348 lines
9.7 KiB
C
348 lines
9.7 KiB
C
/* Standard Include Files. */
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#include <stdint.h>
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#include <stdlib.h>
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#include <stddef.h>
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#include <string.h>
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#include <stdio.h>
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#include <math.h>
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/* BIOS/XDC Include Files. */
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#include <xdc/std.h>
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#include <xdc/cfg/global.h>
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#include <xdc/runtime/IHeap.h>
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#include <xdc/runtime/System.h>
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#include <xdc/runtime/Error.h>
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#include <xdc/runtime/Memory.h>
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#include <ti/sysbios/BIOS.h>
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#include <ti/sysbios/knl/Task.h>
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#include <ti/sysbios/knl/Event.h>
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#include <ti/sysbios/knl/Semaphore.h>
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#include <ti/sysbios/knl/Clock.h>
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#include <ti/sysbios/heaps/HeapBuf.h>
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#include <ti/sysbios/heaps/HeapMem.h>
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#include <ti/sysbios/knl/Event.h>
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#include <ti/sysbios/family/arm/v7a/Pmu.h>
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/* mmWave SDK Include Files: */
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#include <ti/common/sys_common.h>
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#include <ti/drivers/soc/soc.h>
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#include <ti/drivers/esm/esm.h>
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#include <ti/drivers/crc/crc.h>
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#include <ti/drivers/uart/UART.h>
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#include <ti/drivers/gpio/gpio.h>
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#include <ti/drivers/mailbox/mailbox.h>
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#include <ti/control/mmwave/mmwave.h>
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#include <ti/control/mmwavelink/mmwavelink.h>
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#include <ti/utils/cli/cli.h>
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#include <ti/drivers/osal/DebugP.h>
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#include <ti/drivers/osal/HwiP.h>
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#include <ti/utils/cycleprofiler/cycle_profiler.h>
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#include <ti/drivers/pinmux/pinmux.h>
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#include <ti/drivers/osal/MemoryP.h>
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#include <ti/utils/testlogger/logger.h>
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SOC_Handle socHandle;
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Event_Handle event;
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uint8_t period = 0;
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uint8_t buffer = 0;
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uint8_t id_buf = 0;
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uint8_t value_buf = 0;
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uint8_t value = 0;
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uint8_t id = 0;
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uint8_t metka = 0;
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UART_Handle handle;
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UInt eventMask1 = Event_Id_00;
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UInt eventMask2 = Event_Id_01;
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UInt eventMask3 = Event_Id_02;
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uint32_t BAUDRATE = 115200;
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uint8_t STOPBITS = 1;
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uint8_t DATALEN = 8;
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uint8_t PARITY_VALUE = 4;
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uint8_t gMCPIUARTPollingModeEnable = 0;
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Event_Handle event1;
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uint32_t gCPUClockFrequency = (200 * 1000000);
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uint8_t uartDataLenths [] = {
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0, // Padding
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0,
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0,
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0,
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0,
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(uint8_t) UART_LEN_5,
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(uint8_t) UART_LEN_6,
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(uint8_t) UART_LEN_7,
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(uint8_t) UART_LEN_8
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};
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uint8_t uartParityTypes [] = {
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(uint8_t) UART_PAR_ZERO,
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(uint8_t) UART_PAR_ONE,
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(uint8_t) UART_PAR_EVEN,
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(uint8_t) UART_PAR_ODD,
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(uint8_t) UART_PAR_NONE
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};
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uint8_t uartStopBits [] = {
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0, // Padding
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(uint8_t) UART_STOP_ONE,
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(uint8_t) UART_STOP_TWO
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};
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Mbox_Handle peerMailbox;
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#define BIG_MSG_SIZE 3
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volatile uint8_t mboxProcToken = 0;
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//void MmwDemo_sleep(void)
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//{
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// /* issue WFI (Wait For Interrupt) instruction */
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// asm(" IDLE ");
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//}
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static int32_t mboxWrite_ch0(uint8_t *message, int32_t len)
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{
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int32_t retVal = -1;
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retVal = Mailbox_write(peerMailbox, message, len);
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if (retVal == len)
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{
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retVal = 0;
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}
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return retVal;
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}
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static void mboxReadProc_ch0()
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{
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uint8_t mes;
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int32_t retVal = 0;
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int32_t ret = 0;
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/* Read the message from the peer mailbox: We are not trying to protect the read
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* from the peer mailbox because this is only being invoked from a single thread */
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retVal = Mailbox_read(peerMailbox, &mes, 1);
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if (retVal < 0)
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{
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/* Error: Unable to read the message. Setup the error code and return values */
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System_printf("Error read dss\n");
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return;
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}
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else
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{
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Mailbox_readFlush (peerMailbox);
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UART_write(handle, "\n", 1);
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System_printf("%d\n", mes);
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UART_write(handle, &mes, 1);
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UART_write(handle, "\n", 1);
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if (ret != 0)
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{
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System_printf ("Error: Mailbox send message failed \n");
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}
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/* We are done: There are no messages available from the peer execution domain. */
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return;
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}
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}
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void mboxCallback_ch0 (Mbox_Handle handle, Mailbox_Type peer)
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{
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/* Message has been received from the peer endpoint. */
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// mboxReadProc_ch0();
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mboxProcToken = 1;
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}
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void mBox(UArg a0, UArg a1)
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{
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while(true){
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if (mboxProcToken == 1)
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{
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mboxProcToken = 0;
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/* If the mailbox has a message and the frame processing task has finished. */
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mboxReadProc_ch0();
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}
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}
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}
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void Work_UART(UArg arg0, UArg arg1)
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{
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uint8_t index[128];
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uint8_t message[BIG_MSG_SIZE];
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UART_Params params;
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uint8_t len;
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/* Setup the default UART Parameters */
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UART_Params_init(¶ms);
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params.writeDataMode = UART_DATA_TEXT;
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params.readDataMode = UART_DATA_TEXT;
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params.readReturnMode = UART_RETURN_NEWLINE;
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params.isPinMuxDone = 1;
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params.baudRate = BAUDRATE;
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params.dataLength = (UART_LEN) uartDataLenths[DATALEN];
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handle = UART_open(0, ¶ms);
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if (handle == NULL)
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{
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printf("Error: Unable to open the UART Instance\n");
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return;
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}
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while(TRUE)
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{
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len = UART_read(handle, index, sizeof(index)/sizeof(uint8_t)) - 1;
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if(len <= 13)
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{
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if(memcmp(index, "Get ID ", 7) == 0)
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{
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int i;
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for(i = 7; i < len; i++)
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{
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if(index[i] >= '0' && index[i] <= '9')
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{
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id_buf = id_buf * 10 + (index[i] - '0');
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}
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}
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message[0] = 0;
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id = id_buf;
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id_buf = 0;
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message[1] = id;
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mboxWrite_ch0(message, BIG_MSG_SIZE);
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}
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else if(memcmp(index, "Set ", 4) == 0)
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{
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int i;
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int pointer = 0;
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for(i = 4; i < len; i++)
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{
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if(index[i] >= '0' && index[i] <= '9')
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{
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value_buf = value_buf * 10 + (index[i] - '0');
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} else if(index[i] == 'I') {
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pointer = i;
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value = value_buf;
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value_buf = 0;
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message[2] = value;
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break;
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}
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}
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if(memcmp(index, " ID ", 4)) {
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int i;
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for(i = pointer + 2; i < len; i++)
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{
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if(index[i] >= '0' && index[i] <= '9')
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{
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id_buf = id_buf * 10 + (index[i] - '0');
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}
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}
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id = id_buf;
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id_buf = 0;
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message[0] = 1;
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message[1] = id;
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mboxWrite_ch0(message, BIG_MSG_SIZE);
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}
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}
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}
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else {
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UART_write(handle, "\nError\n", 7);
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}
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}
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}
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static void InitTask(UArg arg0, UArg arg1)
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{
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Task_Params taskParamsUART;
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Task_Params taskParams;
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int32_t errCode;
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Mailbox_Config cfg;
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Mailbox_init(MAILBOX_TYPE_MSS);
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if(Mailbox_Config_init(&cfg) < 0)
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{
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System_printf ("Error: Mailbox init failed\n");
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return;
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}
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/* Setup the configuration: */
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cfg.chType = MAILBOX_CHTYPE_MULTI;
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cfg.chId = MAILBOX_CH_ID_0;
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cfg.writeMode = MAILBOX_MODE_BLOCKING;
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cfg.readMode = MAILBOX_MODE_CALLBACK;
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cfg.readCallback = &mboxCallback_ch0;
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peerMailbox = Mailbox_open(MAILBOX_TYPE_DSS, &cfg, &errCode);
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if (peerMailbox == NULL)
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{
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System_printf ("Error: Mailbox open failed 0\n");
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return;
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}
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/* Initialize the UART */
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UART_init();
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/* Test the GPIO Output: Configure pin K13 as GPIO_2 output */
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/* Setup the PINMUX to bring out the MSS UART-1 */
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Pinmux_Set_FuncSel(SOC_XWR16XX_PINN5_PADBE, SOC_XWR16XX_PINN5_PADBE_MSS_UARTA_TX);
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Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PINN5_PADBE, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
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Pinmux_Set_FuncSel(SOC_XWR16XX_PINN4_PADBD, SOC_XWR16XX_PINN4_PADBD_MSS_UARTA_RX);
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Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PINN4_PADBD, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
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/* Initialize the Task Parameters. */
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Task_Params_init(&taskParamsUART);
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taskParamsUART.stackSize = 4*1024;
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taskParamsUART.priority = 3;
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Task_create(Work_UART, &taskParamsUART, NULL);
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/* Initialize the Task Parameters Mailbox. */
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Task_Params_init(&taskParams);
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taskParams.priority = 2;
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taskParams.stackSize = 3 * 1024;
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Task_create(mBox, &taskParams, NULL);
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return;
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}
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int main (void)
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{
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int32_t errCode;
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Task_Params taskParams;
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SOC_Cfg socCfg;
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Error_Block eb;
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/* Initialize the ESM: Dont clear errors as TI RTOS does it */
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ESM_init(0U);
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/* Initialize the SOC confiugration: */
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memset ((void *)&socCfg, 0, sizeof(SOC_Cfg));
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/* Populate the SOC configuration: */
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socCfg.clockCfg = SOC_SysClock_INIT;
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/* Initialize the SOC Module: This is done as soon as the application is started
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* to ensure that the MPU is correctly configured. */
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socHandle = SOC_init (&socCfg, &errCode);
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if (socHandle == NULL)
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{
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System_printf ("Error: SOC Module Initialization failed [Error code %d]\n", errCode);
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return -1;
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}
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event = Event_create(NULL, &eb);
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if (event == NULL) {
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System_printf ("Error: Event not create\n");
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return -1;
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}
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/* Initialize the Task Parameters. */
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Task_Params_init(&taskParams);
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taskParams.stackSize = 2*1024;
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Task_create(InitTask, &taskParams, NULL);
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/* Start BIOS */
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BIOS_start();
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return 0;
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}
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