/* | |
FreeRTOS V8.2.2 - Copyright (C) 2015 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 and FreeRTOS hook functions. | |
* | |
* 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 "IntSemTest.h" | |
/* Altera library includes. */ | |
#include "alt_timers.h" | |
#include "alt_clock_manager.h" | |
#include "alt_interrupt.h" | |
#include "alt_globaltmr.h" | |
#include "alt_address_space.h" | |
#include "mmu_support.h" | |
#include "cache_support.h" | |
/* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is used to select between two demo | |
* applications, as described at the top of this file. | |
* | |
* When mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1 the simple blinky example | |
* will be run. | |
* | |
* When mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0 the comprehensive test | |
* and demo application will be run. | |
*/ | |
#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 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 ( 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 ); | |
/*-----------------------------------------------------------*/ | |
/* configAPPLICATION_ALLOCATED_HEAP is set to 1 in FreeRTOSConfig.h so the | |
application can define the array used as the FreeRTOS heap. This is done so the | |
heap can be forced into fast internal RAM - useful because the stacks used by | |
the tasks come from this space. */ | |
uint8_t ucHeap[ configTOTAL_HEAP_SIZE ] __attribute__ ( ( section( ".oc_ram" ) ) ); | |
/* FreeRTOS uses its own interrupt handler code. This code cannot use the array | |
of handlers defined by the Altera drivers because the array is declared static, | |
and so not accessible outside of the dirver's source file. Instead declare an | |
array for use by the FreeRTOS handler. See: | |
http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html. */ | |
static INT_DISPATCH_t xISRHandlers[ ALT_INT_PROVISION_INT_COUNT ]; | |
/*-----------------------------------------------------------*/ | |
int main( void ) | |
{ | |
/* Configure the hardware ready to run the demo. */ | |
prvSetupHardware(); | |
/* The mainSELECTED_APPLICATION setting is described at the top | |
of this file. */ | |
#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 ) | |
{ | |
main_blinky(); | |
} | |
#else | |
{ | |
main_full(); | |
} | |
#endif | |
/* Don't expect to reach here. */ | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
extern uint8_t __cs3_interrupt_vector; | |
uint32_t ulSCTLR, ulVectorTable = ( uint32_t ) &__cs3_interrupt_vector; | |
const uint32_t ulVBit = 13U; | |
alt_int_global_init(); | |
alt_int_cpu_binary_point_set( 0 ); | |
/* Clear SCTLR.V for low vectors and map the vector table to the beginning | |
of the code. */ | |
__asm( "MRC p15, 0, %0, c1, c0, 0" : "=r" ( ulSCTLR ) ); | |
ulSCTLR &= ~( 1 << ulVBit ); | |
__asm( "MCR p15, 0, %0, c1, c0, 0" : : "r" ( ulSCTLR ) ); | |
__asm( "MCR p15, 0, %0, c12, c0, 0" : : "r" ( ulVectorTable ) ); | |
cache_init(); | |
mmu_init(); | |
/* GPIO for LEDs. ParTest is a historic name which used to stand for | |
parallel port test. */ | |
vParTestInitialise(); | |
} | |
/*-----------------------------------------------------------*/ | |
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; | |
/* 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(); | |
/* Call the periodic test that uses mutexes form an interrupt. */ | |
vInterruptSemaphorePeriodicTest(); | |
} | |
#endif | |
} | |
/*-----------------------------------------------------------*/ | |
void vConfigureTickInterrupt( void ) | |
{ | |
alt_freq_t ulTempFrequency; | |
const alt_freq_t ulMicroSecondsPerSecond = 1000000UL; | |
void FreeRTOS_Tick_Handler( void ); | |
/* Interrupts are disabled when this function is called. */ | |
/* Initialise the general purpose timer modules. */ | |
alt_gpt_all_tmr_init(); | |
/* ALT_CLK_MPU_PERIPH = mpu_periph_clk */ | |
alt_clk_freq_get( ALT_CLK_MPU_PERIPH, &ulTempFrequency ); | |
/* Use the local private timer. */ | |
alt_gpt_counter_set( ALT_GPT_CPU_PRIVATE_TMR, ulTempFrequency / configTICK_RATE_HZ ); | |
/* Sanity check. */ | |
configASSERT( alt_gpt_time_microsecs_get( ALT_GPT_CPU_PRIVATE_TMR ) == ( ulMicroSecondsPerSecond / configTICK_RATE_HZ ) ); | |
/* Set to periodic mode. */ | |
alt_gpt_mode_set( ALT_GPT_CPU_PRIVATE_TMR, ALT_GPT_RESTART_MODE_PERIODIC ); | |
/* The timer can be started here as interrupts are disabled. */ | |
alt_gpt_tmr_start( ALT_GPT_CPU_PRIVATE_TMR ); | |
/* Register the standard FreeRTOS Cortex-A tick handler as the timer's | |
interrupt handler. The handler clears the interrupt using the | |
configCLEAR_TICK_INTERRUPT() macro, which is defined in FreeRTOSConfig.h. */ | |
vRegisterIRQHandler( ALT_INT_INTERRUPT_PPI_TIMER_PRIVATE, ( alt_int_callback_t ) FreeRTOS_Tick_Handler, NULL ); | |
/* This tick interrupt must run at the lowest priority. */ | |
alt_int_dist_priority_set( ALT_INT_INTERRUPT_PPI_TIMER_PRIVATE, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); | |
/* Ensure the interrupt is forwarded to the CPU. */ | |
alt_int_dist_enable( ALT_INT_INTERRUPT_PPI_TIMER_PRIVATE ); | |
/* Finally, enable the interrupt. */ | |
alt_gpt_int_clear_pending( ALT_GPT_CPU_PRIVATE_TMR ); | |
alt_gpt_int_enable( ALT_GPT_CPU_PRIVATE_TMR ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vRegisterIRQHandler( uint32_t ulID, alt_int_callback_t pxHandlerFunction, void *pvContext ) | |
{ | |
if( ulID < ALT_INT_PROVISION_INT_COUNT ) | |
{ | |
xISRHandlers[ ulID ].pxISR = pxHandlerFunction; | |
xISRHandlers[ ulID ].pvContext = pvContext; | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationIRQHandler( uint32_t ulICCIAR ) | |
{ | |
uint32_t ulInterruptID; | |
void *pvContext; | |
alt_int_callback_t pxISR; | |
/* Re-enable interrupts. */ | |
__asm ( "cpsie i" ); | |
/* The ID of the interrupt is obtained by bitwise anding the ICCIAR value | |
with 0x3FF. */ | |
ulInterruptID = ulICCIAR & 0x3FFUL; | |
if( ulInterruptID < ALT_INT_PROVISION_INT_COUNT ) | |
{ | |
/* Call the function installed in the array of installed handler | |
functions. */ | |
pxISR = xISRHandlers[ ulInterruptID ].pxISR; | |
pvContext = xISRHandlers[ ulInterruptID ].pvContext; | |
pxISR( ulICCIAR, pvContext ); | |
} | |
} | |