RTOS/AM5728: GPIO control from DSP

#include <stdlib.h>
#include <xdc/std.h>
#include <xdc/runtime/Diags.h>
#include <xdc/runtime/Error.h>
#include <xdc/runtime/Log.h>
#include <xdc/runtime/System.h>
/* package header files */
#include <ti/ipc/Ipc.h>
#include <xdc/runtime/Registry.h>
#include <ti/ipc/MessageQ.h>
#include <ti/ipc/MultiProc.h>
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/drv/gpio/GPIO.h>
#include <ti/drv/gpio/soc/GPIO_v1.h>

#include "../shared/AppCommon.h"

#define MODULE_NAME "Server"

/* module structure */
typedef struct {
	UInt16              hostProcId;         // host processor id
	MessageQ_Handle     slaveQue;           // created locally
} Server_Module;


//GPIO4_4, GPIO4_9, GPIO2_27
GPIO_PinConfig gpioPinConfigs[] = { 
	GPIO_DEVICE_CONFIG(0x04, 0x04) | GPIO_CFG_OUTPUT,

	GPIO_DEVICE_CONFIG(0x04, 0x09) | GPIO_CFG_OUTPUT,

	GPIO_DEVICE_CONFIG(0x02, 0x27) | GPIO_CFG_OUTPUT,

	GPIO_DEVICE_CONFIG(0x04, 0x03) | GPIO_CFG_OUTPUT

	//GPIO_DEVICE_CONFIG(0x03, 0x28) | GPIO_CFG_OUTPUT,

	//GPIO_DEVICE_CONFIG(0x03, 0x29) | GPIO_CFG_OUTPUT,

	//GPIO_DEVICE_CONFIG(0x03, 0x30) | GPIO_CFG_OUTPUT,

};

/* GPIO Driver call back functions */
GPIO_CallbackFxn gpioCallbackFunctions[] = {
	NULL,
	NULL,
	NULL
};

GPIO_v1_Config GPIO_v1_config = {
	gpioPinConfigs,
	NULL,
	sizeof(gpioPinConfigs) / sizeof(GPIO_PinConfig),
	//sizeof(gpioCallbackFunctions) / sizeof(GPIO_CallbackFxn),
	0,
	0,
};

Void MessageTask(UArg arg0, UArg arg1);

Int main(Int argc, Char* argv[])
{
	Error_Block     eb;
	Task_Params     taskParams;

	Error_init(&eb);
	Task_Params_init(&taskParams);
	taskParams.instance->name = "smain";
	taskParams.arg0 = (UArg)argc;
	taskParams.arg1 = (UArg)argv;
	taskParams.stackSize = 0x4000;
	Task_create(MessageTask, &taskParams, &eb);

	if (Error_check(&eb)) {
		System_abort("main: failed to create application startup thread");
	}


	GPIO_init();
	/* start scheduler, this never returns */
	BIOS_start();

	return (0);
}

Void MessageTask(UArg arg0, UArg arg1)
{
	Int                 status = 0;
	UInt				index = 0;
	UInt				GpioNum = 0;
	Server_Module       Module;
	MessageQ_Params     msgqParams;
	App_Msg *           msg;
	MessageQ_QueueId    queId;

	Module.hostProcId = MultiProc_getId("HOST");
	MessageQ_Params_init(&msgqParams);
	Module.slaveQue = MessageQ_create("DSP1", &msgqParams);

	if ( Module.slaveQue == NULL )
		goto messageq_create_err;

	GpioNum = sizeof(gpioPinConfigs) / sizeof(GPIO_PinConfig);
	while ( TRUE ) {
		status = MessageQ_get(Module.slaveQue, (MessageQ_Msg *)&msg,
				MessageQ_FOREVER);
		if (status < 0) {
			break;
		}

		if ( msg->cmd == 0xFF) {
			for ( index  = 0; index < GpioNum; index++ ) 
				GPIO_write(index, 1U);
		} else {
			for ( index  = 0; index < GpioNum; index++ ) 
				GPIO_write(index, 0U);
		}

		queId = MessageQ_getReplyQueue(msg); 
		MessageQ_put(queId, (MessageQ_Msg)msg);
	}

	MessageQ_delete(&Module.slaveQue);
	return;

messageq_create_err:
	return ;
}