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/***************************************************************************//**
* @file rtt.cpp
* @brief Arduino RT-Thread library main
* @author onelife <onelife.real[at]gmail.com>
******************************************************************************/
#include <Arduino.h>
#include "rtt.h"
#if defined(ARDUINO_ARCH_SAM) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32)
# if (CONFIG_PRIORITY_MAX > ((1 << __NVIC_PRIO_BITS) - 1))
# error "CONFIG_PRIORITY_MAX is more than max hardware priority level"
# endif
# if (CONFIG_KERNEL_PRIORITY > CONFIG_PRIORITY_MAX)
# error "CONFIG_KERNEL_PRIORITY can not be more than CONFIG_PRIORITY_MAX"
# endif
#endif /* defined(ARDUINO_ARCH_SAM) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32) */
#if (RT_TICK_PER_SECOND > CONFIG_TICK_PER_SECOND)
# error "RT_TICK_PER_SECOND can not be more than CONFIG_TICK_PER_SECOND"
#endif
#define _NUM_TO_STR(n) #n
#define _DEF_TO_STR(ch) _NUM_TO_STR(ch)
#if (CONFIG_USING_CONSOLE)
# define SERIAL_NAME "Serial"
#endif
#if defined(ARDUINO_ARCH_SAM) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32)
# define KERNEL_PRIORITY ((CONFIG_KERNEL_PRIORITY << (8 - __NVIC_PRIO_BITS)) & 0xff)
# define TICK_COUNT (CONFIG_TICK_PER_SECOND / RT_TICK_PER_SECOND)
# if (CONFIG_USING_CONSOLE)
# define CONSOLE_DEVICE CONFIG_SERIAL_DEVICE
# endif
# if CONFIG_USING_CONSOLE
/* === Map Arduino "Serial" to RT-Thread Device === */
static struct rt_device serial_dev;
static rt_err_t serial_close(rt_device_t dev) {
(void)dev;
CONSOLE_DEVICE.end();
return RT_EOK;
}
static rt_size_t serial_read(rt_device_t dev, rt_off_t pos,
void *buffer, rt_size_t size) {
(void)dev;
(void)pos;
return CONSOLE_DEVICE.readBytes((char *)buffer, size);
}
static rt_size_t serial_write(rt_device_t dev, rt_off_t pos,
const void *buffer, rt_size_t size) {
(void)dev;
(void)pos;
return CONSOLE_DEVICE.write((const uint8_t *)buffer, size);
}
static rt_err_t arduino_serial_init(void) {
rt_uint32_t flag = RT_DEVICE_FLAG_RDWR | \
RT_DEVICE_FLAG_STREAM | \
RT_DEVICE_FLAG_INT_RX;
serial_dev.type = RT_Device_Class_Char;
serial_dev.rx_indicate = RT_NULL;
serial_dev.tx_complete = RT_NULL;
serial_dev.init = RT_NULL;
serial_dev.open = RT_NULL;
serial_dev.close = serial_close;
serial_dev.read = serial_read;
serial_dev.write = serial_write;
serial_dev.control = RT_NULL;
// serial_dev.user_data = CONSOLE_DEVICE;
return rt_device_register(&serial_dev, SERIAL_NAME, flag);
}
# endif /* CONFIG_USING_CONSOLE */
#endif /* defined(ARDUINO_ARCH_SAM) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32) */
/* === Override RT-Thread Functions === */
extern "C" {
#if defined(RT_DEBUG)
void assert_failed(uint8_t * file, uint32_t line) {
pinMode(LED_BUILTIN, OUTPUT);
digitalWrite(LED_BUILTIN, HIGH);
rt_kprintf("\r\nWrong parameter value detected on\r\n");
rt_kprintf("\tfile %s\r\n", file);
rt_kprintf("\tline %d\r\n", line);
while (1) {
}
}
#endif /* defined(RT_DEBUG) */
#if defined(ARDUINO_ARCH_SAM) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32)
rt_base_t rt_hw_interrupt_disable(void) {
rt_base_t original_level;
#if defined(ARDUINO_ARCH_SAM) || defined(ARDUINO_ARCH_STM32)
original_level = __get_BASEPRI();
// not disable interrupt but raise base priority
__set_BASEPRI(KERNEL_PRIORITY);
#elif defined(ARDUINO_ARCH_SAMD)
original_level = __get_PRIMASK();
__set_PRIMASK(1);
#endif
return original_level;
}
void rt_hw_interrupt_enable(rt_base_t level) {
(void)level;
#if defined(ARDUINO_ARCH_SAM) || defined(ARDUINO_ARCH_STM32)
// reset base priority
__set_BASEPRI(0);
#elif defined(ARDUINO_ARCH_SAMD)
__set_PRIMASK(0);
#endif
}
void rt_hw_console_output(const char *str) {
#if (CONFIG_USING_CONSOLE)
if (NULL != str) {
CONSOLE_DEVICE.print(str);
}
#endif
}
void sys_tick_isr(void) {
static unsigned int cnt = 0;
cnt++;
if (cnt >= TICK_COUNT) {
cnt = 0;
rt_interrupt_enter();
rt_tick_increase();
rt_interrupt_leave();
}
#if CONFIG_USING_FINSH
if ((serial_dev.rx_indicate != RT_NULL) && \
CONSOLE_DEVICE.available()) {
serial_dev.rx_indicate(&serial_dev, CONSOLE_DEVICE.available());
}
#endif
}
#if defined(ARDUINO_ARCH_STM32)
void HAL_SYSTICK_Callback(void) {
sys_tick_isr();
}
#else
int sysTickHook(void) {
sys_tick_isr();
return 0;
}
#endif
#endif /* defined(ARDUINO_ARCH_SAM) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32) */
} /* extern "C" */
/* === Initialize Conponents and Handle Arduino Stuff === */
extern "C" {
#include "components/drivers/include/rtdevice.h"
#if !CONFIG_USING_DRIVER_SPI && (CONFIG_USING_SPI0 || CONFIG_USING_SPI1)
# include "components/arduino/drv_spi.h"
#endif
#if CONFIG_USING_IIC0 || CONFIG_USING_IIC1
# include "components/arduino/drv_iic.h"
#endif
#if CONFIG_USING_DRIVER_RTC
# include "components/arduino/drv_rtc.h"
#endif
#if CONFIG_USING_FINSH
# include "components/finsh/shell.h"
#endif
#ifdef RT_USING_DFS
# include "components/dfs/include/dfs.h"
# include "components/dfs/include/dfs_fs.h"
# include "components/dfs/filesystems/elmfat/dfs_elm.h"
#endif
#ifdef RT_USING_ULOG
# define LOG_TAG "RTT"
# include "components/utilities/ulog/ulog.h"
#else
# define LOG_E(format, args...) rt_kprintf(format "\n", ##args)
# define LOG_I(format, args...) rt_kprintf(format "\n", ##args)
#endif
#ifdef ULOG_BACKEND_USING_CONSOLE
extern int ulog_console_backend_init(void);
#endif
#ifdef RT_USING_MODULE
# include "components/libc/posix/libdl/dlmodule.h"
#endif
#if CONFIG_USING_BUTTON
# include "components/arduino/drv_button.h"
#endif
#if CONFIG_USING_SPISD
# ifndef RT_USING_SPI_MSD
# include "components/arduino/drv_spisd.h"
# else
# include "components/drivers/include/drivers/spi_msd.h"
# endif
#endif
#if CONFIG_USING_ILI
# include "components/arduino/drv_spiili.h"
#endif
#if CONFIG_USING_SSD1306
# include "components/arduino/drv_spi_ssd1306.h"
#endif
#if CONFIG_USING_SSD1331
# include "components/arduino/drv_spi_ssd1331.h"
#endif
#if CONFIG_USING_ST7735
# include "components/arduino/drv_spi_st7735.h"
#endif
#if CONFIG_USING_FT6206
# include "components/arduino/drv_iic_ft6206.h"
#endif
#if CONFIG_USING_BSP
# include "bsp/bsp.h"
# endif
}
#if CONFIG_USING_GUI
# include <rttgui.h>
#endif
/* Driver init */
void rt_driver_init(void) {
rt_err_t ret;
#if defined(ARDUINO_ARCH_RISCV)
set_csr(mstatus, MSTATUS_MIE);
ret = bsp_hw_tick_init();
RT_ASSERT(RT_EOK == ret);
#endif
#if CONFIG_USING_CONSOLE
# if CONFIG_USING_DRIVER_SERIAL
ret = bsp_hw_usart_init();
RT_ASSERT(RT_EOK == ret);
# else
CONSOLE_DEVICE.begin(CONFIG_USART_SPEED);
while (!CONSOLE_DEVICE);
# endif
#endif
#if (CONFIG_USING_SPI0 || CONFIG_USING_SPI1)
ret = bsp_hw_spi_init();
RT_ASSERT(RT_EOK == ret);
#endif
#if (CONFIG_USING_IIC0 || CONFIG_USING_IIC1)
ret = bsp_hw_iic_init();
RT_ASSERT(RT_EOK == ret);
#endif
#if CONFIG_USING_DRIVER_RTC
ret = bsp_hw_rtc_init();
RT_ASSERT(RT_EOK == ret);
#endif
(void)ret;
}
/* High level driver init */
void rt_high_driver_init(void) {
rt_err_t ret;
#if CONFIG_USING_BUTTON
ret = bsp_hw_button_init();
RT_ASSERT(RT_EOK == ret);
#endif
#if CONFIG_USING_SPISD
# ifndef RT_USING_SPI_MSD
ret = bsp_hw_spiSd_init();
# else
{
static struct rt_spi_device spi_dev;
ret = rt_spi_bus_attach_device(&spi_dev, "SPISD",
"SPI" _DEF_TO_STR(CONFIG_SD_SPI_CHANNEL), NULL);
RT_ASSERT(RT_EOK == ret);
ret = msd_init("SD", "SPISD");
}
# endif
RT_ASSERT(RT_EOK == ret);
#endif
#if CONFIG_USING_ILI
ret = bsp_hw_spiIli_init();
RT_ASSERT(RT_EOK == ret);
#endif
#if CONFIG_USING_SSD1306
ret = bsp_hw_ssd1306_init();
RT_ASSERT(RT_EOK == ret);
#endif
#if CONFIG_USING_SSD1331
ret = bsp_hw_ssd1331_init();
RT_ASSERT(RT_EOK == ret);
#endif
#if CONFIG_USING_ST7735
ret = bsp_hw_st7735_init();
RT_ASSERT(RT_EOK == ret);
#endif
#if CONFIG_USING_FT6206
ret = bsp_hw_ft6206_init();
RT_ASSERT(RT_EOK == ret);
#endif
(void)ret;
#if CONFIG_USING_GUI
RTT_GUI.begin();
#endif
}
/* Component init */
void rt_components_init(void) {
#if CONFIG_USING_CONSOLE
# if !CONFIG_USING_DRIVER_SERIAL
arduino_serial_init();
# endif
rt_console_set_device(SERIAL_NAME);
#endif
#ifdef ULOG_BACKEND_USING_CONSOLE
(void)ulog_console_backend_init();
#elif defined(RT_USING_ULOG)
(void)ulog_init();
#endif
/* INIT_BOARD_EXPORT */
rt_high_driver_init();
/* INIT_PREV_EXPORT */
#ifdef RT_USING_DFS
(void)dfs_init();
#endif
/* INIT_DEVICE_EXPORT */
/* INIT_COMPONENT_EXPORT */
#ifdef RT_USING_DFS_ELMFAT
(void)elm_init();
#endif
#ifdef RT_USING_MODULE
// (void)rt_system_dlmodule_init();
#endif
/* INIT_ENV_EXPORT */
#ifdef RT_USING_DFS_MNTTABLE
// dfs_mount_table
#elif defined(RT_USING_DFS) && defined(RT_USING_DFS_ELMFAT)
if (dfs_mount(SD_NAME, "/", "elm", 0, 0)) {
LOG_E("[E] Mount " SD_NAME " failed!");
} else {
LOG_I("Mount " SD_NAME " to \"/\"");
}
#endif
/* INIT_APP_EXPORT */
#if CONFIG_USING_FINSH
finsh_system_init();
#endif
}
/* Arduino thread */
void arduino_thread_entry(void *param) {
rt_uint32_t prio = CONFIG_ARDUINO_PRIORITY;
rt_thread_t self = rt_thread_self();
(void)param;
/* init components */
rt_components_init();
/* reset priority */
rt_thread_control(self, RT_THREAD_CTRL_CHANGE_PRIORITY, &prio);
/* run Arduino loop here */
while (1) {
loop();
#if !CONFIG_USING_DRIVER_SERIAL
if (serialEventRun) serialEventRun();
#endif
rt_thread_sleep(RT_TICK_PER_SECOND / 100);
}
}
static rt_uint8_t arduino_stack[CONFIG_ARDUINO_STACK_SIZE];
static struct rt_thread arduino_thread;
/* Application init */
void rt_application_init(void) {
rt_uint32_t tmp_prio = 1;
rt_err_t ret = rt_thread_init(
&arduino_thread, "Arduino",
arduino_thread_entry, RT_NULL,
arduino_stack, sizeof(arduino_stack),
CONFIG_ARDUINO_PRIORITY, CONFIG_ARDUINO_TICK);
RT_ASSERT(RT_EOK == ret);
/* raise priority */
ret = rt_thread_startup(&arduino_thread);
RT_ASSERT(RT_EOK == ret);
ret = rt_thread_control(&arduino_thread, RT_THREAD_CTRL_CHANGE_PRIORITY, &tmp_prio);
RT_ASSERT(RT_EOK == ret);
(void)ret;
}
/* === User Override Functions === */
void rt_setup(void) __attribute__((weak));
void loop(void) __attribute__((weak));
void rt_setup(void) { }
void loop(void) { rt_thread_sleep(RT_TICK_PER_SECOND); }
/* === RT-Thread Class === */
void RT_Thread::begin(void) {
#if defined(ARDUINO_ARCH_SAM) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32)
NVIC_SetPriority(SysTick_IRQn, CONFIG_KERNEL_PRIORITY);
NVIC_SetPriority(PendSV_IRQn, CONFIG_KERNEL_PRIORITY);
NVIC_SetPriority(SERIAL_IRQn, CONFIG_PRIORITY_MAX);
#endif
/* disable interrupt*/
rt_hw_interrupt_disable();
#ifdef RT_USING_HEAP
/* init heap */
rt_system_heap_init((void *)&rtt_heap,
(void *)&rtt_heap[CONFIG_HEAP_SIZE-1]);
#endif
/* init timer */
rt_system_timer_init();
/* init scheduler */
rt_system_scheduler_init();
#ifdef RT_USING_SIGNALS
/* init signal */
// rt_system_signal_init();
#endif
/* init driver */
rt_driver_init();
/* show version */
rt_show_version();
/* init timer thread */
rt_system_timer_thread_init();
/* init idle thread */
rt_thread_idle_init();
/* init application */
rt_application_init();
/* user defined init function */
rt_setup();
/* start scheduler */
rt_system_scheduler_start();
/* never reach here */
while (1);
}
/* RT_Thread instance */
RT_Thread RT_T;