at91sam7.c

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#include "cfg/cfg_ser.h"
#include <cfg/macros.h>

#include <kern/proc.h>

#include <cpu/detect.h>

#include <drv/timer.h>
#include <drv/sysirq_at91.h>
#include <drv/ser.h>

#include <io/arm.h>

Timer leds_timer;
Serial ser_fd;

enum
{
    FORWARD,
    BACKWARD,
};

int direction = FORWARD;

static void leds_init(void)
{
    #if CPU_ARM_AT91SAM7X256
        /* Set PB19..22 connected to PIOB */
        PIOB_PER  = 0x780000;
        /* Set PB19..22 as output */
        PIOB_OER  = 0x780000;

        /* Set PB19..22 to 1 to turn off leds */
        PIOB_SODR  = 0x780000;

        /* turn first led on (PB19) */
        PIOB_CODR  = 0x80000;
    #elif CPU_ARM_AT91SAM7S256
        /* Set PA0..3 connected to PIOA */
        PIOA_PER  = 0x0000001f;
        /* Set PA0..3 as output */
        PIOA_OER  = 0x0000001f;

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

#if CPU_ARM_AT91SAM7X256
    #define GET_PIO_STATUS()  (~PIOB_ODSR & 0x780000)
    #define LAST_LED                        0x200000
    #define FIRST_LED                       0x100000
    #define SET_PIO_BITS                    PIOB_SODR
    #define CLEAR_PIO_BITS                  PIOB_CODR
    #define AT91SAM7_MSG      "BeRTOS is running on AT91SAM7X256..\n"
#elif CPU_ARM_AT91SAM7S256
    #define GET_PIO_STATUS()  (~PIOA_ODSR & 0x0000000f)
    #define LAST_LED                        0x00000004
    #define FIRST_LED                       0x00000002
    #define SET_PIO_BITS                    PIOA_SODR
    #define CLEAR_PIO_BITS                  PIOA_CODR
    #define AT91SAM7_MSG      "BeRTOS is running on AT91SAM7S256..\n"
#endif

/*
 * Knight Rider leds effect..
 */
static void leds_toggle(void)
{
    uint32_t led_status = GET_PIO_STATUS();

    // Turn on led in forward direction
    if (direction == FORWARD)
    {
        if(led_status == LAST_LED)
            direction = BACKWARD;

        SET_PIO_BITS = led_status;
        CLEAR_PIO_BITS = led_status << 1;
    }
    // Turn on led in backward direction
    else if (direction == BACKWARD)
    {
        if(led_status == FIRST_LED)
            direction = FORWARD;

        SET_PIO_BITS = led_status;
        CLEAR_PIO_BITS = led_status >> 1;
    }

    /* 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();
    timer_init();
    proc_init();
    leds_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());

    /*
     * Register timer and arm timer interupt.
     */
    timer_setSoftint(&leds_timer, (Hook)leds_toggle, 0);
    timer_setDelay(&leds_timer, ms_to_ticks(100));
    timer_add(&leds_timer);

    /*
     * Run process test.
     */
    if(!proc_testRun())
        kfile_printf(&ser_fd.fd, "ProcTest..ok!\n");
    else
        kfile_printf(&ser_fd.fd, "ProcTest..FAIL!\n");


    kputs(AT91SAM7_MSG);

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