forked from ROMEO/obsw
added freeRTOS on linux build
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253
bsp_z7/main.c
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253
bsp_z7/main.c
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/* Standard includes. */
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#include <limits.h>
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#include <stdio.h>
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "semphr.h"
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#include "task.h"
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/* Xilinx includes. */
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// #include "platform.h"
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#include "xil_exception.h"
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#include "xparameters.h"
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#include "xscugic.h"
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#include "xscutimer.h"
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#include "xuartps_hw.h"
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/*
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* Configure the hardware as necessary to run this demo.
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*/
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static void prvSetupHardware(void);
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/*
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* The Xilinx projects use a BSP that do not allow the start up code to be
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* altered easily. Therefore the vector table used by FreeRTOS is defined in
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* FreeRTOS_asm_vectors.S, which is part of this project. Switch to use the
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* FreeRTOS vector table.
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*/
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extern void vPortInstallFreeRTOSVectorTable(void);
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/* Prototypes for the standard FreeRTOS callback/hook functions implemented
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within this file. */
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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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/* The private watchdog is used as the timer that generates run time
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stats. This frequency means it will overflow quite quickly. */
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XScuWdt xWatchDogInstance;
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/*-----------------------------------------------------------*/
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/* The interrupt controller is initialised in this file, and made available to
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other modules. */
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XScuGic xInterruptController;
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extern SemaphoreHandle_t malloc_mutex;
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/*-----------------------------------------------------------*/
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void mission(void);
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void initFreeRTOSHelper();
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int main(void) {
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/* Configure the hardware ready to run the demo. */
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prvSetupHardware();
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// printf("Booting Software\n");
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mission();
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}
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static void prvSetupHardware(void) {
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BaseType_t xStatus;
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XScuGic_Config *pxGICConfig;
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/* Ensure no interrupts execute while the scheduler is in an inconsistent
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state. Interrupts are automatically enabled when the scheduler is
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started. */
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portDISABLE_INTERRUPTS();
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/* Obtain the configuration of the GIC. */
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pxGICConfig = XScuGic_LookupConfig(XPAR_SCUGIC_SINGLE_DEVICE_ID);
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/* Sanity check the FreeRTOSConfig.h settings are correct for the
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hardware. */
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configASSERT(pxGICConfig);
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configASSERT(pxGICConfig->CpuBaseAddress ==
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(configINTERRUPT_CONTROLLER_BASE_ADDRESS +
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configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET));
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configASSERT(pxGICConfig->DistBaseAddress ==
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configINTERRUPT_CONTROLLER_BASE_ADDRESS);
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/* Install a default handler for each GIC interrupt. */
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xStatus = XScuGic_CfgInitialize(&xInterruptController, pxGICConfig,
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pxGICConfig->CpuBaseAddress);
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configASSERT(xStatus == XST_SUCCESS);
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(void)xStatus; /* Remove compiler warning if configASSERT() is not defined. */
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/* Initialise the LED port. */
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// vParTestInitialise();
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/* The Xilinx projects use a BSP that do not allow the start up code to be
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altered easily. Therefore the vector table used by FreeRTOS is defined in
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FreeRTOS_asm_vectors.S, which is part of this project. Switch to use the
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FreeRTOS vector table. */
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vPortInstallFreeRTOSVectorTable();
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/* Initialise UART for use with QEMU. */
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// XUartPs_ResetHw(0xE0000000);
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// XUartPs_WriteReg(0xE0000000, XUARTPS_CR_OFFSET,
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// ((u32)XUARTPS_CR_RX_DIS | (u32)XUARTPS_CR_TX_EN |
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// (u32)XUARTPS_CR_STOPBRK));
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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void vInitialiseTimerForRunTimeStats(void) {
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XScuWdt_Config *pxWatchDogInstance;
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uint32_t ulValue;
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const uint32_t ulMaxDivisor = 0xff, ulDivisorShift = 0x08;
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pxWatchDogInstance = XScuWdt_LookupConfig(XPAR_SCUWDT_0_DEVICE_ID);
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XScuWdt_CfgInitialize(&xWatchDogInstance, pxWatchDogInstance,
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pxWatchDogInstance->BaseAddr);
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ulValue = XScuWdt_GetControlReg(&xWatchDogInstance);
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ulValue |= ulMaxDivisor << ulDivisorShift;
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XScuWdt_SetControlReg(&xWatchDogInstance, ulValue);
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XScuWdt_LoadWdt(&xWatchDogInstance, UINT_MAX);
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XScuWdt_SetTimerMode(&xWatchDogInstance);
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XScuWdt_Start(&xWatchDogInstance);
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}
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/* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
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implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
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used by the Idle task. */
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void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
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StackType_t **ppxIdleTaskStackBuffer,
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uint32_t *pulIdleTaskStackSize) {
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/* If the buffers to be provided to the Idle task are declared inside this
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function then they must be declared static - otherwise they will be allocated
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on the stack and so not exists after this function exits. */
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static StaticTask_t xIdleTaskTCB;
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static StackType_t uxIdleTaskStack[configMINIMAL_STACK_SIZE];
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/* Pass out a pointer to the StaticTask_t structure in which the Idle task's
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state will be stored. */
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*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
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/* Pass out the array that will be used as the Idle task's stack. */
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*ppxIdleTaskStackBuffer = uxIdleTaskStack;
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/* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
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Note that, as the array is necessarily of type StackType_t,
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configMINIMAL_STACK_SIZE is specified in words, not bytes. */
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*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
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}
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/*-----------------------------------------------------------*/
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/* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
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application must provide an implementation of vApplicationGetTimerTaskMemory()
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to provide the memory that is used by the Timer service task. */
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void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
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StackType_t **ppxTimerTaskStackBuffer,
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uint32_t *pulTimerTaskStackSize);
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void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
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StackType_t **ppxTimerTaskStackBuffer,
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uint32_t *pulTimerTaskStackSize) {
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/* If the buffers to be provided to the Timer task are declared inside this
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function then they must be declared static - otherwise they will be allocated
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on the stack and so not exists after this function exits. */
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static StaticTask_t xTimerTaskTCB;
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static StackType_t uxTimerTaskStack[configTIMER_TASK_STACK_DEPTH];
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/* Pass out a pointer to the StaticTask_t structure in which the Timer
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task's state will be stored. */
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*ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
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/* Pass out the array that will be used as the Timer task's stack. */
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*ppxTimerTaskStackBuffer = uxTimerTaskStack;
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/* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
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Note that, as the array is necessarily of type StackType_t,
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configMINIMAL_STACK_SIZE is specified in words, not bytes. */
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*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
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}
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// Marker for debugging sessions
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__attribute__((noinline)) void done() { asm(""); }
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void vApplicationIdleHook(void) {
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volatile size_t xFreeHeapSpace, xMinimumEverFreeHeapSpace;
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/* This is just a trivial example of an idle hook. It is called on each
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cycle of the idle task. It must *NOT* attempt to block. In this case the
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idle task just queries the amount of FreeRTOS heap that remains. See the
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memory management section on the http://www.FreeRTOS.org web site for memory
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management options. If there is a lot of heap memory free then the
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configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up
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RAM. */
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// xFreeHeapSpace = xPortGetFreeHeapSize();
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// xMinimumEverFreeHeapSpace = xPortGetMinimumEverFreeHeapSize();
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// /* Remove compiler warning about xFreeHeapSpace being set but never used.
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// */ (void)xFreeHeapSpace; (void)xMinimumEverFreeHeapSpace;
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}
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void vApplicationTickHook(void) {
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#if (mainSELECTED_APPLICATION == 1)
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{
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/* The full demo includes a software timer demo/test that requires
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prodding periodically from the tick interrupt. */
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vTimerPeriodicISRTests();
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/* Call the periodic queue overwrite from ISR demo. */
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vQueueOverwritePeriodicISRDemo();
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/* Call the periodic event group from ISR demo. */
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vPeriodicEventGroupsProcessing();
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/* Use task notifications from an interrupt. */
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xNotifyTaskFromISR();
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/* Use mutexes from interrupts. */
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vInterruptSemaphorePeriodicTest();
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/* Writes to stream buffer byte by byte to test the stream buffer trigger
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level functionality. */
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vPeriodicStreamBufferProcessing();
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/* Writes a string to a string buffer four bytes at a time to demonstrate
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a stream being sent from an interrupt to a task. */
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vBasicStreamBufferSendFromISR();
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#if (configUSE_QUEUE_SETS == 1)
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{ vQueueSetAccessQueueSetFromISR(); }
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#endif
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/* Test flop alignment in interrupts - calling printf from an interrupt
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is BAD! */
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#if (configASSERT_DEFINED == 1)
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{
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char cBuf[20];
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UBaseType_t uxSavedInterruptStatus;
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uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
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{ sprintf(cBuf, "%1.3f", 1.234); }
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portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptStatus);
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configASSERT(strcmp(cBuf, "1.234") == 0);
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}
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#endif /* configASSERT_DEFINED */
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}
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#endif
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}
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