/* | |
FreeRTOS V8.2.3 - 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 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. For this reason 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 ) | |
{ | |
/* 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; | |
/* 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( 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(); | |
} | |
#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 ); | |
} | |