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merge default into stable for release v1.03
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| /******************************************************************************* | ||
| * Description: TODO | ||
| * | ||
| ******************************************************************************/ | ||
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| #ifndef _EXAMPLE_ARCH_H | ||
| #define _EXAMPLE_ARCH_H | ||
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| /******************************************************************************* | ||
| * INCLUDED FILES | ||
| ******************************************************************************/ | ||
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| /******************************************************************************* | ||
| * PUBLIC TYPES | ||
| ******************************************************************************/ | ||
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| /******************************************************************************* | ||
| * GLOBAL VARIABLES | ||
| ******************************************************************************/ | ||
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| /******************************************************************************* | ||
| * DEFINITIONS | ||
| ******************************************************************************/ | ||
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| //-- instruction that causes debugger to halt | ||
| #define SOFTWARE_BREAK() __asm__ volatile ("sdbbp 0") | ||
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| /******************************************************************************* | ||
| * PUBLIC FUNCTION PROTOTYPES | ||
| ******************************************************************************/ | ||
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| #endif // _EXAMPLE_ARCH_H | ||
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| /******************************************************************************* | ||
| * end of file | ||
| ******************************************************************************/ | ||
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| /** | ||
| * TNeoKernel PIC32 basic example | ||
| */ | ||
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| /******************************************************************************* | ||
| * INCLUDED FILES | ||
| ******************************************************************************/ | ||
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| #include <xc.h> | ||
| #include <plib.h> | ||
| #include <stdint.h> | ||
| #include "tn.h" | ||
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| #include "example_arch.h" | ||
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| /******************************************************************************* | ||
| * PIC32 HARDWARE CONFIGURATION | ||
| ******************************************************************************/ | ||
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| #pragma config FNOSC = PRIPLL // Oscillator Selection | ||
| #pragma config FPLLIDIV = DIV_4 // PLL Input Divider (PIC32 Starter Kit: use divide by 2 only) | ||
| #pragma config FPLLMUL = MUL_20 // PLL Multiplier | ||
| #pragma config FPLLODIV = DIV_1 // PLL Output Divider | ||
| #pragma config FPBDIV = DIV_2 // Peripheral Clock divisor | ||
| #pragma config FWDTEN = OFF // Watchdog Timer | ||
| #pragma config WDTPS = PS1 // Watchdog Timer Postscale | ||
| #pragma config FCKSM = CSDCMD // Clock Switching & Fail Safe Clock Monitor | ||
| #pragma config OSCIOFNC = OFF // CLKO Enable | ||
| #pragma config POSCMOD = HS // Primary Oscillator | ||
| #pragma config IESO = OFF // Internal/External Switch-over | ||
| #pragma config FSOSCEN = OFF // Secondary Oscillator Enable | ||
| #pragma config CP = OFF // Code Protect | ||
| #pragma config BWP = OFF // Boot Flash Write Protect | ||
| #pragma config PWP = OFF // Program Flash Write Protect | ||
| #pragma config ICESEL = ICS_PGx2 // ICE/ICD Comm Channel Select | ||
| #pragma config DEBUG = OFF // Debugger Disabled for Starter Kit | ||
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| /******************************************************************************* | ||
| * MACROS | ||
| ******************************************************************************/ | ||
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| //-- system frequency | ||
| #define SYS_FREQ 80000000UL | ||
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| //-- peripheral bus frequency | ||
| #define PB_FREQ 40000000UL | ||
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| //-- kernel ticks (system timer) frequency | ||
| #define SYS_TMR_FREQ 1000 | ||
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| //-- system timer prescaler | ||
| #define SYS_TMR_PRESCALER T5_PS_1_8 | ||
| #define SYS_TMR_PRESCALER_VALUE 8 | ||
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| //-- system timer period (auto-calculated) | ||
| #define SYS_TMR_PERIOD \ | ||
| (PB_FREQ / SYS_TMR_PRESCALER_VALUE / SYS_TMR_FREQ) | ||
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| //-- idle task stack size, in words | ||
| #define IDLE_TASK_STACK_SIZE (TN_MIN_STACK_SIZE + 16) | ||
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| //-- interrupt stack size, in words | ||
| #define INTERRUPT_STACK_SIZE (TN_MIN_STACK_SIZE + 64) | ||
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| /******************************************************************************* | ||
| * EXTERN FUNCTION PROTOTYPE | ||
| ******************************************************************************/ | ||
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| //-- defined by particular example: create first application task(s) | ||
| extern void init_task_create(void); | ||
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| /******************************************************************************* | ||
| * DATA | ||
| ******************************************************************************/ | ||
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| //-- Allocate arrays for stacks: stack for idle task | ||
| // and for interrupts are the requirement of the kernel; | ||
| // others are application-dependent. | ||
| // | ||
| // We use convenience macro TN_STACK_ARR_DEF() for that. | ||
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| TN_STACK_ARR_DEF(idle_task_stack, IDLE_TASK_STACK_SIZE); | ||
| TN_STACK_ARR_DEF(interrupt_stack, INTERRUPT_STACK_SIZE); | ||
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| /******************************************************************************* | ||
| * ISRs | ||
| ******************************************************************************/ | ||
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| /** | ||
| * system timer ISR | ||
| */ | ||
| tn_soft_isr(_TIMER_5_VECTOR) | ||
| { | ||
| INTClearFlag(INT_T5); | ||
| tn_tick_int_processing(); | ||
| } | ||
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| /******************************************************************************* | ||
| * FUNCTIONS | ||
| ******************************************************************************/ | ||
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| /** | ||
| * Hardware init: called from main() with interrupts disabled | ||
| */ | ||
| void hw_init(void) | ||
| { | ||
| SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE); | ||
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| //turn off ADC function for all pins | ||
| AD1PCFG = 0xffffffff; | ||
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| //-- enable timer5 interrupt | ||
| OpenTimer5((0 | ||
| | T5_ON | ||
| | T5_IDLE_STOP | ||
| | SYS_TMR_PRESCALER | ||
| | T5_SOURCE_INT | ||
| ), | ||
| (SYS_TMR_PERIOD - 1) | ||
| ); | ||
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| //-- set timer5 interrupt priority to 2, enable it | ||
| INTSetVectorPriority(INT_TIMER_5_VECTOR, INT_PRIORITY_LEVEL_2); | ||
| INTSetVectorSubPriority(INT_TIMER_5_VECTOR, INT_SUB_PRIORITY_LEVEL_0); | ||
| INTClearFlag(INT_T5); | ||
| INTEnable(INT_T5, INT_ENABLED); | ||
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| //-- TNeoKernel PIC32 requirement: | ||
| // set up the software interrupt 0 with a priority of 1, subpriority 0 | ||
| // | ||
| // NOTE: the ISR is declared in kernel-provided file | ||
| // tn_arch_pic32_int_vec1.S, which should be included in the application | ||
| // project itself, in order to dispatch vector correctly. | ||
| INTSetVectorPriority(INT_CORE_SOFTWARE_0_VECTOR, INT_PRIORITY_LEVEL_1); | ||
| INTSetVectorSubPriority(INT_CORE_SOFTWARE_0_VECTOR, INT_SUB_PRIORITY_LEVEL_0); | ||
| INTClearFlag(INT_CS0); | ||
| INTEnable(INT_CS0, INT_ENABLED); | ||
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| //-- enable multi-vectored interrupt mode | ||
| INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR); | ||
| } | ||
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| //-- idle callback that is called periodically from idle task | ||
| void idle_task_callback (void) | ||
| { | ||
| } | ||
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| int32_t main(void) | ||
| { | ||
| #ifndef PIC32_STARTER_KIT | ||
| /*The JTAG is on by default on POR. A PIC32 Starter Kit uses the JTAG, but | ||
| for other debug tool use, like ICD 3 and Real ICE, the JTAG should be off | ||
| to free up the JTAG I/O */ | ||
| DDPCONbits.JTAGEN = 0; | ||
| #endif | ||
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| //-- unconditionally disable interrupts | ||
| tn_arch_int_dis(); | ||
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| //-- init hardware | ||
| hw_init(); | ||
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| //-- call to tn_sys_start() never returns | ||
| tn_sys_start( | ||
| idle_task_stack, | ||
| IDLE_TASK_STACK_SIZE, | ||
| interrupt_stack, | ||
| INTERRUPT_STACK_SIZE, | ||
| init_task_create, | ||
| idle_task_callback | ||
| ); | ||
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| //-- unreachable | ||
| return 1; | ||
| } | ||
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| void __attribute__((naked, nomips16, noreturn)) _general_exception_handler(void) | ||
| { | ||
| SOFTWARE_BREAK(); | ||
| for (;;) ; | ||
| } | ||
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