working on RX, broke FreeRTOS

CMakeLists.txt

@@ -47,6 +47,7 @@ add_executable(${TARGET_NAME})
 set (LWIP_INCLUDE_DIRS
     "${LWIP_DIR}/src/include"
     "bsp_z7/lwip/include"
+    ${LWIP_DIR}/contrib/ports/freertos/include
 )
 include(${LWIP_DIR}/src/Filelists.cmake)
 set(lwip_SRCS
@@ -54,6 +55,8 @@ set(lwip_SRCS
     ${lwipcore4_SRCS}
     ${lwipcore6_SRCS}
     ${lwipnetif_SRCS}
+    ${lwipapi_SRCS}
+    ${LWIP_DIR}/contrib/ports/freertos/sys_arch.c
     #${LWIP_DIR}/src/netif/slipif.c
     #${LWIP_DIR}/src/apps/tftp/tftp.c
 )

bsp_z7/lwip/include/lwipopts.h

@@ -35,7 +35,7 @@
 #define LWIP_IPV4                  1
 #define LWIP_IPV6                  0
 
-#define NO_SYS                     1
+#define NO_SYS                     0
 #define LWIP_SOCKET                (NO_SYS==0)
 #define LWIP_NETCONN               (NO_SYS==0)
 #define LWIP_NETIF_API             (NO_SYS==0)
@@ -121,7 +121,7 @@
 
 /* MEM_SIZE: the size of the heap memory. If the application will send
 a lot of data that needs to be copied, this should be set high. */
-#define MEM_SIZE               10240
+#define MEM_SIZE               102400
 
 /* MEMP_NUM_PBUF: the number of memp struct pbufs. If the application
    sends a lot of data out of ROM (or other static memory), this
@@ -177,7 +177,7 @@ a lot of data that needs to be copied, this should be set high. */
 
 
 /* ---------- TCP options ---------- */
-#define LWIP_TCP                0
+#define LWIP_TCP                1
 #define TCP_TTL                 255
 
 #define LWIP_ALTCP              (LWIP_TCP)

bsp_z7/lwip/include/netif/xadapter.h

@@ -40,6 +40,9 @@ extern "C" {
 
 #if !NO_SYS
 #include "lwip/sys.h"
+//TODO this is not portable:
+#include "FreeRTOS.h"
+#include "timers.h"
 #endif
 
 #include "lwip/netif.h"

bsp_z7/lwip/netif/xadapter.c

@@ -215,11 +215,13 @@ xemacif_input_thread(struct netif *netif)
 {
 	struct xemac_s *emac = (struct xemac_s *)netif->state;
 	while (1) {
+		xil_printf("input started\n");
 		/* sleep until there are packets to process
 		 * This semaphore is set by the packet receive interrupt
 		 * routine.
 		 */
 		sys_sem_wait(&emac->sem_rx_data_available);
+		xil_printf("input received\n");
 
 		/* move all received packets to lwIP */
 		xemacif_input(netif);

bsp_z7/lwip/netif/xemacpsif_dma.c

@@ -124,7 +124,8 @@ static volatile u32_t bd_space_index = 0;
 static volatile u32_t bd_space_attr_set = 0;
 
 #if !NO_SYS
-extern u32 xInsideISR;
+//extern u32 xInsideISR;
+u32 xInsideISR; // TODO check if we are ISR safe
 #endif
 
 #define XEMACPS_BD_TO_INDEX(ringptr, bdptr)				\
@@ -576,7 +577,10 @@ void emacps_recv_handler(void *arg)
 		setup_rx_bds(xemacpsif, rxring);
 	}
 #if !NO_SYS
-	sys_sem_signal(&xemac->sem_rx_data_available);
+	BaseType_t xHigherPriorityTaskWoken;
+	xSemaphoreGiveFromISR(xemac->sem_rx_data_available.sem, &xHigherPriorityTaskWoken);
+	portYIELD_FROM_ISR(xHigherPriorityTaskWoken); //TODO delay this?
+	//sys_sem_signal(&xemac->sem_rx_data_available);
 	xInsideISR--;
 #endif
 
@@ -801,18 +805,18 @@ XStatus init_dma(struct xemac_s *xemac)
 		XEmacPs_Out32((xemacpsif->emacps.Config.BaseAddress + XEMACPS_TXQBASE_OFFSET),
 				   (UINTPTR)bdtxterminate);
 	}
-#if !NO_SYS
-#ifdef SDT
-	xPortInstallInterruptHandler(xemacpsif->emacps.Config.IntrId,
-				     ( Xil_InterruptHandler ) XEmacPs_IntrHandler,
-				     (void *)&xemacpsif->emacps);
-#else
-	xPortInstallInterruptHandler(xtopologyp->scugic_emac_intr,
-				     ( Xil_InterruptHandler ) XEmacPs_IntrHandler,
-				     (void *)&xemacpsif->emacps);
+// #if !NO_SYS
+// #ifdef SDT
+// 	xPortInstallInterruptHandler(xemacpsif->emacps.Config.IntrId,
+// 				     ( Xil_InterruptHandler ) XEmacPs_IntrHandler,
+// 				     (void *)&xemacpsif->emacps);
+// #else
+// 	xPortInstallInterruptHandler(xtopologyp->scugic_emac_intr,
+// 				     ( Xil_InterruptHandler ) XEmacPs_IntrHandler,
+// 				     (void *)&xemacpsif->emacps);
 
-#endif
-#else
+// #endif
+// #else
 #ifndef SDT
 	/*
 	 * Connect the device driver handler that will be called when an
@@ -823,7 +827,7 @@ XStatus init_dma(struct xemac_s *xemac)
 				(Xil_ExceptionHandler)XEmacPs_IntrHandler,
 				(void *)&xemacpsif->emacps);
 #endif
-#endif
+// #endif
 	/*
 	 * Enable the interrupt for emacps.
 	 */

bsp_z7/main.c

@@ -65,7 +65,7 @@ int main(void) {
 
   // printf("Booting Software\n");
 
-  testEth();
+  //testEth();
 
   mission();
 }

bsp_z7/testEth.c

@@ -63,7 +63,7 @@ void start_application();
 
 struct netif server_netif;
 
-u32_t sys_now(void) { return xTaskGetTickCount() * portTICK_PERIOD_MS; }
+// u32_t sys_now(void) { return xTaskGetTickCount() * portTICK_PERIOD_MS; }
 
 static void print_ip(char *msg, ip_addr_t *ip) {
   xil_printf(msg);
@@ -135,7 +135,12 @@ void network_thread() {
 #endif
 }
 
-int testEth() {
+int main_thread(void * _) {
+
+
+  xil_printf("pre check\n");
+    vTaskDelay(200 * portTICK_PERIOD_MS);
+    xil_printf("check\n");
 
 #if LWIP_DHCP == 1
   int mscnt = 0;
@@ -196,12 +201,10 @@ int testEth() {
   udp_sendto(udpecho_raw_pcb, tx, &addr, 1177);
 
   while (1) {
-    // slipif_rxbyte_input() is private, so we use slipif_poll and implement
-    // sio_tryread()
-    // sio_tryread() will do a blocking read with a timeout, so we get to check
-    // the timeouts even if no data is incoming
-    //slipif_poll(&netif);
     sys_check_timeouts();
+    xil_printf("pre loop\n");
+    vTaskDelay(200 * portTICK_PERIOD_MS);
+    xil_printf("loop\n");
   }
 
   pbuf_free(tx);
@@ -209,4 +212,10 @@ int testEth() {
   /* start the application*/
   // start_application();
   return 0;
+}
+
+int testEth(){
+  sys_thread_new("main_thread", (void(*)(void*))main_thread, 0,
+			THREAD_STACKSIZE, DEFAULT_THREAD_PRIO);
+	vTaskStartScheduler();
 }