Add Makefile project for RISC-V QEMU virtpc (#266)
* Add Makefile project for RISC-V QEMU virtpc
This patch adds simple demo directory for QEMU virtpc machine.
A demo just prints Tx/Rx message of queue to serial port, use no
other hardware and use only primary core (currently hart0).
Other cores are simply going to wfi state and execute nothing else.
Example command is:
qemu-system-riscv32 -nographic -machine virt -net none \
-chardev stdio,id=con,mux=on -serial chardev:con \
-mon chardev=con,mode=readline -bios none \
-kernel demo.elf -smp cpus=2 -s
* Fix copyright and URLS of FreeRTOS
* Fix Makefile
* Add Readme.md
* Separate blinky demo from main code
Co-authored-by: alfred gedeon <alfred2g@hotmail.com>
Co-authored-by: Cobus van Eeden <35851496+cobusve@users.noreply.github.com>
Co-authored-by: Carl Lundin <53273776+lundinc2@users.noreply.github.com>
pull/403/head^2
Katsuhiro Suzuki
4 years ago
committed by
GitHub
parent
e96fd8b872
commit
f06330768f
@ -0,0 +1,104 @@
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/*
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* FreeRTOS Kernel V10.4.1
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
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* this software and associated documentation files (the "Software"), to deal in
|
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* the Software without restriction, including without limitation the rights to
|
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
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* the Software, and to permit persons to whom the Software is furnished to do so,
|
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
|
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://www.github.com/FreeRTOS
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*
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* 1 tab == 4 spaces!
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*/
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#ifndef FREERTOS_CONFIG_H
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#define FREERTOS_CONFIG_H
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#include "riscv-virt.h"
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/*-----------------------------------------------------------
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* Application specific definitions.
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*
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* These definitions should be adjusted for your particular hardware and
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* application requirements.
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*
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* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
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* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
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*
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* See http://www.freertos.org/a00110.html.
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*----------------------------------------------------------*/
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/* See https://www.freertos.org/Using-FreeRTOS-on-RISC-V.html */
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#define configMTIME_BASE_ADDRESS ( CLINT_ADDR + CLINT_MTIME )
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#define configMTIMECMP_BASE_ADDRESS ( CLINT_ADDR + CLINT_MTIMECMP )
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#define configUSE_PREEMPTION 1
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#define configUSE_IDLE_HOOK 0
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#define configUSE_TICK_HOOK 1
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#define configCPU_CLOCK_HZ ( 1000000 )
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#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
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#define configMAX_PRIORITIES ( 7 )
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#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 512 )
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#define configTOTAL_HEAP_SIZE ( ( size_t ) 64500 )
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#define configMAX_TASK_NAME_LEN ( 16 )
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#define configUSE_TRACE_FACILITY 0
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#define configUSE_16_BIT_TICKS 0
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#define configIDLE_SHOULD_YIELD 0
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#define configUSE_MUTEXES 1
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#define configQUEUE_REGISTRY_SIZE 8
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#define configCHECK_FOR_STACK_OVERFLOW 2
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#define configUSE_RECURSIVE_MUTEXES 1
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#define configUSE_MALLOC_FAILED_HOOK 1
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#define configUSE_APPLICATION_TASK_TAG 0
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#define configUSE_COUNTING_SEMAPHORES 1
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#define configGENERATE_RUN_TIME_STATS 0
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#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
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/* Co-routine definitions. */
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#define configUSE_CO_ROUTINES 0
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#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
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/* Software timer definitions. */
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#define configUSE_TIMERS 1
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#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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#define configTIMER_QUEUE_LENGTH 6
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#define configTIMER_TASK_STACK_DEPTH ( 110 )
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/* RISC-V definitions. */
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#define configISR_STACK_SIZE_WORDS 2048
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/* Task priorities. Allow these to be overridden. */
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#ifndef uartPRIMARY_PRIORITY
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#define uartPRIMARY_PRIORITY ( configMAX_PRIORITIES - 3 )
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#endif
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/* Set the following definitions to 1 to include the API function, or zero
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to exclude the API function. */
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#define INCLUDE_vTaskPrioritySet 1
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#define INCLUDE_uxTaskPriorityGet 1
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#define INCLUDE_vTaskDelete 1
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#define INCLUDE_vTaskCleanUpResources 1
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#define INCLUDE_vTaskSuspend 1
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#define INCLUDE_vTaskDelayUntil 1
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#define INCLUDE_vTaskDelay 1
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#define INCLUDE_eTaskGetState 1
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#define INCLUDE_xTimerPendFunctionCall 1
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#define INCLUDE_xTaskAbortDelay 1
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#define INCLUDE_xTaskGetHandle 1
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#define INCLUDE_xSemaphoreGetMutexHolder 1
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#endif /* FREERTOS_CONFIG_H */
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@ -0,0 +1,70 @@
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CROSS = riscv64-unknown-elf-
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CC = $(CROSS)gcc
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OBJCOPY = $(CROSS)objcopy
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ARCH = $(CROSS)ar
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BUILD_DIR = build
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RTOS_SOURCE_DIR = $(abspath ../../Source)
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DEMO_SOURCE_DIR = $(abspath ../Common/Minimal)
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CPPFLAGS = \
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-D__riscv_float_abi_soft \
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-DportasmHANDLE_INTERRUPT=handle_trap \
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-I . -I ../Common/include \
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-I $(RTOS_SOURCE_DIR)/include \
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-I $(RTOS_SOURCE_DIR)/portable/GCC/RISC-V \
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-I $(RTOS_SOURCE_DIR)/portable/GCC/RISC-V/chip_specific_extensions/RV32I_CLINT_no_extensions
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CFLAGS = -march=rv32ima -mabi=ilp32 -mcmodel=medany \
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-Wall \
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-fmessage-length=0 \
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-ffunction-sections \
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-fdata-sections \
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-fno-builtin-printf
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ASFLAGS = -march=rv32ima -mabi=ilp32 -mcmodel=medany
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LDFLAGS = -nostartfiles -Tfake_rom.lds \
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-Xlinker --gc-sections \
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-Xlinker --defsym=__stack_size=300
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ifeq ($(DEBUG), 1)
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CFLAGS += -Og -ggdb3
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else
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CFLAGS += -O2
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endif
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SRCS = main.c main_blinky.c riscv-virt.c ns16550.c \
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$(DEMO_SOURCE_DIR)/EventGroupsDemo.c \
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$(DEMO_SOURCE_DIR)/TaskNotify.c \
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$(DEMO_SOURCE_DIR)/TimerDemo.c \
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$(DEMO_SOURCE_DIR)/blocktim.c \
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$(DEMO_SOURCE_DIR)/dynamic.c \
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$(DEMO_SOURCE_DIR)/recmutex.c \
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$(RTOS_SOURCE_DIR)/event_groups.c \
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$(RTOS_SOURCE_DIR)/list.c \
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$(RTOS_SOURCE_DIR)/queue.c \
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$(RTOS_SOURCE_DIR)/stream_buffer.c \
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$(RTOS_SOURCE_DIR)/tasks.c \
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$(RTOS_SOURCE_DIR)/timers.c \
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$(RTOS_SOURCE_DIR)/portable/MemMang/heap_4.c \
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$(RTOS_SOURCE_DIR)/portable/GCC/RISC-V/port.c
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ASMS = start.S \
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$(RTOS_SOURCE_DIR)/portable/GCC/RISC-V/portASM.S
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OBJS = $(SRCS:%.c=$(BUILD_DIR)/%.o) $(ASMS:%.S=$(BUILD_DIR)/%.o)
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DEPS = $(SRCS:%.c=$(BUILD_DIR)/%.d) $(ASMS:%.S=$(BUILD_DIR)/%.d)
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$(BUILD_DIR)/RTOSDemo.axf: $(OBJS) fake_rom.lds Makefile
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$(CC) $(LDFLAGS) $(OBJS) -o $@
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$(BUILD_DIR)/%.o: %.c Makefile
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@mkdir -p $(@D)
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$(CC) $(CPPFLAGS) $(CFLAGS) -MMD -MP -c $< -o $@
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$(BUILD_DIR)/%.o: %.S Makefile
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@mkdir -p $(@D)
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$(CC) $(CPPFLAGS) $(ASFLAGS) -MMD -MP -c $< -o $@
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clean:
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rm -rf $(BUILD_DIR)
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-include $(DEPS)
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@ -0,0 +1,104 @@
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# Emulating generic RISC-V 32bit machine on QEMU
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## Requirements
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1. GNU RISC-V toolchains (tested on Crosstool-NG)
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1. qemu-riscv32-system (tested on Debian 10 package)
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1. Linux OS (tested on Debian 10)
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## How to build toolchain
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Clone the Crosstool-NG and build.
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```
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$ git clone https://github.com/crosstool-ng/crosstool-ng
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$ ./configure --enable-local
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$ make
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$ ./ct-ng menuconfig
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```
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Change the following configs:
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```
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CT_EXPERIMENTAL=y
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CT_ARCH_RISCV=y
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CT_ARCH_64=y
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CT_ARCH_ARCH=rv32ima
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CT_ARCH_ABI=ilp32
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CT_MULTILIB=y
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CT_DEBUG_GDB=y
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```
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Build the GNU toolchain for RISC-V.
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```
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$ ./ct-ng build
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```
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A toolchain is installed at ~/x-tools/riscv64-unknown-elf directory.
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## How to build
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Add path of toolchain that is described above section.
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```
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$ export PATH=~/x-tools/riscv64-unknown-elf:$PATH
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```
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For release build:
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```
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$ make
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```
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For debug build:
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```
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$ make DEBUG=1
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```
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If success to build, executable file RTOSDemo.axf in ./build directory.
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## How to run
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```
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$ qemu-system-riscv32 -nographic -machine virt -net none \
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-chardev stdio,id=con,mux=on -serial chardev:con \
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-mon chardev=con,mode=readline -bios none \
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-smp 4 -kernel ./build/RTOSDemo.axf
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```
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## How to debug with gdb
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Append -s and -S options to the previous qemu command.
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- -s: enable to attach gdb to QEMU at port 1234
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- -S: start and halted CPU (wait for attach from gdb)
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This is just recommend to use 'debug build' for more efficient debugging.
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Run these commands after starting the QEMU with above options:
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```
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$ riscv64-unknown-elf-gdb build/RTOSDemo.axf
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(gdb) target remote localhost:1234
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(gdb) break main
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Breakpoint 1 at 0x80000110
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(gdb) c
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Continuing.
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Breakpoint 1, 0x80000110 in main ()
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```
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## Description
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This demo just prints Tx/Rx message of queue to serial port, use no
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other hardware and use only primary core (currently hart 0).
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Other cores are simply going to wfi state and execute nothing else.
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@ -0,0 +1,117 @@
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OUTPUT_ARCH( "riscv" )
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ENTRY( _start )
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MEMORY
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{
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/* Fake ROM area */
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rom (rxa) : ORIGIN = 0x80000000, LENGTH = 512K
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ram (wxa) : ORIGIN = 0x80080000, LENGTH = 512K
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}
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SECTIONS
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{
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.init :
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{
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_text = .;
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KEEP (*(SORT_NONE(.init)))
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} >rom AT>rom
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.text :
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{
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*(.text.unlikely .text.unlikely.*)
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*(.text.startup .text.startup.*)
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*(.text .text.*)
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*(.gnu.linkonce.t.*)
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} >rom AT>rom
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.fini :
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{
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KEEP (*(SORT_NONE(.fini)))
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_etext = .;
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} >rom AT>rom
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.rodata.align :
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{
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. = ALIGN(4);
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_rodata = .;
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} >rom AT>rom
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.rodata.start :
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{
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_rodata_lma = LOADADDR(.rodata.start);
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} >rom AT>rom
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.rodata :
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{
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*(.rdata)
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*(.rodata .rodata.*)
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*(.gnu.linkonce.r.*)
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. = ALIGN(4);
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_erodata = .;
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} >rom AT>rom
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.data.align :
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{
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. = ALIGN(4);
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_data = .;
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} >ram AT>rom
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.data.start :
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{
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_data_lma = LOADADDR(.data.start);
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} >ram AT>rom
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.data :
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{
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*(.data .data.*)
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*(.gnu.linkonce.d.*)
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. = ALIGN(8);
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PROVIDE( __global_pointer$ = . + 0x800 );
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*(.sdata .sdata.*)
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*(.sdata2 .sdata2.*)
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*(.gnu.linkonce.s.*)
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. = ALIGN(8);
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*(.srodata.cst16)
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*(.srodata.cst8)
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*(.srodata.cst4)
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*(.srodata.cst2)
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*(.srodata .srodata.*)
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. = ALIGN(4);
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_edata = .;
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} >ram AT>rom
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.bss.align :
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{
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. = ALIGN(4);
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_bss = .;
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} >ram AT>rom
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.bss.start :
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{
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_bss_lma = LOADADDR(.bss.start);
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} >ram AT>rom
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.bss :
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{
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*(.sbss*)
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*(.gnu.linkonce.sb.*)
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*(.bss .bss.*)
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*(.gnu.linkonce.b.*)
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*(COMMON)
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. = ALIGN(4);
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_ebss = .;
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} >ram AT>rom
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. = ALIGN(8);
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_end = .;
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.stack :
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{
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. = ALIGN(16);
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. += __stack_size;
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_stack_top = .;
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} >ram AT>ram
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}
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@ -0,0 +1,117 @@
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/*
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* FreeRTOS Kernel V10.4.1
|
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* Copyright (C) 2020 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.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://www.github.com/FreeRTOS
|
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*
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* 1 tab == 4 spaces!
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*/
|
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|
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/* FreeRTOS kernel includes. */
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#include <FreeRTOS.h>
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#include <task.h>
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|
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/* Run a simple demo just prints 'Blink' */
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#define DEMO_BLINKY 1
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|
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void vApplicationMallocFailedHook( void );
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void vApplicationIdleHook( void );
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void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
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void vApplicationTickHook( void );
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int main_blinky( void );
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/*-----------------------------------------------------------*/
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int main( void )
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{
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int ret;
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#if defined(DEMO_BLINKY)
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ret = main_blinky();
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#else
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#error "Please add or select demo."
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#endif
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|
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return ret;
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}
|
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|
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/*-----------------------------------------------------------*/
|
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|
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void vApplicationMallocFailedHook( void )
|
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{
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/* vApplicationMallocFailedHook() will only be called if
|
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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.
|
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pvPortMalloc() is called internally by the kernel whenever a task, queue,
|
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timer or semaphore is created. It is also called by various parts of the
|
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demo application. If heap_1.c or heap_2.c are used, then the size of the
|
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heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
|
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FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
|
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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();
|
||||
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();
|
||||
for( ;; );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vApplicationTickHook( void )
|
||||
{
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vAssertCalled( void )
|
||||
{
|
||||
volatile uint32_t ulSetTo1ToExitFunction = 0;
|
||||
|
||||
taskDISABLE_INTERRUPTS();
|
||||
while( ulSetTo1ToExitFunction != 1 )
|
||||
{
|
||||
__asm volatile( "NOP" );
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,160 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V10.4.1
|
||||
* Copyright (C) 2020 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.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://www.github.com/FreeRTOS
|
||||
*
|
||||
* 1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
/* FreeRTOS kernel includes. */
|
||||
#include <FreeRTOS.h>
|
||||
#include <task.h>
|
||||
#include <queue.h>
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
#include "riscv-virt.h"
|
||||
#include "ns16550.h"
|
||||
|
||||
/* Priorities used by the tasks. */
|
||||
#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 pdMS_TO_TICKS() macro. */
|
||||
#define mainQUEUE_SEND_FREQUENCY_MS pdMS_TO_TICKS( 1000 )
|
||||
|
||||
/* The maximum number items the queue can hold. The priority of the receiving
|
||||
task is above the priority of the sending task, so the receiving task will
|
||||
preempt the sending task and remove the queue items each time the sending task
|
||||
writes to the queue. Therefore the queue will never have more than one item in
|
||||
it at any time, and even with a queue length of 1, the sending task will never
|
||||
find the queue full. */
|
||||
#define mainQUEUE_LENGTH ( 1 )
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* The queue used by both tasks. */
|
||||
static QueueHandle_t xQueue = NULL;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvQueueSendTask( void *pvParameters )
|
||||
{
|
||||
TickType_t xNextWakeTime;
|
||||
const unsigned long ulValueToSend = 100UL;
|
||||
const char * const pcMessage1 = "Transfer1";
|
||||
const char * const pcMessage2 = "Transfer2";
|
||||
int f = 1;
|
||||
|
||||
/* Remove compiler warning about unused parameter. */
|
||||
( void ) pvParameters;
|
||||
|
||||
/* Initialise xNextWakeTime - this only needs to be done once. */
|
||||
xNextWakeTime = xTaskGetTickCount();
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
char buf[40];
|
||||
|
||||
sprintf( buf, "%d: %s: %s", xGetCoreID(),
|
||||
pcTaskGetName( xTaskGetCurrentTaskHandle() ),
|
||||
( f ) ? pcMessage1 : pcMessage2 );
|
||||
vSendString( buf );
|
||||
f = !f;
|
||||
|
||||
/* 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;
|
||||
const char * const pcMessage1 = "Blink1";
|
||||
const char * const pcMessage2 = "Blink2";
|
||||
const char * const pcFailMessage = "Unexpected value received\r\n";
|
||||
int f = 1;
|
||||
|
||||
/* Remove compiler warning about unused parameter. */
|
||||
( void ) pvParameters;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
char buf[40];
|
||||
|
||||
/* 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 )
|
||||
{
|
||||
sprintf( buf, "%d: %s: %s", xGetCoreID(),
|
||||
pcTaskGetName( xTaskGetCurrentTaskHandle() ),
|
||||
( f ) ? pcMessage1 : pcMessage2 );
|
||||
vSendString( buf );
|
||||
f = !f;
|
||||
|
||||
ulReceivedValue = 0U;
|
||||
}
|
||||
else
|
||||
{
|
||||
vSendString( pcFailMessage );
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
int main_blinky( void )
|
||||
{
|
||||
vSendString( "Hello FreeRTOS!" );
|
||||
|
||||
/* 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, "Rx", configMINIMAL_STACK_SIZE * 2U, NULL,
|
||||
mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
|
||||
xTaskCreate( prvQueueSendTask, "Tx", configMINIMAL_STACK_SIZE * 2U, NULL,
|
||||
mainQUEUE_SEND_TASK_PRIORITY, NULL );
|
||||
}
|
||||
|
||||
vTaskStartScheduler();
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,75 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V10.4.1
|
||||
* Copyright (C) 2020 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.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://www.github.com/FreeRTOS
|
||||
*
|
||||
* 1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include "ns16550.h"
|
||||
|
||||
/* register definitions */
|
||||
#define REG_RBR 0x00 /* Receiver buffer reg. */
|
||||
#define REG_THR 0x00 /* Transmitter holding reg. */
|
||||
#define REG_IER 0x01 /* Interrupt enable reg. */
|
||||
#define REG_IIR 0x02 /* Interrupt ID reg. */
|
||||
#define REG_FCR 0x02 /* FIFO control reg. */
|
||||
#define REG_LCR 0x03 /* Line control reg. */
|
||||
#define REG_MCR 0x04 /* Modem control reg. */
|
||||
#define REG_LSR 0x05 /* Line status reg. */
|
||||
#define REG_MSR 0x06 /* Modem status reg. */
|
||||
#define REG_SCR 0x07 /* Scratch reg. */
|
||||
#define REG_BRDL 0x00 /* Divisor latch (LSB) */
|
||||
#define REG_BRDH 0x01 /* Divisor latch (MSB) */
|
||||
|
||||
/* Line status */
|
||||
#define LSR_DR 0x01 /* Data ready */
|
||||
#define LSR_OE 0x02 /* Overrun error */
|
||||
#define LSR_PE 0x04 /* Parity error */
|
||||
#define LSR_FE 0x08 /* Framing error */
|
||||
#define LSR_BI 0x10 /* Break interrupt */
|
||||
#define LSR_THRE 0x20 /* Transmitter holding register empty */
|
||||
#define LSR_TEMT 0x40 /* Transmitter empty */
|
||||
#define LSR_EIRF 0x80 /* Error in RCVR FIFO */
|
||||
|
||||
static uint8_t readb( uintptr_t addr )
|
||||
{
|
||||
return *( (uint8_t *) addr );
|
||||
}
|
||||
|
||||
static void writeb( uint8_t b, uintptr_t addr )
|
||||
{
|
||||
*( (uint8_t *) addr ) = b;
|
||||
}
|
||||
|
||||
void vOutNS16550( struct device *dev, unsigned char c )
|
||||
{
|
||||
uintptr_t addr = dev->addr;
|
||||
|
||||
while ( (readb( addr + REG_LSR ) & LSR_THRE) == 0 ) {
|
||||
/* busy wait */
|
||||
}
|
||||
|
||||
writeb( c, addr + REG_THR );
|
||||
}
|
||||
@ -0,0 +1,39 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V10.4.1
|
||||
* Copyright (C) 2020 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.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://www.github.com/FreeRTOS
|
||||
*
|
||||
* 1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#ifndef NS16550_H_
|
||||
#define NS16550_H_
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
struct device {
|
||||
uintptr_t addr;
|
||||
};
|
||||
|
||||
void vOutNS16550( struct device *dev, unsigned char c );
|
||||
|
||||
#endif /* NS16550_H_ */
|
||||
@ -0,0 +1,43 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V10.4.1
|
||||
* Copyright (C) 2020 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.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://www.github.com/FreeRTOS
|
||||
*
|
||||
* 1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#ifndef RISCV_REG_H_
|
||||
#define RISCV_REG_H_
|
||||
|
||||
#if __riscv_xlen == 32
|
||||
#define REGSIZE 4
|
||||
#define REGSHIFT 2
|
||||
#define LOAD lw
|
||||
#define STOR sw
|
||||
#elif __riscv_xlen == 64
|
||||
#define REGSIZE 8
|
||||
#define REGSHIFT 3
|
||||
#define LOAD ld
|
||||
#define STOR sd
|
||||
#endif /* __riscv_xlen */
|
||||
|
||||
#endif /* RISCV_REG_H_ */
|
||||
@ -0,0 +1,65 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V10.4.1
|
||||
* Copyright (C) 2020 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.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://www.github.com/FreeRTOS
|
||||
*
|
||||
* 1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#include <FreeRTOS.h>
|
||||
|
||||
#include <string.h>
|
||||
|
||||
#include "riscv-virt.h"
|
||||
#include "ns16550.h"
|
||||
|
||||
int xGetCoreID( void )
|
||||
{
|
||||
int id;
|
||||
|
||||
__asm ("csrr %0, mhartid" : "=r" ( id ) );
|
||||
|
||||
return id;
|
||||
}
|
||||
|
||||
void vSendString( const char *s )
|
||||
{
|
||||
struct device dev;
|
||||
size_t i;
|
||||
|
||||
dev.addr = NS16550_ADDR;
|
||||
|
||||
portENTER_CRITICAL();
|
||||
|
||||
for (i = 0; i < strlen(s); i++) {
|
||||
vOutNS16550( &dev, s[i] );
|
||||
}
|
||||
vOutNS16550( &dev, '\n' );
|
||||
|
||||
portEXIT_CRITICAL();
|
||||
}
|
||||
|
||||
void handle_trap(void)
|
||||
{
|
||||
while (1)
|
||||
;
|
||||
}
|
||||
@ -0,0 +1,55 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V10.4.1
|
||||
* Copyright (C) 2020 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.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://www.github.com/FreeRTOS
|
||||
*
|
||||
* 1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#ifndef RISCV_VIRT_H_
|
||||
#define RISCV_VIRT_H_
|
||||
|
||||
#include "riscv-reg.h"
|
||||
|
||||
#ifdef __ASSEMBLER__
|
||||
#define CONS(NUM, TYPE)NUM
|
||||
#else
|
||||
#define CONS(NUM, TYPE)NUM##TYPE
|
||||
#endif /* __ASSEMBLER__ */
|
||||
|
||||
#define PRIM_HART 0
|
||||
|
||||
#define CLINT_ADDR CONS(0x02000000, UL)
|
||||
#define CLINT_MSIP CONS(0x0000, UL)
|
||||
#define CLINT_MTIMECMP CONS(0x4000, UL)
|
||||
#define CLINT_MTIME CONS(0xbff8, UL)
|
||||
|
||||
#define NS16550_ADDR CONS(0x10000000, UL)
|
||||
|
||||
#ifndef __ASSEMBLER__
|
||||
|
||||
int xGetCoreID( void );
|
||||
void vSendString( const char * s );
|
||||
|
||||
#endif /* __ASSEMBLER__ */
|
||||
|
||||
#endif /* RISCV_VIRT_H_ */
|
||||
@ -0,0 +1,85 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V10.4.1
|
||||
* Copyright (C) 2020 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.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://www.github.com/FreeRTOS
|
||||
*
|
||||
* 1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#include "riscv-virt.h"
|
||||
|
||||
.section .init
|
||||
.globl _start
|
||||
.type _start,@function
|
||||
_start:
|
||||
.cfi_startproc
|
||||
.cfi_undefined ra
|
||||
.option push
|
||||
.option norelax
|
||||
la gp, __global_pointer$
|
||||
.option pop
|
||||
|
||||
// Continue primary hart
|
||||
csrr a0, mhartid
|
||||
li a1, PRIM_HART
|
||||
bne a0, a1, secondary
|
||||
|
||||
// Primary hart
|
||||
la sp, _stack_top
|
||||
|
||||
// Load data section
|
||||
la a0, _data_lma
|
||||
la a1, _data
|
||||
la a2, _edata
|
||||
bgeu a1, a2, 2f
|
||||
1:
|
||||
LOAD t0, (a0)
|
||||
STOR t0, (a1)
|
||||
addi a0, a0, REGSIZE
|
||||
addi a1, a1, REGSIZE
|
||||
bltu a1, a2, 1b
|
||||
2:
|
||||
|
||||
// Clear bss section
|
||||
la a0, _bss
|
||||
la a1, _ebss
|
||||
bgeu a0, a1, 2f
|
||||
1:
|
||||
STOR zero, (a0)
|
||||
addi a0, a0, REGSIZE
|
||||
bltu a0, a1, 1b
|
||||
2:
|
||||
|
||||
// argc, argv, envp is 0
|
||||
li a0, 0
|
||||
li a1, 0
|
||||
li a2, 0
|
||||
jal main
|
||||
1:
|
||||
wfi
|
||||
j 1b
|
||||
|
||||
secondary:
|
||||
// TODO: Multicore is not supported
|
||||
wfi
|
||||
j secondary
|
||||
.cfi_endproc
|
||||
Loading…
Reference in New Issue