/* | |
* FreeRTOS Kernel V10.0.1 | |
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
* | |
* Permission is hereby granted, free of charge, to any person obtaining a copy of | |
* this software and associated documentation files (the "Software"), to deal in | |
* the Software without restriction, including without limitation the rights to | |
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of | |
* the Software, and to permit persons to whom the Software is furnished to do so, | |
* subject to the following conditions: | |
* | |
* The above copyright notice and this permission notice shall be included in all | |
* copies or substantial portions of the Software. | |
* | |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS | |
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | |
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER | |
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN | |
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | |
* | |
* http://www.FreeRTOS.org | |
* http://aws.amazon.com/freertos | |
* | |
* 1 tab == 4 spaces! | |
*/ | |
/****************************************************************************** | |
* | |
* See http://www.freertos.org/RTOS-Xilinx-Zynq.html for instructions. | |
* | |
* This project provides three demo applications. A simple blinky style | |
* project, a more comprehensive test and demo application, and an lwIP example. | |
* The mainSELECTED_APPLICATION setting (defined in this file) is used to | |
* select between the three. 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. The lwIP example is implemented | |
* and described in main_lwIP.c. | |
* | |
* This file implements the code that is not demo specific, including the | |
* hardware setup and FreeRTOS hook functions. | |
* | |
* !!! IMPORTANT NOTE !!! | |
* The GCC libraries that ship with the Xilinx SDK make use of the floating | |
* point registers. To avoid this causing corruption it is necessary to avoid | |
* their use unless a task has been given a floating point context. See | |
* http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html | |
* for information on how to give a task a floating point context, and how to | |
* handle floating point operations in interrupts. As this demo does not give | |
* all tasks a floating point context main.c contains very basic C | |
* implementations of the standard C library functions memset(), memcpy() and | |
* memcmp(), which are are used by FreeRTOS itself. Defining these functions in | |
* the project prevents the linker pulling them in from the library. Any other | |
* standard C library functions that are used by the application must likewise | |
* be defined in C. | |
* | |
* 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! | |
* | |
*/ | |
/* Standard includes. */ | |
#include <stdio.h> | |
#include <limits.h> | |
/* 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" | |
#include "TaskNotify.h" | |
#include "IntSemTest.h" | |
/* Xilinx includes. */ | |
#include "platform.h" | |
#include "xparameters.h" | |
#include "xscutimer.h" | |
#include "xscugic.h" | |
#include "xil_exception.h" | |
/* mainSELECTED_APPLICATION is used to select between three demo applications, | |
* as described at the top of this file. | |
* | |
* When mainSELECTED_APPLICATION is set to 0 the simple blinky example will | |
* be run. | |
* | |
* When mainSELECTED_APPLICATION is set to 1 the comprehensive test and demo | |
* application will be run. | |
* | |
* When mainSELECTED_APPLICATION is set to 2 the lwIP example will be run. | |
*/ | |
#define mainSELECTED_APPLICATION 1 | |
/*-----------------------------------------------------------*/ | |
/* | |
* Configure the hardware as necessary to run this demo. | |
*/ | |
static void prvSetupHardware( void ); | |
/* | |
* See the comments at the top of this file and above the | |
* mainSELECTED_APPLICATION definition. | |
*/ | |
#if ( mainSELECTED_APPLICATION == 0 ) | |
extern void main_blinky( void ); | |
#elif ( mainSELECTED_APPLICATION == 1 ) | |
extern void main_full( void ); | |
#elif ( mainSELECTED_APPLICATION == 2 ) | |
extern void main_lwIP( void ); | |
#else | |
#error Invalid mainSELECTED_APPLICATION setting. See the comments at the top of this file and above the mainSELECTED_APPLICATION definition. | |
#endif | |
/* | |
* The Xilinx projects use a BSP that do not allow the start up code to be | |
* altered easily. Therefore the vector table used by FreeRTOS is defined in | |
* FreeRTOS_asm_vectors.S, which is part of this project. Switch to use the | |
* FreeRTOS vector table. | |
*/ | |
extern void vPortInstallFreeRTOSVectorTable( void ); | |
/* 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 ); | |
/* The private watchdog is used as the timer that generates run time | |
stats. This frequency means it will overflow quite quickly. */ | |
XScuWdt xWatchDogInstance; | |
/*-----------------------------------------------------------*/ | |
/* The interrupt controller is initialised in this file, and made available to | |
other modules. */ | |
XScuGic xInterruptController; | |
/*-----------------------------------------------------------*/ | |
int main( void ) | |
{ | |
/* See http://www.freertos.org/RTOS-Xilinx-Zynq.html for instructions. */ | |
/* Configure the hardware ready to run the demo. */ | |
prvSetupHardware(); | |
/* The mainSELECTED_APPLICATION setting is described at the top of this | |
file. */ | |
#if( mainSELECTED_APPLICATION == 0 ) | |
{ | |
main_blinky(); | |
} | |
#elif( mainSELECTED_APPLICATION == 1 ) | |
{ | |
main_full(); | |
} | |
#else | |
{ | |
main_lwIP(); | |
} | |
#endif | |
/* Don't expect to reach here. */ | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
BaseType_t xStatus; | |
XScuGic_Config *pxGICConfig; | |
/* Ensure no interrupts execute while the scheduler is in an inconsistent | |
state. Interrupts are automatically enabled when the scheduler is | |
started. */ | |
portDISABLE_INTERRUPTS(); | |
/* Obtain the configuration of the GIC. */ | |
pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID ); | |
/* Sanity check the FreeRTOSConfig.h settings are correct for the | |
hardware. */ | |
configASSERT( pxGICConfig ); | |
configASSERT( pxGICConfig->CpuBaseAddress == ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ) ); | |
configASSERT( pxGICConfig->DistBaseAddress == configINTERRUPT_CONTROLLER_BASE_ADDRESS ); | |
/* Install a default handler for each GIC interrupt. */ | |
xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress ); | |
configASSERT( xStatus == XST_SUCCESS ); | |
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */ | |
/* Initialise the LED port. */ | |
vParTestInitialise(); | |
/* The Xilinx projects use a BSP that do not allow the start up code to be | |
altered easily. Therefore the vector table used by FreeRTOS is defined in | |
FreeRTOS_asm_vectors.S, which is part of this project. Switch to use the | |
FreeRTOS vector table. */ | |
vPortInstallFreeRTOSVectorTable(); | |
} | |
/*-----------------------------------------------------------*/ | |
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. */ | |
taskDISABLE_INTERRUPTS(); | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
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. */ | |
taskDISABLE_INTERRUPTS(); | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationIdleHook( void ) | |
{ | |
volatile size_t xFreeHeapSpace, xMinimumEverFreeHeapSpace; | |
/* 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(); | |
xMinimumEverFreeHeapSpace = xPortGetMinimumEverFreeHeapSize(); | |
/* Remove compiler warning about xFreeHeapSpace being set but never used. */ | |
( void ) xFreeHeapSpace; | |
( void ) xMinimumEverFreeHeapSpace; | |
} | |
/*-----------------------------------------------------------*/ | |
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( mainSELECTED_APPLICATION == 1 ) | |
{ | |
/* 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(); | |
/* Use task notifications from an interrupt. */ | |
xNotifyTaskFromISR(); | |
/* Use mutexes from interrupts. */ | |
vInterruptSemaphorePeriodicTest(); | |
/* Test flop alignment in interrupts - calling printf from an interrupt | |
is BAD! */ | |
#if( configASSERT_DEFINED == 1 ) | |
{ | |
char cBuf[ 20 ]; | |
UBaseType_t uxSavedInterruptStatus; | |
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); | |
{ | |
sprintf( cBuf, "%1.3f", 1.234 ); | |
} | |
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); | |
configASSERT( strcmp( cBuf, "1.234" ) == 0 ); | |
} | |
#endif /* configASSERT_DEFINED */ | |
} | |
#endif | |
} | |
/*-----------------------------------------------------------*/ | |
void *memcpy( void *pvDest, const void *pvSource, size_t xBytes ) | |
{ | |
/* The compiler used during development seems to err unless these volatiles are | |
included at -O3 optimisation. */ | |
volatile unsigned char *pcDest = ( volatile unsigned char * ) pvDest, *pcSource = ( volatile unsigned char * ) pvSource; | |
size_t x; | |
/* Extremely crude standard library implementations in lieu of having a C | |
library. */ | |
if( pvDest != pvSource ) | |
{ | |
for( x = 0; x < xBytes; x++ ) | |
{ | |
pcDest[ x ] = pcSource[ x ]; | |
} | |
} | |
return pvDest; | |
} | |
/*-----------------------------------------------------------*/ | |
void *memset( void *pvDest, int iValue, size_t xBytes ) | |
{ | |
/* The compiler used during development seems to err unless these volatiles are | |
included at -O3 optimisation. */ | |
volatile unsigned char * volatile pcDest = ( volatile unsigned char * volatile ) pvDest; | |
volatile size_t x; | |
/* Extremely crude standard library implementations in lieu of having a C | |
library. */ | |
for( x = 0; x < xBytes; x++ ) | |
{ | |
pcDest[ x ] = ( unsigned char ) iValue; | |
} | |
return pvDest; | |
} | |
/*-----------------------------------------------------------*/ | |
int memcmp( const void *pvMem1, const void *pvMem2, size_t xBytes ) | |
{ | |
const volatile unsigned char *pucMem1 = pvMem1, *pucMem2 = pvMem2; | |
volatile size_t x; | |
/* Extremely crude standard library implementations in lieu of having a C | |
library. */ | |
for( x = 0; x < xBytes; x++ ) | |
{ | |
if( pucMem1[ x ] != pucMem2[ x ] ) | |
{ | |
break; | |
} | |
} | |
return xBytes - x; | |
} | |
/*-----------------------------------------------------------*/ | |
void vInitialiseTimerForRunTimeStats( void ) | |
{ | |
XScuWdt_Config *pxWatchDogInstance; | |
uint32_t ulValue; | |
const uint32_t ulMaxDivisor = 0xff, ulDivisorShift = 0x08; | |
pxWatchDogInstance = XScuWdt_LookupConfig( XPAR_SCUWDT_0_DEVICE_ID ); | |
XScuWdt_CfgInitialize( &xWatchDogInstance, pxWatchDogInstance, pxWatchDogInstance->BaseAddr ); | |
ulValue = XScuWdt_GetControlReg( &xWatchDogInstance ); | |
ulValue |= ulMaxDivisor << ulDivisorShift; | |
XScuWdt_SetControlReg( &xWatchDogInstance, ulValue ); | |
XScuWdt_LoadWdt( &xWatchDogInstance, UINT_MAX ); | |
XScuWdt_SetTimerMode( &xWatchDogInstance ); | |
XScuWdt_Start( &xWatchDogInstance ); | |
} | |
/*-----------------------------------------------------------*/ | |
/* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an | |
implementation of vApplicationGetIdleTaskMemory() to provide the memory that is | |
used by the Idle task. */ | |
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ) | |
{ | |
/* If the buffers to be provided to the Idle task are declared inside this | |
function then they must be declared static - otherwise they will be allocated on | |
the stack and so not exists after this function exits. */ | |
static StaticTask_t xIdleTaskTCB; | |
static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ]; | |
/* Pass out a pointer to the StaticTask_t structure in which the Idle task's | |
state will be stored. */ | |
*ppxIdleTaskTCBBuffer = &xIdleTaskTCB; | |
/* Pass out the array that will be used as the Idle task's stack. */ | |
*ppxIdleTaskStackBuffer = uxIdleTaskStack; | |
/* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer. | |
Note that, as the array is necessarily of type StackType_t, | |
configMINIMAL_STACK_SIZE is specified in words, not bytes. */ | |
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE; | |
} | |
/*-----------------------------------------------------------*/ | |
/* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the | |
application must provide an implementation of vApplicationGetTimerTaskMemory() | |
to provide the memory that is used by the Timer service task. */ | |
void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize ) | |
{ | |
/* If the buffers to be provided to the Timer task are declared inside this | |
function then they must be declared static - otherwise they will be allocated on | |
the stack and so not exists after this function exits. */ | |
static StaticTask_t xTimerTaskTCB; | |
static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ]; | |
/* Pass out a pointer to the StaticTask_t structure in which the Timer | |
task's state will be stored. */ | |
*ppxTimerTaskTCBBuffer = &xTimerTaskTCB; | |
/* Pass out the array that will be used as the Timer task's stack. */ | |
*ppxTimerTaskStackBuffer = uxTimerTaskStack; | |
/* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer. | |
Note that, as the array is necessarily of type StackType_t, | |
configMINIMAL_STACK_SIZE is specified in words, not bytes. */ | |
*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH; | |
} | |