/* | |
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! | |
*/ | |
/* 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 */ |