at91sam7s.c

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#include <cfg/macros.h>
#include <drv/timer.h>
#include <drv/sysirq_at91.h>
#include <kern/proc.h>
#include <drv/ser.h>
#include <cfg/macros.h>
#include <io/arm.h>

Timer leds_timer;
KFileSerial ser_fd;

static void leds_toggle(void)
{
    uint8_t a = (~PIOA_ODSR & 0x0f);

    if (a)
    {
        PIOA_SODR = a;
        PIOA_CODR = a << 1;
    }
    else
    {
        PIOA_SODR  =  0x0f;
        /* turn first led on */
        PIOA_CODR  = 0x00000001;
    }

    /* Wait for interval time */
    timer_setDelay(&leds_timer, ms_to_ticks(100));
    timer_add(&leds_timer);
}


int main(void)
{
    char msg[]="BeRTOS, be fast be beatiful be realtime";
    kdbg_init();
    sysirq_init();
    timer_init();

    proc_init();
    ASSERT(!IRQ_ENABLED());

    /* Open the main communication port */
    ser_init(&ser_fd, 0);
    ser_setbaudrate(&ser_fd, 115200);
    ser_setparity(&ser_fd, SER_PARITY_NONE);


    IRQ_ENABLE;
    ASSERT(IRQ_ENABLED());

    /* Disable all pullups */
    PIOA_PUDR = 0xffffffff;
    /* Set PA0..3 connected to PIOA */
    PIOA_PER  = 0x0000001f;
    /* Set PA0..3 as output */
    PIOA_OER  = 0x0000001f;
    /* Disable multidrive on all pins */
    PIOA_MDDR = 0x0000001f;

    /* Set PA0..3 to 1 to turn off leds */
    PIOA_SODR  = 0x0000000f;
    /* turn first led on */
    PIOA_CODR  = 0x00000001;

    timer_set_event_softint(&leds_timer, (Hook)leds_toggle, 0);
    timer_setDelay(&leds_timer, ms_to_ticks(100));
    timer_add(&leds_timer);

    // Main loop
    for(;;)
    {
        proc_test();
        kfile_printf(&ser_fd.fd, "From serial 0: %s\r\n", msg);
    }
    return 0;
}