You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
303 lines
11 KiB
C
303 lines
11 KiB
C
/*
|
|
* FreeRTOS Kernel V10.2.1
|
|
* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
|
* this software and associated documentation files (the "Software"), to deal in
|
|
* the Software without restriction, including without limitation the rights to
|
|
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
|
* the Software, and to permit persons to whom the Software is furnished to do so,
|
|
* subject to the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be included in all
|
|
* copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
|
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
|
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
|
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
|
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
|
*
|
|
* http://www.FreeRTOS.org
|
|
* http://aws.amazon.com/freertos
|
|
*
|
|
* 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 standard FreeRTOS hook functions.
|
|
*
|
|
* When running on the HiFive Rev B hardware:
|
|
* When executing correctly the red LED will toggle every three seconds. If
|
|
* the red LED toggles every 500ms then one of the self-monitoring test tasks
|
|
* discovered a potential issue. If the red led stops toggling then a hardware
|
|
* exception occurred or an assert was hit.
|
|
*
|
|
* 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!
|
|
*
|
|
*/
|
|
|
|
/* FreeRTOS kernel includes. */
|
|
#include <FreeRTOS.h>
|
|
#include <task.h>
|
|
|
|
/* Standard includes. */
|
|
#include <stdio.h>
|
|
|
|
/* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo,
|
|
or 0 to run the more comprehensive test and demo application. */
|
|
#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 0
|
|
|
|
/* UART hardware constants. */
|
|
#define mainUART_BASE_ADDRESS ( *( volatile uint32_t * ) 0x20000000UL )
|
|
#define mainUART_TX_DATA 0x00
|
|
#define mainUART_TX_CTRL 0x08
|
|
#define mainUART_RX_CTRL 0x0c
|
|
#define mainUART_CLOCK_DIV 0x18
|
|
#define mainUART_TX_ENABLE_BIT (1UL << 0UL)
|
|
#define mainUART_RX_ENABLE_BIT (1UL << 0UL)
|
|
#define mainUART_TX_FULL_BIT (1UL << 31UL)
|
|
#define mainUART_REGISTER( offset ) ( ( mainUART_BASE_ADDRESS + offset ) )
|
|
#define mainUART_REGISTER_WORD( offset ) ( *( ( uint32_t * ) mainUART_REGISTER( offset ) ) )
|
|
|
|
/* Hardware LED specifics. */
|
|
#define mainRED_LED_PIN ( 1UL << 0x16UL )
|
|
#define mainLED_IO_BASE_ADDRESS ( 0x10012000UL )
|
|
#define mainRED_LED_INPUT_ENABLE_REG ( * ( uint32_t * ) ( mainLED_IO_BASE_ADDRESS + 4UL ) )
|
|
#define mainRED_LED_OUTPUT_ENABLE_REG ( * ( uint32_t * ) ( mainLED_IO_BASE_ADDRESS + 8UL ) )
|
|
|
|
/* Hardware LED specifics. */
|
|
#define mainUART_PINMUX_BASE_ADDRESS ( 0x10012000 )
|
|
#define mainUART0_BASE_ADDRESS 0x10013000UL
|
|
#define mainUART_CLOCK_RATE 16000000UL
|
|
#define mainUART_BAUD_RATE 115200UL
|
|
#define mainUART0_TX_DATA_REG ( * ( uint32_t * ) ( mainUART0_BASE_ADDRESS + 0UL ) )
|
|
#define mainUART0_TX_DATA_BYTE_REG ( * ( uint8_t * ) ( mainUART0_BASE_ADDRESS + 0UL ) )
|
|
#define mainUART0_DIV_REG ( * ( uint32_t * ) ( mainUART0_BASE_ADDRESS + 24UL ) )
|
|
#define mainUART0_TXCTRL_REG ( * ( uint32_t * ) ( mainUART0_BASE_ADDRESS + 8UL ) )
|
|
#define mainUART0_RXCTRL_REG ( * ( uint32_t * ) ( mainUART0_BASE_ADDRESS + 12UL ) )
|
|
#define mainUART0_GPIO_SEL_REG ( * ( uint32_t * ) ( mainUART_PINMUX_BASE_ADDRESS + 60UL ) )
|
|
#define mainUART0_GPIO_SEL_EN ( * ( uint32_t * ) ( mainUART_PINMUX_BASE_ADDRESS + 56UL ) )
|
|
#define mainUART_TXEN_BIT ( 1UL )
|
|
#define mainUART0_PIN ( 0x30000UL )
|
|
|
|
/* Registers used to initialise the PLIC. */
|
|
#define mainPLIC_PENDING_0 ( * ( ( volatile uint32_t * ) 0x0C001000UL ) )
|
|
#define mainPLIC_PENDING_1 ( * ( ( volatile uint32_t * ) 0x0C001004UL ) )
|
|
#define mainPLIC_ENABLE_0 ( * ( ( volatile uint32_t * ) 0x0C002000UL ) )
|
|
#define mainPLIC_ENABLE_1 ( * ( ( volatile uint32_t * ) 0x0C002004UL ) )
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
|
|
* main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
|
|
*/
|
|
#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. See https://www.freertos.org/a00016.html
|
|
*/
|
|
void vApplicationMallocFailedHook( void );
|
|
void vApplicationIdleHook( void );
|
|
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
|
|
void vApplicationTickHook( void );
|
|
|
|
/*
|
|
* Setup the hardware to run this demo.
|
|
*/
|
|
static void prvSetupHardware( void );
|
|
|
|
/* Simple polling UART send function. */
|
|
void vSendString( const char * const pcString );
|
|
|
|
/* Toggle the red LED. */
|
|
void vTogglelED( void );
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
int main( void )
|
|
{
|
|
prvSetupHardware();
|
|
|
|
/* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
|
|
of this file. */
|
|
#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
|
|
{
|
|
main_blinky();
|
|
}
|
|
#else
|
|
{
|
|
main_full();
|
|
}
|
|
#endif
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvSetupHardware( void )
|
|
{
|
|
/* Set all interrupt enable bits to 0. */
|
|
mainPLIC_ENABLE_0 = 0UL;
|
|
mainPLIC_ENABLE_1 = 0UL;
|
|
|
|
/* Clear all pending interrupts. */
|
|
mainPLIC_PENDING_0 = 0UL;
|
|
mainPLIC_PENDING_1 = 0UL;
|
|
|
|
/* Disable Red LED input. */
|
|
mainRED_LED_INPUT_ENABLE_REG &= ~mainRED_LED_PIN;
|
|
|
|
/* Enable Red LED output. */
|
|
mainRED_LED_OUTPUT_ENABLE_REG |= mainRED_LED_PIN;
|
|
|
|
/* Set UART baud rate. */
|
|
mainUART0_DIV_REG = ( mainUART_CLOCK_RATE / mainUART_BAUD_RATE ) - 1;
|
|
|
|
/* Enable UART Tx. */
|
|
mainUART0_TXCTRL_REG |= mainUART_TXEN_BIT;
|
|
mainUART0_GPIO_SEL_REG &= mainUART0_PIN;
|
|
mainUART0_GPIO_SEL_EN |= mainUART0_PIN;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vToggleLED( void )
|
|
{
|
|
static uint32_t ulLEDState = 0;
|
|
|
|
if( ulLEDState == 0 )
|
|
{
|
|
mainRED_LED_OUTPUT_ENABLE_REG |= mainRED_LED_PIN;
|
|
}
|
|
else
|
|
{
|
|
mainRED_LED_OUTPUT_ENABLE_REG &= ~mainRED_LED_PIN;
|
|
}
|
|
ulLEDState = !ulLEDState;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vSendString( const char * const pcString )
|
|
{
|
|
uint32_t ulIndex = 0;
|
|
|
|
/* Crude polling UART Tx. */
|
|
while( pcString[ ulIndex ] != 0x00 )
|
|
{
|
|
while( ( mainUART0_TX_DATA_REG & mainUART_TX_FULL_BIT ) != 0UL );
|
|
mainUART0_TX_DATA_BYTE_REG = pcString[ ulIndex ];
|
|
ulIndex++;
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vApplicationMallocFailedHook( void )
|
|
{
|
|
/* vApplicationMallocFailedHook() will only be called if
|
|
configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
|
|
function that will get called if a call to pvPortMalloc() fails.
|
|
pvPortMalloc() is called internally by the kernel whenever a task, queue,
|
|
timer or semaphore is created. It is also called by various parts of the
|
|
demo application. If heap_1.c or heap_2.c are used, then the size of the
|
|
heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
|
|
FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
|
|
to query the size of free heap space that remains (although it does not
|
|
provide information on how the remaining heap might be fragmented). */
|
|
taskDISABLE_INTERRUPTS();
|
|
__asm volatile( "ebreak" );
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vApplicationIdleHook( void )
|
|
{
|
|
/* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
|
|
to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
|
|
task. It is essential that code added to this hook function never attempts
|
|
to block in any way (for example, call xQueueReceive() with a block time
|
|
specified, or call vTaskDelay()). If the application makes use of the
|
|
vTaskDelete() API function (as this demo application does) then it is also
|
|
important that vApplicationIdleHook() is permitted to return to its calling
|
|
function, because it is the responsibility of the idle task to clean up
|
|
memory allocated by the kernel to any task that has since been deleted. */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
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();
|
|
__asm volatile( "ebreak" );
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vApplicationTickHook( void )
|
|
{
|
|
/* The tests in the full demo expect some interaction with interrupts. */
|
|
#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY != 1 )
|
|
{
|
|
extern void vFullDemoTickHook( void );
|
|
vFullDemoTickHook();
|
|
}
|
|
#endif
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Called from the kernel's port layer to handle device specific external
|
|
interrupts. */
|
|
void vApplicationHandleTrap( uint32_t mcause )
|
|
{
|
|
char pcCause[ 20 ];
|
|
|
|
/* Not implemented yet. */
|
|
sprintf( pcCause, "%u", mcause );
|
|
vSendString( pcCause );
|
|
configASSERT( mcause == 0 );
|
|
#warning vApplicationHandleTrap not implemented.
|
|
#if 0
|
|
uint32_t ulInterruptNumber;
|
|
typedef void ( * irq_handler_t )( void );
|
|
extern const irq_handler_t isrTable[];
|
|
|
|
ulInterruptNumber = PLIC->TARGET[ 0 ].CLAIM_COMPLETE;
|
|
|
|
/* Read handler from table. */
|
|
/* Call handler. */
|
|
|
|
PLIC->TARGET[ 0 ].CLAIM_COMPLETE = ulInterruptNumber;
|
|
#endif
|
|
}
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void *malloc( size_t xSize )
|
|
{
|
|
/* The linker script does not define a heap so artificially force an assert()
|
|
if something unexpectedly uses the C library heap. See
|
|
https://www.freertos.org/a00111.html for more information. */
|
|
configASSERT( xTaskGetTickCount() == 0x00 );
|
|
return NULL;
|
|
}
|
|
/*-----------------------------------------------------------*/
|