diff --git a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/.cproject b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/.cproject index d94e97779..72d6f0a04 100644 --- a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/.cproject +++ b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/.cproject @@ -22,10 +22,12 @@ - + + + + diff --git a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/.project b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/.project index 8d3b688ee..b15285eb0 100644 --- a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/.project +++ b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/.project @@ -24,13 +24,64 @@ org.eclipse.cdt.managedbuilder.core.ScannerConfigNature + + FreeRTOS+CLI + 2 + FREERTOS_ROOT/FreeRTOS-Plus/Source/FreeRTOS-Plus-CLI + FreeRTOS_Source 2 FREERTOS_ROOT/FreeRTOS/Source + + Standard_Demo_Tasks + 2 + FREERTOS_ROOT/FreeRTOS/Demo/Common + + + FreeRTOS+CLI/Examples + 2 + FREERTOS_ROOT/FreeRTOS-Plus/Demo/Common/FreeRTOS_Plus_CLI_Demos + + + 0 + Standard_Demo_Tasks + 9 + + org.eclipse.ui.ide.multiFilter + 1.0-name-matches-false-false-Minimal + + + + 0 + Standard_Demo_Tasks + 9 + + org.eclipse.ui.ide.multiFilter + 1.0-name-matches-false-false-include + + + + 1412167807232 + FreeRTOS+CLI/Examples + 5 + + org.eclipse.ui.ide.multiFilter + 1.0-name-matches-false-false-Sample-CLI-commands.c + + + + 1412167807242 + FreeRTOS+CLI/Examples + 5 + + org.eclipse.ui.ide.multiFilter + 1.0-name-matches-false-false-UARTCommandConsole.c + + 1411907231532 FreeRTOS_Source/portable @@ -49,6 +100,60 @@ 1.0-name-matches-false-false-MemMang + + 1412161957514 + Standard_Demo_Tasks/Minimal + 6 + + org.eclipse.ui.ide.multiFilter + 1.0-name-matches-false-false-Alt*.* + + + + 1412161957519 + Standard_Demo_Tasks/Minimal + 6 + + org.eclipse.ui.ide.multiFilter + 1.0-name-matches-false-false-comtest*.* + + + + 1412161957525 + Standard_Demo_Tasks/Minimal + 6 + + org.eclipse.ui.ide.multiFilter + 1.0-name-matches-false-false-cr*.* + + + + 1412161957530 + Standard_Demo_Tasks/Minimal + 6 + + org.eclipse.ui.ide.multiFilter + 1.0-name-matches-false-false-flash*.* + + + + 1412161957535 + Standard_Demo_Tasks/Minimal + 6 + + org.eclipse.ui.ide.multiFilter + 1.0-name-matches-false-false-IntQueue.c + + + + 1412161957541 + Standard_Demo_Tasks/Minimal + 6 + + org.eclipse.ui.ide.multiFilter + 1.0-name-matches-false-false-sp*.* + + 1411907280295 FreeRTOS_Source/portable/GCC diff --git a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/Altera_Code/SoCSupport/include/uart0_support.h b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/Altera_Code/SoCSupport/include/uart0_support.h new file mode 100644 index 000000000..e1536fdf9 --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/Altera_Code/SoCSupport/include/uart0_support.h @@ -0,0 +1,47 @@ +/****************************************************************************** +* +* Copyright 2013 Altera Corporation. All Rights Reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, +* this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. The name of the author may not be used to endorse or promote products +* derived from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDER "AS IS" AND ANY EXPRESS OR +* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE, ARE DISCLAIMED. IN NO +* EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT +* OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY +* OF SUCH DAMAGE. +* +******************************************************************************/ + +#ifndef UART0_SUPPORT_H_ +#define UART0_SUPPORT_H_ + +#include "hwlib.h" + +#ifndef MIN +#define MIN(a, b) ((a) > (b) ? (b) : (a)) +#endif + +ALT_STATUS_CODE uart0_init(void); +ALT_STATUS_CODE uart0_uninit(void); +ALT_STATUS_CODE uart0_print(const char *in_str); +int uart0_printf(const char *fmt, ...); +int uart0_getc(void); + +#endif /* UART0_SUPPORT_H_ */ +/* md5sum:92afebd032496f820e400acbb3658d11 2013-09-28 20:48:16 */ diff --git a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/Altera_Code/SoCSupport/uart0_support.c b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/Altera_Code/SoCSupport/uart0_support.c new file mode 100644 index 000000000..356a3e1a9 --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/Altera_Code/SoCSupport/uart0_support.c @@ -0,0 +1,179 @@ +/****************************************************************************** +* +* Copyright 2013 Altera Corporation. All Rights Reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, +* this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. The name of the author may not be used to endorse or promote products +* derived from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDER "AS IS" AND ANY EXPRESS OR +* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE, ARE DISCLAIMED. IN NO +* EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT +* OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY +* OF SUCH DAMAGE. +* +******************************************************************************/ + +#include +#include +#include +#include "alt_16550_uart.h" +#include "uart0_support.h" + + +static ALT_16550_HANDLE_t g_uart0_handle; + +ALT_STATUS_CODE uart0_init(void) { + + ALT_STATUS_CODE status; + + status = alt_16550_init(ALT_16550_DEVICE_SOCFPGA_UART0, 0, 0, &g_uart0_handle); + + status += alt_16550_line_config_set(&g_uart0_handle, ALT_16550_DATABITS_8, ALT_16550_PARITY_DISABLE, ALT_16550_STOPBITS_1); + + status += alt_16550_baudrate_set(&g_uart0_handle, ALT_16550_BAUDRATE_115200); + + status += alt_16550_fifo_enable(&g_uart0_handle); + + status += alt_16550_enable(&g_uart0_handle); + + return status; +} + +ALT_STATUS_CODE uart0_uninit(void) { + + ALT_STATUS_CODE status; + + status += alt_16550_disable(&g_uart0_handle); + + status += alt_16550_fifo_disable(&g_uart0_handle); + + status += alt_16550_uninit(&g_uart0_handle); + + return status; +} + +ALT_STATUS_CODE uart0_print(const char *in_str) { + + ALT_STATUS_CODE status = ALT_E_SUCCESS; + int i; + int len = strlen(in_str); + + uint32_t size_tx; + if (status == ALT_E_SUCCESS) { + status = alt_16550_fifo_size_get_tx(&g_uart0_handle, &size_tx); + } + + for (i = 0; i < 1000; ++i) + { + if (status != ALT_E_SUCCESS) { + break; + } + + if (len == 0) { + break; + } + + // Wait for the THRE line status + int j = 1000000; + while (--j) { + uint32_t line_status = 0; + status = alt_16550_line_status_get(&g_uart0_handle, &line_status); + if (status != ALT_E_SUCCESS) { + break; + } + if (line_status & (ALT_16550_LINE_STATUS_THRE | ALT_16550_LINE_STATUS_TEMT)) { + break; + } + } + if (j == 0) { + status = ALT_E_TMO; + } + + uint32_t level_tx; + + if (status == ALT_E_SUCCESS) { + status = alt_16550_fifo_level_get_tx(&g_uart0_handle, &level_tx); + } + + if (status == ALT_E_SUCCESS) { + uint32_t size_write = MIN(len, size_tx - level_tx); + status = alt_16550_fifo_write(&g_uart0_handle, in_str, size_write); + if (status == ALT_E_SUCCESS) { + len -= size_write; + in_str += size_write; + } + } + } + + return status; +} + +int uart0_printf(const char *fmt, ...) { + + ALT_STATUS_CODE status = ALT_E_SUCCESS; + int len = 0; + char buffer[1024]; + + va_list vl; + va_start(vl, fmt); + len = vsnprintf(buffer, sizeof(buffer), fmt, vl); + va_end(vl); + + if(len >= sizeof(buffer)) { + + buffer[sizeof(buffer) - 1] = '\0'; + + status = uart0_print(buffer); + if( status != ALT_E_SUCCESS) + return status; + + status = uart0_print("\r\nERROR: uart0_printf_buffer overflow...\r\n"); + if( status != ALT_E_SUCCESS) + return status; + + } else { + status = uart0_print(buffer); + if( status != ALT_E_SUCCESS) + return status; + } + + return len; +} + +int uart0_getc(void) { + + ALT_STATUS_CODE status = ALT_E_SUCCESS; + int ret_val = EOF; + + uint32_t level; + status = alt_16550_fifo_level_get_rx(&g_uart0_handle, &level); + if(status != ALT_E_SUCCESS) + return ret_val; + + if(level > 0) { + char buffer; + status = alt_16550_fifo_read(&g_uart0_handle, &buffer, 1); + if(status != ALT_E_SUCCESS) + return ret_val; + else + return buffer; + } + + return ret_val; +} +/* md5sum:3086bef986334caa60e4e70a63fba834 2013-09-28 20:48:16 */ diff --git a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/FreeRTOSConfig.h b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/FreeRTOSConfig.h index 30c8e0a42..5f5d9d57e 100644 --- a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/FreeRTOSConfig.h +++ b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/FreeRTOSConfig.h @@ -66,6 +66,11 @@ #ifndef FREERTOS_CONFIG_H #define FREERTOS_CONFIG_H +/* Altera library includes. */ +#include "alt_timers.h" +#include "alt_interrupt.h" +#include "alt_globaltmr.h" + /*----------------------------------------------------------- * Application specific definitions. * @@ -98,8 +103,8 @@ * "FromISR". FreeRTOS maintains a separate interrupt safe API to enable * interrupt entry to be shorter, faster, simpler and smaller. * - * The Cyclone V SoC implements 256 unique interrupt priorities. For the - * purpose of setting configMAX_API_CALL_INTERRUPT_PRIORITY 255 represents the + * The Cyclone V SoC implements 32 unique interrupt priorities. For the + * purpose of setting configMAX_API_CALL_INTERRUPT_PRIORITY 32 represents the * lowest priority. */ #define configMAX_API_CALL_INTERRUPT_PRIORITY 18 @@ -113,7 +118,7 @@ #define configUSE_TICK_HOOK 1 #define configMAX_PRIORITIES ( 7 ) #define configMINIMAL_STACK_SIZE ( ( unsigned short ) 200 ) -#define configTOTAL_HEAP_SIZE ( 5 * 1024 ) +#define configTOTAL_HEAP_SIZE ( 50 * 1024 ) #define configMAX_TASK_NAME_LEN ( 10 ) #define configUSE_TRACE_FACILITY 1 #define configUSE_16_BIT_TICKS 0 @@ -155,8 +160,11 @@ readable ASCII form. See the notes in the implementation of vTaskList() within FreeRTOS/Source/tasks.c for limitations. */ #define configUSE_STATS_FORMATTING_FUNCTIONS 1 +/* Run time stats related definitions. */ +#define configGENERATE_RUN_TIME_STATS 1 +#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() alt_globaltmr_start() +#define portGET_RUN_TIME_COUNTER_VALUE() ( ( uint32_t ) ( alt_globaltmr_get64() >> ( uint64_t ) 16 ) ) -#define configGENERATE_RUN_TIME_STATS 0 /* The size of the global output buffer that is available for use when there are multiple command interpreters running at once (for example, one on a UART @@ -180,25 +188,6 @@ nothing to return to. To avoid this define configTASK_RETURN_ADDRESS to 0. */ /****** Hardware specific settings. *******************************************/ -/* Rename the FreeRTOS interrupt handlers to the names used in the vector -table. */ -//#define FreeRTOS_IRQ_Handler __cs3_isr_irq -//#define FreeRTOS_SWI_Handler __cs3_isr_swi -// --defsym=__cs3_isr_irq=FreeRTOS_IRQ_Handler --defsym=__cs3_isr_swi=FreeRTOS_SWI_Handler - - -/* Altera library includes. */ -#include "hwlib.h" -#include "alt_timers.h" -#include "alt_clock_manager.h" -#include "alt_interrupt.h" -#include "alt_globaltmr.h" -#include "alt_address_space.h" -#include "alt_watchdog.h" -#include "mmu_support.h" -#include "cache_support.h" -#include "fpga_support.h" - typedef struct INT_DISPATCH_s { alt_int_callback_t pxISR; diff --git a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/LEDs.c b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/LEDs.c new file mode 100644 index 000000000..73d09650c --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/LEDs.c @@ -0,0 +1,140 @@ +/* + FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * + *************************************************************************** + + 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 from the following + link: http://www.freertos.org/a00114.html + + 1 tab == 4 spaces! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. + + 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and 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! +*/ + +/*----------------------------------------------------------- + * Simple IO routines to control the LEDs. + *-----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Demo includes. */ +#include "partest.h" + +/* Altera library includes. */ +#include "socal/socal.h" +#include "socal/alt_gpio.h" +#include "alt_generalpurpose_io.h" +#include "alt_address_space.h" + + +#define partstNUM_LEDS 4 + +/*-----------------------------------------------------------*/ + +const uint32_t ulLEDs[ partstNUM_LEDS ] = { ALT_GPIO_BIT12, ALT_GPIO_BIT13, ALT_GPIO_BIT14, ALT_GPIO_BIT15 }; +const uint32_t ulAllLEDs = ALT_GPIO_BIT12 | ALT_GPIO_BIT13 | ALT_GPIO_BIT14 | ALT_GPIO_BIT15; +const uint32_t *pulPortBData = ALT_GPIO1_SWPORTA_DR_ADDR; +static uint32_t ulPortValue; + +void vParTestInitialise( void ) +{ + /* Set GPIO direction. */ + alt_gpio_port_datadir_set( ALT_GPIO_PORTB, ulAllLEDs, ulAllLEDs ); + + /* Start with all LEDs off. */ + alt_gpio_port_data_write( ALT_GPIO_PORTB, ulAllLEDs, ulAllLEDs ); + ulPortValue = ulAllLEDs; +} +/*-----------------------------------------------------------*/ + +void vParTestSetLED( UBaseType_t uxLED, BaseType_t xValue ) +{ + if( uxLED < partstNUM_LEDS ) + { + taskENTER_CRITICAL(); + { + if( xValue == pdFALSE ) + { + ulPortValue |= ulLEDs[ uxLED ]; + } + else + { + ulPortValue &= ~ulLEDs[ uxLED ]; + } + + alt_replbits_word( pulPortBData, ulAllLEDs, ulPortValue ); + } + taskEXIT_CRITICAL(); + } +} +/*-----------------------------------------------------------*/ + +void vParTestToggleLED( unsigned portBASE_TYPE uxLED ) +{ + if( uxLED < partstNUM_LEDS ) + { + taskENTER_CRITICAL(); + { + ulPortValue ^= ulLEDs[ uxLED ]; + alt_replbits_word( pulPortBData, ulAllLEDs, ulPortValue ); + } + taskEXIT_CRITICAL(); + } +} + + + diff --git a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/main.c b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/main.c index e7000fcab..27580cdb1 100644 --- a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/main.c +++ b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/main.c @@ -1,15 +1,138 @@ +/* + FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * + *************************************************************************** + + 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 from the following + link: http://www.freertos.org/a00114.html + + 1 tab == 4 spaces! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. + + 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and 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 two demo applications. A simple blinky style project, + * and a more comprehensive test and demo application. The + * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 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. + * + * 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 +#include +#include -/* FreeRTOS includes. */ +/* 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 "IntSemTest.h" + +/* Altera library includes. */ +#include "alt_timers.h" +#include "alt_clock_manager.h" +#include "alt_interrupt.h" +#include "alt_globaltmr.h" +#include "alt_address_space.h" +#include "mmu_support.h" +#include "cache_support.h" + +/* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is used to select between two demo + * applications, as described at the top of this file. + * + * When mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1 the simple blinky example + * will be run. + * + * When mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0 the comprehensive test + * and demo application will be run. + */ +#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 0 /*-----------------------------------------------------------*/ -/* Perform any hardware initialisation necessary. */ +/* + * 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 ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 ) + extern void main_blinky( void ); +#else + extern void main_full( void ); +#endif /* #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 */ + /* Prototypes for the standard FreeRTOS callback/hook functions implemented within this file. */ void vApplicationMallocFailedHook( void ); @@ -21,8 +144,22 @@ void vApplicationTickHook( void ); int main( void ) { + /* Configure the hardware ready to run the demo. */ prvSetupHardware(); - vTaskStartScheduler(); + + /* The mainSELECTED_APPLICATION setting is described at the top + of this file. */ + #if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 ) + { + main_blinky(); + } + #else + { + main_full(); + } + #endif + + /* Don't expect to reach here. */ return 0; } /*-----------------------------------------------------------*/ @@ -34,6 +171,7 @@ uint32_t ulSCTLR, ulVectorTable = ( uint32_t ) &__cs3_interrupt_vector; const uint32_t ulVBit = 13U; alt_int_global_init(); + alt_int_cpu_binary_point_set( 0 ); /* Clear SCTLR.V for low vectors and map the vector table to the beginning of the code. */ @@ -44,47 +182,10 @@ const uint32_t ulVBit = 13U; cache_init(); mmu_init(); -} -/*-----------------------------------------------------------*/ - -void vConfigureTickInterrupt( void ) -{ -alt_freq_t ulTempFrequency; -const alt_freq_t ulMicroSecondsPerSecond = 1000000UL; -void FreeRTOS_Tick_Handler( void ); - - /* Interrupts are disabled when this function is called. */ - - /* Initialise the general purpose timer modules. */ - alt_gpt_all_tmr_init(); - - /* ALT_CLK_MPU_PERIPH = mpu_periph_clk */ - alt_clk_freq_get( ALT_CLK_MPU_PERIPH, &ulTempFrequency ); - - /* Use the local private timer. */ - alt_gpt_counter_set( ALT_GPT_CPU_PRIVATE_TMR, ulTempFrequency / configTICK_RATE_HZ ); - - /* Sanity check. */ - configASSERT( alt_gpt_time_microsecs_get( ALT_GPT_CPU_PRIVATE_TMR ) == ( ulMicroSecondsPerSecond / configTICK_RATE_HZ ) ); - - /* Set to periodic mode. */ - alt_gpt_mode_set( ALT_GPT_CPU_PRIVATE_TMR, ALT_GPT_RESTART_MODE_PERIODIC ); - - /* The timer can be started here as interrupts are disabled. */ - alt_gpt_tmr_start( ALT_GPT_CPU_PRIVATE_TMR ); - - /* Register the standard FreeRTOS Cortex-A tick handler as the timer's - interrupt handler. The handler clears the interrupt using the - configCLEAR_TICK_INTERRUPT() macro, which is defined in FreeRTOSConfig.h. */ - vRegisterIRQHandler( ALT_INT_INTERRUPT_PPI_TIMER_PRIVATE, ( alt_int_callback_t ) FreeRTOS_Tick_Handler, NULL ); - - /* Ensure the interrupt is forwarded to the CPU. */ - alt_int_dist_enable( ALT_INT_INTERRUPT_PPI_TIMER_PRIVATE ); - - /* Finally, enable the interrupt. */ - alt_gpt_int_clear_pending( ALT_GPT_CPU_PRIVATE_TMR ); - alt_gpt_int_enable( ALT_GPT_CPU_PRIVATE_TMR ); + /* GPIO for LEDs. ParTest is a historic name which used to stand for + parallel port test. */ + vParTestInitialise(); } /*-----------------------------------------------------------*/ @@ -153,7 +254,7 @@ volatile unsigned long ul = 0; void vApplicationTickHook( void ) { - #if( mainSELECTED_APPLICATION == 1 ) + #if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 ) { /* The full demo includes a software timer demo/test that requires prodding periodically from the tick interrupt. */ @@ -164,11 +265,58 @@ void vApplicationTickHook( void ) /* Call the periodic event group from ISR demo. */ vPeriodicEventGroupsProcessing(); + + /* Call the periodic test that uses mutexes form an interrupt. */ + vInterruptSemaphorePeriodicTest(); } #endif } /*-----------------------------------------------------------*/ +void vConfigureTickInterrupt( void ) +{ +alt_freq_t ulTempFrequency; +const alt_freq_t ulMicroSecondsPerSecond = 1000000UL; +void FreeRTOS_Tick_Handler( void ); + + /* Interrupts are disabled when this function is called. */ + + /* Initialise the general purpose timer modules. */ + alt_gpt_all_tmr_init(); + + /* ALT_CLK_MPU_PERIPH = mpu_periph_clk */ + alt_clk_freq_get( ALT_CLK_MPU_PERIPH, &ulTempFrequency ); + + /* Use the local private timer. */ + alt_gpt_counter_set( ALT_GPT_CPU_PRIVATE_TMR, ulTempFrequency / configTICK_RATE_HZ ); + + /* Sanity check. */ + configASSERT( alt_gpt_time_microsecs_get( ALT_GPT_CPU_PRIVATE_TMR ) == ( ulMicroSecondsPerSecond / configTICK_RATE_HZ ) ); + + /* Set to periodic mode. */ + alt_gpt_mode_set( ALT_GPT_CPU_PRIVATE_TMR, ALT_GPT_RESTART_MODE_PERIODIC ); + + /* The timer can be started here as interrupts are disabled. */ + alt_gpt_tmr_start( ALT_GPT_CPU_PRIVATE_TMR ); + + /* Register the standard FreeRTOS Cortex-A tick handler as the timer's + interrupt handler. The handler clears the interrupt using the + configCLEAR_TICK_INTERRUPT() macro, which is defined in FreeRTOSConfig.h. */ + vRegisterIRQHandler( ALT_INT_INTERRUPT_PPI_TIMER_PRIVATE, ( alt_int_callback_t ) FreeRTOS_Tick_Handler, NULL ); + + /* This tick interrupt must run at the lowest priority. */ +#warning Is this the correct way of specifying the priority value? + alt_int_dist_priority_set( ALT_INT_INTERRUPT_PPI_TIMER_PRIVATE, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); + + /* Ensure the interrupt is forwarded to the CPU. */ + alt_int_dist_enable( ALT_INT_INTERRUPT_PPI_TIMER_PRIVATE ); + + /* Finally, enable the interrupt. */ + alt_gpt_int_clear_pending( ALT_GPT_CPU_PRIVATE_TMR ); + alt_gpt_int_enable( ALT_GPT_CPU_PRIVATE_TMR ); + +} +/*-----------------------------------------------------------*/ #warning A separate array of handlers is maintained as the drivers array is static so cannot be reached and the handler is incompatible. static INT_DISPATCH_t xISRHandlers[ ALT_INT_PROVISION_INT_COUNT ]; diff --git a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/main_blinky.c b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/main_blinky.c new file mode 100644 index 000000000..c4a6392bc --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/main_blinky.c @@ -0,0 +1,226 @@ +/* + FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * + *************************************************************************** + + 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 from the following + link: http://www.freertos.org/a00114.html + + 1 tab == 4 spaces! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. + + 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and 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! +*/ + +/****************************************************************************** + * NOTE 1: This project provides two demo applications. A simple blinky + * style project, and a more comprehensive test and demo application. The + * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select + * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY + * in main.c. This file implements the simply blinky style version. + * + * NOTE 2: This file only contains the source code that is specific to the + * basic demo. Generic functions, such FreeRTOS hook functions, and functions + * required to configure the hardware are defined in main.c. + ****************************************************************************** + * + * main_blinky() creates one queue, and two tasks. It then starts the + * scheduler. + * + * The Queue Send Task: + * The queue send task is implemented by the prvQueueSendTask() function in + * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly + * block for 200 milliseconds, before sending the value 100 to the queue that + * was created within main_blinky(). Once the value is sent, the task loops + * back around to block for another 200 milliseconds...and so on. + * + * The Queue Receive Task: + * The queue receive task is implemented by the prvQueueReceiveTask() function + * in this file. prvQueueReceiveTask() sits in a loop where it repeatedly + * blocks on attempts to read data from the queue that was created within + * main_blinky(). When data is received, the task checks the value of the + * data, and if the value equals the expected 100, toggles an LED. The 'block + * time' parameter passed to the queue receive function specifies that the + * task should be held in the Blocked state indefinitely to wait for data to + * be available on the queue. The queue receive task will only leave the + * Blocked state when the queue send task writes to the queue. As the queue + * send task writes to the queue every 200 milliseconds, the queue receive + * task leaves the Blocked state every 200 milliseconds, and therefore toggles + * the LED every 200 milliseconds. + */ + +/* Kernel includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "semphr.h" + +/* Standard demo includes. */ +#include "partest.h" + +/* Priorities at which the tasks are created. */ +#define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) +#define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) + +/* The rate at which data is sent to the queue. The 200ms value is converted +to ticks using the portTICK_PERIOD_MS constant. */ +#define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_PERIOD_MS ) + +/* The number of items the queue can hold. This is 1 as the receive task +will remove items as they are added, meaning the send task should always find +the queue empty. */ +#define mainQUEUE_LENGTH ( 1 ) + +/* The LED toggled by the Rx task. */ +#define mainTASK_LED ( 0 ) + +/*-----------------------------------------------------------*/ + +/* + * The tasks as described in the comments at the top of this file. + */ +static void prvQueueReceiveTask( void *pvParameters ); +static void prvQueueSendTask( void *pvParameters ); + +/*-----------------------------------------------------------*/ + +/* The queue used by both tasks. */ +static QueueHandle_t xQueue = NULL; + +/*-----------------------------------------------------------*/ + +void main_blinky( void ) +{ + /* Create the queue. */ + xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( uint32_t ) ); + + if( xQueue != NULL ) + { + /* Start the two tasks as described in the comments at the top of this + file. */ + xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */ + "Rx", /* The text name assigned to the task - for debug only as it is not used by the kernel. */ + configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */ + NULL, /* The parameter passed to the task - not used in this case. */ + mainQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task. */ + NULL ); /* The task handle is not required, so NULL is passed. */ + + xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL ); + + /* Start the tasks and timer running. */ + vTaskStartScheduler(); + } + + /* If all is well, the scheduler will now be running, and the following + line will never be reached. If the following line does execute, then + there was either insufficient FreeRTOS heap memory available for the idle + and/or timer tasks to be created, or vTaskStartScheduler() was called from + User mode. See the memory management section on the FreeRTOS web site for + more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The + mode from which main() is called is set in the C start up code and must be + a privileged mode (not user mode). */ + for( ;; ); +} +/*-----------------------------------------------------------*/ + +static void prvQueueSendTask( void *pvParameters ) +{ +TickType_t xNextWakeTime; +const unsigned long ulValueToSend = 100UL; + + /* Remove compiler warning about unused parameter. */ + ( void ) pvParameters; + + /* Initialise xNextWakeTime - this only needs to be done once. */ + xNextWakeTime = xTaskGetTickCount(); + + for( ;; ) + { + /* Place this task in the blocked state until it is time to run again. */ + vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS ); + + /* Send to the queue - causing the queue receive task to unblock and + toggle the LED. 0 is used as the block time so the sending operation + will not block - it shouldn't need to block as the queue should always + be empty at this point in the code. */ + xQueueSend( xQueue, &ulValueToSend, 0U ); + } +} +/*-----------------------------------------------------------*/ + +static void prvQueueReceiveTask( void *pvParameters ) +{ +unsigned long ulReceivedValue; +const unsigned long ulExpectedValue = 100UL; + + /* Remove compiler warning about unused parameter. */ + ( void ) pvParameters; + + for( ;; ) + { + /* Wait until something arrives in the queue - this task will block + indefinitely provided INCLUDE_vTaskSuspend is set to 1 in + FreeRTOSConfig.h. */ + xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY ); + + /* To get here something must have been received from the queue, but + is it the expected value? If it is, toggle the LED. */ + if( ulReceivedValue == ulExpectedValue ) + { + vParTestToggleLED( mainTASK_LED ); + ulReceivedValue = 0U; + } + } +} +/*-----------------------------------------------------------*/ + diff --git a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/main_full.c b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/main_full.c new file mode 100644 index 000000000..69c784905 --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/main_full.c @@ -0,0 +1,481 @@ +/* + FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * + *************************************************************************** + + 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 from the following + link: http://www.freertos.org/a00114.html + + 1 tab == 4 spaces! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. + + 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and 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! +*/ + +/****************************************************************************** + * NOTE 1: This project provides two demo applications. A simple blinky + * style project, and a more comprehensive test and demo application. The + * mainCREATE_SIMPLY_BLINKY_DEMO_ONLY setting in main.c is used to select + * between the two. See the notes on using mainCREATE_SIMPLY_BLINKY_DEMO_ONLY + * in main.c. This file implements the comprehensive version. + * + * NOTE 2: This file only contains the source code that is specific to the + * full demo. Generic functions, such FreeRTOS hook functions, and functions + * required to configure the hardware, are defined in main.c. + * + ****************************************************************************** + * + * main_full() creates all the demo application tasks and software timers, then + * starts the scheduler. The web documentation provides more details of the + * standard demo application tasks, which provide no particular functionality, + * but do provide a good example of how to use the FreeRTOS API. + * + * In addition to the standard demo tasks, the following tasks and tests are + * defined and/or created within this file: + * + * "Reg test" tasks - These fill both the core and floating point registers with + * known values, then check that each register maintains its expected value for + * the lifetime of the task. Each task uses a different set of values. The reg + * test tasks execute with a very low priority, so get preempted very + * frequently. A register containing an unexpected value is indicative of an + * error in the context switching mechanism. + * + * "Check" task - The check task period is initially set to three seconds. The + * task checks that all the standard demo tasks, and the register check tasks, + * are not only still executing, but are executing without reporting any errors. + * If the check task discovers that a task has either stalled, or reported an + * error, then it changes its own execution period from the initial three + * seconds, to just 200ms. The check task also toggles an LED each time it is + * called. This provides a visual indication of the system status: If the LED + * toggles every three seconds, then no issues have been discovered. If the LED + * toggles every 200ms, then an issue has been discovered with at least one + * task. + */ + +/* Standard includes. */ +#include + +/* Kernel includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "timers.h" +#include "semphr.h" + +/* Standard demo application includes. */ +#include "flop.h" +#include "semtest.h" +#include "dynamic.h" +#include "BlockQ.h" +#include "blocktim.h" +#include "countsem.h" +#include "GenQTest.h" +#include "recmutex.h" +#include "death.h" +#include "partest.h" +#include "comtest2.h" +#include "serial.h" +#include "TimerDemo.h" +#include "QueueOverwrite.h" +#include "EventGroupsDemo.h" +#include "IntSemTest.h" + +/* Priorities for the demo application tasks. */ +#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL ) +#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL ) +#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL ) +#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY ) +#define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3UL ) +#define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) +#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) +#define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY ) + +/* The priority used by the UART command console task. This is very basic and +uses the Altera polling UART driver - so *must* run at the idle priority. */ +#define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( tskIDLE_PRIORITY ) + +/* The LED used by the check timer. */ +#define mainCHECK_LED ( 0 ) + +/* A block time of zero simply means "don't block". */ +#define mainDONT_BLOCK ( 0UL ) + +/* The period after which the check timer will expire, in ms, provided no errors +have been reported by any of the standard demo tasks. ms are converted to the +equivalent in ticks using the portTICK_PERIOD_MS constant. */ +#define mainNO_ERROR_CHECK_TASK_PERIOD ( 3000UL / portTICK_PERIOD_MS ) + +/* The period at which the check timer will expire, in ms, if an error has been +reported in one of the standard demo tasks. ms are converted to the equivalent +in ticks using the portTICK_PERIOD_MS constant. */ +#define mainERROR_CHECK_TASK_PERIOD ( 200UL / portTICK_PERIOD_MS ) + +/* Parameters that are passed into the register check tasks solely for the +purpose of ensuring parameters are passed into tasks correctly. */ +#define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 ) +#define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 ) + +/* The base period used by the timer test tasks. */ +#define mainTIMER_TEST_PERIOD ( 50 ) + +/*-----------------------------------------------------------*/ + + +/* + * The check task, as described at the top of this file. + */ +static void prvCheckTask( void *pvParameters ); + +/* + * Register check tasks, and the tasks used to write over and check the contents + * of the FPU registers, as described at the top of this file. The nature of + * these files necessitates that they are written in an assembly file, but the + * entry points are kept in the C file for the convenience of checking the task + * parameter. + */ +static void prvRegTestTaskEntry1( void *pvParameters ); +extern void vRegTest1Implementation( void ); +static void prvRegTestTaskEntry2( void *pvParameters ); +extern void vRegTest2Implementation( void ); + +/* + * Register commands that can be used with FreeRTOS+CLI. The commands are + * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively. + */ +extern void vRegisterSampleCLICommands( void ); + +/* + * The task that manages the FreeRTOS+CLI input and output. + */ +extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority ); + +/* + * A high priority task that does nothing other than execute at a pseudo random + * time to ensure the other test tasks don't just execute in a repeating + * pattern. + */ +static void prvPseudoRandomiser( void *pvParameters ); + +/*-----------------------------------------------------------*/ + +/* The following two variables are used to communicate the status of the +register check tasks to the check task. If the variables keep incrementing, +then the register check tasks has not discovered any errors. If a variable +stops incrementing, then an error has been found. */ +volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL; + +/*-----------------------------------------------------------*/ + +void main_full( void ) +{ + /* Start all the other standard demo/test tasks. They have not particular + functionality, but do demonstrate how to use the FreeRTOS API and test the + kernel port. */ + vStartDynamicPriorityTasks(); + vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); + vCreateBlockTimeTasks(); + vStartCountingSemaphoreTasks(); + vStartGenericQueueTasks( tskIDLE_PRIORITY ); + vStartRecursiveMutexTasks(); + vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); + vStartMathTasks( mainFLOP_TASK_PRIORITY ); + vStartTimerDemoTask( mainTIMER_TEST_PERIOD ); + vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY ); + vStartEventGroupTasks(); + vStartInterruptSemaphoreTasks(); + + /* Start the tasks that implements the command console on the UART, as + described above. */ + vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY ); + + /* Register the standard CLI commands. */ + vRegisterSampleCLICommands(); + + /* Create the register check tasks, as described at the top of this file */ + xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL ); + xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL ); + + /* Create the task that just adds a little random behaviour. */ + xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL ); + + /* Create the task that performs the 'check' functionality, as described at + the top of this file. */ + xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); + + /* The set of tasks created by the following function call have to be + created last as they keep account of the number of tasks they expect to see + running. */ + vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY ); + + /* Start the scheduler. */ + vTaskStartScheduler(); + + /* If all is well, the scheduler will now be running, and the following + line will never be reached. If the following line does execute, then + there was either insufficient FreeRTOS heap memory available for the idle + and/or timer tasks to be created, or vTaskStartScheduler() was called from + User mode. See the memory management section on the FreeRTOS web site for + more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The + mode from which main() is called is set in the C start up code and must be + a privileged mode (not user mode). */ + for( ;; ); +} +/*-----------------------------------------------------------*/ + +static void prvCheckTask( void *pvParameters ) +{ +TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD; +TickType_t xLastExecutionTime; +static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0; +unsigned long ulErrorFound = pdFALSE; + + /* Just to stop compiler warnings. */ + ( void ) pvParameters; + + /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil() + works correctly. */ + xLastExecutionTime = xTaskGetTickCount(); + + /* Cycle for ever, delaying then checking all the other tasks are still + operating without error. The onboard LED is toggled on each iteration. + If an error is detected then the delay period is decreased from + mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the + effect of increasing the rate at which the onboard LED toggles, and in so + doing gives visual feedback of the system status. */ + for( ;; ) + { + /* Delay until it is time to execute again. */ + vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod ); + + /* Check all the demo tasks (other than the flash tasks) to ensure + that they are all still running, and that none have detected an error. */ + if( xAreMathsTaskStillRunning() != pdTRUE ) + { + ulErrorFound = 1 << 1; + } + + if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) + { + ulErrorFound = 1 << 2; + } + + if( xAreBlockingQueuesStillRunning() != pdTRUE ) + { + ulErrorFound = 1 << 3; + } + + if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) + { + ulErrorFound = 1 << 4; + } + + if ( xAreGenericQueueTasksStillRunning() != pdTRUE ) + { + ulErrorFound = 1 << 5; + } + + if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) + { + ulErrorFound = 1 << 6; + } + + if( xIsCreateTaskStillRunning() != pdTRUE ) + { + ulErrorFound = 1 << 7; + } + + if( xAreSemaphoreTasksStillRunning() != pdTRUE ) + { + ulErrorFound = 1 << 8; + } + + if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS ) + { + ulErrorFound = 1 << 9; + } + + if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE ) + { + ulErrorFound = 1 << 10; + } + + if( xIsQueueOverwriteTaskStillRunning() != pdPASS ) + { + ulErrorFound = 1 << 11; + } + + if( xAreEventGroupTasksStillRunning() != pdPASS ) + { + ulErrorFound = 1 << 12; + } + + if( xAreInterruptSemaphoreTasksStillRunning() != pdPASS ) + { + ulErrorFound = 1 << 13; + } + + /* Check that the register test 1 task is still running. */ + if( ulLastRegTest1Value == ulRegTest1LoopCounter ) + { + ulErrorFound = 1 << 14; + } + ulLastRegTest1Value = ulRegTest1LoopCounter; + + /* Check that the register test 2 task is still running. */ + if( ulLastRegTest2Value == ulRegTest2LoopCounter ) + { + ulErrorFound = 1 << 15; + } + ulLastRegTest2Value = ulRegTest2LoopCounter; + + /* Toggle the check LED to give an indication of the system status. If + the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then + everything is ok. A faster toggle indicates an error. */ + vParTestToggleLED( mainCHECK_LED ); + + if( ulErrorFound != pdFALSE ) + { + /* An error has been detected in one of the tasks - flash the LED + at a higher frequency to give visible feedback that something has + gone wrong (it might just be that the loop back connector required + by the comtest tasks has not been fitted). */ + xDelayPeriod = mainERROR_CHECK_TASK_PERIOD; + } + } +} +/*-----------------------------------------------------------*/ + +static void prvRegTestTaskEntry1( void *pvParameters ) +{ + /* Although the regtest task is written in assembler, its entry point is + written in C for convenience of checking the task parameter is being passed + in correctly. */ + if( pvParameters == mainREG_TEST_TASK_1_PARAMETER ) + { + /* The reg test task also tests the floating point registers. Tasks + that use the floating point unit must call vPortTaskUsesFPU() before + any floating point instructions are executed. */ + vPortTaskUsesFPU(); + + /* Start the part of the test that is written in assembler. */ + vRegTest1Implementation(); + } + + /* The following line will only execute if the task parameter is found to + be incorrect. The check timer will detect that the regtest loop counter is + not being incremented and flag an error. */ + vTaskDelete( NULL ); +} +/*-----------------------------------------------------------*/ + +static void prvRegTestTaskEntry2( void *pvParameters ) +{ + /* Although the regtest task is written in assembler, its entry point is + written in C for convenience of checking the task parameter is being passed + in correctly. */ + if( pvParameters == mainREG_TEST_TASK_2_PARAMETER ) + { + /* The reg test task also tests the floating point registers. Tasks + that use the floating point unit must call vPortTaskUsesFPU() before + any floating point instructions are executed. */ + vPortTaskUsesFPU(); + + /* Start the part of the test that is written in assembler. */ + vRegTest2Implementation(); + } + + /* The following line will only execute if the task parameter is found to + be incorrect. The check timer will detect that the regtest loop counter is + not being incremented and flag an error. */ + vTaskDelete( NULL ); +} +/*-----------------------------------------------------------*/ + +static void prvPseudoRandomiser( void *pvParameters ) +{ +const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS ); +volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue; + + + /* This task does nothing other than ensure there is a little bit of + disruption in the scheduling pattern of the other tasks. Normally this is + done by generating interrupts at pseudo random times. */ + for( ;; ) + { + ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement; + ulValue = ( ulNextRand >> 16UL ) & 0xffUL; + + if( ulValue < ulMinDelay ) + { + ulValue = ulMinDelay; + } + + vTaskDelay( ulValue ); + + while( ulValue > 0 ) + { + __asm volatile( "NOP" ); + __asm volatile( "NOP" ); + __asm volatile( "NOP" ); + __asm volatile( "NOP" ); + + ulValue--; + } + } +} + + + + + + diff --git a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/reg_test.S b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/reg_test.S new file mode 100644 index 000000000..019e3afb7 --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/reg_test.S @@ -0,0 +1,658 @@ +/* + FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd. + + FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT + http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + *************************************************************************** + * * + * FreeRTOS tutorial books are available in pdf and paperback. * + * Complete, revised, and edited pdf reference manuals are also * + * available. * + * * + * Purchasing FreeRTOS documentation will not only help you, by * + * ensuring you get running as quickly as possible and with an * + * in-depth knowledge of how to use FreeRTOS, it will also help * + * the FreeRTOS project to continue with its mission of providing * + * professional grade, cross platform, de facto standard solutions * + * for microcontrollers - completely free of charge! * + * * + * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * + * * + * Thank you for using FreeRTOS, and thank you for your support! * + * * + *************************************************************************** + + + 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. See the GNU General Public License for more + details. You should have received a copy of the GNU General Public License + and the FreeRTOS license exception along with FreeRTOS; if not itcan be + viewed here: http://www.freertos.org/a00114.html and also obtained by + writing to Real Time Engineers Ltd., contact details for whom are available + on the FreeRTOS WEB site. + + 1 tab == 4 spaces! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool, and our new + fully thread aware and reentrant UDP/IP stack. + + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems, who sell the code with commercial support, + indemnification and middleware, under the OpenRTOS brand. + + 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. +*/ + + .global vRegTest1Implementation + .global vRegTest2Implementation + .extern ulRegTest1LoopCounter + .extern ulRegTest2LoopCounter + + .text + .arm + + /* This function is explained in the comments at the top of main-full.c. */ +.type vRegTest1Implementation, %function +vRegTest1Implementation: + + /* Fill each general purpose register with a known value. */ + mov r0, #0xFF + mov r1, #0x11 + mov r2, #0x22 + mov r3, #0x33 + mov r4, #0x44 + mov r5, #0x55 + mov r6, #0x66 + mov r7, #0x77 + mov r8, #0x88 + mov r9, #0x99 + mov r10, #0xAA + mov r11, #0xBB + mov r12, #0xCC + mov r14, #0xEE + + /* Fill each FPU register with a known value. */ + vmov d0, r0, r1 + vmov d1, r2, r3 + vmov d2, r4, r5 + vmov d3, r6, r7 + vmov d4, r8, r9 + vmov d5, r10, r11 + vmov d6, r0, r1 + vmov d7, r2, r3 + vmov d8, r4, r5 + vmov d9, r6, r7 + vmov d10, r8, r9 + vmov d11, r10, r11 + vmov d12, r0, r1 + vmov d13, r2, r3 + vmov d14, r4, r5 + vmov d15, r6, r7 + + vmov d16, r0, r1 + vmov d17, r2, r3 + vmov d18, r4, r5 + vmov d19, r6, r7 + vmov d20, r8, r9 + vmov d21, r10, r11 + vmov d22, r0, r1 + vmov d23, r2, r3 + vmov d24, r4, r5 + vmov d25, r6, r7 + vmov d26, r8, r9 + vmov d27, r10, r11 + vmov d28, r0, r1 + vmov d29, r2, r3 + vmov d30, r4, r5 + vmov d31, r6, r7 + + /* Loop, checking each itteration that each register still contains the + expected value. */ +reg1_loop: + /* Yield to increase test coverage */ + svc 0 + + /* Check all the VFP registers still contain the values set above. + First save registers that are clobbered by the test. */ + push { r0-r1 } + + vmov r0, r1, d0 + cmp r0, #0xFF + bne reg1_error_loopf + cmp r1, #0x11 + bne reg1_error_loopf + vmov r0, r1, d1 + cmp r0, #0x22 + bne reg1_error_loopf + cmp r1, #0x33 + bne reg1_error_loopf + vmov r0, r1, d2 + cmp r0, #0x44 + bne reg1_error_loopf + cmp r1, #0x55 + bne reg1_error_loopf + vmov r0, r1, d3 + cmp r0, #0x66 + bne reg1_error_loopf + cmp r1, #0x77 + bne reg1_error_loopf + vmov r0, r1, d4 + cmp r0, #0x88 + bne reg1_error_loopf + cmp r1, #0x99 + bne reg1_error_loopf + vmov r0, r1, d5 + cmp r0, #0xAA + bne reg1_error_loopf + cmp r1, #0xBB + bne reg1_error_loopf + vmov r0, r1, d6 + cmp r0, #0xFF + bne reg1_error_loopf + cmp r1, #0x11 + bne reg1_error_loopf + vmov r0, r1, d7 + cmp r0, #0x22 + bne reg1_error_loopf + cmp r1, #0x33 + bne reg1_error_loopf + vmov r0, r1, d8 + cmp r0, #0x44 + bne reg1_error_loopf + cmp r1, #0x55 + bne reg1_error_loopf + vmov r0, r1, d9 + cmp r0, #0x66 + bne reg1_error_loopf + cmp r1, #0x77 + bne reg1_error_loopf + vmov r0, r1, d10 + cmp r0, #0x88 + bne reg1_error_loopf + cmp r1, #0x99 + bne reg1_error_loopf + vmov r0, r1, d11 + cmp r0, #0xAA + bne reg1_error_loopf + cmp r1, #0xBB + bne reg1_error_loopf + vmov r0, r1, d12 + cmp r0, #0xFF + bne reg1_error_loopf + cmp r1, #0x11 + bne reg1_error_loopf + vmov r0, r1, d13 + cmp r0, #0x22 + bne reg1_error_loopf + cmp r1, #0x33 + bne reg1_error_loopf + vmov r0, r1, d14 + cmp r0, #0x44 + bne reg1_error_loopf + cmp r1, #0x55 + bne reg1_error_loopf + vmov r0, r1, d15 + cmp r0, #0x66 + bne reg1_error_loopf + cmp r1, #0x77 + bne reg1_error_loopf + + vmov r0, r1, d16 + cmp r0, #0xFF + bne reg1_error_loopf + cmp r1, #0x11 + bne reg1_error_loopf + vmov r0, r1, d17 + cmp r0, #0x22 + bne reg1_error_loopf + cmp r1, #0x33 + bne reg1_error_loopf + vmov r0, r1, d18 + cmp r0, #0x44 + bne reg1_error_loopf + cmp r1, #0x55 + bne reg1_error_loopf + vmov r0, r1, d19 + cmp r0, #0x66 + bne reg1_error_loopf + cmp r1, #0x77 + bne reg1_error_loopf + vmov r0, r1, d20 + cmp r0, #0x88 + bne reg1_error_loopf + cmp r1, #0x99 + bne reg1_error_loopf + vmov r0, r1, d21 + cmp r0, #0xAA + bne reg1_error_loopf + cmp r1, #0xBB + bne reg1_error_loopf + vmov r0, r1, d22 + cmp r0, #0xFF + bne reg1_error_loopf + cmp r1, #0x11 + bne reg1_error_loopf + vmov r0, r1, d23 + cmp r0, #0x22 + bne reg1_error_loopf + cmp r1, #0x33 + bne reg1_error_loopf + vmov r0, r1, d24 + cmp r0, #0x44 + bne reg1_error_loopf + cmp r1, #0x55 + bne reg1_error_loopf + vmov r0, r1, d25 + cmp r0, #0x66 + bne reg1_error_loopf + cmp r1, #0x77 + bne reg1_error_loopf + vmov r0, r1, d26 + cmp r0, #0x88 + bne reg1_error_loopf + cmp r1, #0x99 + bne reg1_error_loopf + vmov r0, r1, d27 + cmp r0, #0xAA + bne reg1_error_loopf + cmp r1, #0xBB + bne reg1_error_loopf + vmov r0, r1, d28 + cmp r0, #0xFF + bne reg1_error_loopf + cmp r1, #0x11 + bne reg1_error_loopf + vmov r0, r1, d29 + cmp r0, #0x22 + bne reg1_error_loopf + cmp r1, #0x33 + bne reg1_error_loopf + vmov r0, r1, d30 + cmp r0, #0x44 + bne reg1_error_loopf + cmp r1, #0x55 + bne reg1_error_loopf + vmov r0, r1, d31 + cmp r0, #0x66 + bne reg1_error_loopf + cmp r1, #0x77 + bne reg1_error_loopf + + /* Restore the registers that were clobbered by the test. */ + pop {r0-r1} + + /* VFP register test passed. Jump to the core register test. */ + b reg1_loopf_pass + +reg1_error_loopf: + /* If this line is hit then a VFP register value was found to be + incorrect. */ + b reg1_error_loopf + +reg1_loopf_pass: + + /* Test each general purpose register to check that it still contains the + expected known value, jumping to reg1_error_loop if any register contains + an unexpected value. */ + cmp r0, #0xFF + bne reg1_error_loop + cmp r1, #0x11 + bne reg1_error_loop + cmp r2, #0x22 + bne reg1_error_loop + cmp r3, #0x33 + bne reg1_error_loop + cmp r4, #0x44 + bne reg1_error_loop + cmp r5, #0x55 + bne reg1_error_loop + cmp r6, #0x66 + bne reg1_error_loop + cmp r7, #0x77 + bne reg1_error_loop + cmp r8, #0x88 + bne reg1_error_loop + cmp r9, #0x99 + bne reg1_error_loop + cmp r10, #0xAA + bne reg1_error_loop + cmp r11, #0xBB + bne reg1_error_loop + cmp r12, #0xCC + bne reg1_error_loop + cmp r14, #0xEE + bne reg1_error_loop + + /* Everything passed, increment the loop counter. */ + push { r0-r1 } + ldr r0, =ulRegTest1LoopCounter + ldr r1, [r0] + adds r1, r1, #1 + str r1, [r0] + pop { r0-r1 } + + /* Start again. */ + b reg1_loop + +reg1_error_loop: + /* If this line is hit then there was an error in a core register value. + The loop ensures the loop counter stops incrementing. */ + b reg1_error_loop + nop + +/*-----------------------------------------------------------*/ + +.type vRegTest2Implementation, %function +vRegTest2Implementation: + + /* Put a known value in each register. */ + mov r0, #0xFF000000 + mov r1, #0x11000000 + mov r2, #0x22000000 + mov r3, #0x33000000 + mov r4, #0x44000000 + mov r5, #0x55000000 + mov r6, #0x66000000 + mov r7, #0x77000000 + mov r8, #0x88000000 + mov r9, #0x99000000 + mov r10, #0xAA000000 + mov r11, #0xBB000000 + mov r12, #0xCC000000 + mov r14, #0xEE000000 + + /* Likewise the floating point registers */ + vmov d0, r0, r1 + vmov d1, r2, r3 + vmov d2, r4, r5 + vmov d3, r6, r7 + vmov d4, r8, r9 + vmov d5, r10, r11 + vmov d6, r0, r1 + vmov d7, r2, r3 + vmov d8, r4, r5 + vmov d9, r6, r7 + vmov d10, r8, r9 + vmov d11, r10, r11 + vmov d12, r0, r1 + vmov d13, r2, r3 + vmov d14, r4, r5 + vmov d15, r6, r7 + + vmov d16, r0, r1 + vmov d17, r2, r3 + vmov d18, r4, r5 + vmov d19, r6, r7 + vmov d20, r8, r9 + vmov d21, r10, r11 + vmov d22, r0, r1 + vmov d23, r2, r3 + vmov d24, r4, r5 + vmov d25, r6, r7 + vmov d26, r8, r9 + vmov d27, r10, r11 + vmov d28, r0, r1 + vmov d29, r2, r3 + vmov d30, r4, r5 + vmov d31, r6, r7 + + /* Loop, checking each itteration that each register still contains the + expected value. */ +reg2_loop: + /* Check all the VFP registers still contain the values set above. + First save registers that are clobbered by the test. */ + push { r0-r1 } + + vmov r0, r1, d0 + cmp r0, #0xFF000000 + bne reg2_error_loopf + cmp r1, #0x11000000 + bne reg2_error_loopf + vmov r0, r1, d1 + cmp r0, #0x22000000 + bne reg2_error_loopf + cmp r1, #0x33000000 + bne reg2_error_loopf + vmov r0, r1, d2 + cmp r0, #0x44000000 + bne reg2_error_loopf + cmp r1, #0x55000000 + bne reg2_error_loopf + vmov r0, r1, d3 + cmp r0, #0x66000000 + bne reg2_error_loopf + cmp r1, #0x77000000 + bne reg2_error_loopf + vmov r0, r1, d4 + cmp r0, #0x88000000 + bne reg2_error_loopf + cmp r1, #0x99000000 + bne reg2_error_loopf + vmov r0, r1, d5 + cmp r0, #0xAA000000 + bne reg2_error_loopf + cmp r1, #0xBB000000 + bne reg2_error_loopf + vmov r0, r1, d6 + cmp r0, #0xFF000000 + bne reg2_error_loopf + cmp r1, #0x11000000 + bne reg2_error_loopf + vmov r0, r1, d7 + cmp r0, #0x22000000 + bne reg2_error_loopf + cmp r1, #0x33000000 + bne reg2_error_loopf + vmov r0, r1, d8 + cmp r0, #0x44000000 + bne reg2_error_loopf + cmp r1, #0x55000000 + bne reg2_error_loopf + vmov r0, r1, d9 + cmp r0, #0x66000000 + bne reg2_error_loopf + cmp r1, #0x77000000 + bne reg2_error_loopf + vmov r0, r1, d10 + cmp r0, #0x88000000 + bne reg2_error_loopf + cmp r1, #0x99000000 + bne reg2_error_loopf + vmov r0, r1, d11 + cmp r0, #0xAA000000 + bne reg2_error_loopf + cmp r1, #0xBB000000 + bne reg2_error_loopf + vmov r0, r1, d12 + cmp r0, #0xFF000000 + bne reg2_error_loopf + cmp r1, #0x11000000 + bne reg2_error_loopf + vmov r0, r1, d13 + cmp r0, #0x22000000 + bne reg2_error_loopf + cmp r1, #0x33000000 + bne reg2_error_loopf + vmov r0, r1, d14 + cmp r0, #0x44000000 + bne reg2_error_loopf + cmp r1, #0x55000000 + bne reg2_error_loopf + vmov r0, r1, d15 + cmp r0, #0x66000000 + bne reg2_error_loopf + cmp r1, #0x77000000 + bne reg2_error_loopf + + vmov r0, r1, d16 + cmp r0, #0xFF000000 + bne reg2_error_loopf + cmp r1, #0x11000000 + bne reg2_error_loopf + vmov r0, r1, d17 + cmp r0, #0x22000000 + bne reg2_error_loopf + cmp r1, #0x33000000 + bne reg2_error_loopf + vmov r0, r1, d18 + cmp r0, #0x44000000 + bne reg2_error_loopf + cmp r1, #0x55000000 + bne reg2_error_loopf + vmov r0, r1, d19 + cmp r0, #0x66000000 + bne reg2_error_loopf + cmp r1, #0x77000000 + bne reg2_error_loopf + vmov r0, r1, d20 + cmp r0, #0x88000000 + bne reg2_error_loopf + cmp r1, #0x99000000 + bne reg2_error_loopf + vmov r0, r1, d21 + cmp r0, #0xAA000000 + bne reg2_error_loopf + cmp r1, #0xBB000000 + bne reg2_error_loopf + vmov r0, r1, d22 + cmp r0, #0xFF000000 + bne reg2_error_loopf + cmp r1, #0x11000000 + bne reg2_error_loopf + vmov r0, r1, d23 + cmp r0, #0x22000000 + bne reg2_error_loopf + cmp r1, #0x33000000 + bne reg2_error_loopf + vmov r0, r1, d24 + cmp r0, #0x44000000 + bne reg2_error_loopf + cmp r1, #0x55000000 + bne reg2_error_loopf + vmov r0, r1, d25 + cmp r0, #0x66000000 + bne reg2_error_loopf + cmp r1, #0x77000000 + bne reg2_error_loopf + vmov r0, r1, d26 + cmp r0, #0x88000000 + bne reg2_error_loopf + cmp r1, #0x99000000 + bne reg2_error_loopf + vmov r0, r1, d27 + cmp r0, #0xAA000000 + bne reg2_error_loopf + cmp r1, #0xBB000000 + bne reg2_error_loopf + vmov r0, r1, d28 + cmp r0, #0xFF000000 + bne reg2_error_loopf + cmp r1, #0x11000000 + bne reg2_error_loopf + vmov r0, r1, d29 + cmp r0, #0x22000000 + bne reg2_error_loopf + cmp r1, #0x33000000 + bne reg2_error_loopf + vmov r0, r1, d30 + cmp r0, #0x44000000 + bne reg2_error_loopf + cmp r1, #0x55000000 + bne reg2_error_loopf + vmov r0, r1, d31 + cmp r0, #0x66000000 + bne reg2_error_loopf + cmp r1, #0x77000000 + bne reg2_error_loopf + + /* Restore the registers that were clobbered by the test. */ + pop {r0-r1} + + /* VFP register test passed. Jump to the core register test. */ + b reg2_loopf_pass + +reg2_error_loopf: + /* If this line is hit then a VFP register value was found to be + incorrect. */ + b reg2_error_loopf + +reg2_loopf_pass: + + cmp r0, #0xFF000000 + bne reg2_error_loop + cmp r1, #0x11000000 + bne reg2_error_loop + cmp r2, #0x22000000 + bne reg2_error_loop + cmp r3, #0x33000000 + bne reg2_error_loop + cmp r4, #0x44000000 + bne reg2_error_loop + cmp r5, #0x55000000 + bne reg2_error_loop + cmp r6, #0x66000000 + bne reg2_error_loop + cmp r7, #0x77000000 + bne reg2_error_loop + cmp r8, #0x88000000 + bne reg2_error_loop + cmp r9, #0x99000000 + bne reg2_error_loop + cmp r10, #0xAA000000 + bne reg2_error_loop + cmp r11, #0xBB000000 + bne reg2_error_loop + cmp r12, #0xCC000000 + bne reg2_error_loop + cmp r14, #0xEE000000 + bne reg2_error_loop + + /* Everything passed, increment the loop counter. */ + push { r0-r1 } + ldr r0, =ulRegTest2LoopCounter + ldr r1, [r0] + adds r1, r1, #1 + str r1, [r0] + pop { r0-r1 } + + /* Start again. */ + b reg2_loop + +reg2_error_loop: + /* If this line is hit then there was an error in a core register value. + The loop ensures the loop counter stops incrementing. */ + b reg2_error_loop + nop + + + .end + diff --git a/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/serial.c b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/serial.c new file mode 100644 index 000000000..1384ebd34 --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_A9_Cyclone_V_SoC_DK/serial.c @@ -0,0 +1,158 @@ +/* + FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * + *************************************************************************** + + 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 from the following + link: http://www.freertos.org/a00114.html + + 1 tab == 4 spaces! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. + + 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and 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! + */ + +/* + BASIC SERIAL PORT DRIVER. + + This file just maps generic functions used by FreeRTOS example code to the + simple UART drivers provided by Altera. +*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "queue.h" +#include "semphr.h" + +/* Demo application includes. */ +#include "serial.h" + +/* Altera library includes. */ +#include "uart0_support.h" + +/*-----------------------------------------------------------*/ + +/* + * See the serial2.h header file. + */ +xComPortHandle xSerialPortInitMinimal( uint32_t ulWantedBaud, UBaseType_t uxQueueLength ) +{ + /* Just call into the Altera support function, which has its own parameters, + so the parameters passed in here are not used. */ + ( void ) ulWantedBaud; + ( void ) uxQueueLength; + uart0_init(); + + return ( xComPortHandle ) 0; +} +/*-----------------------------------------------------------*/ + +BaseType_t xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, TickType_t xBlockTime ) +{ +BaseType_t xReturn; + + /* Just call into the Altera support function, which has its own parameters, + so the parameters passed in here are not used. */ + ( void ) pxPort; + ( void ) xBlockTime; + + *pcRxedChar = uart0_getc(); + + if( *pcRxedChar != -1 ) + { + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vSerialPutString( xComPortHandle pxPort, const signed char * const pcString, unsigned short usStringLength ) +{ + /* Just call into the Altera support function, which has its own parameters, + so the parameters passed in here are not used. */ + ( void ) pxPort; + + uart0_print( ( char * ) pcString ); +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed char cOutChar, TickType_t xBlockTime ) +{ +char cOutBytes[ 2 ]; + + /* Just call into the Altera support function, which has its own parameters, + so the parameters passed in here are not used. */ + ( void ) pxPort; + + cOutBytes[ 0 ] = cOutChar; + cOutBytes[ 1 ] = 0x00; + uart0_print( cOutBytes ); + + return pdPASS; +} +/*-----------------------------------------------------------*/ + +void vSerialClose(xComPortHandle xPort) +{ + /* Not supported as not required by the demo application. */ + ( void ) xPort; +} +/*-----------------------------------------------------------*/ +