ChibiOS/demos/MSP430-MSP430F5437/main.c

/*
    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
                 2011,2012,2013 Giovanni Di Sirio.

    This file is part of ChibiOS/RT.

    ChibiOS/RT is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 3 of the License, or
    (at your option) any later version.

    ChibiOS/RT is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#include "ch.h"
#include "hal.h"
#include "test.h"
#include "chprintf.h"
#include "shell.h"

/*
 * Red LEDs blinker thread, times are in milliseconds.
 */
static WORKING_AREA(waThread1, 64);
static msg_t Thread1(void *arg) {

  (void)arg;
  chRegSetThreadName("red blinker");
  
  while (TRUE) {
    palSetPad(IOPORT6, P6_O_RED_LED);
    chThdSleepMilliseconds(500);
    palClearPad(IOPORT6, P6_O_RED_LED);
    chThdSleepMilliseconds(500);
  }
  return 0;
}

/*
 * Green LEDs blinker thread, times are in milliseconds.
 */
static WORKING_AREA(waThread2, 64);
static msg_t Thread2(void *arg) {

  (void)arg;
  chRegSetThreadName("green blinker");
  
  while (TRUE) {
    palSetPad(IOPORT6, P6_O_GREEN_LED);
    chThdSleepMilliseconds(1500);
    palClearPad(IOPORT6, P6_O_GREEN_LED);
    chThdSleepMilliseconds(1500);
  }
  return 0;
}

static void cmd_mem(BaseChannel *chp, int argc, char *argv[]) {
  size_t n, size;

  (void)argv;
  if (argc > 0) {
    chprintf(chp, "Usage: mem\r\n");
    return;
  }
  n = chHeapStatus(NULL, &size);
  chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus());
  chprintf(chp, "heap fragments   : %u\r\n", n);
  chprintf(chp, "heap free total  : %u bytes\r\n", size);
}

static void cmd_threads(BaseChannel *chp, int argc, char *argv[]) {
  static const char *states[] = {THD_STATE_NAMES};
  Thread *tp;

  (void)argv;
  if (argc > 0) {
    chprintf(chp, "Usage: threads\r\n");
    return;
  }
  chprintf(chp, "    addr    stack prio refs     state time\r\n");
  tp = chRegFirstThread();
  do {
    chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n",
            (uint32_t)tp, (uint32_t)tp->p_ctx.sp,
            (uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
            states[tp->p_state], (uint32_t)tp->p_time);
    tp = chRegNextThread(tp);
  } while (tp != NULL);
}

static void cmd_test(BaseChannel *chp, int argc, char *argv[]) {

  (void)argv;
  if (argc > 0) {
    chprintf(chp, "Usage: test\r\n");
    return;
  }

  TestThread(chp);
}

static void cmd_reboot(BaseChannel *chp, int argc, char *argv[]){
  (void)argv;
  if (argc > 0) {
    chprintf(chp, "Usage: rboot\r\n");
    return;
  }
  chprintf(chp, "rebooting...\r\n");
  chThdSleepMilliseconds(100);
  
  WDTCTL = 0; /* Giving invalid value to watchdog cause reboot. */
}

static const ShellCommand commands[] = {
  {"mem", cmd_mem},
  {"threads", cmd_threads},
  {"test", cmd_test},
  {"reboot", cmd_reboot},
  {NULL, NULL}
};

static const ShellConfig shell_cfg[] = {
  {(BaseChannel *)&SD1, commands},
  {(BaseChannel *)&SD2, commands},
};

/*
 * Application entry point.
 */
int main(void) { 

  /* RTC initially stopped.*/
  WDTCTL = WDTPW | WDTHOLD;

  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  chSysInit();
  
  /*
   * The main() function becomes a thread here then the interrupts are
   * enabled and ChibiOS/RT goes live.
   */  

  /*
   * Activates the serial driver 2 using the driver default configuration.
   */
  sdStart(&SD1, NULL);
  sdStart(&SD2, NULL);
  
  /* Shell manager initialization.*/
  shellInit();
  static WORKING_AREA(waShell1, 512);
  shellCreateStatic(&shell_cfg[0], waShell1, sizeof(waShell1), NORMALPRIO);
  static WORKING_AREA(waShell2, 512);
  shellCreateStatic(&shell_cfg[1], waShell2, sizeof(waShell2), NORMALPRIO);

  /* Creates the blinker thread. */
  Thread *th[] = {
    chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO+1, Thread1, NULL),
    chThdCreateStatic(waThread2, sizeof(waThread2), NORMALPRIO+2, Thread2, NULL),
  };
  
  cnt_t idx;
  for( idx = 0; idx < sizeof(th)/sizeof(th[0]); ++idx ) {
      msg_t msg = chThdWait(th[idx]);
  } 

  /*
   * Normal main() thread activity, in this demo it does nothing except
   * sleeping in a loop.
   */
  while (TRUE) {
    chThdSleepMilliseconds(500);
  }
  return 0;
}