| /* | |
| FreeRTOS V9.0.0 - 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! | |
| */ | |
| /* FreeRTOS includes. */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| /* Xilinx includes. */ | |
| #include "xil_printf.h" | |
| #include "xparameters.h" | |
| #if defined( XPAR_XTMRCTR_NUM_INSTANCES ) | |
| #if( XPAR_XTMRCTR_NUM_INSTANCES > 0 ) | |
| #include "xtmrctr.h" | |
| /* The timer is used to generate the RTOS tick interrupt. */ | |
| static XTmrCtr xTickTimerInstance; | |
| #endif | |
| #endif | |
| /* | |
| * Some FreeRTOSConfig.h settings require the application writer to provide the | |
| * implementation of a callback function that has a specific name, and a linker | |
| * error will result if the application does not provide the required function. | |
| * To avoid the risk of a configuration file setting resulting in a linker error | |
| * this file provides default implementations of each callback that might be | |
| * required. The default implementations are declared as weak symbols to allow | |
| * the application writer to override the default implementation by providing | |
| * their own implementation in the application itself. | |
| */ | |
| void vApplicationAssert( const char *pcFileName, uint32_t ulLine ) __attribute__((weak)); | |
| void vApplicationTickHook( void ) __attribute__((weak)); | |
| void vApplicationIdleHook( void ) __attribute__((weak)); | |
| void vApplicationMallocFailedHook( void ) __attribute((weak)); | |
| void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName ) __attribute__((weak)); | |
| void vApplicationSetupTimerInterrupt( void ) __attribute__((weak)); | |
| void vApplicationClearTimerInterrupt( void ) __attribute__((weak)); | |
| /*-----------------------------------------------------------*/ | |
| /* This version of vApplicationAssert() is declared as a weak symbol to allow it | |
| to be overridden by a version implemented within the application that is using | |
| this BSP. */ | |
| void vApplicationAssert( const char *pcFileName, uint32_t ulLine ) | |
| { | |
| volatile uint32_t ul = 0; | |
| volatile const char *pcLocalFileName = pcFileName; /* To prevent pcFileName being optimized away. */ | |
| volatile uint32_t ulLocalLine = ulLine; /* To prevent ulLine being optimized away. */ | |
| /* Prevent compile warnings about the following two variables being set but | |
| not referenced. They are intended for viewing in the debugger. */ | |
| ( void ) pcLocalFileName; | |
| ( void ) ulLocalLine; | |
| xil_printf( "Assert failed in file %s, line %lu\r\n", pcLocalFileName, ulLocalLine ); | |
| /* If this function is entered then a call to configASSERT() failed in the | |
| FreeRTOS code because of a fatal error. The pcFileName and ulLine | |
| parameters hold the file name and line number in that file of the assert | |
| that failed. Additionally, if using the debugger, the function call stack | |
| can be viewed to find which line failed its configASSERT() test. Finally, | |
| the debugger can be used to set ul to a non-zero value, then step out of | |
| this function to find where the assert function was entered. */ | |
| taskENTER_CRITICAL(); | |
| { | |
| while( ul == 0 ) | |
| { | |
| __asm volatile( "NOP" ); | |
| } | |
| } | |
| taskEXIT_CRITICAL(); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* This default tick hook does nothing and is declared as a weak symbol to allow | |
| the application writer to override this default by providing their own | |
| implementation in the application code. */ | |
| void vApplicationTickHook( void ) | |
| { | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* This default idle hook does nothing and is declared as a weak symbol to allow | |
| the application writer to override this default by providing their own | |
| implementation in the application code. */ | |
| void vApplicationIdleHook( void ) | |
| { | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* This default malloc failed hook does nothing and is declared as a weak symbol | |
| to allow the application writer to override this default by providing their own | |
| implementation in the application code. */ | |
| void vApplicationMallocFailedHook( void ) | |
| { | |
| xil_printf( "vApplicationMallocFailedHook() called\n" ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* This default stack overflow hook will stop the application for executing. It | |
| is declared as a weak symbol to allow the application writer to override this | |
| default by providing their own implementation in the application code. */ | |
| void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName ) | |
| { | |
| /* Attempt to prevent the handle and name of the task that overflowed its stack | |
| from being optimised away because they are not used. */ | |
| volatile TaskHandle_t xOverflowingTaskHandle = xTask; | |
| volatile char *pcOverflowingTaskName = pcTaskName; | |
| ( void ) xOverflowingTaskHandle; | |
| ( void ) pcOverflowingTaskName; | |
| xil_printf( "HALT: Task %s overflowed its stack.", pcOverflowingTaskName ); | |
| portDISABLE_INTERRUPTS(); | |
| for( ;; ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| #if defined( XPAR_XTMRCTR_NUM_INSTANCES ) | |
| #if( XPAR_XTMRCTR_NUM_INSTANCES > 0 ) | |
| /* This is a default implementation of what is otherwise an application defined | |
| callback function used to install the tick interrupt handler. It is provided as | |
| an application callback because the kernel will run on lots of different | |
| MicroBlaze and FPGA configurations - not all of which will have the same timer | |
| peripherals defined or available. vApplicationSetupTimerInterrupt() is declared | |
| as a weak symbol, allowing the application writer to provide their own | |
| implementation, if this default implementation is not suitable. */ | |
| void vApplicationSetupTimerInterrupt( void ) | |
| { | |
| portBASE_TYPE xStatus; | |
| const unsigned char ucTickTimerCounterNumber = ( unsigned char ) 0U; | |
| const unsigned char ucRunTimeStatsCounterNumber = ( unsigned char ) 1U; | |
| const unsigned long ulCounterValue = ( ( XPAR_TMRCTR_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL ); | |
| extern void vPortTickISR( void *pvUnused ); | |
| /* Initialise the timer/counter. */ | |
| xStatus = XTmrCtr_Initialize( &xTickTimerInstance, XPAR_TMRCTR_0_DEVICE_ID ); | |
| if( xStatus == XST_SUCCESS ) | |
| { | |
| /* Install the tick interrupt handler as the timer ISR. | |
| *NOTE* The xPortInstallInterruptHandler() API function must be used for | |
| this purpose. */ | |
| xStatus = xPortInstallInterruptHandler( XPAR_INTC_0_TMRCTR_0_VEC_ID, vPortTickISR, NULL ); | |
| } | |
| if( xStatus == pdPASS ) | |
| { | |
| /* Enable the timer interrupt in the interrupt controller. | |
| *NOTE* The vPortEnableInterrupt() API function must be used for this | |
| purpose. */ | |
| vPortEnableInterrupt( XPAR_INTC_0_TMRCTR_0_VEC_ID ); | |
| /* Configure the timer interrupt handler. This installs the handler | |
| directly, rather than through the Xilinx driver. This is done for | |
| efficiency. */ | |
| XTmrCtr_SetHandler( &xTickTimerInstance, ( void * ) vPortTickISR, NULL ); | |
| /* Set the correct period for the timer. */ | |
| XTmrCtr_SetResetValue( &xTickTimerInstance, ucTickTimerCounterNumber, ulCounterValue ); | |
| /* Enable the interrupts. Auto-reload mode is used to generate a | |
| periodic tick. Note that interrupts are disabled when this function is | |
| called, so interrupts will not start to be processed until the first | |
| task has started to run. */ | |
| XTmrCtr_SetOptions( &xTickTimerInstance, ucTickTimerCounterNumber, ( XTC_INT_MODE_OPTION | XTC_AUTO_RELOAD_OPTION | XTC_DOWN_COUNT_OPTION ) ); | |
| /* Start the timer. */ | |
| XTmrCtr_Start( &xTickTimerInstance, ucTickTimerCounterNumber ); | |
| /* The second timer is used as the time base for the run time stats. | |
| Auto-reload mode is used to ensure the timer does not stop. */ | |
| XTmrCtr_SetOptions( &xTickTimerInstance, ucRunTimeStatsCounterNumber, XTC_AUTO_RELOAD_OPTION ); | |
| /* Start the timer. */ | |
| XTmrCtr_Start( &xTickTimerInstance, ucRunTimeStatsCounterNumber ); | |
| } | |
| /* Sanity check that the function executed as expected. */ | |
| configASSERT( ( xStatus == pdPASS ) ); | |
| } | |
| #endif /* XPAR_XTMRCTR_NUM_INSTANCES > 0 */ | |
| #endif /* XPAR_XTMRCTR_NUM_INSTANCES */ | |
| /*-----------------------------------------------------------*/ | |
| #if defined( XPAR_XTMRCTR_NUM_INSTANCES ) | |
| #if( XPAR_XTMRCTR_NUM_INSTANCES > 0 ) | |
| /* This is a default implementation of what is otherwise an application defined | |
| callback function used to clear whichever timer interrupt is used to generate | |
| the tick interrupt. It is provided as an application callback because the | |
| kernel will run on lots of different MicroBlaze and FPGA configurations - not | |
| all of which will have the same timer peripherals defined or available. | |
| vApplicationSetupTimerInterrupt() is declared as a weak symbol, allowing the | |
| application writer to provide their own implementation, if this default | |
| implementation is not suitable. */ | |
| void vApplicationClearTimerInterrupt( void ) | |
| { | |
| unsigned long ulCSR; | |
| /* Clear the timer interrupt */ | |
| ulCSR = XTmrCtr_GetControlStatusReg( XPAR_TMRCTR_0_BASEADDR, 0 ); | |
| XTmrCtr_SetControlStatusReg( XPAR_TMRCTR_0_BASEADDR, 0, ulCSR ); | |
| } | |
| #endif /* XPAR_XTMRCTR_NUM_INSTANCES > 0 */ | |
| #endif /* XPAR_XTMRCTR_NUM_INSTANCES */ |