMediaMode = EJECT_INSERT_WAIT_TO_EJECT;
EjectInsertMediaCounter = EJECT_INSERT_DELAY_500MS;
}
#endif
if (flags & FLAGS_MAIN_RESET) {
cdc_led_state = LED_OFF;
gpio_set_cdc_led(0);
//usbd_cdc_ser_flush();
if (send_uID) {
// set the target in reset to not receive char on the serial port
target_set_state(RESET_HOLD);
// send uid
id_str = get_uid_string();
USBD_CDC_ACM_DataSend(id_str, strlen((const char *)id_str));
send_uID = 0;
}
// Reset target
target_set_state(RESET_RUN);
cdc_led_state = LED_FLASH;
gpio_set_cdc_led(1);
button_activated = 0;
}
if (flags & FLAGS_MAIN_POWERDOWN) {
// Stop semihost task
semihost_disable();
// Disable debug
target_set_state(NO_DEBUG);
// Disconnect USB
usbd_connect(0);
// Turn off LED
gpio_set_dap_led(0);
gpio_set_cdc_led(0);
gpio_set_msd_led(0);
// TODO: put the interface chip in sleep mode
while (1) { }
}
if (flags & FLAGS_MAIN_DISABLEDEBUG) {
// Stop semihost task
semihost_disable();
// Disable debug
target_set_state(NO_DEBUG);
}
if (flags & FLAGS_MAIN_90MS) {
if (!button_activated) {
gpio_enable_button_flag(main_task_id, FLAGS_MAIN_RESET);
button_activated = 1;
}
#ifdef USE_USB_EJECT_INSERT
if (EjectInsertMediaMode == EJECT_INSERT_WAIT_TO_EJECT) {
if (--EjectInsertMediaCounter == 0) {
// Have waited ~0.5 second, time to eject media
EjectInsertMediaMode = EJECT_INSERT_WAIT_TO_INSERT;
EjectInsertMediaCounter = EJECT_INSERT_DELAY_500MS;
USBD_MSC_MediaReady = __FALSE;
}
}
if ((EjectInsertMediaMode == EJECT_INSERT_WAIT_TO_INSERT) && !USBD_MSC_MediaReadyEx) {
// The host computer have questioned the state and received
// the message that the media has been removed
if (--EjectInsertMediaCounter == 0) {
// Have waited ~0.5 seconds after ejecting, time to insert media
EjectInsertMediaMode = EJECT_INSERT_INACTIVE;
USBD_MSC_MediaReady = __TRUE;
}
}
#endif
// Update USB busy status
switch (usb_busy) {
case USB_ACTIVE:
if (DECZERO(usb_busy_count) == 0) {
usb_busy=USB_IDLE;
}
break;
case USB_IDLE:
default:
break;
}
// Update USB connect status
switch (usb_state) {
case USB_DISCONNECTING:
// Wait until USB is idle before disconnecting
if (usb_busy == USB_IDLE) {
usbd_connect(0);
usb_state = USB_DISCONNECTED;
}
break;
case USB_DISCONNECT_CONNECT:
// Wait until USB is idle before disconnecting
if ((usb_busy == USB_IDLE) && (DECZERO(usb_state_count) == 0)) {
usbd_connect(0);
usb_state = USB_CONNECTING;
// Update HTML file
update_html_file();
// Delay the connecting state before reconnecting to the host - improved usage with VMs
usb_state_count = 10; //(90ms * 10 = 900ms)
}
break;
case USB_CONNECTING:
// Wait before connecting
if (DECZERO(usb_state_count) == 0) {
usbd_connect(1);
usb_state = USB_CHECK_CONNECTED;
}
break;
case USB_CHECK_CONNECTED:
if(usbd_configured()) {
if (!thread_started) {
os_tsk_create_user(hid_process, DAP_TASK_PRIORITY, (void *)stk_dap_task, DAP_TASK_STACK);
serial_task_id = os_tsk_create_user(serial_process, SERIAL_TASK_PRIORITY, (void *)stk_serial_task, SERIAL_TASK_STACK);
thread_started = 1;
}
usb_state = USB_CONNECTED;
}
break;
case USB_CONNECTED:
case USB_DISCONNECTED:
default:
break;
}
}
// 30mS tick used for flashing LED when USB is busy
if (flags & FLAGS_MAIN_30MS) {
if (dap_led_usb_activity && ((dap_led_state == LED_FLASH) || (dap_led_state == LED_FLASH_PERMANENT))) {
// Flash DAP LED ONCE
if (dap_led_value) {
dap_led_value = 0;
} else {
dap_led_value = 1; // Turn on
if (dap_led_state == LED_FLASH) {
dap_led_usb_activity = 0;
}
}
// Update hardware
gpio_set_dap_led(dap_led_value);
}
if (msd_led_usb_activity && ((msd_led_state == LED_FLASH) || (msd_led_state == LED_FLASH_PERMANENT))) {
// Flash MSD LED ONCE
if (msd_led_value) {
msd_led_value = 0;
} else {
msd_led_value = 1; // Turn on
if (msd_led_state == LED_FLASH) {
msd_led_usb_activity = 0;
}
}
// Update hardware
gpio_set_msd_led(msd_led_value);
}
if (cdc_led_usb_activity && ((cdc_led_state == LED_FLASH) || (cdc_led_state == LED_FLASH_PERMANENT))) {
// Flash CDC LED ONCE
if (cdc_led_value) {
cdc_led_value = 0;
} else {
cdc_led_value = 1; // Turn on
if (cdc_led_state == LED_FLASH) {
cdc_led_usb_activity = 0;
}
}
// Update hardware
gpio_set_cdc_led(cdc_led_value);
}
}
}
}
osStatus_t osTimerStart(osTimerId_t timer_id, uint32_t ticks)
{
timerTick = ticks;
OS_TID tid = os_tsk_create_user(rt_timer_task, TIMER_TASK_30_PRIORITY, (void *)stk_timer_task, TIMER_TASK_STACK);
return osOK;
}
