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/*
* Copyright (c) 2010-2013 embedded brains GmbH. All rights reserved.
*
* embedded brains GmbH
* Dornierstr. 4
* 82178 Puchheim
* Germany
* <rtems@embedded-brains.de>
*
* The license and distribution terms for this file may be
* found in the file LICENSE in this distribution or at
* http://www.rtems.org/license/LICENSE.
*/
#define NDEBUG
#include <bsp/bestcomm.h>
#include <string.h>
#include <bsp/mpc5200.h>
static void bestcomm_irq_handler(void *arg)
{
bestcomm_irq *self = arg;
bestcomm_irq_clear(self);
bestcomm_irq_wakeup_event_task(self);
}
void bestcomm_irq_create(bestcomm_irq *self, int task_index)
{
assert(task_index >= 0 && task_index <= 15);
self->task_index = task_index;
self->event_task_id = rtems_task_self();
bestcomm_glue_irq_install(task_index, bestcomm_irq_handler, self);
}
void bestcomm_irq_destroy(const bestcomm_irq *self)
{
bestcomm_glue_irq_install(self->task_index, NULL, NULL);
}
void bestcomm_task_create(bestcomm_task *self, TaskId task_index)
{
self->task_control_register = &mpc5200.sdma.tcr[task_index];
self->variable_table = BESTCOMM_TASK_ENTRY_TABLE[task_index].var_table;
self->task_index = task_index;
self->tdt_begin = NULL;
self->tdt_opcode_count = 0;
bestcomm_task_stop(self);
bestcomm_irq_create(&self->irq, task_index);
}
void bestcomm_task_create_and_load(
bestcomm_task *self,
TaskId task_index,
const uint32_t *tdt_source_begin,
size_t tdt_size
)
{
bestcomm_task_create(self, task_index);
bestcomm_task_load(self, tdt_source_begin, tdt_size);
}
void bestcomm_task_destroy(bestcomm_task *self)
{
bestcomm_task_stop(self);
bestcomm_task_free_tdt(self);
}
void bestcomm_task_load(bestcomm_task *self, const uint32_t *tdt_source_begin, size_t tdt_size)
{
assert(tdt_size % 4 == 0);
bestcomm_task_irq_disable(self);
bestcomm_task_stop(self);
bestcomm_task_irq_clear(self);
bestcomm_task_irq_enable(self);
bestcomm_task_free_tdt(self);
bestcomm_task_clear_variables(self);
self->tdt_opcode_count = tdt_size / 4;
self->tdt_begin = bestcomm_malloc(tdt_size);
assert(self->tdt_begin != NULL);
uint32_t *tdt_last = self->tdt_begin + self->tdt_opcode_count - 1;
memcpy(self->tdt_begin, tdt_source_begin, tdt_size);
volatile bestcomm_task_entry *entry = bestcomm_task_get_task_entry(self);
entry->tdt_begin = self->tdt_begin;
entry->tdt_last = tdt_last;
bestcomm_task_clear_pragmas(self);
bestcomm_task_set_priority(self, 0);
}
void bestcomm_task_clear_variables(const bestcomm_task *self)
{
int i;
for (i = 0; i < 32; ++i) {
(*self->variable_table)[i] = 0;
}
}
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