/* | |
FreeRTOS V9.0.1 - Copyright (C) 2017 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. | |
* | |
* 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" | |
/* Demo app includes. */ | |
#include "partest.h" | |
/* Xilinx includes. */ | |
#include "xtmrctr.h" | |
#include "xil_cache.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 0 | |
/*-----------------------------------------------------------*/ | |
/* | |
* 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 | |
/* 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 dual timer is used to generate the RTOS tick interrupt and as a time base | |
for the run time stats. */ | |
static XTmrCtr xTickTimerInstance; | |
/*-----------------------------------------------------------*/ | |
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 ) | |
{ | |
microblaze_disable_interrupts(); | |
#if defined( XPAR_MICROBLAZE_USE_ICACHE ) && ( XPAR_MICROBLAZE_USE_ICACHE != 0 ) | |
{ | |
Xil_ICacheInvalidate(); | |
Xil_ICacheEnable(); | |
} | |
#endif | |
#if defined( XPAR_MICROBLAZE_USE_DCACHE ) && ( XPAR_MICROBLAZE_USE_DCACHE != 0 ) | |
{ | |
Xil_DCacheInvalidate(); | |
Xil_DCacheEnable(); | |
} | |
#endif | |
/* Initialise the LEDs. ParTest is a historic name which used to stand for | |
PARallel port TEST. */ | |
vParTestInitialise(); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationMallocFailedHook( void ) | |
{ | |
volatile uint32_t ulDummy = 0; | |
/* 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. Force an | |
assertion failure. */ | |
configASSERT( ulDummy != 0 ); | |
} | |
/*-----------------------------------------------------------*/ | |
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. Force an assertion | |
failure. */ | |
configASSERT( ( char * ) pxTask == pcTaskName ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationIdleHook( void ) | |
{ | |
#if( mainSELECTED_APPLICATION == 1 ) | |
{ | |
extern void vFullDemoIdleHook( void ); | |
/* When the full demo is build the idle hook is used to create some | |
timers to flash LEDs. */ | |
vFullDemoIdleHook(); | |
} | |
#endif | |
} | |
/*-----------------------------------------------------------*/ | |
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 ) | |
{ | |
extern void vFullDemoTickHook( void ); | |
/* When the full demo is build the tick hook is used to demonstrate | |
functions being called from an interrupt and perform some tests. */ | |
vFullDemoTickHook(); | |
} | |
#endif | |
} | |
/*-----------------------------------------------------------*/ | |
/* This is 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. This example | |
uses the Dual Timer 0. If that is available on your hardware platform then this | |
example callback implementation may not require modification. The name of the | |
interrupt handler that must be installed is vPortTickISR(), which the function | |
below declares as an extern. */ | |
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 ) ); | |
} | |
/*-----------------------------------------------------------*/ | |
/* This is an application defined callback function used to clear whichever | |
interrupt was installed by the the vApplicationSetupTimerInterrupt() callback | |
function. 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. This example uses the | |
dual timer 0. If that is available on your hardware platform then this example | |
callback implementation will not require modification provided the example | |
definition of vApplicationSetupTimerInterrupt() is also not modified. */ | |
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 ); | |
} | |
/*-----------------------------------------------------------*/ | |
void *malloc( size_t x ) | |
{ | |
/* Just to check it never gets called as there is no heap defined (other | |
than the FreeRTOS heap). */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
uint32_t ulMainGetRunTimeCounterValue( void ) | |
{ | |
static uint32_t ulOverflows = 0, ulLastTime = 0; | |
uint32_t ulTimeNow, ulReturn; | |
const uint32_t ulPrescale = 10, ulTCR2Offset = 24UL; | |
ulTimeNow = * ( ( uint32_t * ) ( XPAR_TMRCTR_0_BASEADDR + ulTCR2Offset ) ); | |
if( ulTimeNow < ulLastTime ) | |
{ | |
/* 32 as its a 32-bit number. */ | |
ulOverflows += ( 1UL << ( 32 - ulPrescale ) ); | |
} | |
ulLastTime = ulTimeNow; | |
ulReturn = ( ulTimeNow >> ulPrescale ) + ulOverflows; | |
return ulReturn; | |
} | |
/*-----------------------------------------------------------*/ | |