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/*
* FreeRTOS Kernel V10.3.0
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
/* Hardware specifics. */
#include "iodefine.h"
#include "lcd.h"
/* States used by the LCD tasks. */
#define lcdRIGHT_TO_LEFT 0U
#define lcdLEFT_TO_RIGHT 1U
#define lcdRUNNING 0U
/* Characters on each line. */
#define lcdSTRING_LEN 8
/* Commands sent from the IRQ to the task controlling the second line of the
display. */
#define lcdSHIFT_BACK_COMMAND 0x01U
#define lcdSTART_STOP_COMMAND 0x02U
#define lcdSHIFT_FORWARD_COMMAND 0x03U
/* The length of the queue used to send commands from the ISRs. */
#define lcdCOMMAND_QUEUE_LENGTH 32U
/* Defines the minimum time that must pass between consecutive button presses
to accept a button press as a unique press rather than just a bounce. */
#define lcdMIN_TIME_BETWEEN_INTERRUPTS_MS ( 125UL / portTICK_PERIOD_MS )
/* Button interrupt handlers. */
#pragma interrupt ( prvIRQ1_Handler( vect = 65, enable ) )
static void prvIRQ1_Handler( void );
#pragma interrupt ( prvIRQ3_Handler( vect = 67, enable ) )
static void prvIRQ3_Handler( void );
#pragma interrupt ( prvIRQ4_Handler(vect = 68, enable ) )
static void prvIRQ4_Handler( void );
/*
* Setup the IO needed for the buttons to generate interrupts.
*/
static void prvSetupButtonIOAndInterrupts( void );
/*
* A task that simply scrolls a string from left to right, then back from the
* right to the left. This is done on the first line of the display.
*/
static void prvLCDTaskLine1( void *pvParameters );
/*
* If no buttons are pushed, then this task acts as per prvLCDTaskLine1(), but
* using the second line of the display.
*
* Using the buttons, it is possible to start and stop the scrolling of the
* text. Once the scrolling has been stopped, other buttons can be used to
* manually scroll the text either left or right.
*/
static void prvLCDTaskLine2( void *pvParameters );
/*
* Looks at the direction the string is currently being scrolled in, and moves
* the index into the portion of the string that can be seen on the display
* either forward or backward as appropriate.
*/
static prvScrollString( unsigned char *pucDirection, unsigned short *pusPosition, size_t xStringLength );
/*
* Displays lcdSTRING_LEN characters starting from pcString on the line of the
* display requested by ucLine.
*/
static void prvDisplayNextString( unsigned char ucLine, char *pcString );
/*
* Called from the IRQ interrupts, which are generated on button pushes. Send
* ucCommand to the task on the button command queue if
* lcdMIN_TIME_BETWEEN_INTERRUPTS_MS milliseconds have passed since the button
* was last pushed (for debouncing).
*/
static portBASE_TYPE prvSendCommandOnDebouncedInput( TickType_t *pxTimeLastInterrupt, unsigned char ucCommand );
/*-----------------------------------------------------------*/
/* The queue used to pass commands from the button interrupt handlers to the
prvLCDTaskLine2() task. */
static QueueHandle_t xButtonCommandQueue = NULL;
/* The mutex used to ensure only one task writes to the display at any one
time. */
static SemaphoreHandle_t xLCDMutex = NULL;
/* The string that is scrolled up and down the first line of the display. */
static const char cDataString1[] = " http://www.FreeRTOS.org ";
/* The string that is scrolled/nudged up and down the second line of the
display. */
static const char cDataString2[] = "........Rx210 Highlights....1.56 DMips/MHz....DSP functions....1.62V-5.5V operation....200 uA/MHz....Up to 512 kBytes Flash....up to 64 kbytes SRAM....EE Dataflash with 100k w/e....1.3 uA in Real Time Clock Mode....Powerful Motor control timer....4 x 16-bit timers....4 x 8-bit timers....Full Real Time Clock calendar with calibration and alarm functions....Up to 16 channels 1 uS 12-bit ADC, with Dual group programmable SCAN, 3 sample and holds, sample accumulate function....DMA controller....Data Transfer Controller....Up to 9 serial Channels....Up to 6 USARTs ( with Simple I2C / SPI )....USART ( with unique Frame based protocol support )....Multimaster IIC....RSPI....Temperature Sensor....Event Link Controller....Comparators....Safety features include CRC....March X....Dual watchdog Timers with window and independent oscillator....ADC self test....I/O Pin Test....Supported with E1 on chip debugger and RSK210 evaluation system....Rx210 Highlights........";
/* Structures passed into the two tasks to inform them which line to use on the
display, how long to delay for, and which string to use. */
struct _LCD_Params xLCDLine1 =
{
LCD_LINE1, 215, ( char * ) cDataString1
};
struct _LCD_Params xLCDLine2 =
{
LCD_LINE2, 350, ( char * ) cDataString2
};
/*-----------------------------------------------------------*/
void vStartButtonAndLCDDemo( void )
{
prvSetupButtonIOAndInterrupts();
InitialiseDisplay();
/* Create the mutex used to guard the LCD. */
xLCDMutex = xSemaphoreCreateMutex();
configASSERT( xLCDMutex );
/* Create the queue used to pass commands from the IRQ interrupts to the
prvLCDTaskLine2() task. */
xButtonCommandQueue = xQueueCreate( lcdCOMMAND_QUEUE_LENGTH, sizeof( unsigned char ) );
configASSERT( xButtonCommandQueue );
/* Start the two tasks as described at the top of this file. */
xTaskCreate( prvLCDTaskLine1, "LCD1", configMINIMAL_STACK_SIZE * 3, ( void * ) &xLCDLine1, tskIDLE_PRIORITY + 1, NULL );
xTaskCreate( prvLCDTaskLine2, "LCD2", configMINIMAL_STACK_SIZE * 3, ( void * ) &xLCDLine2, tskIDLE_PRIORITY + 2, NULL );
}
/*-----------------------------------------------------------*/
static void prvLCDTaskLine1( void *pvParameters )
{
struct _LCD_Params *pxLCDParamaters = ( struct _LCD_Params * ) pvParameters;
unsigned short usPosition = 0U;
unsigned char ucDirection = lcdRIGHT_TO_LEFT;
for( ;; )
{
vTaskDelay( pxLCDParamaters->Speed / portTICK_PERIOD_MS );
/* Write the string. */
prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
/* Move the string in whichever direction the scroll is currently going
in. */
prvScrollString( &ucDirection, &usPosition, strlen( pxLCDParamaters->ptr_str ) );
}
}
/*-----------------------------------------------------------*/
static void prvLCDTaskLine2( void *pvParameters )
{
struct _LCD_Params *pxLCDParamaters = ( struct _LCD_Params * ) pvParameters;
unsigned short usPosition = 0U;
unsigned char ucDirection = lcdRIGHT_TO_LEFT, ucStatus = lcdRUNNING, ucQueueData;
TickType_t xDelayTicks = ( pxLCDParamaters->Speed / portTICK_PERIOD_MS );
for(;;)
{
/* Wait for a message from an IRQ handler. */
if( xQueueReceive( xButtonCommandQueue, &ucQueueData, xDelayTicks ) != pdPASS )
{
/* A message was not received before xDelayTicks ticks passed, so
generate the next string to display and display it. */
prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
/* Move the string in whichever direction the scroll is currently
going in. */
prvScrollString( &ucDirection, &usPosition, strlen( pxLCDParamaters->ptr_str ) );
}
else
{
/* A command was received. Process it. */
switch( ucQueueData )
{
case lcdSTART_STOP_COMMAND :
/* If the LCD is running, top it. If the LCD is stopped, start
it. */
ucStatus = !ucStatus;
if( ucStatus == lcdRUNNING )
{
xDelayTicks = ( pxLCDParamaters->Speed / portTICK_PERIOD_MS );
}
else
{
xDelayTicks = portMAX_DELAY;
}
break;
case lcdSHIFT_BACK_COMMAND :
if( ucStatus != lcdRUNNING )
{
/* If not already at the start of the display.... */
if( usPosition != 0U )
{
/* ....move the display position back by one char. */
usPosition--;
prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
}
}
break;
case lcdSHIFT_FORWARD_COMMAND :
if( ucStatus != lcdRUNNING )
{
/* If not already at the end of the display.... */
if( usPosition != ( strlen( pxLCDParamaters->ptr_str ) - ( lcdSTRING_LEN - 1 ) ) )
{
/* ....move the display position forward by one
char. */
usPosition++;
prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
}
}
break;
}
}
}
}
/*-----------------------------------------------------------*/
void prvSetupButtonIOAndInterrupts( void )
{
/* Configure SW 1-3 pin settings */
PORT3.PDR.BIT.B1 = 0; /* Switch 1 - Port 3.1 - IRQ1 */
PORT3.PDR.BIT.B3 = 0; /* Switch 2 - Port 3.3 - IRQ3 */
PORT3.PDR.BIT.B4 = 0; /* Switch 3 - Port 3.4 - IRQ4 */
PORT3.PMR.BIT.B1 = 1;
PORT3.PMR.BIT.B3 = 1;
PORT3.PMR.BIT.B4 = 1;
MPC.PWPR.BIT.B0WI = 0; /* Writing to the PFSWE bit is enabled */
MPC.PWPR.BIT.PFSWE = 1; /* Writing to the PFS register is enabled */
MPC.P31PFS.BIT.ISEL = 1;
MPC.P33PFS.BIT.ISEL = 1;
MPC.P34PFS.BIT.ISEL = 1;
/* IRQ1 */
ICU.IER[ 0x08 ].BIT.IEN1 = 1;
ICU.IPR[ 65 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
ICU.IR[ 65 ].BIT.IR = 0;
ICU.IRQCR[ 1 ].BIT.IRQMD = 2; /* Rising edge */
/* IRQ3 */
ICU.IER[ 0x08 ].BIT.IEN3 = 1;
ICU.IPR[ 67 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
ICU.IR[ 67 ].BIT.IR = 0;
ICU.IRQCR[ 3 ].BIT.IRQMD = 2; /* Rising edge */
/* IRQ4 */
ICU.IER[ 0x08 ].BIT.IEN4 = 1;
ICU.IPR[ 68 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
ICU.IR[ 68 ].BIT.IR = 0;
ICU.IRQCR[ 4 ].BIT.IRQMD = 2; /* Rising edge */
}
/*-----------------------------------------------------------*/
static prvScrollString( unsigned char *pucDirection, unsigned short *pusPosition, size_t xStringLength )
{
/* Check which way to scroll. */
if( *pucDirection == lcdRIGHT_TO_LEFT )
{
/* Move to the next character. */
( *pusPosition )++;
/* Has the end of the string been reached? */
if( ( *pusPosition ) == ( xStringLength - ( lcdSTRING_LEN - 1 ) ) )
{
/* Switch direction. */
*pucDirection = lcdLEFT_TO_RIGHT;
( *pusPosition )--;
}
}
else
{
/* Move (backward) to the next character. */
( *pusPosition )--;
if( *pusPosition == 0U )
{
/* Switch Direction. */
*pucDirection = lcdRIGHT_TO_LEFT;
}
}
}
/*-----------------------------------------------------------*/
static void prvDisplayNextString( unsigned char ucLine, char *pcString )
{
static char cSingleLine[ lcdSTRING_LEN + 1 ];
xSemaphoreTake( xLCDMutex, portMAX_DELAY );
strncpy( cSingleLine, pcString, lcdSTRING_LEN );
DisplayString( ucLine, cSingleLine );
xSemaphoreGive( xLCDMutex );
}
/*-----------------------------------------------------------*/
static portBASE_TYPE prvSendCommandOnDebouncedInput( TickType_t *pxTimeLastInterrupt, unsigned char ucCommand )
{
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
TickType_t xCurrentTickCount;
/* Check the time now for debouncing purposes. */
xCurrentTickCount = xTaskGetTickCountFromISR();
/* Has enough time passed since the button was last push to accept it as a
unique press? */
if( ( xCurrentTickCount - *pxTimeLastInterrupt ) > lcdMIN_TIME_BETWEEN_INTERRUPTS_MS )
{
xQueueSendToBackFromISR( xButtonCommandQueue, &ucCommand, &xHigherPriorityTaskWoken );
}
/* Remember the time now, so debounce can be performed again on the next
interrupt. */
*pxTimeLastInterrupt = xCurrentTickCount;
return xHigherPriorityTaskWoken;
}
/*-----------------------------------------------------------*/
static void prvIRQ1_Handler( void )
{
static TickType_t xTimeLastInterrupt = 0UL;
static const unsigned char ucCommand = lcdSHIFT_BACK_COMMAND;
portBASE_TYPE xHigherPriorityTaskWoken;
xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
}
/*-----------------------------------------------------------*/
static void prvIRQ3_Handler(void)
{
static TickType_t xTimeLastInterrupt = 0UL;
static const unsigned char ucCommand = lcdSTART_STOP_COMMAND;
portBASE_TYPE xHigherPriorityTaskWoken;
xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
}
/*-----------------------------------------------------------*/
static void prvIRQ4_Handler(void)
{
static TickType_t xTimeLastInterrupt = 0UL;
static const unsigned char ucCommand = lcdSHIFT_FORWARD_COMMAND;
portBASE_TYPE xHigherPriorityTaskWoken;
xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
}