/* | |
FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. | |
*************************************************************************** | |
>>! NOTE: The modification to the GPL is included to allow you to !<< | |
>>! distribute a combined work that includes FreeRTOS without being !<< | |
>>! obliged to provide the source code for proprietary components !<< | |
>>! outside of the FreeRTOS kernel. !<< | |
*************************************************************************** | |
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY | |
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS | |
FOR A PARTICULAR PURPOSE. Full license text is available on the following | |
link: http://www.freertos.org/a00114.html | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that is more than just the market leader, it * | |
* is the industry's de facto standard. * | |
* * | |
* Help yourself get started quickly while simultaneously helping * | |
* to support the FreeRTOS project by purchasing a FreeRTOS * | |
* tutorial book, reference manual, or both: * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
the FAQ page "My application does not run, what could be wrong?". Have you | |
defined configASSERT()? | |
http://www.FreeRTOS.org/support - In return for receiving this top quality | |
embedded software for free we request you assist our global community by | |
participating in the support forum. | |
http://www.FreeRTOS.org/training - Investing in training allows your team to | |
be as productive as possible as early as possible. Now you can receive | |
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers | |
Ltd, and the world's leading authority on the world's leading RTOS. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. | |
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. | |
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High | |
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS | |
licenses offer ticketed support, indemnification and commercial middleware. | |
http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
engineered and independently SIL3 certified version for use in safety and | |
mission critical applications that require provable dependability. | |
1 tab == 4 spaces! | |
*/ | |
/****************************************************************************** | |
* This project provides two demo applications. A simple blinky style project, | |
* and a more comprehensive test and demo application. The | |
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting (defined in this file) is used to | |
* select between the two. The simply blinky demo is implemented and described | |
* in main_blinky.c. The more comprehensive test and demo application is | |
* implemented and described in main_full.c. | |
* | |
* This file implements the code that is not demo specific, including the | |
* hardware setup, standard FreeRTOS hook functions, and the ISR hander called | |
* by the RTOS after interrupt entry (including nesting) has been taken care of. | |
* | |
* ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON | |
* THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO | |
* APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT! | |
* | |
*/ | |
/* Scheduler include files. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "semphr.h" | |
/* Standard demo includes. */ | |
#include "partest.h" | |
#include "TimerDemo.h" | |
#include "QueueOverwrite.h" | |
#include "EventGroupsDemo.h" | |
/* Library includes. */ | |
#include "chip.h" | |
/* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo, | |
or 0 to run the more comprehensive test and demo application. */ | |
#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 1 | |
/*-----------------------------------------------------------*/ | |
/* | |
* Configure the hardware as necessary to run this demo. | |
*/ | |
static void prvSetupHardware( void ); | |
/* | |
* main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1. | |
* main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0. | |
*/ | |
#if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 | |
extern void main_blinky( void ); | |
#else | |
extern void main_full( void ); | |
#endif /* #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 */ | |
/* Prototypes for the standard FreeRTOS callback/hook functions implemented | |
within this file. */ | |
void vApplicationMallocFailedHook( void ); | |
void vApplicationIdleHook( void ); | |
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName ); | |
void vApplicationTickHook( void ); | |
/* Prototype for the IRQ handler called by the generic Cortex-A5 RTOS port | |
layer. */ | |
void vApplicationIRQHandler( void ); | |
/*-----------------------------------------------------------*/ | |
int main( void ) | |
{ | |
/* Configure the hardware ready to run the demo. */ | |
prvSetupHardware(); | |
/* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top | |
of this file. */ | |
#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 ) | |
{ | |
main_blinky(); | |
} | |
#else | |
{ | |
main_full(); | |
} | |
#endif | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
/* Disable watchdog */ | |
WDT_Disable( WDT ); | |
/* Set protect mode in the AIC for easier debugging. */ | |
AIC->AIC_DCR |= AIC_DCR_PROT; | |
/* Configure ports used by LEDs. */ | |
vParTestInitialise(); | |
#if defined (ddram) | |
MMU_Initialize( ( uint32_t * ) 0x30C000 ); | |
CP15_EnableMMU(); | |
CP15_EnableDcache(); | |
CP15_EnableIcache(); | |
#endif | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationMallocFailedHook( void ) | |
{ | |
/* Called if a call to pvPortMalloc() fails because there is insufficient | |
free memory available in the FreeRTOS heap. pvPortMalloc() is called | |
internally by FreeRTOS API functions that create tasks, queues, software | |
timers, and semaphores. The size of the FreeRTOS heap is set by the | |
configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */ | |
/* Force an assert. */ | |
configASSERT( ( volatile void * ) NULL ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName ) | |
{ | |
( void ) pcTaskName; | |
( void ) pxTask; | |
/* Run time stack overflow checking is performed if | |
configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook | |
function is called if a stack overflow is detected. */ | |
/* Force an assert. */ | |
configASSERT( ( volatile void * ) NULL ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationIdleHook( void ) | |
{ | |
volatile size_t xFreeHeapSpace; | |
/* This is just a trivial example of an idle hook. It is called on each | |
cycle of the idle task. It must *NOT* attempt to block. In this case the | |
idle task just queries the amount of FreeRTOS heap that remains. See the | |
memory management section on the http://www.FreeRTOS.org web site for memory | |
management options. If there is a lot of heap memory free then the | |
configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up | |
RAM. */ | |
xFreeHeapSpace = xPortGetFreeHeapSize(); | |
/* Remove compiler warning about xFreeHeapSpace being set but never used. */ | |
( void ) xFreeHeapSpace; | |
} | |
/*-----------------------------------------------------------*/ | |
void vAssertCalled( const char * pcFile, unsigned long ulLine ) | |
{ | |
volatile unsigned long ul = 0; | |
( void ) pcFile; | |
( void ) ulLine; | |
taskENTER_CRITICAL(); | |
{ | |
/* Set ul to a non-zero value using the debugger to step out of this | |
function. */ | |
while( ul == 0 ) | |
{ | |
portNOP(); | |
} | |
} | |
taskEXIT_CRITICAL(); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationTickHook( void ) | |
{ | |
#if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 | |
{ | |
/* The full demo includes a software timer demo/test that requires | |
prodding periodically from the tick interrupt. */ | |
vTimerPeriodicISRTests(); | |
/* Call the periodic queue overwrite from ISR demo. */ | |
vQueueOverwritePeriodicISRDemo(); | |
/* Call the periodic event group from ISR demo. */ | |
vPeriodicEventGroupsProcessing(); | |
} | |
#endif | |
} | |
/*-----------------------------------------------------------*/ | |
/* The function called by the RTOS port layer after it has managed interrupt | |
entry. */ | |
void vApplicationIRQHandler( void ) | |
{ | |
typedef void (*ISRFunction_t)( void ); | |
ISRFunction_t pxISRFunction; | |
volatile uint32_t * pulAIC_IVR = ( uint32_t * ) configINTERRUPT_VECTOR_ADDRESS; | |
/* Obtain the address of the interrupt handler from the AIR. */ | |
pxISRFunction = ( ISRFunction_t ) *pulAIC_IVR; | |
/* Write back to the SAMA5's interrupt controller's IVR register in case the | |
CPU is in protect mode. If the interrupt controller is not in protect mode | |
then this write is not necessary. */ | |
*pulAIC_IVR = ( uint32_t ) pxISRFunction; | |
/* Ensure the write takes before re-enabling interrupts. */ | |
__DSB(); | |
__ISB(); | |
__enable_irq(); | |
/* Call the installed ISR. */ | |
pxISRFunction(); | |
} | |