obsw/mission/main.c

/*
 * FreeRTOS V202212.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/******************************************************************************
 *
 * See http://www.freertos.org/RTOS-Xilinx-Zynq.html for instructions.
 *
 * This project provides three demo applications.  A simple blinky style
 * project, a more comprehensive test and demo application, and an lwIP example.
 * The mainSELECTED_APPLICATION setting (defined in this file) is used to
 * select between the three.  The simply blinky demo is implemented and
 * described in main_blinky.c.  The more comprehensive test and demo application
 * is implemented and described in main_full.c.  The lwIP example is implemented
 * and described in main_lwIP.c.
 *
 * This file implements the code that is not demo specific, including the
 * hardware setup and FreeRTOS hook functions.
 *
 * !!! IMPORTANT NOTE !!!
 * The GCC libraries that ship with the Xilinx SDK make use of the floating
 * point registers.  To avoid this causing corruption it is necessary to avoid
 * their use unless a task has been given a floating point context.  See
 * https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
 * for information on how to give a task a floating point context, and how to
 * handle floating point operations in interrupts.  As this demo does not give
 * all tasks a floating point context main.c contains very basic C
 * implementations of the standard C library functions memset(), memcpy() and
 * memcmp(), which are are used by FreeRTOS itself.  Defining these functions in
 * the project prevents the linker pulling them in from the library.  Any other
 * standard C library functions that are used by the application must likewise
 * be defined in C.
 *
 * ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
 * THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
 * APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
 *
 */

/* Standard includes. */
#include <limits.h>
#include <stdio.h>

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "semphr.h"
#include "task.h"

// /* Standard demo includes. */
// #include "EventGroupsDemo.h"
// #include "IntSemTest.h"
// #include "QueueOverwrite.h"
// #include "QueueSet.h"
// #include "StreamBufferDemo.h"
// #include "StreamBufferInterrupt.h"
// #include "TaskNotify.h"
// #include "TimerDemo.h"
// #include "partest.h"

/* Xilinx includes. */
// #include "platform.h"
#include "xil_exception.h"
#include "xparameters.h"
#include "xscugic.h"
#include "xscutimer.h"
#include "xuartps_hw.h"


/*
 * Configure the hardware as necessary to run this demo.
 */
static void prvSetupHardware(void);

/*
 * The Xilinx projects use a BSP that do not allow the start up code to be
 * altered easily.  Therefore the vector table used by FreeRTOS is defined in
 * FreeRTOS_asm_vectors.S, which is part of this project.  Switch to use the
 * FreeRTOS vector table.
 */
extern void vPortInstallFreeRTOSVectorTable(void);

/* Prototypes for the standard FreeRTOS callback/hook functions implemented
within this file. */
void vApplicationMallocFailedHook(void);
void vApplicationIdleHook(void);
void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName);
void vApplicationTickHook(void);

/* The private watchdog is used as the timer that generates run time
stats.  This frequency means it will overflow quite quickly. */
XScuWdt xWatchDogInstance;

/*-----------------------------------------------------------*/

/* The interrupt controller is initialised in this file, and made available to
other modules. */
XScuGic xInterruptController;

extern SemaphoreHandle_t malloc_mutex;

/*-----------------------------------------------------------*/
void mission(void *);

void initFreeRTOSHelper();

int main(void) {

  /* Configure the hardware ready to run the demo. */
  prvSetupHardware();

  // printf("Booting Software\n");

  int taskParameters = 0;

  static const size_t stackSizeWords = 102400;
  StaticTask_t xTaskBuffer;
  StackType_t xStack[stackSizeWords];

  xTaskCreate(
      mission, /* The function that implements the task. */
      "init",  /* The text name assigned to the task - for debug only as it is
                  not used by the  kernel. */
      10240,  /* The size of the stack to allocate to the task. */
      &taskParameters, /* The parameter passed to the task - not used in this
                          simple case. */
      4,               /* The priority assigned to the task. */
      NULL);

  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 (;;)
    ;
  /* Don't expect to reach here. */
  return 0;
}

void testIp();

void rust_main();

// Marker for debugging sessions
__attribute__ ((noinline)) void done() {
  asm ("");
}

void mission(void *) {

  // printf("Starting Mission\n");

  //testIp();

  rust_main();

  // printf("Started Tasks, deleting init task\n");

  done();

  vTaskDelete(NULL);
}
/*-----------------------------------------------------------*/

static void prvSetupHardware(void) {
  BaseType_t xStatus;
  XScuGic_Config *pxGICConfig;

  /* Ensure no interrupts execute while the scheduler is in an inconsistent
  state.  Interrupts are automatically enabled when the scheduler is
  started. */
  portDISABLE_INTERRUPTS();

  /* Obtain the configuration of the GIC. */
  pxGICConfig = XScuGic_LookupConfig(XPAR_SCUGIC_SINGLE_DEVICE_ID);

  /* Sanity check the FreeRTOSConfig.h settings are correct for the
  hardware. */
  configASSERT(pxGICConfig);
  configASSERT(pxGICConfig->CpuBaseAddress ==
               (configINTERRUPT_CONTROLLER_BASE_ADDRESS +
                configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET));
  configASSERT(pxGICConfig->DistBaseAddress ==
               configINTERRUPT_CONTROLLER_BASE_ADDRESS);

  /* Install a default handler for each GIC interrupt. */
  xStatus = XScuGic_CfgInitialize(&xInterruptController, pxGICConfig,
                                  pxGICConfig->CpuBaseAddress);
  configASSERT(xStatus == XST_SUCCESS);
  (void)xStatus; /* Remove compiler warning if configASSERT() is not defined. */

  /* Initialise the LED port. */
  // vParTestInitialise();

  /* The Xilinx projects use a BSP that do not allow the start up code to be
  altered easily.  Therefore the vector table used by FreeRTOS is defined in
  FreeRTOS_asm_vectors.S, which is part of this project.  Switch to use the
  FreeRTOS vector table. */
  vPortInstallFreeRTOSVectorTable();

  /* Initialise UART for use with QEMU. */
  //   XUartPs_ResetHw(0xE0000000);
  //   XUartPs_WriteReg(0xE0000000, XUARTPS_CR_OFFSET,
  //                    ((u32)XUARTPS_CR_RX_DIS | (u32)XUARTPS_CR_TX_EN |
  //                     (u32)XUARTPS_CR_STOPBRK));
}
/*-----------------------------------------------------------*/

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();
  //TODO panic
  for (;;)
    ;
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook(TaskHandle_t 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();
  //TODO panic
  for (;;)
    ;
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook(void) {
  volatile size_t xFreeHeapSpace, xMinimumEverFreeHeapSpace;

  /* 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();
  // xMinimumEverFreeHeapSpace = xPortGetMinimumEverFreeHeapSize();

  // /* Remove compiler warning about xFreeHeapSpace being set but never used.
  // */ (void)xFreeHeapSpace; (void)xMinimumEverFreeHeapSpace;
}
/*-----------------------------------------------------------*/

void rust_assert_called(const char *pcFile, unsigned long ulLine);


void vAssertCalled(const char *pcFile, unsigned long ulLine) {

  rust_assert_called(pcFile, 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 (mainSELECTED_APPLICATION == 1)
  {
    /* 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();

    /* Call the periodic event group from ISR demo. */
    vPeriodicEventGroupsProcessing();

    /* Use task notifications from an interrupt. */
    xNotifyTaskFromISR();

    /* Use mutexes from interrupts. */
    vInterruptSemaphorePeriodicTest();

    /* Writes to stream buffer byte by byte to test the stream buffer trigger
    level functionality. */
    vPeriodicStreamBufferProcessing();

    /* Writes a string to a string buffer four bytes at a time to demonstrate
    a stream being sent from an interrupt to a task. */
    vBasicStreamBufferSendFromISR();

#if (configUSE_QUEUE_SETS == 1)
    { vQueueSetAccessQueueSetFromISR(); }
#endif

/* Test flop alignment in interrupts - calling printf from an interrupt
is BAD! */
#if (configASSERT_DEFINED == 1)
    {
      char cBuf[20];
      UBaseType_t uxSavedInterruptStatus;

      uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
      { sprintf(cBuf, "%1.3f", 1.234); }
      portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptStatus);

      configASSERT(strcmp(cBuf, "1.234") == 0);
    }
#endif /* configASSERT_DEFINED */
  }
#endif
}
/*-----------------------------------------------------------*/

void vInitialiseTimerForRunTimeStats(void) {
  XScuWdt_Config *pxWatchDogInstance;
  uint32_t ulValue;
  const uint32_t ulMaxDivisor = 0xff, ulDivisorShift = 0x08;

  pxWatchDogInstance = XScuWdt_LookupConfig(XPAR_SCUWDT_0_DEVICE_ID);
  XScuWdt_CfgInitialize(&xWatchDogInstance, pxWatchDogInstance,
                        pxWatchDogInstance->BaseAddr);

  ulValue = XScuWdt_GetControlReg(&xWatchDogInstance);
  ulValue |= ulMaxDivisor << ulDivisorShift;
  XScuWdt_SetControlReg(&xWatchDogInstance, ulValue);

  XScuWdt_LoadWdt(&xWatchDogInstance, UINT_MAX);
  XScuWdt_SetTimerMode(&xWatchDogInstance);
  XScuWdt_Start(&xWatchDogInstance);
}
/*-----------------------------------------------------------*/

/* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
used by the Idle task. */
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
                                   StackType_t **ppxIdleTaskStackBuffer,
                                   uint32_t *pulIdleTaskStackSize) {
  /* If the buffers to be provided to the Idle task are declared inside this
  function then they must be declared static - otherwise they will be allocated
  on the stack and so not exists after this function exits. */
  static StaticTask_t xIdleTaskTCB;
  static StackType_t uxIdleTaskStack[configMINIMAL_STACK_SIZE];

  /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
  state will be stored. */
  *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;

  /* Pass out the array that will be used as the Idle task's stack. */
  *ppxIdleTaskStackBuffer = uxIdleTaskStack;

  /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
  Note that, as the array is necessarily of type StackType_t,
  configMINIMAL_STACK_SIZE is specified in words, not bytes. */
  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}
/*-----------------------------------------------------------*/

/* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
application must provide an implementation of vApplicationGetTimerTaskMemory()
to provide the memory that is used by the Timer service task. */

void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
                                    StackType_t **ppxTimerTaskStackBuffer,
                                    uint32_t *pulTimerTaskStackSize);

void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
                                    StackType_t **ppxTimerTaskStackBuffer,
                                    uint32_t *pulTimerTaskStackSize) {
  /* If the buffers to be provided to the Timer task are declared inside this
  function then they must be declared static - otherwise they will be allocated
  on the stack and so not exists after this function exits. */
  static StaticTask_t xTimerTaskTCB;
  static StackType_t uxTimerTaskStack[configTIMER_TASK_STACK_DEPTH];

  /* Pass out a pointer to the StaticTask_t structure in which the Timer
  task's state will be stored. */
  *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;

  /* Pass out the array that will be used as the Timer task's stack. */
  *ppxTimerTaskStackBuffer = uxTimerTaskStack;

  /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
  Note that, as the array is necessarily of type StackType_t,
  configMINIMAL_STACK_SIZE is specified in words, not bytes. */
  *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
}