FreeRTOS/Demo/CORTEX_A53_64-bit_UltraScale_MPSoC/RTOSDemo_A53/src/main.c

/*
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    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.

    ***************************************************************************
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    >>!   outside of the FreeRTOS kernel.                                   !<<
    ***************************************************************************

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    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

    ***************************************************************************
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*/

/******************************************************************************
 * This project provides two demo applications.  A simple blinky style project,
 * and a more comprehensive test and demo application.  The
 * mainSELECTED_APPLICATION 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.
 *
 * !!! IMPORTANT NOTE !!!
 * Some GCC libraries can 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>

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"

/* Standard demo includes. */
#include "partest.h"
#include "QueueOverwrite.h"
#include "EventGroupsDemo.h"
#include "TaskNotify.h"
#include "IntSemTest.h"

/* Xilinx includes. */
#include "platform.h"
#include "xttcps.h"
#include "xscugic.h"

/* mainSELECTED_APPLICATION is used to select between two 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.
 */
#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 );
#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 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();
	}
	#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. */
}
/*-----------------------------------------------------------*/

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();
	{
		#if( configUSE_TRACE_FACILITY == 1 )
		{
			vTraceStop();
		}
		#endif

		/* 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 )
	{
		/* 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;
}
/*-----------------------------------------------------------*/