From: rtel Date: Wed, 22 Jan 2014 15:43:27 +0000 (+0000) Subject: Carry on working on the Zynq demo - still a work in progress. X-Git-Tag: V8.0.0~46 X-Git-Url: https://git.sur5r.net/?a=commitdiff_plain;h=2277166a1bb34896c6c0cf3d8d5be8dc352e2b2f;p=freertos Carry on working on the Zynq demo - still a work in progress. git-svn-id: https://svn.code.sf.net/p/freertos/code/trunk@2172 1d2547de-c912-0410-9cb9-b8ca96c0e9e2 --- diff --git a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/.cproject b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/.cproject index 7059635ed..24b21be6d 100644 --- a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/.cproject +++ b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/.cproject @@ -36,6 +36,7 @@ + @@ -72,17 +77,6 @@ - - - - - - - - - - - @@ -175,4 +169,5 @@ + diff --git a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/FreeRTOSConfig.h b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/FreeRTOSConfig.h index d2002def6..52b21ac9a 100644 --- a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/FreeRTOSConfig.h +++ b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/FreeRTOSConfig.h @@ -66,6 +66,8 @@ #ifndef FREERTOS_CONFIG_H #define FREERTOS_CONFIG_H +#include "xparameters.h" + /*----------------------------------------------------------- * Application specific definitions. * @@ -98,11 +100,11 @@ * "FromISR". FreeRTOS maintains a separate interrupt safe API to enable * interrupt entry to be shorter, faster, simpler and smaller. * - * The Zynq implements 32 unique interrupt priorities. For the purpose of - * setting configMAX_API_CALL_INTERRUPT_PRIORITY 31 represents the lowest + * The Zynq implements 256 unique interrupt priorities. For the purpose of + * setting configMAX_API_CALL_INTERRUPT_PRIORITY 255 represents the lowest * priority. */ -#define configMAX_API_CALL_INTERRUPT_PRIORITY 25 +#define configMAX_API_CALL_INTERRUPT_PRIORITY 18 #define configCPU_CLOCK_HZ 100000000UL @@ -157,11 +159,11 @@ readable ASCII form. See the notes in the implementation of vTaskList() within FreeRTOS/Source/tasks.c for limitations. */ #define configUSE_STATS_FORMATTING_FUNCTIONS 1 -/* The following constants describe the hardware, and are correct for the +/* The following constant describe the hardware, and are correct for the Zynq MPU. */ -#define configINTERRUPT_CONTROLLER_BASE_ADDRESS 0xE8201000 -#define configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET 0x1000 -#define configUNIQUE_INTERRUPT_PRIORITIES 32 +#define configINTERRUPT_CONTROLLER_BASE_ADDRESS ( XPAR_PS7_SCUGIC_0_DIST_BASEADDR ) +#define configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ( -0xf00 ) +#define configUNIQUE_INTERRUPT_PRIORITIES 32 /* Run time stats gathering definitions. */ unsigned long ulGetRunTimeCounterValue( void ); @@ -197,5 +199,7 @@ void vAssertCalled( const char * pcFile, unsigned long ulLine ); void vConfigureTickInterrupt( void ); #define configSETUP_TICK_INTERRUPT() vConfigureTickInterrupt() +#define configINSTALL_FREERTOS_VECTOR_TABLE 1 + #endif /* FREERTOS_CONFIG_H */ diff --git a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/FreeRTOS_asm_vectors.S b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/FreeRTOS_asm_vectors.S new file mode 100644 index 000000000..b40c312a2 --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/FreeRTOS_asm_vectors.S @@ -0,0 +1,167 @@ +/****************************************************************************** +* +* (c) Copyright 2009-13 Xilinx, Inc. All rights reserved. +* +* This file contains confidential and proprietary information of Xilinx, Inc. +* and is protected under U.S. and international copyright and other +* intellectual property laws. +* +* DISCLAIMER +* This disclaimer is not a license and does not grant any rights to the +* materials distributed herewith. Except as otherwise provided in a valid +* license issued to you by Xilinx, and to the maximum extent permitted by +* applicable law: (1) THESE MATERIALS ARE MADE AVAILABLE "AS IS" AND WITH ALL +* FAULTS, AND XILINX HEREBY DISCLAIMS ALL WARRANTIES AND CONDITIONS, EXPRESS, +* IMPLIED, OR STATUTORY, INCLUDING BUT NOT LIMITED TO WARRANTIES OF +* MERCHANTABILITY, NON-INFRINGEMENT, OR FITNESS FOR ANY PARTICULAR PURPOSE; +* and (2) Xilinx shall not be liable (whether in contract or tort, including +* negligence, or under any other theory of liability) for any loss or damage +* of any kind or nature related to, arising under or in connection with these +* materials, including for any direct, or any indirect, special, incidental, +* or consequential loss or damage (including loss of data, profits, goodwill, +* or any type of loss or damage suffered as a result of any action brought by +* a third party) even if such damage or loss was reasonably foreseeable or +* Xilinx had been advised of the possibility of the same. +* +* CRITICAL APPLICATIONS +* Xilinx products are not designed or intended to be fail-safe, or for use in +* any application requiring fail-safe performance, such as life-support or +* safety devices or systems, Class III medical devices, nuclear facilities, +* applications related to the deployment of airbags, or any other applications +* that could lead to death, personal injury, or severe property or +* environmental damage (individually and collectively, "Critical +* Applications"). Customer assumes the sole risk and liability of any use of +* Xilinx products in Critical Applications, subject only to applicable laws +* and regulations governing limitations on product liability. +* +* THIS COPYRIGHT NOTICE AND DISCLAIMER MUST BE RETAINED AS PART OF THIS FILE +* AT ALL TIMES. +* +******************************************************************************/ +/*****************************************************************************/ +/** +* @file asm_vectors.s +* +* This file contains the initial vector table for the Cortex A9 processor +* +* 
+* MODIFICATION HISTORY:
+*
+* Ver   Who     Date     Changes
+* ----- ------- -------- ---------------------------------------------------
+* 1.00a ecm/sdm 10/20/09 Initial version
+* 3.05a sdm	02/02/12 Save lr when profiling is enabled
+* 3.10a srt     04/18/13 Implemented ARM Erratas. Please refer to file
+*			 'xil_errata.h' for errata description
+*
+* +* @note +* +* None. +* +******************************************************************************/ + +#include "xil_errata.h" + +#define __ARM_NEON__ 1 + +.org 0 +.text + +.globl _boot +.globl _freertos_vector_table + +.globl FIQInterrupt +//.globl IRQInterrupt +//.global SWInterrupt +.global DataAbortInterrupt +.global PrefetchAbortInterrupt + +.extern FreeRTOS_IRQ_Handler +.extern FreeRTOS_SWI_Handler + +//.globl IRQHandler +//.globl prof_pc + +.section .freertos_vectors +_freertos_vector_table: + B _boot + B FreeRTOS_Undefined + ldr pc, _swi + B FreeRTOS_PrefetchAbortHandler + B FreeRTOS_DataAbortHandler + NOP /* Placeholder for address exception vector*/ + LDR PC, _irq + B FreeRTOS_FIQHandler + +_irq: .word FreeRTOS_IRQ_Handler +_swi: .word FreeRTOS_SWI_Handler + + + +FreeRTOS_FIQHandler: /* FIQ vector handler */ + stmdb sp!,{r0-r3,r12,lr} /* state save from compiled code */ +#ifdef __ARM_NEON__ + vpush {d0-d7} + vpush {d16-d31} + vmrs r1, FPSCR + push {r1} + vmrs r1, FPEXC + push {r1} +#endif + +FIQLoop: + bl FIQInterrupt /* FIQ vector */ + +#ifdef __ARM_NEON__ + pop {r1} + vmsr FPEXC, r1 + pop {r1} + vmsr FPSCR, r1 + vpop {d16-d31} + vpop {d0-d7} +#endif + ldmia sp!,{r0-r3,r12,lr} /* state restore from compiled code */ + subs pc, lr, #4 /* adjust return */ + + +FreeRTOS_Undefined: /* Undefined handler */ + stmdb sp!,{r0-r3,r12,lr} /* state save from compiled code */ + + ldmia sp!,{r0-r3,r12,lr} /* state restore from compiled code */ + + b _prestart + + movs pc, lr + + +FreeRTOS_DataAbortHandler: /* Data Abort handler */ +#ifdef CONFIG_ARM_ERRATA_775420 + dsb +#endif + stmdb sp!,{r0-r3,r12,lr} /* state save from compiled code */ + + bl DataAbortInterrupt /*DataAbortInterrupt :call C function here */ + + ldmia sp!,{r0-r3,r12,lr} /* state restore from compiled code */ + + subs pc, lr, #4 /* adjust return */ + +FreeRTOS_PrefetchAbortHandler: /* Prefetch Abort handler */ +#ifdef CONFIG_ARM_ERRATA_775420 + dsb +#endif + stmdb sp!,{r0-r3,r12,lr} /* state save from compiled code */ + + bl PrefetchAbortInterrupt /* PrefetchAbortInterrupt: call C function here */ + + ldmia sp!,{r0-r3,r12,lr} /* state restore from compiled code */ + + subs pc, lr, #4 /* adjust return */ + + +.end + + + + diff --git a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/FreeRTOS_tick_config.c b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/FreeRTOS_tick_config.c new file mode 100644 index 000000000..493ada6e6 --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/FreeRTOS_tick_config.c @@ -0,0 +1,96 @@ +/* + FreeRTOS V8.0.0:rc2 - 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! +*/ + +/* FreeRTOS includes. */ +#include "FreeRTOS.h" +#include "Task.h" + +/* + * The application must provide a function that configures a peripheral to + * create the FreeRTOS tick interrupt, then define configSETUP_TICK_INTERRUPT() + * in FreeRTOSConfig.h to call the function. This file contains a function + * that is suitable for use on the Renesas RZ MPU. + */ +void vConfigureTickInterrupt( void ) +{ +} +/*-----------------------------------------------------------*/ + +/* + * Crude implementation of a run time counter used to measure how much time + * each task spends in the Running state. + */ +unsigned long ulGetRunTimeCounterValue( void ) +{ + return 0; +} +/*-----------------------------------------------------------*/ + +void vInitialiseRunTimeStats( void ) +{ +} + + + diff --git a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/asm_vectors.S b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/asm_vectors.S deleted file mode 100644 index 6526f1380..000000000 --- a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/asm_vectors.S +++ /dev/null @@ -1,210 +0,0 @@ -/****************************************************************************** -* -* (c) Copyright 2009-13 Xilinx, Inc. All rights reserved. -* -* This file contains confidential and proprietary information of Xilinx, Inc. -* and is protected under U.S. and international copyright and other -* intellectual property laws. -* -* DISCLAIMER -* This disclaimer is not a license and does not grant any rights to the -* materials distributed herewith. Except as otherwise provided in a valid -* license issued to you by Xilinx, and to the maximum extent permitted by -* applicable law: (1) THESE MATERIALS ARE MADE AVAILABLE "AS IS" AND WITH ALL -* FAULTS, AND XILINX HEREBY DISCLAIMS ALL WARRANTIES AND CONDITIONS, EXPRESS, -* IMPLIED, OR STATUTORY, INCLUDING BUT NOT LIMITED TO WARRANTIES OF -* MERCHANTABILITY, NON-INFRINGEMENT, OR FITNESS FOR ANY PARTICULAR PURPOSE; -* and (2) Xilinx shall not be liable (whether in contract or tort, including -* negligence, or under any other theory of liability) for any loss or damage -* of any kind or nature related to, arising under or in connection with these -* materials, including for any direct, or any indirect, special, incidental, -* or consequential loss or damage (including loss of data, profits, goodwill, -* or any type of loss or damage suffered as a result of any action brought by -* a third party) even if such damage or loss was reasonably foreseeable or -* Xilinx had been advised of the possibility of the same. -* -* CRITICAL APPLICATIONS -* Xilinx products are not designed or intended to be fail-safe, or for use in -* any application requiring fail-safe performance, such as life-support or -* safety devices or systems, Class III medical devices, nuclear facilities, -* applications related to the deployment of airbags, or any other applications -* that could lead to death, personal injury, or severe property or -* environmental damage (individually and collectively, "Critical -* Applications"). Customer assumes the sole risk and liability of any use of -* Xilinx products in Critical Applications, subject only to applicable laws -* and regulations governing limitations on product liability. -* -* THIS COPYRIGHT NOTICE AND DISCLAIMER MUST BE RETAINED AS PART OF THIS FILE -* AT ALL TIMES. -* -******************************************************************************/ -/*****************************************************************************/ -/** -* @file asm_vectors.s -* -* This file contains the initial vector table for the Cortex A9 processor -* -* 
-* MODIFICATION HISTORY:
-*
-* Ver   Who     Date     Changes
-* ----- ------- -------- ---------------------------------------------------
-* 1.00a ecm/sdm 10/20/09 Initial version
-* 3.05a sdm	02/02/12 Save lr when profiling is enabled
-* 3.10a srt     04/18/13 Implemented ARM Erratas. Please refer to file
-*			 'xil_errata.h' for errata description
-*
-* -* @note -* -* None. -* -******************************************************************************/ -#if 0 -#include "xil_errata.h" - -#define __ARM_NEON__ 1 - -.org 0 -.text - -.globl _boot -.globl _vector_table - -.globl FIQInterrupt -.globl IRQInterrupt -.globl SWInterrupt -.globl DataAbortInterrupt -.globl PrefetchAbortInterrupt - -.globl IRQHandler -.globl prof_pc - -.section .vectors -_vector_table: - B _boot - B Undefined - B SVCHandler - B PrefetchAbortHandler - B DataAbortHandler - NOP /* Placeholder for address exception vector*/ - B IRQHandler - B FIQHandler - - -IRQHandler: /* IRQ vector handler */ - - stmdb sp!,{r0-r3,r12,lr} /* state save from compiled code*/ -#ifdef __ARM_NEON__ - vpush {d0-d7} - vpush {d16-d31} - vmrs r1, FPSCR - push {r1} - vmrs r1, FPEXC - push {r1} -#endif - -#ifdef PROFILING - ldr r2, =prof_pc - subs r3, lr, #0 - str r3, [r2] -#endif - - bl IRQInterrupt /* IRQ vector */ - -#ifdef __ARM_NEON__ - pop {r1} - vmsr FPEXC, r1 - pop {r1} - vmsr FPSCR, r1 - vpop {d16-d31} - vpop {d0-d7} -#endif - ldmia sp!,{r0-r3,r12,lr} /* state restore from compiled code */ - - - subs pc, lr, #4 /* adjust return */ - - -FIQHandler: /* FIQ vector handler */ - stmdb sp!,{r0-r3,r12,lr} /* state save from compiled code */ -#ifdef __ARM_NEON__ - vpush {d0-d7} - vpush {d16-d31} - vmrs r1, FPSCR - push {r1} - vmrs r1, FPEXC - push {r1} -#endif - -FIQLoop: - bl FIQInterrupt /* FIQ vector */ - -#ifdef __ARM_NEON__ - pop {r1} - vmsr FPEXC, r1 - pop {r1} - vmsr FPSCR, r1 - vpop {d16-d31} - vpop {d0-d7} -#endif - ldmia sp!,{r0-r3,r12,lr} /* state restore from compiled code */ - subs pc, lr, #4 /* adjust return */ - - -Undefined: /* Undefined handler */ - stmdb sp!,{r0-r3,r12,lr} /* state save from compiled code */ - - ldmia sp!,{r0-r3,r12,lr} /* state restore from compiled code */ - - b _prestart - - movs pc, lr - - -SVCHandler: /* SWI handler */ - stmdb sp!,{r0-r3,r12,lr} /* state save from compiled code */ - - tst r0, #0x20 /* check the T bit */ - ldrneh r0, [lr,#-2] /* Thumb mode */ - bicne r0, r0, #0xff00 /* Thumb mode */ - ldreq r0, [lr,#-4] /* ARM mode */ - biceq r0, r0, #0xff000000 /* ARM mode */ - - bl SWInterrupt /* SWInterrupt: call C function here */ - - ldmia sp!,{r0-r3,r12,lr} /* state restore from compiled code */ - - subs pc, lr, #4 /* adjust return */ - - -DataAbortHandler: /* Data Abort handler */ -#ifdef CONFIG_ARM_ERRATA_775420 - dsb -#endif - stmdb sp!,{r0-r3,r12,lr} /* state save from compiled code */ - - bl DataAbortInterrupt /*DataAbortInterrupt :call C function here */ - - ldmia sp!,{r0-r3,r12,lr} /* state restore from compiled code */ - - subs pc, lr, #4 /* adjust return */ - -PrefetchAbortHandler: /* Prefetch Abort handler */ -#ifdef CONFIG_ARM_ERRATA_775420 - dsb -#endif - stmdb sp!,{r0-r3,r12,lr} /* state save from compiled code */ - - bl PrefetchAbortInterrupt /* PrefetchAbortInterrupt: call C function here */ - - ldmia sp!,{r0-r3,r12,lr} /* state restore from compiled code */ - - subs pc, lr, #4 /* adjust return */ - - -.end - -#endif - - diff --git a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/lscript.ld b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/lscript.ld index 2e2e12984..5312b3bdc 100644 --- a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/lscript.ld +++ b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/lscript.ld @@ -30,13 +30,14 @@ MEMORY /* Specify the default entry point to the program */ -ENTRY(_vector_table) +ENTRY(_freertos_vector_table) /* Define the sections, and where they are mapped in memory */ SECTIONS { .text : { + *(.freertos_vectors) *(.vectors) *(.boot) *(.text) diff --git a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/main.c b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/main.c index b5174deb9..6924f045c 100644 --- a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/main.c +++ b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/main.c @@ -100,30 +100,92 @@ #include "xscugic.h" #include "xil_exception.h" -int main() -{ - init_platform(); +/* 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 1 - print("Hello World\n\r"); +/*-----------------------------------------------------------*/ - return 0; -} +/* + * Configure the hardware as necessary to run this demo. + */ +static void prvSetupHardware( void ); -void vAssertCalled( const char * pcFile, unsigned long ulLine ) -{ - ( void ) pcFile; - ( void ) ulLine; -} +/* + * 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. */ +void vApplicationMallocFailedHook( void ); +void vApplicationIdleHook( void ); +void vApplicationStackOverflowHook( xTaskHandle pxTask, char *pcTaskName ); +void vApplicationTickHook( void ); + +/* + * Creates and verifies different files on the volume, demonstrating the use of + * various different API functions. + */ +extern void vCreateAndVerifySampleFiles( void ); +/*-----------------------------------------------------------*/ -void vConfigureTickInterrupt( void ) +int main( void ) { + /* Configure the hardware ready to run the demo. */ + 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 + + return 0; } +/*-----------------------------------------------------------*/ static void prvSetupHardware( void ) { +int Status; +static XScuGic InterruptController; /* Interrupt controller instance */ +extern void FreeRTOS_IRQ_Handler( void ); +extern void FreeRTOS_SWI_Handler( void ); + + __asm volatile ( "cpsid i" ); Xil_ExceptionInit(); + XScuGic_Config *IntcConfig; /* The configuration parameters of the + interrupt controller */ + /* + * Initialize the interrupt controller driver + */ + IntcConfig = XScuGic_LookupConfig(XPAR_SCUGIC_SINGLE_DEVICE_ID); + configASSERT( IntcConfig ); + configASSERT( IntcConfig->CpuBaseAddress == ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ) ); + configASSERT( IntcConfig->DistBaseAddress == configINTERRUPT_CONTROLLER_BASE_ADDRESS ); + + Status = XScuGic_CfgInitialize(&InterruptController, IntcConfig, IntcConfig->CpuBaseAddress ); + configASSERT( Status == XST_SUCCESS ); + + Xil_ExceptionRegisterHandler( XIL_EXCEPTION_ID_IRQ_INT, (Xil_ExceptionHandler)FreeRTOS_IRQ_Handler, &InterruptController); + Xil_ExceptionRegisterHandler( XIL_EXCEPTION_ID_SWI_INT, (Xil_ExceptionHandler)FreeRTOS_SWI_Handler, &InterruptController); + +// Xil_ExceptionEnableMask( XIL_EXCEPTION_ALL ); +// Xil_ExceptionEnable(); + /* * Connect the interrupt controller interrupt handler to the hardware * interrupt handling logic in the ARM processor. @@ -142,19 +204,111 @@ static void prvSetupHardware( void ) (void *)8); #endif } +/*-----------------------------------------------------------*/ +void vApplicationMallocFailedHook( void ) +{ + /* Called if a call to pvPortMalloc() fails because there is insufficient + free memory available in the FreeRTOS heap. pvPortMalloc() is called + internally by FreeRTOS API functions that create tasks, queues, software + timers, and semaphores. The size of the FreeRTOS heap is set by the + configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */ + taskDISABLE_INTERRUPTS(); + for( ;; ); +} +/*-----------------------------------------------------------*/ + +void vApplicationStackOverflowHook( xTaskHandle pxTask, char *pcTaskName ) +{ + ( void ) pcTaskName; + ( void ) pxTask; + + /* Run time stack overflow checking is performed if + configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook + function is called if a stack overflow is detected. */ + taskDISABLE_INTERRUPTS(); + for( ;; ); +} +/*-----------------------------------------------------------*/ void vApplicationIdleHook( void ) { +volatile size_t xFreeHeapSpace; + + /* This is just a trivial example of an idle hook. It is called on each + cycle of the idle task. It must *NOT* attempt to block. In this case the + idle task just queries the amount of FreeRTOS heap that remains. See the + memory management section on the http://www.FreeRTOS.org web site for memory + management options. If there is a lot of heap memory free then the + configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up + RAM. */ + xFreeHeapSpace = xPortGetFreeHeapSize(); + + /* Remove compiler warning about xFreeHeapSpace being set but never used. */ + ( void ) xFreeHeapSpace; + + #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY != 1 + { + /* If the file system is only going to be accessed from one task then + F_FS_THREAD_AWARE can be set to 0 and the set of example files is + created before the RTOS scheduler is started. If the file system is + going to be access from more than one task then F_FS_THREAD_AWARE must + be set to 1 and the set of sample files are created from the idle task + hook function. */ + #if F_FS_THREAD_AWARE == 1 + { + static portBASE_TYPE xCreatedSampleFiles = pdFALSE; + + /* Initialise the drive and file system, then create a few example + files. The output from this function just goes to the stdout window, + allowing the output to be viewed when the UDP command console is not + connected. */ + if( xCreatedSampleFiles == pdFALSE ) + { + vCreateAndVerifySampleFiles(); + xCreatedSampleFiles = pdTRUE; + } + } + #endif + } + #endif } +/*-----------------------------------------------------------*/ -void vApplicationStackOverflowHook( TaskHandle_t xTask, const char * pcTaskName ) +void vAssertCalled( const char * pcFile, unsigned long ulLine ) { +volatile unsigned long ul = 0; + + ( void ) pcFile; + ( void ) ulLine; + + taskENTER_CRITICAL(); + { + /* Set ul to a non-zero value using the debugger to step out of this + function. */ + while( ul == 0 ) + { + portNOP(); + } + } + taskEXIT_CRITICAL(); } +/*-----------------------------------------------------------*/ void vApplicationTickHook( void ) { + #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 + { + /* The full demo includes a software timer demo/test that requires + prodding periodically from the tick interrupt. */ + vTimerPeriodicISRTests(); + + /* Call the periodic queue overwrite from ISR demo. */ + vQueueOverwritePeriodicISRDemo(); + } + #endif } +/*-----------------------------------------------------------*/ void vApplicationIRQHandler( uint32_t ulICCIAR ) { diff --git a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/main_blinky.c b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/main_blinky.c new file mode 100644 index 000000000..aba3cfce2 --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/main_blinky.c @@ -0,0 +1,232 @@ +/* + FreeRTOS V8.0.0:rc2 - 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_RATE_MS constant. */ +#define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_RATE_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 ); + +/* + * Called by main() to create the simply blinky style application if + * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1. + */ +void main_blinky( void ); + +/*-----------------------------------------------------------*/ + +/* The queue used by both tasks. */ +static xQueueHandle xQueue = NULL; + +/*-----------------------------------------------------------*/ + +void main_blinky( void ) +{ + /* Create the queue. */ + xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) ); + + 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 ) +{ +portTickType 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_Zynq_ZC702/RTOSDemo_bsp/.cproject b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo_bsp/.cproject index 42ffdde1e..66c94fd3a 100644 --- a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo_bsp/.cproject +++ b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo_bsp/.cproject @@ -13,7 +13,7 @@ - + diff --git a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo_bsp/.project b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo_bsp/.project index 7e3629291..1ac923aef 100644 --- a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo_bsp/.project +++ b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo_bsp/.project @@ -73,4 +73,15 @@ org.eclipse.cdt.core.cnature org.eclipse.cdt.make.core.makeNature + + + 1390399902942 + + 6 + + org.eclipse.ui.ide.multiFilter + 1.0-name-matches-false-false-asm_vectors.S + + + diff --git a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo_bsp/libgen.log b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo_bsp/libgen.log deleted file mode 100644 index bf4fc59e9..000000000 --- a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo_bsp/libgen.log +++ /dev/null @@ -1,20 +0,0 @@ -Release 2013.4 - libgen Xilinx EDK 2013.4 Build EDK_2013.4.20131205 - (nt) -Copyright (c) 1995-2013 Xilinx, Inc. All rights reserved. - -Command Line: libgen -hw ../ZC702_hw_platform/system.xml -pe ps7_cortexa9_0 -log -libgen.log system.mss - - -Staging source files. -Running DRCs. -Running generate. -Running post_generate. -Running include - 'make -s include "COMPILER=arm-xilinx-eabi-gcc" -"ARCHIVER=arm-xilinx-eabi-ar" "COMPILER_FLAGS= -O2 -c" -"EXTRA_COMPILER_FLAGS=-g"'. - -Running libs - 'make -s libs "COMPILER=arm-xilinx-eabi-gcc" -"ARCHIVER=arm-xilinx-eabi-ar" "COMPILER_FLAGS= -O2 -c" -"EXTRA_COMPILER_FLAGS=-g"'. -Running execs_generate. diff --git a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo_bsp/system.mss b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo_bsp/system.mss index dec7138ff..b2637b0a8 100644 --- a/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo_bsp/system.mss +++ b/FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo_bsp/system.mss @@ -15,6 +15,7 @@ BEGIN PROCESSOR PARAMETER DRIVER_NAME = cpu_cortexa9 PARAMETER DRIVER_VER = 1.01.a PARAMETER HW_INSTANCE = ps7_cortexa9_0 + PARAMETER EXTRA_COMPILER_FLAGS = -g -O0 END