Merge nanoos

nanoos/main.c

@@ -0,0 +1,125 @@
+
+/*
+ * Copyright 2022 Oleg Borodin  <borodin@unix7.org>
+ */
+
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/cm3/scb.h>
+
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/usart.h>
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <string.h>
+
+#include "scheduler.h"
+#include "usartu.h"
+#include "atomic.h"
+#include "semaphore.h"
+
+static int          g_uptime;
+static sem_t        g_sem;
+static scheduler_t  g_scheduler;
+
+void delay(uint32_t n) {
+    for (int i = 0; i < n * 800; i++)
+        __asm__("nop");
+}
+
+static void clock_setup(void) {
+    rcc_clock_setup_pll(&rcc_hse_8mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
+    rcc_periph_clock_enable(RCC_GPIOA);
+    rcc_periph_clock_enable(RCC_USART1);
+}
+
+static void usart_setup(void) {
+
+    usart_disable(USART1);
+    nvic_disable_irq(NVIC_USART1_IRQ);
+
+    gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO9 | GPIO10);
+    gpio_set_af(GPIOA, GPIO_AF7, GPIO9 | GPIO10);
+
+    usart_set_baudrate(USART1, 115200);
+    usart_set_databits(USART1, 8);
+    usart_set_stopbits(USART1, USART_STOPBITS_1);
+    usart_set_parity(USART1, USART_PARITY_NONE);
+    usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
+    usart_set_mode(USART1, USART_MODE_TX_RX);
+
+    usart_disable_rx_interrupt(USART1);
+
+    usart_enable(USART1);
+}
+
+static void systick_setup(void) {
+    systick_set_frequency(10000, rcc_ahb_frequency);
+    systick_interrupt_enable();
+    systick_counter_enable();
+}
+
+void task1(void) {
+    while (true) {
+        sem_wait(&g_sem);
+        printf("task 1 %d\r\n", g_uptime);
+        sem_post(&g_sem);
+        delay(3000);
+    };
+}
+
+void task2(void) {
+    while (true) {
+        sem_wait(&g_sem);
+        printf("task 2 %d\r\n", g_uptime);
+        sem_post(&g_sem);
+        delay(3000);
+    };
+}
+
+void task3(void) {
+    while (true) {
+        sem_wait(&g_sem);
+        printf("task 3 %d\r\n", g_uptime);
+        sem_post(&g_sem);
+        delay(3000);
+    };
+}
+
+void task4(void) {
+    static volatile int32_t t4;
+
+    while (true) {
+        atomic_inc32(&t4, (int32_t)1);
+        sem_wait(&g_sem);
+        printf("task 4 %d %lu\r\n", g_uptime, t4);
+        sem_post(&g_sem);
+        delay(3000);
+    };
+}
+
+void sys_tick_handler(void) {
+    g_uptime++;
+    scheduler_yield();
+}
+
+int main(void) {
+    g_uptime = 0;
+    sem_init(&g_sem, 1);
+
+    clock_setup();
+    usart_setup();
+
+    scheduler_init(&g_scheduler);
+    scheduler_task(&g_scheduler, 0, task1);
+    scheduler_task(&g_scheduler, 1, task2);
+    scheduler_task(&g_scheduler, 2, task3);
+    scheduler_task(&g_scheduler, 3, task4);
+
+    systick_setup();
+
+    while (true);
+}