/* | |
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! | |
*/ | |
/* FreeRTOS includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Xilinx includes. */ | |
#include "xscutimer.h" | |
#include "xscugic.h" | |
#define XSCUTIMER_CLOCK_HZ ( XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ / 2UL ) | |
/* | |
* 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)); | |
/* Timer used to generate the tick interrupt. */ | |
static XScuTimer xTimer; | |
/* The IRQ handler, which is also aliased to the name used in standalone | |
projects. */ | |
void FreeRTOS_ApplicationIRQHandler( uint32_t ulICCIAR ); | |
void vApplicationIRQHandler( uint32_t ulICCIAR ) __attribute__ ( ( weak, alias ("FreeRTOS_ApplicationIRQHandler") ) ); | |
/* The function that sets up the tick is declared week to allow it to be | |
overridden by the application. */ | |
void FreeRTOS_SetupTickInterrupt( void ) __attribute__ ( ( weak ) ); | |
void FreeRTOS_ClearTickInterrupt( void ) __attribute__ ( ( weak ) ); | |
/* The interrupt controller used when the tick interrupt is installed is made | |
global so the application code can use the same object. The object must not be | |
used until either it has been initialised using XScuGic_CfgInitialize(), or the | |
scheduler has been started. */ | |
XScuGic xFreeRTOSInterruptController; /* Interrupt controller instance */ | |
/*-----------------------------------------------------------*/ | |
void FreeRTOS_SetupTickInterrupt( void ) | |
{ | |
BaseType_t xStatus; | |
extern void FreeRTOS_Tick_Handler( void ); | |
XScuTimer_Config *pxTimerConfig; | |
XScuGic_Config *pxGICConfig; | |
const uint8_t ucRisingEdge = 3; | |
/* This function is called with the IRQ interrupt disabled, and the IRQ | |
interrupt should be left disabled. It is enabled automatically when the | |
scheduler is started. */ | |
/* Ensure XScuGic_CfgInitialize() has been called. In this demo it has | |
already been called from prvSetupHardware() in main(). */ | |
pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID ); | |
xStatus = XScuGic_CfgInitialize( &xFreeRTOSInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress ); | |
configASSERT( xStatus == XST_SUCCESS ); | |
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */ | |
/* The priority must be the lowest possible. */ | |
XScuGic_SetPriorityTriggerType( &xFreeRTOSInterruptController, XPAR_SCUTIMER_INTR, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge ); | |
/* Install the FreeRTOS tick handler. */ | |
xStatus = XScuGic_Connect( &xFreeRTOSInterruptController, XPAR_SCUTIMER_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, ( void * ) &xTimer ); | |
configASSERT( xStatus == XST_SUCCESS ); | |
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */ | |
/* Initialise the timer. */ | |
pxTimerConfig = XScuTimer_LookupConfig( XPAR_SCUTIMER_DEVICE_ID ); | |
xStatus = XScuTimer_CfgInitialize( &xTimer, pxTimerConfig, pxTimerConfig->BaseAddr ); | |
configASSERT( xStatus == XST_SUCCESS ); | |
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */ | |
/* Enable Auto reload mode. */ | |
XScuTimer_EnableAutoReload( &xTimer ); | |
/* Ensure there is no prescale. */ | |
XScuTimer_SetPrescaler( &xTimer, 0 ); | |
/* Load the timer counter register. */ | |
XScuTimer_LoadTimer( &xTimer, XSCUTIMER_CLOCK_HZ / configTICK_RATE_HZ ); | |
/* Start the timer counter and then wait for it to timeout a number of | |
times. */ | |
XScuTimer_Start( &xTimer ); | |
/* Enable the interrupt for the xTimer in the interrupt controller. */ | |
XScuGic_Enable( &xFreeRTOSInterruptController, XPAR_SCUTIMER_INTR ); | |
/* Enable the interrupt in the xTimer itself. */ | |
FreeRTOS_ClearTickInterrupt(); | |
XScuTimer_EnableInterrupt( &xTimer ); | |
} | |
/*-----------------------------------------------------------*/ | |
void FreeRTOS_ClearTickInterrupt( void ) | |
{ | |
XScuTimer_ClearInterruptStatus( &xTimer ); | |
} | |
/*-----------------------------------------------------------*/ | |
void FreeRTOS_ApplicationIRQHandler( uint32_t ulICCIAR ) | |
{ | |
extern const XScuGic_Config XScuGic_ConfigTable[]; | |
static const XScuGic_VectorTableEntry *pxVectorTable = XScuGic_ConfigTable[ XPAR_SCUGIC_SINGLE_DEVICE_ID ].HandlerTable; | |
uint32_t ulInterruptID; | |
const XScuGic_VectorTableEntry *pxVectorEntry; | |
/* The ID of the interrupt is obtained by bitwise anding the ICCIAR value | |
with 0x3FF. */ | |
ulInterruptID = ulICCIAR & 0x3FFUL; | |
if( ulInterruptID < XSCUGIC_MAX_NUM_INTR_INPUTS ) | |
{ | |
/* Call the function installed in the array of installed handler functions. */ | |
pxVectorEntry = &( pxVectorTable[ ulInterruptID ] ); | |
pxVectorEntry->Handler( pxVectorEntry->CallBackRef ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
/* 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( ;; ); | |
} | |