269 lines
9.8 KiB
C
269 lines
9.8 KiB
C
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/******************************************************************************
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* FreeRTOS Kernel V10.4.4
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* Copyright (C) 2022 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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******************************************************************************/
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/******************************************************************************
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* This project provides two demo applications. A simple blinky style project,
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* and a more comprehensive test and demo application. The
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* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting (defined in this file) is used to
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* select between the two. The simply blinky demo is implemented and described
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* in main_blinky.c. The more comprehensive test and demo application is
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* implemented and described in main_full.c.
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*
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* This file implements the code that is not demo specific, including the
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* hardware setup and standard FreeRTOS hook functions.
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*
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* ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
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* THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
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* APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
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*
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******************************************************************************/
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/******************************************************************************
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* Modified for the NEORV32 processor by Stephan Nolting.
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******************************************************************************/
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/* UART hardware constants. */
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#define BAUD_RATE 19200
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#ifdef RUN_FREERTOS_DEMO
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#include <stdint.h>
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/* FreeRTOS kernel includes. */
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#include <FreeRTOS.h>
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#include <semphr.h>
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#include <queue.h>
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#include <task.h>
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/* NEORV32 includes. */
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#include <neorv32.h>
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/* misc */
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//#include "driver_wrapper/uart_serial.h"
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/* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo,
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or 0 to run the more comprehensive test and demo application. */
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#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 1
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/*-----------------------------------------------------------*/
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/*
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* main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
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* main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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*/
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#if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1
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extern void main_blinky( void );
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#else
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extern void main_full( void );
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#endif /* #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 */
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extern void freertos_risc_v_trap_handler( void );
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/*
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* Prototypes for the standard FreeRTOS callback/hook functions implemented
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* within this file. See https://www.freertos.org/a00016.html
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*/
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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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/* Prepare hardware to run the demo. */
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static void prvSetupHardware( void );
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/* System */
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void vToggleLED( void );
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void vSendString( const char * pcString );
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/*-----------------------------------------------------------*/
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int main( void )
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{
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prvSetupHardware();
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/* say hi */
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neorv32_uart0_printf("FreeRTOS %s on NEORV32 Demo\n\n", tskKERNEL_VERSION_NUMBER);
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/* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
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of this file. */
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#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
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main_blinky();
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#else
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main_full();
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#endif
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}
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/*-----------------------------------------------------------*/
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/* Handle NEORV32-specific interrupts */
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void freertos_risc_v_application_interrupt_handler(void) {
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// acknowledge/clear ALL pending interrupt sources here - adapt this for your setup
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neorv32_cpu_csr_write(CSR_MIP, 0);
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// debug output - Use the value from the mcause CSR to call interrupt-specific handlers
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neorv32_uart0_printf("\n<NEORV32-IRQ> mcause = 0x%x </NEORV32-IRQ>\n", neorv32_cpu_csr_read(CSR_MCAUSE));
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}
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/* Handle NEORV32-specific exceptions */
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void freertos_risc_v_application_exception_handler(void) {
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// debug output - Use the value from the mcause CSR to call exception-specific handlers
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neorv32_uart0_printf("\n<NEORV32-EXC> mcause = 0x%x </NEORV32-EXC>\n", neorv32_cpu_csr_read(CSR_MCAUSE));
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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// install the freeRTOS trap handler
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neorv32_cpu_csr_write(CSR_MTVEC, (uint32_t)&freertos_risc_v_trap_handler);
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// clear GPIO.out port
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neorv32_gpio_port_set(0);
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// init UART at default baud rate, no parity bits, ho hw flow control
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neorv32_uart0_setup(BAUD_RATE, PARITY_NONE, FLOW_CONTROL_NONE);
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// check clock tick configuration
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if (NEORV32_SYSINFO.CLK != (uint32_t)configCPU_CLOCK_HZ) {
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neorv32_uart0_printf("Warning! Incorrect 'configCPU_CLOCK_HZ' configuration!\n"
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"Is %u Hz but should be %u Hz.\n\n", (uint32_t)configCPU_CLOCK_HZ, NEORV32_SYSINFO.CLK);
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}
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// check available hardware ISA extensions and compare with compiler flags
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neorv32_rte_check_isa(0); // silent = 0 -> show message if isa mismatch
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// enable and configure further NEORV32-specific modules if required
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// ...
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// enable NEORV32-specific interrupts if required
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// ...
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}
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/*-----------------------------------------------------------*/
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void vToggleLED( void )
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{
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neorv32_gpio_pin_toggle(0);
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}
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/*-----------------------------------------------------------*/
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void vSendString( const char * pcString )
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{
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neorv32_uart0_puts( ( const char * ) pcString );
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}
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/*-----------------------------------------------------------*/
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void vApplicationMallocFailedHook( void )
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{
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/* vApplicationMallocFailedHook() will only be called if
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configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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function that will get called if a call to pvPortMalloc() fails.
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pvPortMalloc() is called internally by the kernel whenever a task, queue,
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timer or semaphore is created. It is also called by various parts of the
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demo application. If heap_1.c or heap_2.c are used, then the size of the
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heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
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FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
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to query the size of free heap space that remains (although it does not
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provide information on how the remaining heap might be fragmented). */
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taskDISABLE_INTERRUPTS();
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neorv32_uart0_puts("FreeRTOS_FAULT: vApplicationMallocFailedHook (solution: increase 'configTOTAL_HEAP_SIZE' in FreeRTOSConfig.h)\n");
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__asm volatile( "ebreak" );
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vApplicationIdleHook( void )
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{
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/* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
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to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
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task. It is essential that code added to this hook function never attempts
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to block in any way (for example, call xQueueReceive() with a block time
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specified, or call vTaskDelay()). If the application makes use of the
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vTaskDelete() API function (as this demo application does) then it is also
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important that vApplicationIdleHook() is permitted to return to its calling
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function, because it is the responsibility of the idle task to clean up
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memory allocated by the kernel to any task that has since been deleted. */
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neorv32_cpu_sleep();
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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{
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( void ) pcTaskName;
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( void ) pxTask;
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/* Run time stack overflow checking is performed if
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configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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function is called if a stack overflow is detected. */
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taskDISABLE_INTERRUPTS();
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neorv32_uart0_puts("FreeRTOS_FAULT: vApplicationStackOverflowHook\n");
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__asm volatile( "ebreak" );
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vApplicationTickHook( void )
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{
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/* The tests in the full demo expect some interaction with interrupts. */
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#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY != 1 )
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{
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extern void vFullDemoTickHook( void );
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vFullDemoTickHook();
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}
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#endif
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}
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/*-----------------------------------------------------------*/
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/* This handler is responsible for handling all interrupts. Only the machine timer interrupt is handled by the kernel. */
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void SystemIrqHandler( uint32_t mcause )
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{
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neorv32_uart0_printf("freeRTOS: Unknown interrupt (0x%x)\n", mcause);
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}
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// ---------- Primitive main in case this demo is not enabled (i.e. RUN_FREERTOS_DEMO is not defined) ----------
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#else
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#warning FREERTOS DEMO HAS NOT BEEN COMPILED! Use >>make USER_FLAGS+=-DRUN_FREERTOS_DEMO clean_all exe<< to compile it.
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#include <neorv32.h>
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int main() {
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// init UART at default baud rate, no parity bits, ho hw flow control
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neorv32_uart0_setup(BAUD_RATE, PARITY_NONE, FLOW_CONTROL_NONE);
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neorv32_uart0_puts("ERROR! FreeRTOS has not been compiled. Use >>make USER_FLAGS+=-DRUN_FREERTOS_DEMO clean_all exe<< to compile it.\n");
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return 1;
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}
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#endif
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