| 1 | #include "r2ca.h"
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| 2 | #include "r2ca_lib.h"
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| 3 |
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| 4 | extern "C" {
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| 5 | extern void yield(void);
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| 6 | extern void r2ca_ena_int(uint_t intno);
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| 7 | extern void r2ca_dis_int(uint_t intno);
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| 8 | }
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| 9 |
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| 10 | #ifdef R2CA_ENABLE_PROFILING
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| 11 | volatile uint32_t r2ca_idle_result;
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| 12 | volatile uint32_t r2ca_isr_result;
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| 13 | volatile uint32_t r2ca_dispatch_result;
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| 14 | volatile uint32_t r2ca_timer_isr_result;
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| 15 | volatile uint32_t r2ca_usb_isr_result;
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| 16 | volatile uint32_t r2ca_sercom0_isr_result;
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| 17 | volatile uint32_t r2ca_sercom2_isr_result;
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| 18 | volatile uint32_t r2ca_sercom3_isr_result;
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| 19 | volatile uint32_t r2ca_sercom4_isr_result;
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| 20 | volatile uint32_t r2ca_sercom5_isr_result;
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| 21 | volatile uint32_t r2ca_eic_isr_result;
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| 22 | volatile uint32_t r2ca_tc5_isr_result;
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| 23 | volatile uint32_t r2ca_rtc_isr_result;
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| 24 |
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| 25 | static volatile uint32_t r2ca_idle_cnt;
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| 26 | static volatile uint32_t r2ca_isr_cnt;
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| 27 | static volatile uint32_t r2ca_dispatch_cnt;
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| 28 | static volatile uint32_t r2ca_timer_isr_cnt;
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| 29 | static volatile uint32_t r2ca_usb_isr_cnt;
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| 30 | static volatile uint32_t r2ca_sercom0_isr_cnt;
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| 31 | static volatile uint32_t r2ca_sercom2_isr_cnt;
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| 32 | static volatile uint32_t r2ca_sercom3_isr_cnt;
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| 33 | static volatile uint32_t r2ca_sercom4_isr_cnt;
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| 34 | static volatile uint32_t r2ca_sercom5_isr_cnt;
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| 35 | static volatile uint32_t r2ca_eic_isr_cnt;
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| 36 | static volatile uint32_t r2ca_tc5_isr_cnt;
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| 37 | static volatile uint32_t r2ca_rtc_isr_cnt;
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| 38 | static volatile uint32_t r2ca_profiling_cyccnt;
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| 39 | #endif /* R2CA_ENABLE_PROFILING */
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| 40 |
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| 41 | Inline void
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| 42 | r2ca_di(void){
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| 43 | Asm("cpsid f":::"memory");
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| 44 | }
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| 45 |
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| 46 | /*
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| 47 | * FAULTMASKÌNA
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| 48 | */
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| 49 | Inline void
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| 50 | r2ca_ei(void){
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| 51 | Asm("cpsie f":::"memory");
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| 52 | }
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| 53 |
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| 54 | void
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| 55 | r2ca_init(intptr_t exinf)
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| 56 | {
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| 57 | init(); //wiring.c
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| 58 | }
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| 59 |
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| 60 | void
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| 61 | r2ca_ena_int(uint_t intno) {
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| 62 | if (ena_int(intno + 16) != E_OK) {
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| 63 | while(1); //ToDo
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| 64 | }
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| 65 | }
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| 66 |
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| 67 | void
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| 68 | r2ca_dis_int(uint_t intno) {
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| 69 | if (dis_int(intno + 16) != E_OK) {
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| 70 | while(1); //ToDo
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| 71 | }
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| 72 | }
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| 73 |
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| 74 | extern const DeviceVectors exception_table;
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| 75 |
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| 76 | static uint32_t time_slice = 0;
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| 77 |
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| 78 | /*
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| 79 | * Cyclic Handler
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| 80 | */
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| 81 | void
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| 82 | r2ca_CycHandler(intptr_t exinf)
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| 83 | {
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| 84 | int i;
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| 85 | if (++time_slice == R2CA_RR_SCHEDULE_CYCLE) {
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| 86 | time_slice = 0;
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| 87 | for(i = 1; i < 16; i++){
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| 88 | if (R2CA_RR_SCHEDULE_PRI & (1 << i)) {
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| 89 | irot_rdq(i);
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| 90 | }
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| 91 | }
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| 92 | }
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| 93 | #ifdef R2CA_ENABLE_PROFILING
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| 94 | r2ca_di();
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| 95 | r2ca_isr_cnt++;
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| 96 | r2ca_timer_isr_cnt++;
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| 97 | r2ca_profiling_cyccnt++;
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| 98 | if(r2ca_profiling_cyccnt == R2CA_PROFILING_CYC_MS){
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| 99 | r2ca_idle_result= r2ca_idle_cnt;
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| 100 | r2ca_isr_result= r2ca_isr_cnt;
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| 101 | r2ca_dispatch_result= r2ca_dispatch_cnt;
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| 102 | r2ca_timer_isr_result= r2ca_timer_isr_cnt;
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| 103 | r2ca_usb_isr_result= r2ca_usb_isr_cnt;
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| 104 | r2ca_sercom0_isr_result= r2ca_sercom0_isr_cnt;
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| 105 | r2ca_sercom2_isr_result= r2ca_sercom2_isr_cnt;
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| 106 | r2ca_sercom3_isr_result= r2ca_sercom3_isr_cnt;
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| 107 | r2ca_sercom4_isr_result= r2ca_sercom4_isr_cnt;
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| 108 | r2ca_sercom5_isr_result= r2ca_sercom5_isr_cnt;
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| 109 | r2ca_eic_isr_result= r2ca_eic_isr_cnt;
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| 110 | r2ca_tc5_isr_result= r2ca_tc5_isr_cnt;
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| 111 | r2ca_rtc_isr_result= r2ca_rtc_isr_cnt;
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| 112 | r2ca_idle_cnt = 0;
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| 113 | r2ca_isr_cnt = 0;
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| 114 | r2ca_dispatch_cnt = 0;
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| 115 | r2ca_timer_isr_cnt = 0;
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| 116 | r2ca_usb_isr_cnt = 0;
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| 117 | r2ca_sercom0_isr_cnt = 0;
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| 118 | r2ca_sercom2_isr_cnt = 0;
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| 119 | r2ca_sercom3_isr_cnt = 0;
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| 120 | r2ca_sercom4_isr_cnt = 0;
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| 121 | r2ca_sercom5_isr_cnt = 0;
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| 122 | r2ca_eic_isr_cnt = 0;
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| 123 | r2ca_tc5_isr_cnt = 0;
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| 124 | r2ca_rtc_isr_cnt = 0;
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| 125 | r2ca_profiling_cyccnt = 0;
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| 126 | }
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| 127 | r2ca_ei();
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| 128 | #endif /* R2CA_ENABLE_PROFILING */
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| 129 | ((void(*)(void))(exception_table.pfnSysTick_Handler))();
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| 130 | }
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| 131 |
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| 132 | /*
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| 133 | * Interrupt Handler
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| 134 | */
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| 135 | void
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| 136 | r2ca_USB_Handler(void)
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| 137 | {
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| 138 | #ifdef R2CA_ENABLE_PROFILING
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| 139 | r2ca_di();
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| 140 | r2ca_usb_isr_cnt++;
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| 141 | r2ca_isr_cnt++;
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| 142 | r2ca_ei();
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| 143 | #endif /* R2CA_ENABLE_PROFILING */
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| 144 | ((void(*)(void))(exception_table.pfnUSB_Handler))();
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| 145 | }
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| 146 |
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| 147 | void
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| 148 | r2ca_SERCOM0_Handler(void)
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| 149 | {
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| 150 | #ifdef R2CA_ENABLE_PROFILING
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| 151 | r2ca_di();
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| 152 | r2ca_sercom0_isr_cnt++;
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| 153 | r2ca_isr_cnt++;
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| 154 | r2ca_ei();
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| 155 | #endif /* R2CA_ENABLE_PROFILING */
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| 156 | ((void(*)(void))(exception_table.pfnSERCOM0_Handler))();
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| 157 | }
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| 158 |
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| 159 | #ifdef R2CA_USE_SERIAL3
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| 160 | #define PIN_SERIAL3_RX 49 /* D5 */
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| 161 | #define PIN_SERIAL3_TX 48 /* D4 */
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| 162 |
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| 163 | Uart Serial3(&sercom2, PIN_SERIAL3_RX, PIN_SERIAL3_TX);
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| 164 |
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| 165 | void
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| 166 | r2ca_SERCOM2_Handler(void)
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| 167 | {
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| 168 | #ifdef R2CA_ENABLE_PROFILING
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| 169 | r2ca_di();
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| 170 | r2ca_sercom2_isr_cnt++;
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| 171 | r2ca_isr_cnt++;
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| 172 | r2ca_ei();
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| 173 | #endif /* R2CA_ENABLE_PROFILING */
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| 174 | Serial3.IrqHandler();
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| 175 | }
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| 176 | #endif /* R2CA_USE_SERIAL3 */
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| 177 |
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| 178 | void
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| 179 | r2ca_SERCOM3_Handler(void)
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| 180 | {
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| 181 | #ifdef R2CA_ENABLE_PROFILING
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| 182 | r2ca_di();
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| 183 | r2ca_sercom3_isr_cnt++;
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| 184 | r2ca_isr_cnt++;
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| 185 | r2ca_ei();
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| 186 | #endif /* R2CA_ENABLE_PROFILING */
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| 187 | ((void(*)(void))(exception_table.pfnSERCOM3_Handler))();
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| 188 | }
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| 189 |
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| 190 | void
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| 191 | r2ca_SERCOM4_Handler(void)
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| 192 | {
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| 193 | #ifdef R2CA_ENABLE_PROFILING
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| 194 | r2ca_di();
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| 195 | r2ca_sercom4_isr_cnt++;
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| 196 | r2ca_isr_cnt++;
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| 197 | r2ca_ei();
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| 198 | #endif /* R2CA_ENABLE_PROFILING */
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| 199 | ((void(*)(void))(exception_table.pfnSERCOM4_Handler))();
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| 200 | }
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| 201 |
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| 202 | #ifdef TOPPERS_USE_ARDUINO_SERIAL
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| 203 | void
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| 204 | r2ca_SERCOM5_Handler(void)
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| 205 | {
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| 206 | #ifdef R2CA_ENABLE_PROFILING
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| 207 | r2ca_di();
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| 208 | r2ca_sercom5_isr_cnt++;
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| 209 | r2ca_isr_cnt++;
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| 210 | r2ca_ei();
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| 211 | #endif /* R2CA_ENABLE_PROFILING */
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| 212 | ((void(*)(void))(exception_table.pfnSERCOM5_Handler))();
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| 213 | }
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| 214 | #endif /* TOPPERS_USE_ARDUINO_SERIAL */
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| 215 |
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| 216 | void
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| 217 | r2ca_EIC_Handler(void)
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| 218 | {
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| 219 | #ifdef R2CA_ENABLE_PROFILING
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| 220 | r2ca_di();
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| 221 | r2ca_eic_isr_cnt++;
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| 222 | r2ca_isr_cnt++;
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| 223 | r2ca_ei();
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| 224 | #endif /* R2CA_ENABLE_PROFILING */
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| 225 | ((void(*)(void))(exception_table.pfnEIC_Handler))();
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| 226 | }
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| 227 |
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| 228 | void
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| 229 | r2ca_TC5_Handler(void)
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| 230 | {
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| 231 | #ifdef R2CA_ENABLE_PROFILING
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| 232 | r2ca_di();
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| 233 | r2ca_tc5_isr_cnt++;
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| 234 | r2ca_isr_cnt++;
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| 235 | r2ca_ei();
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| 236 | #endif /* R2CA_ENABLE_PROFILING */
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| 237 | ((void(*)(void))(exception_table.pfnTC5_Handler))();
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| 238 | }
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| 239 |
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| 240 | void
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| 241 | r2ca_RTC_Handler(void)
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| 242 | {
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| 243 | #ifdef R2CA_ENABLE_PROFILING
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| 244 | r2ca_di();
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| 245 | r2ca_rtc_isr_cnt++;
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| 246 | r2ca_isr_cnt++;
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| 247 | r2ca_ei();
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| 248 | #endif /* R2CA_ENABLE_PROFILING */
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| 249 | ((void(*)(void))(exception_table.pfnRTC_Handler))();
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| 250 | }
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| 251 |
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| 252 | /*
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| 253 | * For delay
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| 254 | */
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| 255 | void
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| 256 | yield(void){
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| 257 | time_slice = 0;
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| 258 | #ifdef R2CA_ENABLE_PROFILING
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| 259 | r2ca_di();
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| 260 | r2ca_dispatch_cnt++;
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| 261 | r2ca_ei();
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| 262 | #endif /* R2CA_ENABLE_PROFILING */
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| 263 | dly_tsk(0);
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| 264 | }
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| 265 |
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| 266 | extern void setup(void);
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| 267 | extern void loop(void);
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| 268 |
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| 269 |
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| 270 | const ID task_id[] = {
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| 271 | #if R2CA_NUM_TASK > 0
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| 272 | R2CA_TASK1,
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| 273 | #endif /* R2CA_NUM_TASK > 0 */
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| 274 | #if R2CA_NUM_TASK > 1
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| 275 | R2CA_TASK2,
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| 276 | #endif /* R2CA_NUM_TASK > 1 */
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| 277 | #if R2CA_NUM_TASK > 2
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| 278 | R2CA_TASK3,
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| 279 | #endif /* R2CA_NUM_TASK > 2 */
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| 280 | #if R2CA_NUM_TASK > 3
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| 281 | R2CA_TASK4,
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| 282 | #endif /* R2CA_NUM_TASK > 3 */
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| 283 | #if R2CA_NUM_TASK > 4
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| 284 | R2CA_TASK5,
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| 285 | #endif /* R2CA_NUM_TASK > 4 */
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| 286 | };
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| 287 |
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| 288 | void
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| 289 | r2ca_maintask(intptr_t exinf)
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| 290 | {
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| 291 | int i;
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| 292 |
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| 293 | syslog(LOG_NOTICE, "Arduino Main Task start!");
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| 294 |
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| 295 | #ifdef USBCON
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| 296 | USBDevice.init();
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| 297 | USBDevice.attach();
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| 298 | #endif /* USBCON */
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| 299 |
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| 300 | analogReference(AR_DEFAULT);
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| 301 |
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| 302 | setup();
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| 303 |
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| 304 | for(i = 0; i < R2CA_NUM_TASK; i++) {
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| 305 | act_tsk(task_id[i]);
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| 306 | }
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| 307 |
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| 308 | while(1){
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| 309 | loop();
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| 310 | if (serialEventRun) serialEventRun();
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| 311 | }
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| 312 | }
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| 313 |
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| 314 | #define R2CA_TASK_BODY(NUM) \
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| 315 | extern void loop##NUM(void); \
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| 316 | \
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| 317 | void \
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| 318 | r2ca_task##NUM(intptr_t exinf) \
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| 319 | { \
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| 320 | while(1){ \
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| 321 | loop##NUM(); \
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| 322 | } \
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| 323 | }
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| 324 |
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| 325 | #if R2CA_NUM_TASK > 0
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| 326 | R2CA_TASK_BODY(1)
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| 327 | #endif /* R2CA_NUM_TASK > 0 */
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| 328 |
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| 329 | #if R2CA_NUM_TASK > 1
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| 330 | R2CA_TASK_BODY(2)
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| 331 | #endif /* R2CA_NUM_TASK > 1 */
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| 332 |
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| 333 | #if R2CA_NUM_TASK > 2
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| 334 | R2CA_TASK_BODY(3)
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| 335 | #endif /* R2CA_NUM_TASK > 2 */
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| 336 |
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| 337 | #if R2CA_NUM_TASK > 3
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| 338 | R2CA_TASK_BODY(4)
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| 339 | #endif /* R2CA_NUM_TASK > 3 */
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| 340 |
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| 341 | #if R2CA_NUM_TASK > 4
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| 342 | R2CA_TASK_BODY(5)
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| 343 | #endif /* R2CA_NUM_TASK > 4 */
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| 344 |
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| 345 | #ifdef R2CA_ENABLE_PROFILING
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| 346 | void
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| 347 | r2ca_idle_task(intptr_t exinf) {
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| 348 | while(1){
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| 349 | r2ca_di();
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| 350 | r2ca_idle_cnt++;
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| 351 | r2ca_ei();
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| 352 | }
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| 353 | }
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| 354 | #endif /* R2CA_ENABLE_PROFILING */
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