2 FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS provides completely free yet professionally developed, *
\r
10 * robust, strictly quality controlled, supported, and cross *
\r
11 * platform software that has become a de facto standard. *
\r
13 * Help yourself get started quickly and support the FreeRTOS *
\r
14 * project by purchasing a FreeRTOS tutorial book, reference *
\r
15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
\r
19 ***************************************************************************
\r
21 This file is part of the FreeRTOS distribution.
\r
23 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
24 the terms of the GNU General Public License (version 2) as published by the
\r
25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
\r
27 >>! NOTE: The modification to the GPL is included to allow you to !<<
\r
28 >>! distribute a combined work that includes FreeRTOS without being !<<
\r
29 >>! obliged to provide the source code for proprietary components !<<
\r
30 >>! outside of the FreeRTOS kernel. !<<
\r
32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
\r
35 link: http://www.freertos.org/a00114.html
\r
39 ***************************************************************************
\r
41 * Having a problem? Start by reading the FAQ "My application does *
\r
42 * not run, what could be wrong?" *
\r
44 * http://www.FreeRTOS.org/FAQHelp.html *
\r
46 ***************************************************************************
\r
48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
49 license and Real Time Engineers Ltd. contact details.
\r
51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
57 licenses offer ticketed support, indemnification and middleware.
\r
59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
60 engineered and independently SIL3 certified version for use in safety and
\r
61 mission critical applications that require provable dependability.
\r
66 /******************************************************************************
\r
67 * This project provides two demo applications. A simple blinky style project,
\r
68 * and a more comprehensive test and demo application. The
\r
69 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting (defined in this file) is used to
\r
70 * select between the two. The simply blinky demo is implemented and described
\r
71 * in main_blinky.c. The more comprehensive test and demo application is
\r
72 * implemented and described in main_full.c.
\r
74 * This file implements the code that is not demo specific, including the
\r
75 * hardware setup and FreeRTOS hook functions.
\r
77 * !!! IMPORTANT NOTE !!!
\r
78 * The GCC libraries that ship with the Xilinx SDK make use of the floating
\r
79 * point registers. To avoid this causing corruption it is necessary to avoid
\r
80 * their use. For this reason main.c contains very basic C implementations of
\r
81 * the standard C library functions memset(), memcpy() and memcmp(), which are
\r
82 * are used by FreeRTOS itself. Defining these functions in the project
\r
83 * prevents the linker pulling them in from the library. Any other standard C
\r
84 * library functions that are used by the application must likewise be defined
\r
87 * ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
\r
88 * THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
\r
89 * APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
\r
93 /* Standard includes. */
\r
96 /* Scheduler include files. */
\r
97 #include "FreeRTOS.h"
\r
101 /* Standard demo includes. */
\r
102 #include "partest.h"
\r
103 #include "TimerDemo.h"
\r
104 #include "QueueOverwrite.h"
\r
105 #include "EventGroupsDemo.h"
\r
107 /* Xilinx includes. */
\r
108 #include "platform.h"
\r
109 #include "xparameters.h"
\r
110 #include "xscutimer.h"
\r
111 #include "xscugic.h"
\r
112 #include "xil_exception.h"
\r
114 /* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo,
\r
115 or 0 to run the more comprehensive test and demo application. */
\r
116 #define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 0
\r
118 /*-----------------------------------------------------------*/
\r
121 * Configure the hardware as necessary to run this demo.
\r
123 static void prvSetupHardware( void );
\r
126 * main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
\r
127 * main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
\r
129 #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1
\r
130 extern void main_blinky( void );
\r
132 extern void main_full( void );
\r
133 #endif /* #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 */
\r
136 * The Xilinx projects use a BSP that do not allow the start up code to be
\r
137 * altered easily. Therefore the vector table used by FreeRTOS is defined in
\r
138 * FreeRTOS_asm_vectors.S, which is part of this project. Switch to use the
\r
139 * FreeRTOS vector table.
\r
141 extern void vPortInstallFreeRTOSVectorTable( void );
\r
143 /* Prototypes for the standard FreeRTOS callback/hook functions implemented
\r
144 within this file. */
\r
145 void vApplicationMallocFailedHook( void );
\r
146 void vApplicationIdleHook( void );
\r
147 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
\r
148 void vApplicationTickHook( void );
\r
150 /*-----------------------------------------------------------*/
\r
152 /* The interrupt controller is initialised in this file, and made available to
\r
154 XScuGic xInterruptController;
\r
156 /*-----------------------------------------------------------*/
\r
160 /* Configure the hardware ready to run the demo. */
\r
161 prvSetupHardware();
\r
163 /* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
\r
165 #if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
\r
175 /* Don't expect to reach here. */
\r
178 /*-----------------------------------------------------------*/
\r
180 static void prvSetupHardware( void )
\r
182 BaseType_t xStatus;
\r
183 XScuGic_Config *pxGICConfig;
\r
185 /* Ensure no interrupts execute while the scheduler is in an inconsistent
\r
186 state. Interrupts are automatically enabled when the scheduler is
\r
188 portDISABLE_INTERRUPTS();
\r
190 /* Obtain the configuration of the GIC. */
\r
191 pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID );
\r
193 /* Sanity check the FreeRTOSConfig.h settings are correct for the
\r
195 configASSERT( pxGICConfig );
\r
196 configASSERT( pxGICConfig->CpuBaseAddress == ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ) );
\r
197 configASSERT( pxGICConfig->DistBaseAddress == configINTERRUPT_CONTROLLER_BASE_ADDRESS );
\r
199 /* Install a default handler for each GIC interrupt. */
\r
200 xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress );
\r
201 configASSERT( xStatus == XST_SUCCESS );
\r
202 ( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
\r
204 /* Initialise the LED port. */
\r
205 vParTestInitialise();
\r
207 /* The Xilinx projects use a BSP that do not allow the start up code to be
\r
208 altered easily. Therefore the vector table used by FreeRTOS is defined in
\r
209 FreeRTOS_asm_vectors.S, which is part of this project. Switch to use the
\r
210 FreeRTOS vector table. */
\r
211 vPortInstallFreeRTOSVectorTable();
\r
213 /*-----------------------------------------------------------*/
\r
215 void vApplicationMallocFailedHook( void )
\r
217 /* Called if a call to pvPortMalloc() fails because there is insufficient
\r
218 free memory available in the FreeRTOS heap. pvPortMalloc() is called
\r
219 internally by FreeRTOS API functions that create tasks, queues, software
\r
220 timers, and semaphores. The size of the FreeRTOS heap is set by the
\r
221 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
\r
222 taskDISABLE_INTERRUPTS();
\r
225 /*-----------------------------------------------------------*/
\r
227 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
\r
229 ( void ) pcTaskName;
\r
232 /* Run time stack overflow checking is performed if
\r
233 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
\r
234 function is called if a stack overflow is detected. */
\r
235 taskDISABLE_INTERRUPTS();
\r
238 /*-----------------------------------------------------------*/
\r
240 void vApplicationIdleHook( void )
\r
242 volatile size_t xFreeHeapSpace;
\r
244 /* This is just a trivial example of an idle hook. It is called on each
\r
245 cycle of the idle task. It must *NOT* attempt to block. In this case the
\r
246 idle task just queries the amount of FreeRTOS heap that remains. See the
\r
247 memory management section on the http://www.FreeRTOS.org web site for memory
\r
248 management options. If there is a lot of heap memory free then the
\r
249 configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up
\r
251 xFreeHeapSpace = xPortGetFreeHeapSize();
\r
253 /* Remove compiler warning about xFreeHeapSpace being set but never used. */
\r
254 ( void ) xFreeHeapSpace;
\r
256 /*-----------------------------------------------------------*/
\r
258 void vAssertCalled( const char * pcFile, unsigned long ulLine )
\r
260 volatile unsigned long ul = 0;
\r
265 taskENTER_CRITICAL();
\r
267 /* Set ul to a non-zero value using the debugger to step out of this
\r
274 taskEXIT_CRITICAL();
\r
276 /*-----------------------------------------------------------*/
\r
278 void vApplicationTickHook( void )
\r
280 #if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 )
\r
282 /* The full demo includes a software timer demo/test that requires
\r
283 prodding periodically from the tick interrupt. */
\r
284 vTimerPeriodicISRTests();
\r
286 /* Call the periodic queue overwrite from ISR demo. */
\r
287 vQueueOverwritePeriodicISRDemo();
\r
289 /* Call the periodic event group from ISR demo. */
\r
290 vPeriodicEventGroupsProcessing();
\r
294 /*-----------------------------------------------------------*/
\r
296 void *memcpy( void *pvDest, const void *pvSource, size_t ulBytes )
\r
298 unsigned char *pcDest = ( unsigned char * ) pvDest, *pcSource = ( unsigned char * ) pvSource;
\r
301 for( x = 0; x < ulBytes; x++ )
\r
303 *pcDest = *pcSource;
\r
310 /*-----------------------------------------------------------*/
\r
312 void *memset( void *pvDest, int iValue, size_t ulBytes )
\r
314 unsigned char *pcDest = ( unsigned char * ) pvDest;
\r
317 for( x = 0; x < ulBytes; x++ )
\r
319 *pcDest = ( unsigned char ) iValue;
\r
325 /*-----------------------------------------------------------*/
\r
327 int memcmp( const void *pvMem1, const void *pvMem2, size_t ulBytes )
\r
329 const unsigned char *pucMem1 = pvMem1, *pucMem2 = pvMem2;
\r
332 for( x = 0; x < ulBytes; x++ )
\r
334 if( pucMem1[ x ] != pucMem2[ x ] )
\r
340 return ulBytes - x;
\r