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A simple RTOS for microcontrollers based upon concepts of FreeRTOS

This file is part of SimpleRTOS2

by Isaac Marino Bavaresco

This is file "SimpleRTOS\SerialSAM3.c" 

/*============================================================================*/
/*============================================================================*/

/*============================================================================*/
/* BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER.

NOTE:  This driver is primarily to test the scheduler functionality.  It does
not effectively use the buffers or DMA and is therefore not intended to be
an example of an efficient driver. */
/*============================================================================*/
/*============================================================================*/
/*============================================================================*/
/*============================================================================*/
/*

Note: This file was severely modified from the original FreeRTOS version.

*/
/*============================================================================*/
/*============================================================================*/
/*============================================================================*/
/*============================================================================*/

#include <stdlib.h>
#include <usart.h>
#include <uart.h>
#include <sysclk.h>
#include <sam_gpio/sam_gpio.h>
#include <pio.h>

/*============================================================================*/

/* Scheduler include files. */
#include "Portable.h"
#include "Queue.h"
#include "PortSAM3Internals.h"
#include "PortableInternals.h"
#include "SimpleRTOSInternals.h"
#include "SerialSAM3.h"

/*============================================================================*/

#define SERIAL_PORTS     4
#define QUEUE_LENGTH    32

/*============================================================================*/

/* The queues used to communicate between tasks and ISR's. */
/*static*/ queue_t          QueuesRX[SERIAL_PORTS];
/*static*/ unsigned char    BuffersRX[SERIAL_PORTS][QUEUE_LENGTH];
/*static*/ queue_t          QueuesTX[SERIAL_PORTS];
/*static*/ unsigned char    BuffersTX[SERIAL_PORTS][QUEUE_LENGTH];

/*============================================================================*/
extern __attribute((weak)) void UserConfigUART1( void );
extern __attribute((weak)) void UserConfigUART2( void );
extern __attribute((weak)) void UserConfigUART3( void );
extern __attribute((weak)) void UserConfigUART4( void );
extern __attribute((weak)) void UserConfigUART5( void );
extern __attribute((weak)) void UserConfigUART6( void );
/*============================================================================*/
static IRQn_Type    IRQn[]      = { UART_IRQn, USART0_IRQn, USART1_IRQn, USART2_IRQn };
static int          IDs[]       = { ID_UART, ID_USART0, ID_USART1, ID_USART2 };

int SerialPortInitMinimal( unsigned int port, unsigned long BaudRate )
    {
    sam_usart_opt_t usart_settings =
        {
        115200,
        US_MR_CHRL_8_BIT,
        US_MR_PAR_NO,
        US_MR_NBSTOP_1_BIT,
        US_MR_CHMODE_NORMAL,
        0   /* This field is only used in IrDA mode. */
        };

    if( port < 1 || port > SERIAL_PORTS )
        return 0;

    /* Create the queues used by the com test task. */
    QueueInit( &QueuesRX[port-1], sizeof( signed char ), QUEUE_LENGTH, &BuffersRX[port-1], QUEUE_SWITCH_IN_ISR );
    QueueInit( &QueuesTX[port-1], sizeof( signed char ), QUEUE_LENGTH, &BuffersTX[port-1], QUEUE_SWITCH_NORMAL );

    usart_settings.baudrate = BaudRate;

    /* Enable the peripheral clock in the PMC. */
    sysclk_enable_peripheral_clock( IDs[port-1] );

    switch( port )
        {
        case 1:
            gpio_configure_pin( PIO_PA8_IDX, PIO_TYPE_PIO_PERIPH_A );
            gpio_configure_pin( PIO_PA9_IDX, PIO_TYPE_PIO_PERIPH_A );

            /* Enable the receiver and transmitter. */
            uart_enable_tx( UART );
            uart_enable_rx( UART );

            /* Configure and enable interrupt of USART. */
            irq_register_handler( IRQn[port-1], MAX_SYSCALL_INTERRUPT_PRIORITY );
            NVIC_EnableIRQ( IRQn[port-1] );
            uart_enable_interrupt( UART, US_IER_RXRDY );

            if( UserConfigUART1 != NULL )
                UserConfigUART1();
            break;
#if         SERIAL_PORTS >= 2
        case 2:
            gpio_configure_pin( PIO_PA10_IDX, PIO_TYPE_PIO_PERIPH_A );
            gpio_configure_pin( PIO_PA11_IDX, PIO_TYPE_PIO_PERIPH_A );

            /* Configure the USART. */
            usart_init_rs232( USART0, &usart_settings, sysclk_get_cpu_hz() );

            /* Enable the receiver and transmitter. */
            usart_enable_tx( USART0 );
            usart_enable_rx( USART0 );

            /* Configure and enable interrupt of USART. */
            irq_register_handler( IRQn[port-1], MAX_SYSCALL_INTERRUPT_PRIORITY );
            NVIC_EnableIRQ( IRQn[port-1] );
            usart_enable_interrupt( USART0, US_IER_RXRDY );

            if( UserConfigUART2 != NULL )
                UserConfigUART2();
            break;
#endif  /*  SERIAL_PORTS >= 2 */
#if         SERIAL_PORTS >= 3
        case 3:
            gpio_configure_pin( PIO_PA12_IDX, PIO_TYPE_PIO_PERIPH_A );
            gpio_configure_pin( PIO_PA13_IDX, PIO_TYPE_PIO_PERIPH_A );

            /* Configure the USART. */
            usart_init_rs232( USART1, &usart_settings, sysclk_get_cpu_hz() );

            /* Enable the receiver and transmitter. */
            usart_enable_tx( USART1 );
            usart_enable_rx( USART1 );

            /* Configure and enable interrupt of USART. */
            irq_register_handler( IRQn[port-1], MAX_SYSCALL_INTERRUPT_PRIORITY );
            NVIC_EnableIRQ( IRQn[port-1] );
            usart_enable_interrupt( USART1, US_IER_RXRDY );

            if( UserConfigUART3 != NULL )
                UserConfigUART3();
            break;
#endif  /*  SERIAL_PORTS >= 3 */
#if         SERIAL_PORTS >= 4
        case 4:
            gpio_configure_pin( PIO_PB21_IDX, PIO_TYPE_PIO_PERIPH_A );
            gpio_configure_pin( PIO_PB20_IDX, PIO_TYPE_PIO_PERIPH_A );

            /* Configure the USART. */
            usart_init_rs232( USART2, &usart_settings, sysclk_get_cpu_hz() );

            /* Enable the receiver and transmitter. */
            usart_enable_tx( USART2 );
            usart_enable_rx( USART2 );

            /* Configure and enable interrupt of USART. */
            irq_register_handler( IRQn[port-1], MAX_SYSCALL_INTERRUPT_PRIORITY );
            NVIC_EnableIRQ( IRQn[port-1] );
            usart_enable_interrupt( USART2, US_IER_RXRDY );

            if( UserConfigUART4 != NULL )
                UserConfigUART4();
            break;
#endif  /*  SERIAL_PORTS >= 4 */
        }

    return 1;
    }

/*============================================================================*/

int SerialReceive( unsigned int port, tickcount_t TimeToWait )
    {
    unsigned char   c;

    if( port < 1 || port > SERIAL_PORTS )
        return -2;

    if( QueueRead( &QueuesRX[port-1], &c, TimeToWait ))
        return (unsigned int)c;
    else
        return -1;
    }

/*============================================================================*/

int SerialWaitForTXCompletion( unsigned int port, tickcount_t TimeToWait )
    {
    return 0;
    }

/*============================================================================*/

int SerialTransmit( unsigned int port, signed char c, tickcount_t TimeToWait )
    {
    if( port < 1 || port > SERIAL_PORTS )
        return -2;

    /* Return false if after the block time there is no room on the Tx queue. */
    if( QueueWrite( &QueuesTX[port-1], &c, TimeToWait ) == 0 )
        return 0;
    else
        {
        if( port == 1 )
            uart_enable_interrupt( UART, US_IER_TXRDY );
#if         SERIAL_PORTS >= 2
        else if( port == 2 )
            usart_enable_interrupt( USART0, US_IER_TXRDY );
#endif  /*  SERIAL_PORTS >= 2 */
#if         SERIAL_PORTS >= 3
        else if( port == 3 )
            usart_enable_interrupt( USART1, US_IER_TXRDY );
#endif  /*  SERIAL_PORTS >= 3 */
#if         SERIAL_PORTS >= 4
        else if( port == 4 )
            usart_enable_interrupt( USART2, US_IER_TXRDY );
#endif  /*  SERIAL_PORTS >= 4 */


        return 1;
        }
    return 0;
    }

/*============================================================================*/
static void __attribute__((noinline)) UART_ISR( void )
    {
    unsigned long   Status;
    uint8_t     Aux;
    int             MustSwitch  = 0;
    static char     c;

    Status  = uart_get_status( UART ) & uart_get_interrupt_mask( UART );

    if( Status & US_CSR_RXRDY )
        {
        while( uart_get_status( UART ) & US_CSR_RXRDY )
            {
            /* Retrieve the received character and place it in the queue of
            received characters. */
            uart_read( UART, &Aux );
            c   = (unsigned char)Aux;

            if( QueueWriteFromISR( &QueuesRX[0], &c ) > 1 )
                MustSwitch  = 1;
            }
        }

    /* Are any Tx interrupts pending? */
    if( Status & US_CSR_TXRDY )
        {
        while( uart_get_status( UART ) & US_CSR_TXRDY )
            {
            int Result;
            Result = QueueReadFromISR( &QueuesTX[0], &c );
            if( Result > 0 )
                {
                /* Send the next character queued for Tx. */
                uart_write( UART, c );
                if( Result > 1 )
                    MustSwitch  = 1;
                }
            else
                {
                /* Queue empty, nothing to send. */
                uart_disable_interrupt( UART, US_IER_TXRDY );
                break;
                }
            }
        }

    if( MustSwitch )
        CurrentTask = ReadyTasks[HighestReadyPriority];
    }
/*============================================================================*/
void __attribute__((naked)) UART_Handler( void )
    {
    SAVE_CONTEXT();

    UART_ISR();

    RESTORE_CONTEXT();
    }

/*============================================================================*/

#if         SERIAL_PORTS >= 2

static void __attribute__((noinline)) USART_ISR( unsigned int usart )
    {
    static Usart * const Usarts[]   = { USART0, USART1, USART2 };
    Usart           *u;
    unsigned long   Status;
    uint32_t        Aux;
    int             MustSwitch  = 0;
    static char     c;

    if( usart >= sizeof Usarts / sizeof Usarts[0] )
        return;

    u   = Usarts[usart];

    Status  = usart_get_status( u ) & usart_get_interrupt_mask( u );

    if( Status & US_CSR_RXRDY )
        {
        while( usart_get_status( u ) & US_CSR_RXRDY )
            {
            /* Retrieve the received character and place it in the queue of
            received characters. */
            usart_read( u, &Aux );
            c   = (unsigned char)Aux;

            if( QueueWriteFromISR( &QueuesRX[usart+1], &c ) > 1 )
                MustSwitch  = 1;
            }
        }

    /* Are any Tx interrupts pending? */
    if( Status & US_CSR_TXRDY )
        {
        while( usart_get_status( u ) & US_CSR_TXRDY )
            {
            int Result;
            Result = QueueReadFromISR( &QueuesTX[usart+1], &c );
            if( Result > 0 )
                {
                /* Send the next character queued for Tx. */
                usart_write( u, c );
                if( Result > 1 )
                    MustSwitch  = 1;
                }
            else
                {
                /* Queue empty, nothing to send. */
                usart_disable_interrupt( u, US_IER_TXRDY );
                break;
                }
            }
        }

    if( MustSwitch )
        CurrentTask = ReadyTasks[HighestReadyPriority];
    }

/*============================================================================*/
void __attribute__((naked)) USART0_Handler( void )
    {
    SAVE_CONTEXT();

    USART_ISR( 0 );

    RESTORE_CONTEXT();
    }

#endif  /*  SERIAL_PORTS >= 2 */

/*============================================================================*/

#if         SERIAL_PORTS >= 3

void __attribute__((naked)) USART1_Handler( void )
    {
    SAVE_CONTEXT();

    USART_ISR( 1 );

    RESTORE_CONTEXT();
    }

#endif  /*  SERIAL_PORTS >= 3 */

/*============================================================================*/

#if         SERIAL_PORTS >= 4

void __attribute__((naked)) USART2_Handler( void )
    {
    SAVE_CONTEXT();

    USART_ISR( 2 );

    RESTORE_CONTEXT();
    }

#endif  /*  SERIAL_PORTS >= 4 */

/*============================================================================*/
file: /Techref/member/IMB-yahoo-J86/SerialSAM3.c.htm, 13KB, , updated: 2016/1/14 19:51, local time: 2024/11/25 23:01, owner: IMB-yahoo-J86,
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