2 * FreeRTOS Kernel V10.0.0
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software. If you wish to use our Amazon
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14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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29 /******************************************************************************
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30 * This project provides two demo applications. A simple blinky style project,
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31 * and a more comprehensive test and demo application. The
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32 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting (defined in this file) is used to
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33 * select between the two. The simply blinky demo is implemented and described
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34 * in main_blinky.c. The more comprehensive test and demo application is
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35 * implemented and described in main_full.c.
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37 * This file implements the code that is not demo specific, including the
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38 * hardware setup and FreeRTOS hook functions.
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41 /* Kernel includes. */
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42 #include "FreeRTOS.h"
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45 /* Standard demo includes. */
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46 #include "partest.h"
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47 #include "QueueOverwrite.h"
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48 #include "QueueSet.h"
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49 #include "EventGroupsDemo.h"
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51 /* Hardware specific includes. */
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52 #include "ConfigPerformance.h"
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54 /* Core configuration fuse settings */
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55 #if defined(__32MZ2048ECM144) || defined(__32MZ2048ECH144)
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56 #pragma config FMIIEN = OFF, FETHIO = OFF, PGL1WAY = OFF, PMDL1WAY = OFF, IOL1WAY = OFF, FUSBIDIO = OFF
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57 #pragma config FNOSC = SPLL, FSOSCEN = OFF, IESO = OFF, POSCMOD = EC
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58 #pragma config OSCIOFNC = OFF, FCKSM = CSECMD, FWDTEN = OFF, FDMTEN = OFF
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59 #pragma config DMTINTV = WIN_127_128, WDTSPGM = STOP, WINDIS= NORMAL
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60 #pragma config WDTPS = PS1048576, FWDTWINSZ = WINSZ_25, DMTCNT = DMT31
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61 #pragma config FPLLIDIV = DIV_3, FPLLRNG = RANGE_13_26_MHZ, FPLLICLK = PLL_POSC
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62 #pragma config FPLLMULT = MUL_50, FPLLODIV = DIV_2, UPLLFSEL = FREQ_12MHZ, UPLLEN = OFF
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63 #pragma config EJTAGBEN = NORMAL, DBGPER = PG_ALL, FSLEEP = OFF, FECCCON = OFF_UNLOCKED
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64 #pragma config BOOTISA = MIPS32, TRCEN = ON, ICESEL = ICS_PGx2, JTAGEN = OFF, DEBUG = ON
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65 #pragma config CP = OFF
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66 #elif defined(__32MZ2048EFM144) || defined(__32MZ2048EFH144)
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67 #pragma config FMIIEN = OFF, FETHIO = OFF, PGL1WAY = OFF, PMDL1WAY = OFF, IOL1WAY = OFF, FUSBIDIO = OFF
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68 #pragma config FNOSC = SPLL, FSOSCEN = OFF, IESO = OFF, POSCMOD = EC
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69 #pragma config OSCIOFNC = OFF, FCKSM = CSECMD, FWDTEN = OFF, FDMTEN = OFF
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70 #pragma config DMTINTV = WIN_127_128, WDTSPGM = STOP, WINDIS= NORMAL
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71 #pragma config WDTPS = PS1048576, FWDTWINSZ = WINSZ_25, DMTCNT = DMT31
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72 #pragma config FPLLIDIV = DIV_3, FPLLRNG = RANGE_13_26_MHZ, FPLLICLK = PLL_POSC
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73 #pragma config FPLLMULT = MUL_50, FPLLODIV = DIV_2, UPLLFSEL = FREQ_12MHZ
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74 #pragma config EJTAGBEN = NORMAL, DBGPER = PG_ALL, FSLEEP = OFF, FECCCON = OFF_UNLOCKED
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75 #pragma config BOOTISA = MIPS32, TRCEN = ON, ICESEL = ICS_PGx2, JTAGEN = OFF, DEBUG = ON
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76 #pragma config CP = OFF
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79 /*-----------------------------------------------------------*/
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81 /* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo,
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82 or 0 to run the more comprehensive test and demo application. */
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83 #define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 0
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85 /*-----------------------------------------------------------*/
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88 * Set up the hardware ready to run this demo.
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90 static void prvSetupHardware( void );
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93 * main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
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94 * main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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96 extern void main_blinky( void );
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97 extern void main_full( void );
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99 /*-----------------------------------------------------------*/
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102 * Create the demo tasks then start the scheduler.
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106 /* Prepare the hardware to run this demo. */
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107 prvSetupHardware();
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109 /* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
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111 #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1
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123 /*-----------------------------------------------------------*/
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125 static void prvSetupHardware( void )
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127 /* Configure the hardware for maximum performance. */
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128 vHardwareConfigurePerformance();
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130 /* Setup to use the external interrupt controller. */
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131 vHardwareUseMultiVectoredInterrupts();
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133 portDISABLE_INTERRUPTS();
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135 /* Setup the digital IO for the LED's. */
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136 vParTestInitialise();
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138 /*-----------------------------------------------------------*/
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140 void vApplicationMallocFailedHook( void )
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142 /* vApplicationMallocFailedHook() will only be called if
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143 configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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144 function that will get called if a call to pvPortMalloc() fails.
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145 pvPortMalloc() is called internally by the kernel whenever a task, queue,
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146 timer or semaphore is created. It is also called by various parts of the
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147 demo application. If heap_1.c or heap_2.c are used, then the size of the
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148 heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
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149 FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
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150 to query the size of free heap space that remains (although it does not
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151 provide information on how the remaining heap might be fragmented). */
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152 taskDISABLE_INTERRUPTS();
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155 /*-----------------------------------------------------------*/
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157 void vApplicationIdleHook( void )
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159 /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
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160 to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
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161 task. It is essential that code added to this hook function never attempts
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162 to block in any way (for example, call xQueueReceive() with a block time
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163 specified, or call vTaskDelay()). If the application makes use of the
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164 vTaskDelete() API function (as this demo application does) then it is also
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165 important that vApplicationIdleHook() is permitted to return to its calling
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166 function, because it is the responsibility of the idle task to clean up
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167 memory allocated by the kernel to any task that has since been deleted. */
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169 /*-----------------------------------------------------------*/
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171 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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173 ( void ) pcTaskName;
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176 /* Run time task stack overflow checking is performed if
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177 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
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178 called if a task stack overflow is detected. Note the system/interrupt
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179 stack is not checked. */
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180 taskDISABLE_INTERRUPTS();
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183 /*-----------------------------------------------------------*/
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185 void vApplicationTickHook( void )
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187 /* This function will be called by each tick interrupt if
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188 configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be
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189 added here, but the tick hook is called from an interrupt context, so
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190 code must not attempt to block, and only the interrupt safe FreeRTOS API
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191 functions can be used (those that end in FromISR()). */
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193 #if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 )
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195 /* Call the periodic queue overwrite from ISR demo. */
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196 vQueueOverwritePeriodicISRDemo();
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198 /* Call the queue set ISR test function. */
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199 vQueueSetAccessQueueSetFromISR();
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201 /* Exercise event groups from interrupts. */
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202 vPeriodicEventGroupsProcessing();
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206 /*-----------------------------------------------------------*/
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208 extern void vAssertCalled( const char * pcFile, unsigned long ulLine )
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210 volatile char *pcFileName;
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211 volatile unsigned long ulLineNumber;
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213 /* Prevent things that are useful to view in the debugger from being
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215 pcFileName = ( char * ) pcFile;
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216 ( void ) pcFileName;
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217 ulLineNumber = ulLine;
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219 /* Set ulLineNumber to 0 in the debugger to break out of this loop and
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220 return to the line that triggered the assert. */
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221 while( ulLineNumber != 0 )
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223 __asm volatile( "NOP" );
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224 __asm volatile( "NOP" );
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225 __asm volatile( "NOP" );
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226 __asm volatile( "NOP" );
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227 __asm volatile( "NOP" );
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230 /*-----------------------------------------------------------*/
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232 /* This function overrides the normal _weak_ generic handler. */
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233 void _general_exception_handler(void)
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236 EXCEP_IRQ = 0, /* interrupt */
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237 EXCEP_AdEL = 4, /* address error exception (load or ifetch) */
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238 EXCEP_AdES, /* address error exception (store) */
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239 EXCEP_IBE, /* bus error (ifetch) */
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240 EXCEP_DBE, /* bus error (load/store) */
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241 EXCEP_Sys, /* syscall */
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242 EXCEP_Bp, /* breakpoint */
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243 EXCEP_RI, /* reserved instruction */
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244 EXCEP_CpU, /* coprocessor unusable */
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245 EXCEP_Overflow, /* arithmetic overflow */
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246 EXCEP_Trap, /* trap (possible divide by zero) */
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247 EXCEP_FPE = 15, /* floating point exception */
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248 EXCEP_IS1 = 16, /* implementation specfic 1 */
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249 EXCEP_CEU, /* CorExtend Unuseable */
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250 EXCEP_C2E, /* coprocessor 2 */
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251 EXCEP_DSPDis = 26 /* DSP module disabled */
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254 static unsigned long _epc_code;
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255 static unsigned long _excep_addr;
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257 asm volatile( "mfc0 %0,$13" : "=r" (_epc_code) );
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258 asm volatile( "mfc0 %0,$14" : "=r" (_excep_addr) );
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260 _excep_code = ( _epc_code & 0x0000007C ) >> 2;
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264 /* prevent compiler warning */
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265 (void) _excep_code;
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267 /* Examine _excep_code to identify the type of exception. Examine
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268 _excep_addr to find the address that caused the exception */
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275 /*-----------------------------------------------------------*/
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