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Merge SMP demos from FreeRTOS-SMP-Demos (#1046)

Browse source 
* Merge RP2040 and XMOS AICORE SMP demos to main branch from FreeRTOS-SMP-Demos
* Update the common test for SMP demos
* Update the kernel submodule
This commit is contained in:
chinglee-iot 2023-07-24 21:17:17 +08:00 • committed by GitHub
parent 7adb08eff5
commit 6eb8fc5f51
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
61 changed files with 7180 additions and 21 deletions
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25
FreeRTOS/Demo/Common/Minimal/BlockQ.c
View file

@ -61,6 +61,7 @@
#define blckqSTACK_SIZE configMINIMAL_STACK_SIZE #define blckqSTACK_SIZE configMINIMAL_STACK_SIZE
#define blckqNUM_TASK_SETS ( 3 ) #define blckqNUM_TASK_SETS ( 3 )
#define blckqSHORT_DELAY ( 5 )
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) #if ( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
#error This example cannot be used if dynamic allocation is not allowed. #error This example cannot be used if dynamic allocation is not allowed.
#endif #endif
@ -200,9 +201,18 @@ static portTASK_FUNCTION( vBlockingQueueProducer, pvParameters )
* consumer will expect the numbers to follow in numerical order. */ * consumer will expect the numbers to follow in numerical order. */
++usValue; ++usValue;
#if configUSE_PREEMPTION == 0 #if ( configNUMBER_OF_CORES > 1 )
{
if( pxQueueParameters->xBlockTime == 0 )
{
vTaskDelay( blckqSHORT_DELAY );
}
}
#elif configUSE_PREEMPTION == 0
{
taskYIELD(); taskYIELD();
#endif }
#endif /* if ( configNUMBER_OF_CORES > 1 ) */
} }
} }
} }
@ -241,14 +251,21 @@ static portTASK_FUNCTION( vBlockingQueueConsumer, pvParameters )
++usExpectedValue; ++usExpectedValue;
} }
#if configUSE_PREEMPTION == 0 #if ( configNUMBER_OF_CORES > 1 )
{
if( pxQueueParameters->xBlockTime == 0 )
{
vTaskDelay( blckqSHORT_DELAY );
}
}
#elif configUSE_PREEMPTION == 0
{ {
if( pxQueueParameters->xBlockTime == 0 ) if( pxQueueParameters->xBlockTime == 0 )
{ {
taskYIELD(); taskYIELD();
} }
} }
#endif #endif /* if ( configNUMBER_OF_CORES > 1 ) */
} }
} }
} }

20
FreeRTOS/Demo/Common/Minimal/IntQueue.c
View file

@ -97,7 +97,7 @@
if( xQueueIsQueueFullFromISR( xNormallyEmptyQueue ) != pdTRUE ) \ if( xQueueIsQueueFullFromISR( xNormallyEmptyQueue ) != pdTRUE ) \
{ \ { \
UBaseType_t uxSavedInterruptStatus; \ UBaseType_t uxSavedInterruptStatus; \
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); \ uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR(); \
{ \ { \
uxValueForNormallyEmptyQueue++; \ uxValueForNormallyEmptyQueue++; \
if( xQueueSendFromISR( xNormallyEmptyQueue, ( void * ) &uxValueForNormallyEmptyQueue, &xHigherPriorityTaskWoken ) != pdPASS ) \ if( xQueueSendFromISR( xNormallyEmptyQueue, ( void * ) &uxValueForNormallyEmptyQueue, &xHigherPriorityTaskWoken ) != pdPASS ) \
@ -105,7 +105,7 @@
uxValueForNormallyEmptyQueue--; \ uxValueForNormallyEmptyQueue--; \
} \ } \
} \ } \
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); \ taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus ); \
} \ } \
@ -115,7 +115,7 @@
if( xQueueIsQueueFullFromISR( xNormallyFullQueue ) != pdTRUE ) \ if( xQueueIsQueueFullFromISR( xNormallyFullQueue ) != pdTRUE ) \
{ \ { \
UBaseType_t uxSavedInterruptStatus; \ UBaseType_t uxSavedInterruptStatus; \
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); \ uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR(); \
{ \ { \
uxValueForNormallyFullQueue++; \ uxValueForNormallyFullQueue++; \
if( xQueueSendFromISR( xNormallyFullQueue, ( void * ) &uxValueForNormallyFullQueue, &xHigherPriorityTaskWoken ) != pdPASS ) \ if( xQueueSendFromISR( xNormallyFullQueue, ( void * ) &uxValueForNormallyFullQueue, &xHigherPriorityTaskWoken ) != pdPASS ) \
@ -123,7 +123,7 @@
uxValueForNormallyFullQueue--; \ uxValueForNormallyFullQueue--; \
} \ } \
} \ } \
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); \ taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus ); \
} \ } \
@ -376,7 +376,11 @@ static void prvHigherPriorityNormallyEmptyTask( void * pvParameters )
memset( ucNormallyEmptyReceivedValues, 0x00, sizeof( ucNormallyEmptyReceivedValues ) ); memset( ucNormallyEmptyReceivedValues, 0x00, sizeof( ucNormallyEmptyReceivedValues ) );
uxHighPriorityLoops1++; uxHighPriorityLoops1++;
uxValueForNormallyEmptyQueue = 0; portENTER_CRITICAL();
{
uxValueForNormallyEmptyQueue = 0;
}
portEXIT_CRITICAL();
/* Suspend ourselves, allowing the lower priority task to /* Suspend ourselves, allowing the lower priority task to
* actually receive something from the queue. Until now it * actually receive something from the queue. Until now it
@ -528,7 +532,11 @@ static void prv1stHigherPriorityNormallyFullTask( void * pvParameters )
memset( ucNormallyFullReceivedValues, 0x00, sizeof( ucNormallyFullReceivedValues ) ); memset( ucNormallyFullReceivedValues, 0x00, sizeof( ucNormallyFullReceivedValues ) );
uxHighPriorityLoops2++; uxHighPriorityLoops2++;
uxValueForNormallyFullQueue = 0; portENTER_CRITICAL();
{
uxValueForNormallyFullQueue = 0;
}
portEXIT_CRITICAL();
/* Suspend ourselves, allowing the lower priority task to /* Suspend ourselves, allowing the lower priority task to
* actually receive something from the queue. Until now it * actually receive something from the queue. Until now it

11
FreeRTOS/Demo/Common/Minimal/dynamic.c
View file

@ -279,7 +279,16 @@ static portTASK_FUNCTION( vCounterControlTask, pvParameters )
#if ( INCLUDE_eTaskGetState == 1 ) #if ( INCLUDE_eTaskGetState == 1 )
{ {
configASSERT( eTaskGetState( xContinuousIncrementHandle ) == eReady ); #if ( configNUMBER_OF_CORES > 1 )
{
eTaskState eState = eTaskGetState( xContinuousIncrementHandle );
configASSERT( ( eState == eReady ) || ( eState == eRunning ) );
}
#else
{
configASSERT( eTaskGetState( xContinuousIncrementHandle ) == eReady );
}
#endif
} }
#endif /* INCLUDE_eTaskGetState */ #endif /* INCLUDE_eTaskGetState */

5
FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/CMakeLists.txt vendored
View file

@ -8,6 +8,9 @@ include(pico_sdk_import.cmake)
PROJECT(examples) PROJECT(examples)
set( FREERTOS_KERNEL_PATH "../../../../../Source" )
add_subdirectory(OnEitherCore) add_subdirectory(OnEitherCore)
add_subdirectory(Standard) add_subdirectory(Standard)
add_subdirectory(UsingCMSIS) add_subdirectory(UsingCMSIS)
add_subdirectory(Standard_smp)

2
FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/OnEitherCore/FreeRTOSConfig.h vendored
View file

@ -101,7 +101,7 @@
*/ */
/* SMP port only */ /* SMP port only */
#define configNUM_CORES 1 #define configNUMBER_OF_CORES 1
#define configTICK_CORE 1 #define configTICK_CORE 1
#define configRUN_MULTIPLE_PRIORITIES 1 #define configRUN_MULTIPLE_PRIORITIES 1

2
FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/OnEitherCore/main.c vendored
View file

@ -95,7 +95,7 @@ static volatile uint32_t ulCountOfSDKSemaphoreAcquires = 0;
#include "pico/mutex.h" #include "pico/mutex.h"
#include "pico/sem.h" #include "pico/sem.h"
#if configNUM_CORES > 1 #if ( configNUMBER_OF_CORES > 1 )
#error Require only one core configured for FreeRTOS #error Require only one core configured for FreeRTOS
#endif #endif

2
FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard/FreeRTOSConfig.h vendored
View file

@ -101,7 +101,7 @@
*/ */
/* SMP port only */ /* SMP port only */
#define configNUM_CORES 2 #define configNUMBER_OF_CORES 1
#define configTICK_CORE 0 #define configTICK_CORE 0
#define configRUN_MULTIPLE_PRIORITIES 0 #define configRUN_MULTIPLE_PRIORITIES 0

2
FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard/main.c vendored
View file

@ -117,7 +117,7 @@ int main( void )
rtos_name = "FreeRTOS"; rtos_name = "FreeRTOS";
#endif #endif
#if ( portSUPPORT_SMP == 1 ) && ( configNUM_CORES == 2 ) #if ( portSUPPORT_SMP == 1 ) && ( configNUMBER_OF_CORES == 2 )
printf("%s on both cores:\n", rtos_name); printf("%s on both cores:\n", rtos_name);
vLaunch(); vLaunch();
#endif #endif

4
FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard/main.h vendored
View file

@ -44,7 +44,7 @@
#define mainENABLE_SEMAPHORE 1 #define mainENABLE_SEMAPHORE 1
#define mainENABLE_TASK_NOTIFY 1 #define mainENABLE_TASK_NOTIFY 1
#if configNUM_CORES != 2 || configRUN_MULTIPLE_PRIORITIES == 0 #if ( configNUMBER_OF_CORES != 2 ) || ( configRUN_MULTIPLE_PRIORITIES == 0 )
/* These tests assume that a higher priority task will block a lower priority tax from running */ /* These tests assume that a higher priority task will block a lower priority tax from running */
#define mainENABLE_BLOCK_TIME 1 #define mainENABLE_BLOCK_TIME 1
@ -56,7 +56,7 @@
#define mainENABLE_TIMER_DEMO 1 #define mainENABLE_TIMER_DEMO 1
#endif #endif
#if configNUM_CORES != 2 #if ( configNUM_CORES != 2 )
/* This test just expects two tasks not to run concurrently */ /* This test just expects two tasks not to run concurrently */
#define mainENABLE_DYNAMIC_PRIORITY 1 #define mainENABLE_DYNAMIC_PRIORITY 1
#endif #endif

73
FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard_smp/CMakeLists.txt vendored Normal file
View file

@ -0,0 +1,73 @@
cmake_minimum_required(VERSION 3.13)
# Pull in SDK (must be before project)
include(pico_sdk_import.cmake)
# Pull in FreeRTOS
include(FreeRTOS_Kernel_import.cmake)
project(example C CXX ASM)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
pico_sdk_init()
add_executable(main_full_smp
main.c
main_full.c
IntQueueTimer.c
RegTest.s
../../../../Common/Minimal/blocktim.c
../../../../Common/Minimal/countsem.c
../../../../Common/Minimal/dynamic.c
../../../../Common/Minimal/recmutex.c
../../../../Common/Minimal/QueueOverwrite.c
../../../../Common/Minimal/EventGroupsDemo.c
../../../../Common/Minimal/IntSemTest.c
../../../../Common/Minimal/IntQueue.c
../../../../Common/Minimal/TaskNotify.c
../../../../Common/Minimal/TimerDemo.c
../../../../Common/Minimal/GenQTest.c
../../../../Common/Minimal/death.c
../../../../Common/Minimal/semtest.c
../../../../Common/Minimal/BlockQ.c
../../../../Common/Minimal/flop.c
)
target_compile_definitions(main_full_smp PRIVATE
mainCREATE_SIMPLE_BLINKY_DEMO_ONLY=0
)
target_include_directories(main_full_smp PRIVATE
${CMAKE_CURRENT_LIST_DIR}
${CMAKE_CURRENT_LIST_DIR}/../../../../Common/include)
target_compile_definitions(main_full_smp PRIVATE
PICO_STDIO_STACK_BUFFER_SIZE=64 # use a small printf on stack buffer
)
target_link_libraries(main_full_smp pico_stdlib FreeRTOS-Kernel FreeRTOS-Kernel-Heap4)
pico_add_extra_outputs(main_full_smp)
# Use USB uart
pico_enable_stdio_usb(main_full_smp 1)
pico_enable_stdio_uart(main_full_smp 1)
add_executable(main_blinky_smp
main.c
main_blinky.c
)
target_compile_definitions(main_blinky_smp PRIVATE
mainCREATE_SIMPLE_BLINKY_DEMO_ONLY=1
)
target_include_directories(main_blinky_smp PRIVATE
${CMAKE_CURRENT_LIST_DIR}
${CMAKE_CURRENT_LIST_DIR}/../../../../Common/include)
target_link_libraries(main_blinky_smp pico_stdlib FreeRTOS-Kernel FreeRTOS-Kernel-Heap1)
pico_add_extra_outputs(main_blinky_smp)
# Use USB uart
pico_enable_stdio_usb(main_blinky_smp 1)
pico_enable_stdio_uart(main_blinky_smp 1)

138
FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard_smp/FreeRTOSConfig.h vendored Normal file
View file

@ -0,0 +1,138 @@
/*
* 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
*
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html
*----------------------------------------------------------*/
/* Scheduler Related */
#define configUSE_PREEMPTION 1
#define configUSE_TICKLESS_IDLE 0
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 1
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES 32
#define configMINIMAL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 256
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
/* Synchronization Related */
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configUSE_QUEUE_SETS 1
#define configUSE_TIME_SLICING 1
#define configUSE_NEWLIB_REENTRANT 0
#define configENABLE_BACKWARD_COMPATIBILITY 0
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
/* System */
#define configSTACK_DEPTH_TYPE uint32_t
#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
/* Memory allocation related definitions. */
#define configSUPPORT_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configTOTAL_HEAP_SIZE (128*1024)
#define configAPPLICATION_ALLOCATED_HEAP 0
/* Hook function related definitions. */
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configUSE_MALLOC_FAILED_HOOK 1
#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
/* Run time and task stats gathering related definitions. */
#define configGENERATE_RUN_TIME_STATS 0
#define configUSE_TRACE_FACILITY 1
#define configUSE_STATS_FORMATTING_FUNCTIONS 0
/* Software timer related definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH 1024
/* Interrupt nesting behaviour configuration. */
/*
#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor]
#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application]
#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application]
*/
/* SMP port only */
#define configNUMBER_OF_CORES 2
#define configTICK_CORE 0
#define configRUN_MULTIPLE_PRIORITIES 0
/* RP2040 specific */
#define configSUPPORT_PICO_SYNC_INTEROP 1
#define configSUPPORT_PICO_TIME_INTEROP 1
#include <assert.h>
/* Define to trap errors during development. */
#define configASSERT(x) assert(x)
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define INCLUDE_xTaskGetIdleTaskHandle 1
#define INCLUDE_eTaskGetState 1
#define INCLUDE_xTimerPendFunctionCall 1
#define INCLUDE_xTaskAbortDelay 1
#define INCLUDE_xTaskGetHandle 1
#define INCLUDE_xTaskResumeFromISR 1
#define INCLUDE_xQueueGetMutexHolder 1
/* A header file that defines trace macro can be included here. */
/* SMP Related config. */
#define configUSE_MINIMAL_IDLE_HOOK 0
#define portSUPPORT_SMP 1
#endif /* FREERTOS_CONFIG_H */

62
FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard_smp/FreeRTOS_Kernel_import.cmake vendored Normal file
View file

@ -0,0 +1,62 @@
# This is a copy of <FREERTOS_KERNEL_PATH>/portable/ThirdParty/GCC/RP2040/FREERTOS_KERNEL_import.cmake
# This can be dropped into an external project to help locate the FreeRTOS kernel
# It should be include()ed prior to project(). Alternatively this file may
# or the CMakeLists.txt in this directory may be included or added via add_subdirectory
# respectively.
if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
set(FREERTOS_KERNEL_PATH $ENV{FREERTOS_KERNEL_PATH})
message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
endif ()
set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
# undo the above
set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
if (NOT FREERTOS_KERNEL_PATH)
# check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
endif()
if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
endif()
endif ()
if (NOT FREERTOS_KERNEL_PATH)
foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
# check if FreeRTOS-Kernel exists under directory that included us
set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}})
set(SEARCH_ROOT ../../../..)
get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
break()
endif()
endforeach()
endif()
if (NOT FREERTOS_KERNEL_PATH)
message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.")
endif()
set(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" CACHE PATH "Path to the FreeRTOS Kernel")
get_filename_component(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
if (NOT EXISTS ${FREERTOS_KERNEL_PATH})
message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found")
endif()
if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
endif()
set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE)
add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)

102
FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard_smp/IntQueueTimer.c vendored Normal file
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@ -0,0 +1,102 @@
/*
* 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
*
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo includes. */
#include "IntQueueTimer.h"
#include "IntQueue.h"
/* SDK APIs.*/
#include "pico/time.h"
#include "hardware/irq.h"
/* The priorities for the two timers. Note that a priority of 0 is the highest
possible on Cortex-M devices. */
#define tmrMAX_PRIORITY ( 0UL )
#define trmSECOND_HIGHEST_PRIORITY ( tmrMAX_PRIORITY + 0x40 )
#define FIRST_TIMER_PERIOD_US 500
#define SECOND_TIMER_PERIOD_US 487
void prvAlarm0Callback( uint timer )
{
UBaseType_t uxSavedInterruptState;
BaseType_t xHigherPriorityTaskWoken;
configASSERT(timer == 0);
uxSavedInterruptState = taskENTER_CRITICAL_FROM_ISR();
{
xHigherPriorityTaskWoken = xFirstTimerHandler();
hardware_alarm_set_target(0, make_timeout_time_us( FIRST_TIMER_PERIOD_US) );
}
taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptState );
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
}
void prvAlarm1Callback( uint timer )
{
UBaseType_t uxSavedInterruptState;
BaseType_t xHigherPriorityTaskWoken;
configASSERT(timer == 1);
uxSavedInterruptState = taskENTER_CRITICAL_FROM_ISR();
{
xHigherPriorityTaskWoken = xSecondTimerHandler();
hardware_alarm_set_target(1, make_timeout_time_us( SECOND_TIMER_PERIOD_US) );
}
taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptState );
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
}
void vInitialiseTimerForIntQueueTest( void )
{
/* Use raw hardware alarms so we have nested interrupts */
hardware_alarm_claim(0);
hardware_alarm_claim(1);
/* Don't generate interrupts until the scheduler has been started.
Interrupts will be automatically enabled when the first task starts
running. */
taskDISABLE_INTERRUPTS();
/* Initialize timers. */
/* Set the timer interrupts to be above the kernel. The interrupts are
assigned different priorities so they nest with each other. */
irq_set_priority(TIMER_IRQ_0, tmrMAX_PRIORITY);
irq_set_priority(TIMER_IRQ_1, trmSECOND_HIGHEST_PRIORITY);
hardware_alarm_set_callback(0, prvAlarm0Callback);
hardware_alarm_set_callback(1, prvAlarm1Callback);
hardware_alarm_set_target(0, make_timeout_time_us( FIRST_TIMER_PERIOD_US) );
hardware_alarm_set_target(1, make_timeout_time_us( SECOND_TIMER_PERIOD_US) );
}

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/*
* 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
*
*/
#ifndef INT_QUEUE_TIMER_H
#define INT_QUEUE_TIMER_H
void vInitialiseTimerForIntQueueTest( void );
portBASE_TYPE xTimer0Handler( void );
portBASE_TYPE xTimer1Handler( void );
#endif

186
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/*
* 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
*
*/
.syntax unified
.cpu cortex-m0plus
.thumb
.global vRegTest1Implementation
.global vRegTest2Implementation
/*-----------------------------------------------------------*/
vRegTest1Implementation:
/* Fill the core registers with known values. This is only done once. */
movs r1, #101
movs r2, #102
movs r3, #103
movs r4, #104
movs r5, #105
movs r6, #106
movs r7, #107
movs r0, #108
mov r8, r0
movs r0, #109
mov r9, r0
movs r0, #110
mov r10, r0
movs r0, #111
mov r11, r0
movs r0, #112
mov r12, r0
movs r0, #100
reg1_loop:
/* Repeatedly check that each register still contains the value written to
it when the task started. */
cmp r0, #100
bne reg1_error_loop
cmp r1, #101
bne reg1_error_loop
cmp r2, #102
bne reg1_error_loop
cmp r3, #103
bne reg1_error_loop
cmp r4, #104
bne reg1_error_loop
cmp r5, #105
bne reg1_error_loop
cmp r6, #106
bne reg1_error_loop
cmp r7, #107
bne reg1_error_loop
movs r0, #108
cmp r8, r0
bne reg1_error_loop
movs r0, #109
cmp r9, r0
bne reg1_error_loop
movs r0, #110
cmp r10, r0
bne reg1_error_loop
movs r0, #111
cmp r11, r0
bne reg1_error_loop
movs r0, #112
cmp r12, r0
bne reg1_error_loop
/* Everything passed, increment the loop counter. */
push { r1 }
ldr r0, =ulRegTest1LoopCounter
ldr r1, [r0]
adds r1, r1, #1
str r1, [r0]
pop { r1 }
/* Start again. */
movs r0, #100
b reg1_loop
reg1_error_loop:
/* If this line is hit then there was an error in a core register value.
The loop ensures the loop counter stops incrementing. */
b reg1_error_loop
nop
vRegTest2Implementation:
/* Fill the core registers with known values. This is only done once. */
movs r1, #1
movs r2, #2
movs r3, #3
movs r4, #4
movs r5, #5
movs r6, #6
movs r7, #7
movs r0, #8
mov r8, r0
movs r0, #9
mov r9, r0
movs r0, #10
mov r10, r0
movs r0, #11
mov r11, r0
movs r0, #12
mov r12, r0
movs r0, #10
reg2_loop:
/* Repeatedly check that each register still contains the value written to
it when the task started. */
cmp r0, #10
bne reg2_error_loop
cmp r1, #1
bne reg2_error_loop
cmp r2, #2
bne reg2_error_loop
cmp r3, #3
bne reg2_error_loop
cmp r4, #4
bne reg2_error_loop
cmp r5, #5
bne reg2_error_loop
cmp r6, #6
bne reg2_error_loop
cmp r7, #7
bne reg2_error_loop
movs r0, #8
cmp r8, r0
bne reg2_error_loop
movs r0, #9
cmp r9, r0
bne reg2_error_loop
movs r0, #10
cmp r10, r0
bne reg2_error_loop
movs r0, #11
cmp r11, r0
bne reg2_error_loop
movs r0, #12
cmp r12, r0
bne reg2_error_loop
/* Everything passed, increment the loop counter. */
push { r1 }
ldr r0, =ulRegTest2LoopCounter
ldr r1, [r0]
adds r1, r1, #1
str r1, [r0]
pop { r1 }
/* Start again. */
movs r0, #10
b reg2_loop
reg2_error_loop:
/* If this line is hit then there was an error in a core register value.
The loop ensures the loop counter stops incrementing. */
b reg2_error_loop
nop

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/*
* 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
*
*/
/******************************************************************************
* This project provides two demo applications. A simple blinky style project,
* and a more comprehensive test and demo application. The
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting (defined in this file) is used to
* select between the two. 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.
*
* This file implements the code that is not demo specific, including the
* hardware setup and standard FreeRTOS hook functions.
*
* 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!
*
*/
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
/* Standard demo includes. */
#include "TimerDemo.h"
#include "QueueOverwrite.h"
#include "EventGroupsDemo.h"
#include "IntSemTest.h"
#include "TaskNotify.h"
#include "main.h"
/* Library includes. */
#include <stdio.h>
#include "pico/stdlib.h"
#if ( mainRUN_ON_CORE == 1 )
#include "pico/multicore.h"
#endif
/* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo,
or 0 to run the more comprehensive test and demo application. */
/*-----------------------------------------------------------*/
/*
* Configure the hardware as necessary to run this demo.
*/
static void prvSetupHardware( void );
/*
* main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
* main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
*/
#if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1
extern void main_blinky( void );
#else
extern void main_full( void );
#endif /* #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 */
/* 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 );
/*-----------------------------------------------------------*/
void vLaunch( void)
{
/* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
of this file. */
#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
{
main_blinky();
}
#else
{
main_full();
}
#endif
}
int main( void )
{
/* Configure the hardware ready to run the demo. */
prvSetupHardware();
const char *rtos_name;
#if ( portSUPPORT_SMP == 1 )
rtos_name = "FreeRTOS SMP";
#else
rtos_name = "FreeRTOS";
#endif
#if ( portSUPPORT_SMP == 1 ) && ( configNUMBER_OF_CORES == 2 )
printf("%s on both cores:\n", rtos_name);
vLaunch();
#endif
#if ( mainRUN_ON_CORE == 1 )
printf("%s on core 1:\n", rtos_name);
multicore_launch_core1(vLaunch);
while (true);
#else
printf("%s on core 0:\n", rtos_name);
vLaunch();
#endif
return 0;
}
/*-----------------------------------------------------------*/
static void prvSetupHardware( void )
{
stdio_init_all();
gpio_init(PICO_DEFAULT_LED_PIN);
gpio_set_dir(PICO_DEFAULT_LED_PIN, 1);
gpio_put(PICO_DEFAULT_LED_PIN, !PICO_DEFAULT_LED_PIN_INVERTED);
}
/*-----------------------------------------------------------*/
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. */
/* Force an assert. */
configASSERT( ( volatile void * ) NULL );
}
/*-----------------------------------------------------------*/
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. */
/* Force an assert. */
configASSERT( ( volatile void * ) NULL );
}
/*-----------------------------------------------------------*/
void vApplicationIdleHook( void )
{
volatile size_t xFreeHeapSpace;
/* 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();
/* Remove compiler warning about xFreeHeapSpace being set but never used. */
( void ) xFreeHeapSpace;
}
/*-----------------------------------------------------------*/
void vApplicationTickHook( void )
{
#if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0
{
/* The full demo includes a software timer demo/test that requires
prodding periodically from the tick interrupt. */
#if (mainENABLE_TIMER_DEMO == 1)
vTimerPeriodicISRTests();
#endif
/* Call the periodic queue overwrite from ISR demo. */
#if (mainENABLE_QUEUE_OVERWRITE == 1)
vQueueOverwritePeriodicISRDemo();
#endif
/* Call the periodic event group from ISR demo. */
#if (mainENABLE_EVENT_GROUP == 1)
vPeriodicEventGroupsProcessing();
#endif
/* Call the code that uses a mutex from an ISR. */
#if (mainENABLE_INTERRUPT_SEMAPHORE == 1)
vInterruptSemaphorePeriodicTest();
#endif
/* Call the code that 'gives' a task notification from an ISR. */
#if (mainENABLE_TASK_NOTIFY == 1)
xNotifyTaskFromISR();
#endif
}
#endif
}

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/*
* 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
*
*/
#ifndef MAIN_H
#define MAIN_H
#define mainRUN_ON_CORE 0
/* These tests should work in all modes */
#define mainENABLE_COUNTING_SEMAPHORE 1
#define mainENABLE_DEATH 1
#define mainENABLE_INTERRUPT_QUEUE 1
#define mainENABLE_MATH 1
#define mainENABLE_QUEUE_OVERWRITE 1
#define mainENABLE_REG_TEST 1
#define mainENABLE_SEMAPHORE 1
#define mainENABLE_TASK_NOTIFY 1
#if ( configNUMBER_OF_CORES == 1 ) || ( configRUN_MULTIPLE_PRIORITIES == 0 )
/* These tests assume that a higher priority task will block a lower priority task from running */
#define mainENABLE_BLOCK_TIME 1
#define mainENABLE_BLOCKING_QUEUE 1
#define mainENABLE_GENERIC_QUEUE 1
#define mainENABLE_INTERRUPT_SEMAPHORE 1
#define mainENABLE_EVENT_GROUP 1
#define mainENABLE_RECURSIVE_MUTEX 1
#define mainENABLE_TIMER_DEMO 1
#endif
#if ( configNUMBER_OF_CORES == 1 )
/* This test just expects two tasks not to run concurrently */
#define mainENABLE_DYNAMIC_PRIORITY 1
#endif
#endif /* MAIN_H */

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/*
* 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
*
*/
/******************************************************************************
* NOTE 1: This project provides two demo applications. A simple blinky
* style project, and a more comprehensive test and demo application. The
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
* in main.c. This file implements the simply blinky style version.
*
* NOTE 2: This file only contains the source code that is specific to the
* basic demo. Generic functions, such FreeRTOS hook functions, and functions
* required to configure the hardware are defined in main.c.
******************************************************************************
*
* main_blinky() creates one queue, and two tasks. It then starts the
* scheduler.
*
* The Queue Send Task:
* The queue send task is implemented by the prvQueueSendTask() function in
* this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
* block for 200 milliseconds, before sending the value 100 to the queue that
* was created within main_blinky(). Once the value is sent, the task loops
* back around to block for another 200 milliseconds...and so on.
*
* The Queue Receive Task:
* The queue receive task is implemented by the prvQueueReceiveTask() function
* in this file. prvQueueReceiveTask() sits in a loop where it repeatedly
* blocks on attempts to read data from the queue that was created within
* main_blinky(). When data is received, the task checks the value of the
* data, and if the value equals the expected 100, toggles an LED. The 'block
* time' parameter passed to the queue receive function specifies that the
* task should be held in the Blocked state indefinitely to wait for data to
* be available on the queue. The queue receive task will only leave the
* Blocked state when the queue send task writes to the queue. As the queue
* send task writes to the queue every 200 milliseconds, the queue receive
* task leaves the Blocked state every 200 milliseconds, and therefore toggles
* the LED every 200 milliseconds.
*/
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
/* Library includes. */
#include <stdio.h>
#include "hardware/gpio.h"
/* Priorities at which the tasks are created. */
#define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
/* The rate at which data is sent to the queue. The 200ms value is converted
to ticks using the portTICK_PERIOD_MS constant. */
#define mainQUEUE_SEND_FREQUENCY_MS ( 1000 / portTICK_PERIOD_MS )
/* The number of items the queue can hold. This is 1 as the receive task
will remove items as they are added, meaning the send task should always find
the queue empty. */
#define mainQUEUE_LENGTH ( 1 )
/* The LED toggled by the Rx task. */
#define mainTASK_LED ( PICO_DEFAULT_LED_PIN )
/*-----------------------------------------------------------*/
/*
* Called by main when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1 in
* main.c.
*/
void main_blinky( void );
/*
* The tasks as described in the comments at the top of this file.
*/
static void prvQueueReceiveTask( void *pvParameters );
static void prvQueueSendTask( void *pvParameters );
/*-----------------------------------------------------------*/
/* The queue used by both tasks. */
static QueueHandle_t xQueue = NULL;
/*-----------------------------------------------------------*/
void main_blinky( void )
{
printf(" Starting main_blinky.\n");
/* Create the queue. */
xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( uint32_t ) );
if( xQueue != NULL )
{
/* Start the two tasks as described in the comments at the top of this
file. */
xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */
"Rx", /* The text name assigned to the task - for debug only as it is not used by the kernel. */
configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */
NULL, /* The parameter passed to the task - not used in this case. */
mainQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task. */
NULL ); /* The task handle is not required, so NULL is passed. */
xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
/* Start the tasks and timer running. */
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 insufficient FreeRTOS heap memory available for the Idle and/or
timer tasks to be created. See the memory management section on the
FreeRTOS web site for more details on the FreeRTOS heap
http://www.freertos.org/a00111.html. */
for( ;; );
}
/*-----------------------------------------------------------*/
static void prvQueueSendTask( void *pvParameters )
{
TickType_t xNextWakeTime;
const unsigned long ulValueToSend = 100UL;
/* Remove compiler warning about unused parameter. */
( void ) pvParameters;
/* Initialise xNextWakeTime - this only needs to be done once. */
xNextWakeTime = xTaskGetTickCount();
for( ;; )
{
/* Place this task in the blocked state until it is time to run again. */
vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
/* Send to the queue - causing the queue receive task to unblock and
toggle the LED. 0 is used as the block time so the sending operation
will not block - it shouldn't need to block as the queue should always
be empty at this point in the code. */
xQueueSend( xQueue, &ulValueToSend, 0U );
}
}
/*-----------------------------------------------------------*/
static void prvQueueReceiveTask( void *pvParameters )
{
unsigned long ulReceivedValue;
const unsigned long ulExpectedValue = 100UL;
/* Remove compiler warning about unused parameter. */
( void ) pvParameters;
for( ;; )
{
/* Wait until something arrives in the queue - this task will block
indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
FreeRTOSConfig.h. */
xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
/* To get here something must have been received from the queue, but
is it the expected value? If it is, toggle the LED. */
if( ulReceivedValue == ulExpectedValue )
{
gpio_xor_mask( 1u << mainTASK_LED );
ulReceivedValue = 0U;
}
}
}
/*-----------------------------------------------------------*/

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/*
* 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
*
*/
/******************************************************************************
* NOTE 1: This project provides two demo applications. A simple blinky style
* project, and a more comprehensive test and demo application. The
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
* in main.c. This file implements the comprehensive test and demo version.
*
* NOTE 2: This file only contains the source code that is specific to the
* full demo. Generic functions, such FreeRTOS hook functions, and functions
* required to configure the hardware, are defined in main.c.
*
******************************************************************************
*
* main_full() creates all the demo application tasks and software timers, then
* starts the scheduler. The web documentation provides more details of the
* standard demo application tasks, which provide no particular functionality,
* but do provide a good example of how to use the FreeRTOS API.
*
* In addition to the standard demo tasks, the following tasks and tests are
* defined and/or created within this file:
*
* "Reg test" tasks - These fill both the core and floating point registers with
* known values, then check that each register maintains its expected value for
* the lifetime of the task. Each task uses a different set of values. The reg
* test tasks execute with a very low priority, so get preempted very
* frequently. A register containing an unexpected value is indicative of an
* error in the context switching mechanism.
*
* "Check" task - The check task period is initially set to three seconds. The
* task checks that all the standard demo tasks, and the register check tasks,
* are not only still executing, but are executing without reporting any errors.
* If the check task discovers that a task has either stalled, or reported an
* error, then it changes its own execution period from the initial three
* seconds, to just 200ms. The check task also toggles an LED each time it is
* called. This provides a visual indication of the system status: If the LED
* toggles every three seconds, then no issues have been discovered. If the LED
* toggles every 200ms, then an issue has been discovered with at least one
* task.
*/
/* Standard includes. */
#include <stdio.h>
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "semphr.h"
/* SDK includes */
#include "pico/stdlib.h"
/* Standard demo application includes. */
#include "flop.h"
#include "semtest.h"
#include "dynamic.h"
#include "BlockQ.h"
#include "blocktim.h"
#include "countsem.h"
#include "GenQTest.h"
#include "recmutex.h"
#include "death.h"
#include "partest.h"
#include "comtest2.h"
#include "serial.h"
#include "TimerDemo.h"
#include "QueueOverwrite.h"
#include "IntQueue.h"
#include "EventGroupsDemo.h"
#include "IntSemTest.h"
#include "TaskNotify.h"
#include "main.h"
/* Priorities for the demo application tasks. */
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
#define mainCDC_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2UL )
#define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
#define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
/* The initial priority used by the UART command console task. */
#define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )
/* The LED used by the check task. */
#define mainCHECK_LED ( PICO_DEFAULT_LED_PIN )
/* A block time of zero simply means "don't block". */
#define mainDONT_BLOCK ( 0UL )
/* The period of the check task, in ms, provided no errors have been reported by
any of the standard demo tasks. ms are converted to the equivalent in ticks
using the pdMS_TO_TICKS() macro constant. */
#define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL )
/* The period of the check task, in ms, if an error has been reported in one of
the standard demo tasks. ms are converted to the equivalent in ticks using the
pdMS_TO_TICKS() macro. */
#define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200UL )
/* Parameters that are passed into the register check tasks solely for the
purpose of ensuring parameters are passed into tasks correctly. */
#define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
#define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
/* The base period used by the timer test tasks. */
#define mainTIMER_TEST_PERIOD ( 50 )
/*-----------------------------------------------------------*/
/*
* Called by main() to run the full demo (as opposed to the blinky demo) when
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
*/
void main_full( void );
/*
* The check task, as described at the top of this file.
*/
static void prvCheckTask( void *pvParameters );
/*
* Register check tasks, and the tasks used to write over and check the contents
* of the FPU registers, as described at the top of this file. The nature of
* these files necessitates that they are written in an assembly file, but the
* entry points are kept in the C file for the convenience of checking the task
* parameter.
*/
static void prvRegTestTaskEntry1( void *pvParameters );
extern void vRegTest1Implementation( void );
static void prvRegTestTaskEntry2( void *pvParameters );
extern void vRegTest2Implementation( void );
/*-----------------------------------------------------------*/
/* The following two variables are used to communicate the status of the
register check tasks to the check task. If the variables keep incrementing,
then the register check tasks have not discovered any errors. If a variable
stops incrementing, then an error has been found. */
volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
/*-----------------------------------------------------------*/
void main_full( void )
{
/* Start all the other standard demo/test tasks. They have no particular
functionality, but do demonstrate how to use the FreeRTOS API and test the
kernel port. */
puts(" Starting tests:");
#if (mainENABLE_INTERRUPT_QUEUE == 1)
puts(" - Interrupt Queue");
vStartInterruptQueueTasks();
#endif
#if (mainENABLE_DYNAMIC_PRIORITY == 1)
puts(" - Dynamic Priority");
vStartDynamicPriorityTasks();
#endif
#if (mainENABLE_BLOCKING_QUEUE == 1)
puts(" - Blocking Queue");
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
#endif
#if (mainENABLE_BLOCK_TIME == 1)
puts(" - Block Time");
vCreateBlockTimeTasks();
#endif
#if (mainENABLE_COUNTING_SEMAPHORE == 1)
puts(" - Counting Semaphore");
vStartCountingSemaphoreTasks();
#endif
#if (mainENABLE_GENERIC_QUEUE == 1)
puts(" - Generic Queue");
vStartGenericQueueTasks( tskIDLE_PRIORITY );
#endif
#if (mainENABLE_RECURSIVE_MUTEX == 1)
puts(" - Recursive Mutex");
vStartRecursiveMutexTasks();
#endif
#if (mainENABLE_SEMAPHORE == 1)
puts(" - Semaphore");
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
#endif
#if (mainENABLE_MATH == 1)
puts(" - Math");
vStartMathTasks( mainFLOP_TASK_PRIORITY );
#endif
#if (mainENABLE_TIMER_DEMO == 1)
puts(" - Timer");
vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
#endif
#if (mainENABLE_QUEUE_OVERWRITE == 1)
puts(" - Queue Overwrite");
vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
#endif
#if (mainENABLE_EVENT_GROUP == 1)
puts(" - Event Group");
vStartEventGroupTasks();
#endif
#if (mainENABLE_INTERRUPT_SEMAPHORE == 1)
puts(" - Interrupt Semaphore");
vStartInterruptSemaphoreTasks();
#endif
#if (mainENABLE_TASK_NOTIFY == 1)
puts(" - Task Notify");
vStartTaskNotifyTask();
#endif
#if (mainENABLE_REG_TEST == 1)
puts(" - Register");
/* Create the register check tasks, as described at the top of this file */
xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
#endif
/* Create the task that performs the 'check' functionality, as described at
the top of this file. */
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* The set of tasks created by the following function call have to be
created last as they keep account of the number of tasks they expect to see
running. */
#if (mainENABLE_DEATH == 1)
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
puts(" - Death");
#endif
/* Start the scheduler. */
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 insufficient FreeRTOS heap memory available for the Idle and/or
timer tasks to be created. See the memory management section on the
FreeRTOS web site for more details on the FreeRTOS heap
http://www.freertos.org/a00111.html. */
for( ;; );
}
/*-----------------------------------------------------------*/
static void prvCheckTask( void *pvParameters )
{
TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
TickType_t xLastExecutionTime;
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
unsigned long ulErrorFound = pdFALSE;
unsigned long ulIterations = 0;
/* Just to stop compiler warnings. */
( void ) pvParameters;
/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
works correctly. */
xLastExecutionTime = xTaskGetTickCount();
/* Cycle for ever, delaying then checking all the other tasks are still
operating without error. The onboard LED is toggled on each iteration.
If an error is detected then the delay period is decreased from
mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
effect of increasing the rate at which the onboard LED toggles, and in so
doing gives visual feedback of the system status. */
for( ;; )
{
/* Delay until it is time to execute again. */
vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
#if (mainENABLE_INTERRUPT_QUEUE == 1)
/* Check all the demo tasks (other than the flash tasks) to ensure
that they are all still running, and that none have detected an error. */
if( xAreIntQueueTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 0UL;
}
#endif
#if (mainENABLE_MATH == 1)
if( xAreMathsTaskStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 1UL;
}
#endif
#if (mainENABLE_DYNAMIC_PRIORITY == 1)
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 2UL;
}
#endif
#if (mainENABLE_BLOCKING_QUEUE == 1)
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 3UL;
}
#endif
#if (mainENABLE_BLOCK_TIME == 1)
if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 4UL;
}
#endif
#if (mainENABLE_GENERIC_QUEUE == 1)
if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 5UL;
}
#endif
#if (mainENABLE_RECURSIVE_MUTEX == 1)
if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 6UL;
}
#endif
#if (mainENABLE_DEATH == 1)
if( xIsCreateTaskStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 7UL;
}
#endif
#if (mainENABLE_SEMAPHORE == 1)
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 8UL;
}
#endif
#if (mainENABLE_TIMER_DEMO == 1)
if( xAreTimerDemoTasksStillRunning( ( TickType_t ) xDelayPeriod ) != pdPASS )
{
ulErrorFound |= 1UL << 9UL;
}
#endif
#if (mainENABLE_COUNTING_SEMAPHORE == 1)
if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 10UL;
}
#endif
#if (mainENABLE_QUEUE_OVERWRITE == 1)
if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
{
ulErrorFound |= 1UL << 11UL;
}
#endif
#if (mainENABLE_EVENT_GROUP == 1)
if( xAreEventGroupTasksStillRunning() != pdPASS )
{
ulErrorFound |= 1UL << 12UL;
}
#endif
#if (mainENABLE_INTERRUPT_SEMAPHORE == 1)
if( xAreInterruptSemaphoreTasksStillRunning() != pdPASS )
{
ulErrorFound |= 1UL << 13UL;
}
#endif
#if (mainENABLE_TASK_NOTIFY == 1)
if( xAreTaskNotificationTasksStillRunning() != pdPASS )
{
ulErrorFound |= 1UL << 14UL;
}
#endif
#if (mainENABLE_REG_TEST == 1)
/* Check that the register test 1 task is still running. */
if( ulLastRegTest1Value == ulRegTest1LoopCounter )
{
ulErrorFound |= 1UL << 15UL;
}
ulLastRegTest1Value = ulRegTest1LoopCounter;
/* Check that the register test 2 task is still running. */
if( ulLastRegTest2Value == ulRegTest2LoopCounter )
{
ulErrorFound |= 1UL << 16UL;
}
ulLastRegTest2Value = ulRegTest2LoopCounter;
#endif
/* Toggle the check LED to give an indication of the system status. If
the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
everything is ok. A faster toggle indicates an error. */
gpio_xor_mask( 1u << mainCHECK_LED );
ulIterations++;
if( ulErrorFound != pdFALSE )
{
static uint32_t ulLastErrorFound;
if (ulErrorFound != ulLastErrorFound) {
printf("Iterations: %d; Errors now %08x\n", (int) ulIterations, (int) ulErrorFound);
ulLastErrorFound = ulErrorFound;
}
/* An error has been detected in one of the tasks - flash the LED
at a higher frequency to give visible feedback that something has
gone wrong (it might just be that the loop back connector required
by the comtest tasks has not been fitted). */
xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
}
}
}
/*-----------------------------------------------------------*/
static void prvRegTestTaskEntry1( void *pvParameters )
{
/* Although the regtest task is written in assembler, its entry point is
written in C for convenience of checking the task parameter is being passed
in correctly. */
if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
{
/* Start the part of the test that is written in assembler. */
vRegTest1Implementation();
}
/* The following line will only execute if the task parameter is found to
be incorrect. The check task will detect that the regtest loop counter is
not being incremented and flag an error. */
vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/
static void prvRegTestTaskEntry2( void *pvParameters )
{
/* Although the regtest task is written in assembler, its entry point is
written in C for convenience of checking the task parameter is being passed
in correctly. */
if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
{
/* Start the part of the test that is written in assembler. */
vRegTest2Implementation();
}
/* The following line will only execute if the task parameter is found to
be incorrect. The check task will detect that the regtest loop counter is
not being incremented and flag an error. */
vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/

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# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
# This can be dropped into an external project to help locate this SDK
# It should be include()ed prior to project()
if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
endif ()
set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
if (NOT PICO_SDK_PATH)
if (PICO_SDK_FETCH_FROM_GIT)
include(FetchContent)
set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
if (PICO_SDK_FETCH_FROM_GIT_PATH)
get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
endif ()
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG master
)
if (NOT pico_sdk)
message("Downloading Raspberry Pi Pico SDK")
FetchContent_Populate(pico_sdk)
set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
endif ()
set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
else ()
message(FATAL_ERROR
"SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
)
endif ()
endif ()
get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
if (NOT EXISTS ${PICO_SDK_PATH})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
endif ()
set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
endif ()
set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
include(${PICO_SDK_INIT_CMAKE_FILE})

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@ -101,7 +101,7 @@
*/ */
/* SMP port only */ /* SMP port only */
#define configNUM_CORES 1 #define configNUMBER_OF_CORES 1
#define configTICK_CORE 1 #define configTICK_CORE 1
#define configRUN_MULTIPLE_PRIORITIES 1 #define configRUN_MULTIPLE_PRIORITIES 1

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/.metadata/
**/.build*/*
**/bin/*
*.o
*.xe
*.vcd
*.s
*.xi
*.i
*.a
*.xmt
**/_build/
**/run_*.log
**/pdf/*
**/html/*
**/.settings/*
*.pyc
**/test_results.csv
**/.venv/**
# systemview debug files
*.SVDAT

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# FreeRTOS SMP Demo for XMOS XCORE.AI Explorer Board
> **FreeRTOS-SMP Kernel is still being tested.**
This page documents a demo that uses the [FreeRTOS symmetric multiprocessing (SMP) version](../../../SMP.md).
The demo targets the [XCORE.AI](https://www.xmos.ai/xcore-ai/), which has 16
cores. The project uses [XMOS XTC Tools](https://www.xmos.ai/software-tools/) to
build the FreeRTOS XCOREAI port. This application demonstrates the [Symmetric
Multiprocessing (SMP)](https://github.com/FreeRTOS/FreeRTOS-Kernel/tree/smp)
support in the FreeRTOS Kernel.
----
## IMPORTANT! Notes on using the FreeRTOS XCORE.AI demo application
Please read all the following points before using this RTOS port.
1. [Source Code Organization](#source-code-organization)
1. [The Demo Application](#the-demo-application)
1. [Building and Running the RTOS Demo Application](#building-and-running-the-rtos-demo-application)
1. [RTOS Configuration and Usage Details](#rtos-configuration-and-usage-details)
Also see the FAQ [My application does not run, what could be wrong](https://www.freertos.org/FAQHelp.html)?
----
## Source Code Organization
The project files for this demo are located in the `FreeRTOS/Demo/XCORE.AI_xClang/RTOSDemo`
directory of the [FreeRTOS SMP Demo Git repository](https://github.com/FreeRTOS/FreeRTOS-SMP-Demos).
FreeRTOS Port files compiled in the project are in the
`FreeRTOS/Source/portable/ThirdParty/xClang/XCOREAI` directory.
----
## The Demo Application
The constant `mainCREATE_SIMPLE_BLINKY_DEMO_ONLY`, which is defined at the top
of `testing_main.h`, is used to switch between a simple "blinky" style getting
started project and a more comprehensive test and demo application.
### When mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1
When `mainCREATE_SIMPLE_BLINKY_DEMO_ONLY` is set to 1, the demo application
creates two tasks, each of which periodically toggles an on-board LED (LED 0 by
one task and and LED 1 by the other).
### When mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0
When `mainCREATE_SIMPLE_BLINKY_DEMO_ONLY` is set to 0, the demo application
implements a comprehensive test and demo that, among other things, demonstrates
and/or tests:
* [Message buffers](https://www.freertos.org/RTOS-stream-message-buffers.html)
* [Stream buffers](https://www.freertos.org/RTOS-stream-message-buffers.html)
* [Task notifications](https://www.freertos.org/RTOS-task-notifications.html)
* [Queues](https://www.freertos.org/Embedded-RTOS-Queues.html)
* [Semaphores](https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html)
* [Mutexes](https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html)
* [Event groups](https://www.freertos.org/FreeRTOS-Event-Groups.html)
* [Software timers](https://www.freertos.org/RTOS-software-timer.html)
The created tasks are from the set of [standard demo](https://www.freertos.org/a00102.html)
tasks. Standard demo tasks are used by all FreeRTOS port demo applications. They
have no specific functionality, and were created simply to demonstrate how to use
the FreeRTOS API, and test the RTOS port.
Two "check" tasks are created to periodically inspect the standard demo tasks
(which contain self monitoring code) to ensure all the tasks are functioning as
expected. One check task monitors the demo tasks running on tile 0 and toggles
LED 0 each time it executes. The other check task monitors the demo tasks
running on tile 1 and toggles LED 1 each time it executes. This gives visual
feedback of the system health. **If both the LEDs toggle every 3 seconds, then the
check tasks have not discovered any problems. If any LED toggles every 200ms,
then the check task has discovered a problem in one or more tasks.**
----
## Building and Running the RTOS Demo Application
### Hardware setup
Plug the xTAG programmer into the evaluation board. Ensure both the xTAG and
evaluation board are connected to the computer via USB.
### Toolchain installation
The development tools require a Linux host or a Linux style environment.
1. Download the [XMOS XTC Tools](https://www.xmos.ai/software-tools/).
2. Uncompress the archive to your chosen installation directory. The example
below will install to your home directory:
```sh
$ tar -xf archive.tgz -C ~
```
3. Configure the default set of environment variables:
```sh
$ cd ~/XMOS/XTC/15.1.0
$ source SetEnv
```
4. Check that your tools environment has been setup correctly:
```sh
$ xcc --help
```
5. Make the XTAG drivers accessible to all users. This step is only required
to be done once on a given development machine.
```sh
$ cd ~/XMOS/XTC/15.1.0/scripts
$ sudo ./setup_xmos_devices.sh
```
6. Check that the XTAG devices are available and accessible:
```sh
$ cd ~/XMOS/XTC/15.1.0/scripts
$ ./check_xmos_devices.sh
Searching for xtag3 devices...
0 found
Searching for xtag4 devices...
1 found
Success: User <username> is able to access all xtag4 devices
```
7. Check that the device is available for debugging:
```sh
$ xrun -l
Available XMOS Devices
----------------------
ID Name Adapter ID Devices
-- ---- ---------- -------
0 XMOS XTAG-4 2W3T8RAG P[0]
```
### Build and Run the demo application
1. Go to the RTOSDemo directory:
```sh
$ cd FreeRTOS/Demo/XCORE.AI_xClang/RTOSDemo
```
2. Build the demo:
```sh
$ make
```
3. Run the demo:
```sh
$ make run
```
----
## RTOS Configuration and Usage Details
* Configuration items specific to this demo are contained in
`FreeRTOS/Demo/XCORE.AI_xClang/RTOSDemo/src/FreeRTOSConfig.h`. The
[constants defined in that file](https://www.freertos.org/a00110.html) can be
edited to suit your application. The following configuration options are
specific to the SMP support in the FreeRTOS Kernel:
* `configNUM_CORES` - Set the number of cores.
* `configRUN_MULTIPLE_PRIORITIES` - Enable/Disable simultaneously running tasks with multiple priorities.
* `configUSE_CORE_AFFINITY` - Enable/Disable setting a task's affinity to certain cores.
* `Source/Portable/MemMang/heap_4.c` is included in the project to provide the
memory allocation required by the RTOS kernel. Please refer to the
[Memory Management](https://www.freertos.org/a00111.html) section of the API
documentation for complete information.
* vPortEndScheduler() has not been implemented.

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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
<storageModule moduleId="org.eclipse.cdt.core.settings">
<cconfiguration id="com.xmos.cdt.toolchain.1851913321">
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<locationURI>$%7BPARENT-3-PROJECT_LOC%7D/Source</locationURI>
</link>
</linkedResources>
</projectDescription>

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FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/RTOSDemo/Makefile vendored Normal file
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TARGET = XCORE-AI-EXPLORER
APP_NAME = RTOSDemo
BUILD_DIR = build
OUT_DIR = bin
DEMO_ROOT = src
KERNEL_ROOT = ../../../../../Source
COMMON_DEMO_ROOT = ../../../../Common
MINIMAL_DEMO_ROOT = $(COMMON_DEMO_ROOT)/Minimal
PORTABLE_ROOT = $(KERNEL_ROOT)/portable
MEMMANG_ROOT = $(PORTABLE_ROOT)/MemMang
XCORE_PORT_ROOT = $(PORTABLE_ROOT)/ThirdParty/xClang/XCOREAI
RTOS_SUPPORT_ROOT = ../lib_rtos_support
INCLUDE_DIRS = $(DEMO_ROOT) $(DEMO_ROOT)/IntQueueTimer $(DEMO_ROOT)/regtest \
$(KERNEL_ROOT)/include $(XCORE_PORT_ROOT) \
$(COMMON_DEMO_ROOT)/include \
$(RTOS_SUPPORT_ROOT)/api $(RTOS_SUPPORT_ROOT)/src
APP_SOURCES = $(DEMO_ROOT)/main.xc \
$(DEMO_ROOT)/test.c \
$(DEMO_ROOT)/IntQueueTimer/IntQueueTimer.c \
$(DEMO_ROOT)/partest/mab_led_driver.xc \
$(DEMO_ROOT)/partest/partest.c \
$(DEMO_ROOT)/regtest/prvRegisterCheck_asm1.S \
$(DEMO_ROOT)/regtest/prvRegisterCheck_asm2.S \
$(DEMO_ROOT)/regtest/regtest.c
COMMON_DEMO_SOURCES = $(MINIMAL_DEMO_ROOT)/AbortDelay.c \
$(MINIMAL_DEMO_ROOT)/BlockQ.c \
$(MINIMAL_DEMO_ROOT)/blocktim.c \
$(MINIMAL_DEMO_ROOT)/countsem.c \
$(MINIMAL_DEMO_ROOT)/death.c \
$(MINIMAL_DEMO_ROOT)/dynamic.c \
$(MINIMAL_DEMO_ROOT)/EventGroupsDemo.c \
$(MINIMAL_DEMO_ROOT)/flop.c \
$(MINIMAL_DEMO_ROOT)/GenQTest.c \
$(MINIMAL_DEMO_ROOT)/integer.c \
$(MINIMAL_DEMO_ROOT)/IntQueue.c \
$(MINIMAL_DEMO_ROOT)/IntSemTest.c \
$(MINIMAL_DEMO_ROOT)/MessageBufferDemo.c \
$(MINIMAL_DEMO_ROOT)/PollQ.c \
$(MINIMAL_DEMO_ROOT)/QPeek.c \
$(MINIMAL_DEMO_ROOT)/QueueOverwrite.c \
$(MINIMAL_DEMO_ROOT)/QueueSet.c \
$(MINIMAL_DEMO_ROOT)/QueueSetPolling.c \
$(MINIMAL_DEMO_ROOT)/recmutex.c \
$(MINIMAL_DEMO_ROOT)/semtest.c \
$(MINIMAL_DEMO_ROOT)/StreamBufferDemo.c \
$(MINIMAL_DEMO_ROOT)/StreamBufferInterrupt.c \
$(MINIMAL_DEMO_ROOT)/TaskNotify.c \
$(MINIMAL_DEMO_ROOT)/TaskNotifyArray.c \
$(MINIMAL_DEMO_ROOT)/TimerDemo.c
RTOS_SUPPORT_SOURCES = $(RTOS_SUPPORT_ROOT)/src/rtos_cores.c \
$(RTOS_SUPPORT_ROOT)/src/rtos_interrupt.c \
$(RTOS_SUPPORT_ROOT)/src/rtos_irq.c \
$(RTOS_SUPPORT_ROOT)/src/rtos_locks.c \
$(RTOS_SUPPORT_ROOT)/src/rtos_printf.c \
$(RTOS_SUPPORT_ROOT)/src/rtos_time.c
KERNEL_SOURCES = $(KERNEL_ROOT)/event_groups.c \
$(KERNEL_ROOT)/list.c \
$(KERNEL_ROOT)/queue.c \
$(KERNEL_ROOT)/stream_buffer.c \
$(KERNEL_ROOT)/tasks.c \
$(KERNEL_ROOT)/timers.c \
$(MEMMANG_ROOT)/heap_4.c \
$(XCORE_PORT_ROOT)/port.c \
$(XCORE_PORT_ROOT)/port.xc \
$(XCORE_PORT_ROOT)/portasm.S
SOURCES = $(APP_SOURCES) $(COMMON_DEMO_SOURCES) $(RTOS_SUPPORT_SOURCES) $(KERNEL_SOURCES)
OBJS = $(addprefix $(BUILD_DIR)/,$(notdir $(addsuffix .o,$(SOURCES))))
ROOT_DIRS = $(DEMO_ROOT) $(DEMO_ROOT)/IntQueueTimer $(DEMO_ROOT)/partest \
$(DEMO_ROOT)/regtest $(DEMO_ROOT)/TimerDemoISR \
$(MINIMAL_DEMO_ROOT) $(KERNEL_ROOT) $(MEMMANG_ROOT) \
$(XCORE_PORT_ROOT) $(RTOS_SUPPORT_ROOT)/src
vpath %.c $(ROOT_DIRS)
vpath %.xc $(ROOT_DIRS)
vpath %.S $(ROOT_DIRS)
FLAGS = -Wall -O2 -g -report -fxscope \
$(DEMO_ROOT)/$(TARGET).xn \
$(DEMO_ROOT)/config.xscope \
$(addprefix -I,$(INCLUDE_DIRS))
XCLANG = xcc
.PHONY: all clean run
all: $(OUT_DIR)/$(APP_NAME).xe
# Include the header file dependencies for all the sources
-include $(patsubst %.o,%.d,$(OBJS))
$(BUILD_DIR)/%.o: %
@"mkdir" -p $(@D)
$(XCLANG) -c -MT"$@" -MMD -MP -MF"$(patsubst %.o,%.d,$@)" -MT"$(patsubst %.o,%.d,$@)" -o $@ $< $(FLAGS)
$(OUT_DIR)/$(APP_NAME).xe: $(OBJS)
@"mkdir" -p $(@D)
$(XCLANG) -o $@ $^ $(FLAGS)
clean:
$(RM) -r $(OUT_DIR) $(BUILD_DIR)
run: $(OUT_DIR)/$(APP_NAME).xe
xrun --xscope $(OUT_DIR)/$(APP_NAME).xe

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FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/RTOSDemo/src/FreeRTOSConfig.h vendored Normal file
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#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/* Here is a good place to include header files that are required across
your application. */
#ifndef __XC__
#include <xcore/assert.h>
#endif
#define configUSE_PREEMPTION 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
#define configUSE_TICKLESS_IDLE 0
#define configCPU_CLOCK_HZ 100000000
#define configNUMBER_OF_CORES 7
#define configTICK_RATE_HZ 1000
#define configMAX_PRIORITIES 32
#define configRUN_MULTIPLE_PRIORITIES 0
#define configUSE_CORE_AFFINITY 0
#define configMINIMAL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 256
#define configMAX_TASK_NAME_LEN 16
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
#define configUSE_TASK_NOTIFICATIONS 1
#define configTASK_NOTIFICATION_ARRAY_ENTRIES 3
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_ALTERNATIVE_API 0 /* Deprecated! */
#define configQUEUE_REGISTRY_SIZE 10
#define configUSE_QUEUE_SETS 1
#define configUSE_TIME_SLICING 1
#define configUSE_NEWLIB_REENTRANT 0
#define configENABLE_BACKWARD_COMPATIBILITY 0
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
#define configSTACK_DEPTH_TYPE uint32_t
#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
/* Memory allocation related definitions. */
#define configSUPPORT_STATIC_ALLOCATION 1
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configTOTAL_HEAP_SIZE 128*1024
#define configAPPLICATION_ALLOCATED_HEAP 0
/* Hook function related definitions. */
#define configUSE_IDLE_HOOK 1
#define configUSE_MINIMAL_IDLE_HOOK 1
#define configUSE_TICK_HOOK 1
#define configCHECK_FOR_STACK_OVERFLOW 0
#define configUSE_MALLOC_FAILED_HOOK 1
#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
/* Run time and task stats gathering related definitions. */
#define configGENERATE_RUN_TIME_STATS 1
#define configUSE_TRACE_FACILITY 1
#define configUSE_STATS_FORMATTING_FUNCTIONS 1
#define confSTAT_TYPE uint64_t
/* Co-routine related definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES 1
/* Software timer related definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH portTASK_STACK_DEPTH(prvTimerTask)
/* Interrupt nesting behaviour configuration. */
/*
#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor]
#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application]
#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application]
*/
/* Define to trap errors during development. */
#define configASSERT(x) xassert(x)
/* Define to enable debug_printf() */
#define configENABLE_DEBUG_PRINTF 1
/* FreeRTOS MPU specific definitions. */
#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
/* Optional functions - most linkers will remove unused functions anyway. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_xResumeFromISR 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define INCLUDE_xTaskGetIdleTaskHandle 1
#define INCLUDE_eTaskGetState 1
#define INCLUDE_xEventGroupSetBitFromISR 1
#define INCLUDE_xTimerPendFunctionCall 1
#define INCLUDE_xTaskAbortDelay 1
#define INCLUDE_xTaskGetHandle 1
#define INCLUDE_xTaskResumeFromISR 1
#define INCLUDE_xQueueGetMutexHolder 1
/* A header file that defines trace macro can be included here. */
#endif /* FREERTOS_CONFIG_H */

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// Copyright (c) 2020, XMOS Ltd, All rights reserved
#include "FreeRTOS.h"
#include "task.h"
#include <xcore/hwtimer.h>
#include <xcore/triggerable.h>
#include "IntQueue.h"
DEFINE_RTOS_INTERRUPT_CALLBACK( pxIntQueueTimerISR, pvData )
{
static int xCount0, xCount1;
hwtimer_t xTimer = ( hwtimer_t ) pvData;
uint32_t ulNow;
int xYieldRequired;
ulNow = hwtimer_get_time( xTimer );
ulNow = hwtimer_get_trigger_time( xTimer );
ulNow += configCPU_CLOCK_HZ / 50;
if( ++xCount0 == 2 )
{
xCount0 = 0;
taskENTER_CRITICAL_FROM_ISR();
if( xFirstTimerHandler() != pdFALSE )
{
xYieldRequired = pdTRUE;
}
taskEXIT_CRITICAL_FROM_ISR( 0 );
}
if( ++xCount1 == 3 )
{
xCount1 = 0;
taskENTER_CRITICAL_FROM_ISR();
if( xSecondTimerHandler() != pdFALSE )
{
xYieldRequired = pdTRUE;
}
taskEXIT_CRITICAL_FROM_ISR( 0 );
}
hwtimer_change_trigger_time( xTimer, ulNow );
portYIELD_FROM_ISR( xYieldRequired );
}
void vInitialiseTimerForIntQueueTest( void )
{
uint32_t ulNow;
uint32_t ulState;
hwtimer_t xIntQueueTimer;
/*
* Disable interrupts here so we stay on the same core
*/
ulState = portDISABLE_INTERRUPTS();
{
xIntQueueTimer = hwtimer_alloc();
ulNow = hwtimer_get_time( xIntQueueTimer );
ulNow += configCPU_CLOCK_HZ / 50;
triggerable_setup_interrupt_callback( xIntQueueTimer, ( void * ) xIntQueueTimer, RTOS_INTERRUPT_CALLBACK( pxIntQueueTimerISR ) );
hwtimer_set_trigger_time( xIntQueueTimer, ulNow );
triggerable_enable_trigger( xIntQueueTimer );
}
portRESTORE_INTERRUPTS( ulState );
}

8
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/RTOSDemo/src/IntQueueTimer/IntQueueTimer.h vendored Normal file
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// Copyright (c) 2020, XMOS Ltd, All rights reserved
#ifndef INTQUEUETIMER_H_
#define INTQUEUETIMER_H_
void vInitialiseTimerForIntQueueTest( void );
#endif /* INTQUEUETIMER_H_ */

81
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/RTOSDemo/src/XCORE-AI-EXPLORER.xn vendored Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Network xmlns="http://www.xmos.com"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://www.xmos.com http://www.xmos.com">
<Type>Board</Type>
<Name>xcore.ai Explorer Kit</Name>
<Declarations>
<Declaration>tileref tile[2]</Declaration>
</Declarations>
<Packages>
<Package id="0" Type="XS3-UnA-1024-FB265">
<Nodes>
<Node Id="0" InPackageId="0" Type="XS3-L16A-1024" Oscillator="24MHz" SystemFrequency="700MHz" ReferenceFrequency="100MHz">
<Boot>
<Source Location="bootFlash"/>
</Boot>
<Extmem sizeMbit="1024" Frequency="175MHz">
<Padctrl clk="0x30" cke="0x30" cs_n="0x30" we_n="0x30" cas_n="0x30" ras_n="0x30" addr="0x30" ba="0x30" dq="0x31" dqs="0x31" dm="0x30"/>
</Extmem>
<Tile Number="0" Reference="tile[0]">
<Port Location="XS1_PORT_1B" Name="PORT_SQI_CS"/>
<Port Location="XS1_PORT_1C" Name="PORT_SQI_SCLK"/>
<Port Location="XS1_PORT_4B" Name="PORT_SQI_SIO"/>
<Port Location="XS1_PORT_4C" Name="PORT_LEDS"/>
<Port Location="XS1_PORT_4D" Name="PORT_BUTTONS"/>
<Port Location="XS1_PORT_1I" Name="WIFI_WIRQ"/>
<Port Location="XS1_PORT_1J" Name="WIFI_MOSI"/>
<Port Location="XS1_PORT_4E" Name="WIFI_WUP_RST_N"/>
<Port Location="XS1_PORT_4F" Name="WIFI_CS_N"/>
<Port Location="XS1_PORT_1L" Name="WIFI_CLK"/>
<Port Location="XS1_PORT_1M" Name="WIFI_MISO"/>
</Tile>
<Tile Number="1" Reference="tile[1]">
<!-- Mic related ports -->
<Port Location="XS1_PORT_1G" Name="PORT_PDM_CLK"/>
<Port Location="XS1_PORT_1F" Name="PORT_PDM_DATA"/>
<!-- Audio ports -->
<Port Location="XS1_PORT_1D" Name="PORT_MCLK_IN"/>
<Port Location="XS1_PORT_1C" Name="PORT_I2S_BCLK"/>
<Port Location="XS1_PORT_1B" Name="PORT_I2S_LRCLK"/>
<Port Location="XS1_PORT_1A" Name="PORT_I2S_DAC_DATA"/>
<Port Location="XS1_PORT_1N" Name="PORT_I2S_ADC_DATA"/>
<Port Location="XS1_PORT_4A" Name="PORT_CODEC_RST_N"/>
</Tile>
</Node>
</Nodes>
</Package>
</Packages>
<Nodes>
<Node Id="2" Type="device:" RoutingId="0x8000">
<Service Id="0" Proto="xscope_host_data(chanend c);">
<Chanend Identifier="c" end="3"/>
</Service>
</Node>
</Nodes>
<Links>
<Link Encoding="2wire" Delays="5clk" Flags="XSCOPE">
<LinkEndpoint NodeId="0" Link="XL0"/>
<LinkEndpoint NodeId="2" Chanend="1"/>
</Link>
</Links>
<ExternalDevices>
<Device NodeId="0" Tile="0" Class="SQIFlash" Name="bootFlash" Type="S25FL116K" PageSize="256" SectorSize="4096" NumPages="16384">
<Attribute Name="PORT_SQI_CS" Value="PORT_SQI_CS"/>
<Attribute Name="PORT_SQI_SCLK" Value="PORT_SQI_SCLK"/>
<Attribute Name="PORT_SQI_SIO" Value="PORT_SQI_SIO"/>
<Attribute Name="QE_REGISTER" Value="flash_qe_location_status_reg_0"/>
<Attribute Name="QE_BIT" Value="flash_qe_bit_6"/>
</Device>
</ExternalDevices>
<JTAGChain>
<JTAGDevice NodeId="0"/>
</JTAGChain>
</Network>

26
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/RTOSDemo/src/config.xscope vendored Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!-- ======================================================= -->
<!-- The 'ioMode' attribute on the xSCOPEconfig -->
<!-- element can take the following values: -->
<!-- "none", "basic", "timed" -->
<!-- -->
<!-- The 'type' attribute on Probe -->
<!-- elements can take the following values: -->
<!-- "STARTSTOP", "CONTINUOUS", "DISCRETE", "STATEMACHINE" -->
<!-- -->
<!-- The 'datatype' attribute on Probe -->
<!-- elements can take the following values: -->
<!-- "NONE", "UINT", "INT", "FLOAT" -->
<!-- ======================================================= -->
<xSCOPEconfig ioMode="basic" enabled="true">
<!-- For example: -->
<!-- <Probe name="Probe Name" type="CONTINUOUS" datatype="UINT" units="Value" enabled="true"/> -->
<!-- From the target code, call: xscope_int(PROBE_NAME, value); -->
<Probe name="segger_trace" type="CONTINUOUS" datatype="NONE" units="NONE" enabled="true"/>
<Probe name="freertos_trace" type="CONTINUOUS" datatype="NONE" units="NONE" enabled="true"/>
</xSCOPEconfig>

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FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/RTOSDemo/src/main.xc vendored Normal file
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// Copyright (c) 2019, XMOS Ltd, All rights reserved
#include <platform.h>
#include "rtos_printf.h"
#include "testing_main.h"
extern "C" {
int c_main( int tile, chanend xTile0Chan, chanend xTile1Chan, chanend xTile2Chan, chanend xTile3Chan );
}
void xctask1(void)
{
rtos_printf("xc task 1 on core %u\n", get_logical_core_id());
for (;;);
}
void xctask2(void)
{
rtos_printf("xc task 2 on core %u\n", get_logical_core_id());
for (;;);
}
int main(void)
{
chan c_t0_t1;
par {
on tile[0]:
{
par {
#if ( testingmainENABLE_XC_TASKS == 1 )
xctask1();
#endif
c_main( 0, null, c_t0_t1, null, null );
}
}
#if ( testingmainNUM_TILES > 1 )
on tile[1]:
{
par {
#if ( testingmainENABLE_XC_TASKS == 1 )
xctask2();
#endif
c_main( 1, c_t0_t1, null, null, null );
}
}
#endif
}
return 0;
}

16
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/RTOSDemo/src/partest/mab_led_driver.xc vendored Normal file
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// Copyright (c) 2020, XMOS Ltd, All rights reserved
#include <stdint.h>
#include <platform.h>
out port p_led_0_4 = PORT_LEDS;
#define MAX(a,b) ((a) > (b) ? (a) : (b))
#define LED_COUNT 4
void led_driver(uint16_t led_value)
{
p_led_0_4 <: 0;
p_led_0_4 <: (unsigned)( led_value & 0x000F );
}

115
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/RTOSDemo/src/partest/partest.c vendored Normal file
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// Copyright (c) 2020, XMOS Ltd, All rights reserved
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "portable.h"
#include <xcore/chanend.h>
#include <xcore/triggerable.h>
/* Demo application include files. */
#include "partest.h"
void led_driver(uint16_t led_value);
static chanend_t c_write;
static chanend_t c_read;
static int this_tile;
static uint16_t led_bitmap = 0xFFFF;
typedef enum {
LED_OFF = pdFALSE,
LED_ON = pdTRUE,
LED_TOGGLE
} led_value_t;
typedef union {
struct {
uint32_t tile : 8;
uint32_t led : 8;
led_value_t value : 8;
uint32_t reserved : 8;
};
uint32_t raw;
} led_cmd_t;
DEFINE_RTOS_INTERRUPT_CALLBACK( pxLEDUpdateISR, pvData )
{
led_cmd_t xCmd;
uint16_t mask;
(void) pvData;
//debug_printf("led isr\n");
xCmd.raw = chanend_in_word( c_read );
chanend_check_end_token( c_read );
//debug_printf("Received LED update from tile %x\n", xCmd.tile);
mask = 1 << xCmd.led;
if (xCmd.value == LED_ON)
{
led_bitmap |= mask;
}
else if (xCmd.value == LED_OFF)
{
led_bitmap &= mask;
}
else if (xCmd.value == LED_TOGGLE)
{
led_bitmap ^= mask;
}
led_driver( led_bitmap );
}
/* ParTest contains FreeRTOS standard parallel port IO routines. */
void vParTestInitialiseXCORE( int tile, chanend_t xTile0Chan, chanend_t xTile1Chan, chanend_t xTile2Chan, chanend_t xTile3Chan )
{
this_tile = tile;
if( tile == 0 )
{
c_read = chanend_alloc();
chanend_out_word(xTile1Chan, c_read);
c_write = chanend_alloc();
triggerable_setup_interrupt_callback( c_read, NULL, RTOS_INTERRUPT_CALLBACK( pxLEDUpdateISR ) );
triggerable_enable_trigger( c_read );
}
else
{
c_read = chanend_in_word(xTile0Chan);
c_write = chanend_alloc();
}
chanend_set_dest(c_write, c_read);
}
/*-----------------------------------------------------------*/
void vParTestSetLED( UBaseType_t uxLED, BaseType_t xValue )
{
uint32_t ulState;
//debug_printf("tile %d sending led\n", this_tile);
led_cmd_t xCmd;
xCmd.led = uxLED;
xCmd.value = xValue;
xCmd.tile = this_tile;
ulState = portDISABLE_INTERRUPTS();
chanend_out_word( c_write, xCmd.raw );
chanend_out_end_token( c_write );
portRESTORE_INTERRUPTS(ulState);
}
/*-----------------------------------------------------------*/
void vParTestToggleLED( UBaseType_t uxLED )
{
vParTestSetLED( uxLED, LED_TOGGLE );
}

104
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/RTOSDemo/src/regtest/prvRegisterCheck_asm1.S vendored Normal file
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// Copyright (c) 2019, XMOS Ltd, All rights reserved
.text
.issue_mode single
.globl prvRegisterCheck_asm1
.align 4
.type prvRegisterCheck_asm1,@function
.cc_top prvRegisterCheck_asm1.function,prvRegisterCheck_asm1
#define NSTACKWORDS 9
/*
void prvRegisterCheck_asm1( void );
*/
prvRegisterCheck_asm1:
ENTSP_lu6 NSTACKWORDS
stw r4, sp[1]
stw r5, sp[2]
stw r6, sp[3]
stw r7, sp[4]
stw r8, sp[5]
stw r9, sp[6]
stw r10, sp[7]
stw r11, sp[8]
/* Load known values */
/* Since eq can only do immediates 0-11, load values 0-11*/
ldc r0, 9
ldc r1, 3
ldc r2, 2
ldc r3, 11
ldc r4, 4
ldc r5, 6
ldc r6, 10
ldc r7, 8
ldc r8, 7
ldc r9, 1
ldc r10, 0
ldc r11, 5
forever:
/* Verify values are unchanged */
/* Since we cannot compare without clobbering, we will use r11 for
all comparisons and restore its value */
eq r11, r0, 9
bf r11, failure
eq r11, r1, 3
bf r11, failure
eq r11, r2, 2
bf r11, failure
eq r11, r3, 11
bf r11, failure
eq r11, r4, 4
bf r11, failure
eq r11, r5, 6
bf r11, failure
eq r11, r6, 10
bf r11, failure
eq r11, r7, 8
bf r11, failure
eq r11, r8, 7
bf r11, failure
eq r11, r9, 1
bf r11, failure
eq r11, r10, 0
bf r11, failure
/* r11 should equal 1; therefore, adding 4 to it should
make it 5, the expected value, for this final comparison */
add r11, r11, 4
eq r11, r11, 5
bf r11, failure
/* Repeat */
bu forever
failure:
ldw r4, sp[1]
ldw r5, sp[2]
ldw r6, sp[3]
ldw r7, sp[4]
ldw r8, sp[5]
ldw r9, sp[6]
ldw r10, sp[7]
ldw r11, sp[8]
retsp NSTACKWORDS
// RETURN_REG_HOLDER
.cc_bottom prvRegisterCheck_asm1.function
.set prvRegisterCheck_asm1.nstackwords,NSTACKWORDS
.globl prvRegisterCheck_asm1.nstackwords
.set prvRegisterCheck_asm1.maxcores,1
.globl prvRegisterCheck_asm1.maxcores
.set prvRegisterCheck_asm1.maxtimers,0
.globl prvRegisterCheck_asm1.maxtimers
.set prvRegisterCheck_asm1.maxchanends,0
.globl prvRegisterCheck_asm1.maxchanends
.Ltmp0:
.size prvRegisterCheck_asm1, .Ltmp0-prvRegisterCheck_asm1
.issue_mode single

136
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/RTOSDemo/src/regtest/prvRegisterCheck_asm2.S vendored Normal file
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// Copyright (c) 2019, XMOS Ltd, All rights reserved
.text
.issue_mode single
.globl prvRegisterCheck_asm2
.align 4
.type prvRegisterCheck_asm2,@function
.cc_top prvRegisterCheck_asm2.function,prvRegisterCheck_asm2
#define NSTACKWORDS 9
/*
void prvRegisterCheck_asm2( void );
*/
prvRegisterCheck_asm2:
ENTSP_lu6 NSTACKWORDS
stw r4, sp[1]
stw r5, sp[2]
stw r6, sp[3]
stw r7, sp[4]
stw r8, sp[5]
stw r9, sp[6]
stw r10, sp[7]
stw r11, sp[8]
/* load known values */
ldc r0, 0
mkmsk r1, 1
mkmsk r2, 2
mkmsk r3, 3
mkmsk r4, 4
mkmsk r5, 5
mkmsk r6, 6
mkmsk r7, 7
mkmsk r8, 8
mkmsk r9, 16
mkmsk r10, 24
mkmsk r11, 32
forever:
/* verify values are unchanged */
/* Since we cannot compare without clobbering, we will use r0 for
all comparisons and restore its value */
mkmsk r0, 1
eq r0, r0, r1
bt r0, .L0
bu failure
.L0:
mkmsk r0, 2
eq r0, r0, r2
bt r0, .L1
bu failure
.L1:
mkmsk r0, 3
eq r0, r0, r3
bt r0, .L2
bu failure
.L2:
mkmsk r0, 4
eq r0, r0, r4
bt r0, .L3
bu failure
.L3:
mkmsk r0, 5
eq r0, r0, r5
bt r0, .L4
bu failure
.L4:
mkmsk r0, 6
eq r0, r0, r6
bt r0, .L5
bu failure
.L5:
mkmsk r0, 7
eq r0, r0, r7
bt r0, .L6
bu failure
.L6:
mkmsk r0, 8
eq r0, r0, r8
bt r0, .L7
bu failure
.L7:
mkmsk r0, 16
eq r0, r0, r9
bt r0, .L8
bu failure
.L8:
mkmsk r0, 24
eq r0, r0, r10
bt r0, .L9
bu failure
.L9:
mkmsk r0, 32
eq r0, r0, r11
bt r0, .L10
bu failure
.L10:
/* r0 should equal 1; therefore, subtracting 1 to it should
make it 0, the expected value, for this final comparison */
sub r0, r0, 1
eq r0, r0, 0
bt r0, .L11
bu failure
.L11:
/* repeat */
bu forever
failure:
ldw r4, sp[1]
ldw r5, sp[2]
ldw r6, sp[3]
ldw r7, sp[4]
ldw r8, sp[5]
ldw r9, sp[6]
ldw r10, sp[7]
ldw r11, sp[8]
retsp NSTACKWORDS
// RETURN_REG_HOLDER
.cc_bottom prvRegisterCheck_asm2.function
.set prvRegisterCheck_asm2.nstackwords,NSTACKWORDS
.globl prvRegisterCheck_asm2.nstackwords
.set prvRegisterCheck_asm2.maxcores,1
.globl prvRegisterCheck_asm2.maxcores
.set prvRegisterCheck_asm2.maxtimers,0
.globl prvRegisterCheck_asm2.maxtimers
.set prvRegisterCheck_asm2.maxchanends,0
.globl prvRegisterCheck_asm2.maxchanends
.Ltmp0:
.size prvRegisterCheck_asm2, .Ltmp0-prvRegisterCheck_asm2
.issue_mode single

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FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/RTOSDemo/src/regtest/regtest.c vendored Normal file
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// Copyright (c) 2020, XMOS Ltd, All rights reserved
/*
* "Reg test" tasks - These fill the registers with known values, then check
* that each register maintains its expected value for the lifetime of the
* task. Each task uses a different set of values. The reg test tasks execute
* with a very low priority, so they get preempted very frequently. A register
* containing an unexpected value is indicative of an error in the context
* switching mechanism.
*/
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo file headers. */
#include "regtest.h"
/*
* Test tasks that sets registers to known values, then checks to ensure the
* values remain as expected. Test 1 and test 2 use different values.
*/
static void prvRegisterCheck1( void *pvParameters );
static void prvRegisterCheck2( void *pvParameters );
/* Set to a non zero value should an error be found. */
BaseType_t xRegTestError = pdFALSE;
/*-----------------------------------------------------------*/
void vStartRegTestTasks( UBaseType_t uxPriority )
{
xTaskCreate( prvRegisterCheck1, "Reg1", configMINIMAL_STACK_SIZE, NULL, uxPriority, NULL );
xTaskCreate( prvRegisterCheck2, "Reg2", configMINIMAL_STACK_SIZE, NULL, uxPriority, NULL );
}
/*-----------------------------------------------------------*/
BaseType_t xAreRegTestTasksStillRunning( void )
{
BaseType_t xReturn;
/* If a register was found to contain an unexpected value then the
xRegTestError variable would have been set to a non zero value. */
if( xRegTestError == pdFALSE )
{
xReturn = pdTRUE;
}
else
{
xReturn = pdFALSE;
}
return xReturn;
}
/*-----------------------------------------------------------*/
static void prvRegisterCheck1( void *pvParameters )
{
( void ) pvParameters;
prvRegisterCheck_asm1();
xRegTestError = pdTRUE;
for(;;);
/* If we get here, then the check has failed */
}
static void prvRegisterCheck2( void *pvParameters )
{
( void ) pvParameters;
prvRegisterCheck_asm2();
xRegTestError = pdTRUE;
for(;;);
/* If we get here, then the check has failed */
}

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// Copyright (c) 2020, XMOS Ltd, All rights reserved
#ifndef REGTEST_H_
#define REGTEST_H_
void vStartRegTestTasks( UBaseType_t uxPriority );
BaseType_t xAreRegTestTasksStillRunning( void );
/* These functions load known values into all general purpose registers
and verify that their integrity remains intact.
If this function ever returns, register values were unexpectedly changed */
void prvRegisterCheck_asm1( void );
void prvRegisterCheck_asm2( void );
#endif /* REGTEST_H_ */

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// Copyright (c) 2019, XMOS Ltd, All rights reserved
#include <stdlib.h>
#include "FreeRTOS.h"
#include "task.h"
#include <xcore/chanend.h>
#include "limits.h"
#include "testing_main.h"
/* Includes for actual tests */
#include "AbortDelay.h"
#include "BlockQ.h"
#include "dynamic.h"
#include "countsem.h"
#include "blocktim.h"
#include "death.h"
#include "EventGroupsDemo.h"
#include "flop.h"
#include "GenQTest.h"
#include "integer.h"
#include "IntQueue.h"
#include "IntSemTest.h"
#include "MessageBufferDemo.h"
#include "partest.h"
#include "PollQ.h"
#include "QPeek.h"
#include "QueueOverwrite.h"
#include "QueueSet.h"
#include "QueueSetPolling.h"
#include "recmutex.h"
#include "semtest.h"
#include "StreamBufferDemo.h"
#include "StreamBufferInterrupt.h"
#include "TaskNotify.h"
#include "TaskNotifyArray.h"
#include "TimerDemo.h"
#include "regtest.h"
void vParTestInitialiseXCORE( int tile, chanend_t xTile0Chan, chanend_t xTile1Chan, chanend_t xTile2Chan, chanend_t xTile3Chan );
#define vParTestInitialise vParTestInitialiseXCORE
/* Flag for errors occuring locally */
static BaseType_t xMallocError = pdFALSE;
static BaseType_t xIdleError = pdFALSE;
static BaseType_t xStackOverflowError = pdFALSE;
/* The xcore tile this instance is running on */
static int tile_g;
/* Idle hook counter */
static unsigned long ulCnt = 0;
#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 )
/*
* The 'Check' task function. Which verifies that no errors are present.
*/
static void vErrorChecks( void *pvParameters );
#endif
#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
/*
* The task that implements the Blinky demo.
*/
static void vBlinkyDemo( void *pvParameters );
#endif
/*
* The idle task hook - in which the integer task is implemented. See the
* explanation at the top of the file.
*/
void vApplicationIdleHook( void );
#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 )
/*
* Checks the unique counts of other tasks to ensure they are still operational.
*/
static uint32_t prvCheckTasks( int tile, uint32_t ulErrorFound );
#endif
/*
* Setup the hardware.
*/
static void prvSetupHardware( int tile, chanend_t xTile0Chan, chanend_t xTile1Chan, chanend_t xTile2Chan, chanend_t xTile3Chan );
/*-----------------------------------------------------------*/
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
StackType_t **ppxIdleTaskStackBuffer,
uint32_t *pulIdleTaskStackSize )
{
static StaticTask_t xIdleTaskTCB;
static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
*ppxIdleTaskStackBuffer = uxIdleTaskStack;
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}
/*-----------------------------------------------------------*/
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
StackType_t **ppxTimerTaskStackBuffer,
uint32_t *pulTimerTaskStackSize )
{
static StaticTask_t xTimerTaskTCB;
static StackType_t uxTimerTaskStack[ configMINIMAL_STACK_SIZE ];
*ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
*ppxTimerTaskStackBuffer = uxTimerTaskStack;
*pulTimerTaskStackSize = configMINIMAL_STACK_SIZE;
}
/*-----------------------------------------------------------*/
int c_main( int tile, chanend_t xTile0Chan, chanend_t xTile1Chan, chanend_t xTile2Chan, chanend_t xTile3Chan )
{
prvSetupHardware( tile, xTile0Chan, xTile1Chan, xTile2Chan, xTile3Chan );
tile_g = tile;
#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
{
switch( tile )
{
case 0:
xTaskCreate( vBlinkyDemo, "Blinky", portTASK_STACK_DEPTH( vBlinkyDemo ), &tile, tskIDLE_PRIORITY, NULL );
break;
case 1:
xTaskCreate( vBlinkyDemo, "Blinky", portTASK_STACK_DEPTH( vBlinkyDemo ), &tile, tskIDLE_PRIORITY + 1, NULL );
break;
default:
_Exit(0); /* Invalid tile */
break;
}
}
#else
{
/* Create the standard demo tasks */
switch( tile )
{
case 0:
/* Tasks to only run on tile 0 go here */
#if( testingmainENABLE_ABORT_DELAY_TASKS == 1 )
vCreateAbortDelayTasks();
#endif
#if( testingmainENABLE_BLOCKING_QUEUE_TASKS == 1 )
vStartBlockingQueueTasks( mainBLOCKING_Q_TASKS_PRIORITY );
#endif
#if( testingmainENABLE_BLOCK_TIME_TASKS == 1 )
vCreateBlockTimeTasks();
#endif
#if( testingmainENABLE_COUNT_SEMAPHORE_TASKS == 1 )
vStartCountingSemaphoreTasks();
#endif
#if( testingmainENABLE_DYNAMIC_PRIORITY_TASKS == 1 )
vStartDynamicPriorityTasks();
#endif
#if( testingmainENABLE_EVENT_GROUP_TASKS == 1 )
vStartEventGroupTasks();
#endif
#if( testingmainENABLE_INTERRUPT_QUEUE_TASKS == 1 )
vStartInterruptQueueTasks();
#endif
#if( testingmainENABLE_FLOP_MATH_TASKS == 1 )
vStartMathTasks( mainFLOP_TASKS_PRIORITY );
#endif
#if( testingmainENABLE_INT_MATH_TASKS == 1 )
vStartIntegerMathTasks( mainINT_MATH_PRIORITY );
#endif
/* End tile 0 tasks */
#if ( testingmainNUM_TILES > 1 )
break;
case 1:
#endif
/* Tasks to only run on tile 1 go here,
but will run on tile 0 if tiles < 2 */
#if( testingmainENABLE_GENERIC_QUEUE_TASKS == 1 )
vStartGenericQueueTasks( mainGENERIC_Q_TASKS_PRIORITY );
#endif
#if( testingmainENABLE_INTERRUPT_SEMAPHORE_TASKS == 1 )
vStartInterruptSemaphoreTasks();
#endif
#if( testingmainENABLE_MESSAGE_BUFFER_TASKS == 1 )
vStartMessageBufferTasks( mainMESSAGE_BUFFER_STACK_SIZE );
#endif
#if( testingmainENABLE_POLLED_QUEUE_TASKS == 1 )
vStartPolledQueueTasks( mainPOLLED_QUEUE_TASKS_PRIORITY );
#endif
#if( testingmainENABLE_QUEUE_PEEK_TASKS == 1 )
vStartQueuePeekTasks();
#endif
#if( testingmainENABLE_QUEUE_OVERWRITE_TASKS == 1 )
vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_TASKS_PRIORITY );
#endif
#if( testingmainENABLE_QUEUE_SET_TASKS == 1 )
vStartQueueSetTasks();
#endif
#if( testingmainENABLE_QUEUE_SET_POLLING_TASKS == 1 )
vStartQueueSetPollingTask();
#endif
#if( testingmainENABLE_RECURSIVE_MUTEX_TASKS == 1 )
vStartRecursiveMutexTasks();
#endif
#if( testingmainENABLE_SEMAPHORE_TASKS == 1 )
vStartSemaphoreTasks( mainSEMAPHORE_TASKS_PRIORITY );
#endif
#if( testingmainENABLE_STREAMBUFFER_TASKS == 1 )
vStartStreamBufferTasks();
#endif
#if( testingmainENABLE_STREAMBUFFER_INTERRUPT_TASKS == 1 )
vStartStreamBufferInterruptDemo();
#endif
#if( testingmainENABLE_TASK_NOTIFY_TASKS == 1 )
vStartTaskNotifyTask();
#endif
#if( testingmainENABLE_TASK_NOTIFY_ARRAY_TASKS == 1 )
vStartTaskNotifyArrayTask();
#endif
#if( testingmainENABLE_TIMER_DEMO_TASKS == 1 )
vStartTimerDemoTask( mainTIMER_DEMO_TASK_FREQ );
#endif
/* End tile 1 tasks */
break;
default:
_Exit(0); /* Invalid tile */
break;
}
/* Tasks below here should be run on every tile */
#if( testingmainENABLE_REG_TEST_TASKS == 1 )
vStartRegTestTasks( mainREGTEST_PRIORITY );
#endif
/* Start the locally defined tasks. There is also a task implemented as
the idle hook. */
xTaskCreate( vErrorChecks, "Check", portTASK_STACK_DEPTH( vErrorChecks ), &tile, mainCHECK_TASK_PRIORITY, NULL );
/* Must be the last demo created. */
#if( testingmainENABLE_DEATH_TASKS == 1 )
vCreateSuicidalTasks( mainDEATH_PRIORITY );
#endif
}
#endif /* #if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 ) */
/* All the tasks have been created - start the scheduler. */
rtos_printf( "Starting Scheduler\n" );
vTaskStartScheduler();
/* Should not reach here! */
for( ;; );
}
/*-----------------------------------------------------------*/
#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
static void vBlinkyDemo( void *pvParameters )
{
int tile = ( ( int * ) pvParameters )[0];
for( ;; )
{
/* Wait for a second. */
vTaskDelay( pdMS_TO_TICKS( 1000 ));
/* Toggle the LED each cycle round. */
vParTestToggleLED( tile );
}
}
#endif
/*-----------------------------------------------------------*/
#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 )
static void vErrorChecks( void *pvParameters )
{
TickType_t xDelayPeriod = mainCHECK_PERIOD;
TickType_t xLastExecutionTime;
uint32_t ulErrorFound = 0, ulLastErrorFound = 0;
int tile = ( ( int * ) pvParameters )[0];
int i = 0;
xLastExecutionTime = xTaskGetTickCount();
for( ;; )
{
/* Delay until it is time to execute again. The delay period is
shorter following an error. */
vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
if( xDelayPeriod == mainERROR_CHECK_PERIOD )
{
i++;
if( i == mainCHECK_PERIOD / mainERROR_CHECK_PERIOD )
{
i = 0;
}
}
if( i == 0)
{
/* Check all the demo application tasks are executing without
error. If an error is found the delay period is shortened - this
has the effect of increasing the flash rate of the 'check' task
LED. */
ulErrorFound = prvCheckTasks( tile, ulErrorFound );
if( ulLastErrorFound != ulErrorFound )
{
/* An error has been detected in one of the tasks - flash faster. */
xDelayPeriod = mainERROR_CHECK_PERIOD;
rtos_printf("An Error has occured on tile %d - %08x\n", tile, ulErrorFound);
ulLastErrorFound = ulErrorFound;
}
}
/* Toggle the LED each cycle round. */
vParTestToggleLED( tile );
}
}
#endif
/*-----------------------------------------------------------*/
/* Setup any hardware specific to tests here */
static void prvSetupHardware( int tile, chanend_t xTile0Chan, chanend_t xTile1Chan, chanend_t xTile2Chan, chanend_t xTile3Chan )
{
vParTestInitialise( tile, xTile0Chan, xTile1Chan, xTile2Chan, xTile3Chan );
}
/*-----------------------------------------------------------*/
#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 )
static uint32_t prvCheckTasks( int tile, uint32_t ulErrorFound )
{
switch( tile )
{
case 0:
/* Checks to only run on tile 0 go here */
#if( testingmainENABLE_ABORT_DELAY_TASKS == 1 )
if( xAreAbortDelayTestTasksStillRunning() != pdTRUE )
{
rtos_printf( "Abort delay task failed\n" );
ulErrorFound |= 1UL << 0UL;
}
#endif
#if( testingmainENABLE_BLOCKING_QUEUE_TASKS == 1 )
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
rtos_printf( "Blocking queues task failed\n" );
ulErrorFound |= 1UL << 1UL;
}
#endif
#if( testingmainENABLE_BLOCK_TIME_TASKS == 1 )
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
rtos_printf( "Block time task failed\n" );
ulErrorFound |= 1UL << 2UL;
}
#endif
#if( testingmainENABLE_COUNT_SEMAPHORE_TASKS == 1 )
if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
{
rtos_printf( "Counting semaphore task failed\n" );
ulErrorFound |= 1UL << 3UL;
}
#endif
#if( testingmainENABLE_DYNAMIC_PRIORITY_TASKS == 1 )
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
{
rtos_printf( "Dynamic priority task failed\n" );
ulErrorFound |= 1UL << 4UL;
}
#endif
#if( testingmainENABLE_EVENT_GROUP_TASKS == 1 )
if( xAreEventGroupTasksStillRunning() != pdTRUE )
{
rtos_printf( "Event groups task failed\n" );
ulErrorFound |= 1UL << 5UL;
}
#endif
#if( testingmainENABLE_INTERRUPT_QUEUE_TASKS == 1 )
if( xAreIntQueueTasksStillRunning() != pdTRUE )
{
rtos_printf( "Interrupt queue task failed\n" );
ulErrorFound |= 1UL << 6UL;
}
#endif
#if( testingmainENABLE_FLOP_MATH_TASKS == 1 )
if( xAreMathsTaskStillRunning() != pdTRUE )
{
rtos_printf( "Float math task failed\n" );
ulErrorFound |= 1UL << 21UL;
}
#endif
#if( testingmainENABLE_INT_MATH_TASKS == 1 )
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
rtos_printf( "Integer math task failed\n" );
ulErrorFound |= 1UL << 22UL;
}
#endif
/* End tile 0 checks */
#if ( testingmainNUM_TILES > 1 )
break;
case 1:
#endif
/* Checks to only run on tile 1 go here,
but will run on tile 0 if tiles < 2 */
#if( testingmainENABLE_GENERIC_QUEUE_TASKS == 1 )
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
rtos_printf( "Generic queue task failed\n" );
ulErrorFound |= 1UL << 7UL;
}
#endif
#if( testingmainENABLE_INTERRUPT_SEMAPHORE_TASKS == 1 )
if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
{
rtos_printf( "Interrupt semaphore task failed\n" );
ulErrorFound |= 1UL << 8UL;
}
#endif
#if( testingmainENABLE_MESSAGE_BUFFER_TASKS == 1 )
if( xAreMessageBufferTasksStillRunning() != pdTRUE )
{
rtos_printf( "Message buffer task failed\n" );
ulErrorFound |= 1UL << 9UL;
}
#endif
#if( testingmainENABLE_POLLED_QUEUE_TASKS == 1 )
if( xArePollingQueuesStillRunning() != pdTRUE )
{
rtos_printf( "Polling queues task failed\n" );
ulErrorFound |= 1UL << 10UL;
}
#endif
#if( testingmainENABLE_QUEUE_PEEK_TASKS == 1 )
if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
rtos_printf( "Queue peek task failed\n" );
ulErrorFound |= 1UL << 11UL;
}
#endif
#if( testingmainENABLE_QUEUE_OVERWRITE_TASKS == 1 )
if( xIsQueueOverwriteTaskStillRunning() != pdTRUE )
{
rtos_printf( "Queue overwrite task failed\n" );
ulErrorFound |= 1UL << 12UL;
}
#endif
#if( testingmainENABLE_QUEUE_SET_TASKS == 1 )
if( xAreQueueSetTasksStillRunning() != pdTRUE )
{
rtos_printf( "Queue set task failed\n" );
ulErrorFound |= 1UL << 13UL;
}
#endif
#if( testingmainENABLE_QUEUE_SET_POLLING_TASKS == 1 )
if( xAreQueueSetPollTasksStillRunning() != pdTRUE )
{
rtos_printf( "Queue set poll task failed\n" );
ulErrorFound |= 1UL << 14UL;
}
#endif
#if( testingmainENABLE_RECURSIVE_MUTEX_TASKS == 1 )
if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
rtos_printf( "Recursive mutex task failed\n" );
ulErrorFound |= 1UL << 15UL;
}
#endif
#if( testingmainENABLE_SEMAPHORE_TASKS == 1 )
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
rtos_printf( "Semaphore task failed\n" );
ulErrorFound |= 1UL << 16UL;
}
#endif
#if( testingmainENABLE_STREAMBUFFER_TASKS == 1 )
if( xAreStreamBufferTasksStillRunning() != pdTRUE )
{
rtos_printf( "Streambuffer task failed\n" );
ulErrorFound |= 1UL << 17UL;
}
#endif
#if( testingmainENABLE_STREAMBUFFER_INTERRUPT_TASKS == 1 )
if( xIsInterruptStreamBufferDemoStillRunning() != pdTRUE )
{
rtos_printf( "ISR Streambuffer task failed\n" );
ulErrorFound |= 1UL << 18UL;
}
#endif
#if( testingmainENABLE_TASK_NOTIFY_TASKS == 1 )
if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
{
rtos_printf( "Task notification task failed\n" );
ulErrorFound |= 1UL << 19UL;
}
#endif
#if( testingmainENABLE_TASK_NOTIFY_ARRAY_TASKS == 1 )
if( xAreTaskNotificationArrayTasksStillRunning() != pdTRUE )
{
rtos_printf( "Task notification array task failed\n" );
ulErrorFound |= 1UL << 28UL;
}
#endif
#if( testingmainENABLE_TIMER_DEMO_TASKS == 1 )
if( xAreTimerDemoTasksStillRunning( mainTIMER_DEMO_TASK_FREQ ) != pdTRUE )
{
rtos_printf( "Timer demo task failed\n" );
ulErrorFound |= 1UL << 20UL;
}
#endif
/* End tile 1 checks */
break;
default:
_Exit(0); /* Invalid tile */
break;
}
/* Tasks below here should be run on every tile */
#if( testingmainENABLE_DEATH_TASKS == 1 )
if( xIsCreateTaskStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 23UL;
rtos_printf( "Death task failed\n" );
}
#endif
#if( testingmainENABLE_REG_TEST_TASKS == 1 )
if( xAreRegTestTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 24UL;
rtos_printf( "Regtest task failed\n" );
}
#endif
if( xMallocError != pdFALSE )
{
ulErrorFound |= 1UL << 25UL;
rtos_printf( "Malloc failed\n" );
}
if( xStackOverflowError != pdFALSE )
{
ulErrorFound |= 1UL << 26UL;
rtos_printf( "Stack overflow detected\n" );
}
if( xIdleError != pdFALSE )
{
ulErrorFound |= 1UL << 27UL;
rtos_printf( "Idle task math failed\n" );
}
return ulErrorFound;
}
#endif
/*-----------------------------------------------------------*/
void vApplicationMallocFailedHook( void )
{
/* vApplicationMallocFailedHook() will only be called if
configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
function that will get called if a call to pvPortMalloc() fails.
pvPortMalloc() is called internally by the kernel whenever a task, queue,
timer or semaphore is created. It is also called by various parts of the
demo application. If heap_1.c or heap_2.c are used, then the size of the
heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
to query the size of free heap space that remains (although it does not
provide information on how the remaining heap might be fragmented). */
rtos_printf( "Malloc Failed\n" );
uint32_t ulState = portDISABLE_INTERRUPTS();
xMallocError = pdTRUE;
portRESTORE_INTERRUPTS( ulState );
for( ;; );
}
/*-----------------------------------------------------------*/
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *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. */
rtos_printf("Stack Overflow %s\n", pcTaskName );
uint32_t ulState = portDISABLE_INTERRUPTS();
xStackOverflowError = pdTRUE;
portRESTORE_INTERRUPTS( ulState );
for( ;; );
}
/*-----------------------------------------------------------*/
void vApplicationMinimalIdleHook( void )
{
//TaskStatus_t status;
//vTaskGetInfo(NULL, &status, pdTRUE, eInvalid);
//rtos_printf("%s on Core %u\n", status.pcTaskName, portGET_CORE_ID());
}
/*-----------------------------------------------------------*/
void vApplicationIdleHook( void )
{
volatile BaseType_t xValue;
uint32_t ulState;
xValue = intCONST1;
xValue += intCONST2;
xValue *= intCONST3;
xValue /= intCONST4;
if( xValue != intEXPECTED_ANSWER )
{
rtos_printf("Error Occured at Idle Count: %u\n", ulCnt);
xIdleError = pdTRUE;
}
#if( configUSE_PREEMPTION == 0 )
{
taskYIELD();
}
#endif
ulState = portDISABLE_INTERRUPTS();
ulCnt++;
portRESTORE_INTERRUPTS(ulState);
}
/*-----------------------------------------------------------*/
void vApplicationTickHook( void )
{
#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 )
{
switch (tile_g)
{
case 0:
#if( testingmainENABLE_EVENT_GROUP_TASKS == 1 )
/* Call the periodic event group from ISR demo. */
vPeriodicEventGroupsProcessing();
#endif
#if ( testingmainNUM_TILES > 1 )
break;
case 1:
#endif
#if( testingmainENABLE_QUEUE_OVERWRITE_TASKS == 1 )
/* Call the periodic queue overwrite from ISR demo. */
vQueueOverwritePeriodicISRDemo();
#endif
#if( testingmainENABLE_INTERRUPT_SEMAPHORE_TASKS == 1 )
/* Use mutexes from interrupts. */
vInterruptSemaphorePeriodicTest();
#endif
#if( testingmainENABLE_QUEUE_SET_TASKS == 1 )
/* Use queue sets from interrupts. */
vQueueSetAccessQueueSetFromISR();
#endif
#if( testingmainENABLE_QUEUE_SET_POLLING_TASKS == 1 )
/* Use queue sets from interrupts. */
vQueueSetPollingInterruptAccess();
#endif
#if( testingmainENABLE_TIMER_DEMO_TASKS == 1 )
/* The full demo includes a software timer demo/test that requires
prodding periodically from the tick interrupt. */
vTimerPeriodicISRTests();
#endif
#if( testingmainENABLE_TASK_NOTIFY_TASKS == 1 )
/* Use task notifications from an interrupt. */
xNotifyTaskFromISR();
#endif
#if( testingmainENABLE_TASK_NOTIFY_ARRAY_TASKS == 1 )
/* Use task notifications from an interrupt. */
xNotifyArrayTaskFromISR();
#endif
#if( testingmainENABLE_STREAMBUFFER_TASKS == 1 )
/* Writes to stream buffer byte by byte to test the stream buffer trigger
level functionality. */
vPeriodicStreamBufferProcessing();
#endif
#if( testingmainENABLE_STREAMBUFFER_INTERRUPT_TASKS == 1 )
/* 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();
#endif
break;
}
}
#endif /* #if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 ) */
}
/*-----------------------------------------------------------*/

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// Copyright (c) 2019, XMOS Ltd, All rights reserved
#ifndef TESTING_MAIN_H_
#define TESTING_MAIN_H_
/* Controls whether to create blinky demo or the full demo. */
#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 0
#define testingmainNUM_TILES 2
#define testingmainENABLE_XC_TASKS 1
/* TODO: Update to be package specific check */
#if ( testingmainNUM_TILES > 2 )
#error Tiles must be less than 3.
#endif
/* Tests to be run */
/*** These tests run on all tiles ***/
#define testingmainENABLE_REG_TEST_TASKS 1
/* Death cannot be run with any demo that creates or destroys tasks */
#define testingmainENABLE_DEATH_TASKS 1
/*** These tests run on tile 0 ***/
#define testingmainENABLE_ABORT_DELAY_TASKS 1
#define testingmainENABLE_BLOCKING_QUEUE_TASKS 1
#define testingmainENABLE_BLOCK_TIME_TASKS 1
#define testingmainENABLE_COUNT_SEMAPHORE_TASKS 1
#define testingmainENABLE_DYNAMIC_PRIORITY_TASKS 1
#define testingmainENABLE_EVENT_GROUP_TASKS 1
#define testingmainENABLE_INTERRUPT_QUEUE_TASKS 1
#define testingmainENABLE_FLOP_MATH_TASKS 1
#define testingmainENABLE_INT_MATH_TASKS 1
/*** These tests run on tile 1 ***/
#define testingmainENABLE_GENERIC_QUEUE_TASKS 1
#define testingmainENABLE_INTERRUPT_SEMAPHORE_TASKS 1
#define testingmainENABLE_MESSAGE_BUFFER_TASKS 1
#define testingmainENABLE_POLLED_QUEUE_TASKS 1
#define testingmainENABLE_QUEUE_PEEK_TASKS 1
#define testingmainENABLE_QUEUE_OVERWRITE_TASKS 1
#define testingmainENABLE_QUEUE_SET_TASKS 1
#define testingmainENABLE_QUEUE_SET_POLLING_TASKS 1
#define testingmainENABLE_RECURSIVE_MUTEX_TASKS 1
#define testingmainENABLE_SEMAPHORE_TASKS 1
#define testingmainENABLE_STREAMBUFFER_TASKS 1
#define testingmainENABLE_STREAMBUFFER_INTERRUPT_TASKS 1
#define testingmainENABLE_TASK_NOTIFY_TASKS 1
#define testingmainENABLE_TASK_NOTIFY_ARRAY_TASKS 1
#define testingmainENABLE_TIMER_DEMO_TASKS 1
/*** These tests run on all tiles ***/
#define mainREGTEST_PRIORITY ( tskIDLE_PRIORITY + 0 )
/* Death cannot be run with any demo that creates or destroys tasks */
#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
/* Priorities assigned to demo application tasks. */
#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
/*** These tests run on tile 0 ***/
#define mainBLOCKING_Q_TASKS_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainINT_MATH_PRIORITY ( tskIDLE_PRIORITY + 0 )
#define mainFLOP_TASKS_PRIORITY ( tskIDLE_PRIORITY + 0 )
/*** These tests run on tile 1 ***/
#define mainGENERIC_Q_TASKS_PRIORITY ( tskIDLE_PRIORITY + 0 )
#define mainPOLLED_QUEUE_TASKS_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_OVERWRITE_TASKS_PRIORITY ( tskIDLE_PRIORITY + 0 )
#define mainSEMAPHORE_TASKS_PRIORITY ( tskIDLE_PRIORITY + 2 )
/* Other demo application specific defines */
#define mainMESSAGE_BUFFER_STACK_SIZE configMINIMAL_STACK_SIZE
#define mainTIMER_DEMO_TASK_FREQ ( ( TickType_t ) 10000 / configTICK_RATE_HZ )
#define tmrTIMER_TEST_TASK_STACK_SIZE portTASK_STACK_DEPTH(prvTimerTestTask)
/* The constants used in the idle task calculation. */
#define intCONST1 ( ( BaseType_t ) 346 )
#define intCONST2 ( ( BaseType_t ) 74324 )
#define intCONST3 ( ( BaseType_t ) -2 )
#define intCONST4 ( ( BaseType_t ) 9 )
#define intEXPECTED_ANSWER ( ( BaseType_t ) ( ( intCONST1 + intCONST2 ) * intCONST3 ) / intCONST4 )
/* The check task periodically checks that all the other tasks
are operating without error. If no errors are found the LED
is toggled with mainCHECK_PERIOD frequency. If an error is found
then the toggle rate changes to mainERROR_CHECK_PERIOD. */
#define mainCHECK_PERIOD pdMS_TO_TICKS(3000)
#define mainERROR_CHECK_PERIOD pdMS_TO_TICKS(200)
#endif /* TESTING_MAIN_H_ */

874
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@ -0,0 +1,874 @@
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44
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/lib_rtos_support/.project vendored Normal file
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@ -0,0 +1,44 @@
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>lib_rtos_support</name>
<comment></comment>
<projects>
<project>lib_xcore_c</project>
<project>FreeRTOS</project>
</projects>
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<buildCommand>
<name>com.xmos.cdt.core.ProjectInfoSyncBuilder</name>
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<buildCommand>
<name>com.xmos.cdt.core.ModulePathBuilder</name>
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<buildCommand>
<name>com.xmos.cdt.core.LegacyProjectCheckerBuilder</name>
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<triggers></triggers>
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<triggers>full,incremental,</triggers>
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54
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/lib_rtos_support/api/rtos_cores.h vendored Normal file
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// Copyright 2019-2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
#ifndef RTOS_CORES_H_
#define RTOS_CORES_H_
/* The maximum number of cores an SMP RTOS may use */
#define RTOS_MAX_CORE_COUNT 8
#if __XC__
extern "C" {
#endif //__XC__
/**
* The RTOS must call this once for each core it
* starts its scheduler on.
*
* \returns the ID of the core it is called on
*/
int rtos_core_register(void);
/**
* Returns the ID of the calling core.
*
* rtos_core_register() must have been previously
* called on the calling core.
*
* \returns the ID of the calling core.
*/
int rtos_core_id_get(void);
/**
* Translates an RTOS core ID into the logical "xcore"
* core ID.
*
* \param core_id An RTOS core ID
*
* \returns the logical "xcore" core ID
*/
int rtos_logical_core_id_get(int core_id);
/**
* Returns the number of cores the RTOS is currently
* running on.
*
* \returns the number of cores the RTOS is running on.
*/
int rtos_core_count(void);
#ifdef __XC__
}
#endif //__XC__
#endif /* RTOS_CORES_H_ */

225
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/lib_rtos_support/api/rtos_interrupt.h vendored Normal file
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// Copyright 2019-2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
#ifndef RTOS_INTERRUPT_H_
#define RTOS_INTERRUPT_H_
#include <stdint.h>
#include <xs1.h>
#include "rtos_interrupt_impl.h"
#include "rtos_macros.h"
/** Define the function that enters the RTOS kernel and begins the scheduler.
* This should only be used by the RTOS entry function that starts the scheduler.
*
* This macro will define two functions for you:
* - An ordinary function that may be called directly
* Its signature will be '*ret* *root_function* ( *...* )'
* - A function that will also reserve space for and set up a stack
* for handling RTOS interrupts.
* The function name is accessed using the RTOS_KERNEL_ENTRY() macro
*
* You would normally use this macro only on the definition of the RTOS entry
* function that starts the scheduler.
*
* The interrupt stack (kernel stack) is created on the core's stack with the
* ksp and sp being modified as necessary. When the function exits, neither the
* kernel stack nor ksp is valid.
*
* The kernel stack allocated has enough space for the interrupt_callback_t
* function (+callees) in the rtos_isr 'group'. The use of the 'group' identifier
* allows a kernel stack to be no larger than that required by its greediest member.
*
* **The kernel stack is not re-entrant so kernel mode must not be masked
* from within an interrupt_callback_t**
*
* Example usage: \code
* DEFINE_RTOS_KERNEL_ENTRY(void, vPortStartSchedulerOnCore, void)
* {
* // This is the body of 'void vPortStartSchedulerOnCore(void)'
* }
* \endcode
*
* \param ret the return type of the ordinary function
* \param root_function the name of the ordinary function
* \param ... the arguments of the ordinary function
*/
#define DEFINE_RTOS_KERNEL_ENTRY(ret, root_function, ...) \
_DEFINE_RTOS_KERNEL_ENTRY(ret, root_function, __VA_ARGS__)
/** Declare an RTOS interrupt permitting function
*
* Use this macro when you require a declaration of your RTOS kernel entry function.
* This should only be used by the RTOS entry function that starts the scheduler.
*
* Example usage: \code
* // In another file:
* // DEFINE_RTOS_KERNEL_ENTRY(void, vPortStartSchedulerOnCore, void) { ... }
* DECLARE_RTOS_KERNEL_ENTRY(void, vPortStartSchedulerOnCore, void);
* ...
* par {
* RTOS_KERNEL_ENTRY(vPortStartSchedulerOnCore)();
* }
* \endcode
*
* \param ret the return type of the ordinary function
* \param root_function the name of the ordinary function
* \param ... the arguments of the ordinary function
*/
#define DECLARE_RTOS_KERNEL_ENTRY(ret, root_function, ...) \
_XCORE_DECLARE_INTERRUPT_PERMITTED(ret, root_function, __VA_ARGS__)
/** The name of the defined RTOS kernel entry function
*
* Use this macro for retriving the name of the declared RTOS kernel entry function.
* This is the name used to invoke the function.
*
* \return the name of the defined kernel entry function
*/
#define RTOS_KERNEL_ENTRY(root_function) _XCORE_INTERRUPT_PERMITTED(root_function)
/** Define an RTOS interrupt handling function
*
* This macro will define two functions for you:
* - An ordinary function that may be called directly
* Its signature will be 'void *intrpt* ( void\* *data* )'
* - An interrupt_callback_t function for passing to a res_setup_interrupt_callback function.
* The interrupt_callback_t function name is accessed using the RTOS_INTERRUPT_CALLBACK() macro
*
* **The kernel stack is not re-entrant so kernel mode must not be masked
* from within an interrupt_callback_t**
*
* Example usage: \code
* DEFINE_RTOS_INTERRUPT_CALLBACK(myfunc, arg)
* {
* // This is the body of 'void myfunc(void* arg)'
* }
* \endcode
*
* \param intrpt this is the name of the ordinary function
* \param data the name to use for the void* argument
*/
#define DEFINE_RTOS_INTERRUPT_CALLBACK(intrpt, data) \
_DEFINE_RTOS_INTERRUPT_CALLBACK(intrpt, data)
/** Declare an RTOS interrupt handling function
*
* Use this macro when you require a declaration of your interrupt function types
*
* Example usage: \code
* DECLARE_RTOS_INTERRUPT_CALLBACK(myfunc, arg);
* chanend_setup_interrupt_callback(c, 0 , RTOS_INTERRUPT_CALLBACK(myfunc));
* \endcode
*
* \param intrpt this is the name of the ordinary function
* \param data the name to use for the void* argument
*/
#define DECLARE_RTOS_INTERRUPT_CALLBACK(intrpt, data) \
_DECLARE_RTOS_INTERRUPT_CALLBACK(intrpt, data)
/** The name of the defined 'interrupt_callback_t' function
*
* Use this macro for retriving the name of the declared RTOS interrupt callback function.
* This is the name that is passed to *res*_setup_interrupt_callback() for registration.
*
* \return the name of the defined interrupt_callback_t function
*/
#define RTOS_INTERRUPT_CALLBACK(intrpt) _XCORE_INTERRUPT_CALLBACK(intrpt)
/**
* This function gets the current interrupt mask.
* A non-zero mask value means that interrupts are enabled.
*
* \returns the current interrupt mask.
*/
inline uint32_t rtos_interrupt_mask_get(void)
{
uint32_t mask;
asm volatile(
"getsr r11," RTOS_STRINGIFY(XS1_SR_IEBLE_MASK) "\n"
"mov %0, r11"
: "=r"(mask)
: /* no inputs */
: /* clobbers */ "r11"
);
return mask;
}
/**
* This function masks (disables) all interrupts on the
* calling core.
*
* \returns the previous value of the interrupt mask.
* This value can be passed to rtos_interrupt_mask_set()
* to restore the interrupt mask to its previous state.
*/
inline uint32_t rtos_interrupt_mask_all(void)
{
uint32_t mask;
asm volatile(
"getsr r11," RTOS_STRINGIFY(XS1_SR_IEBLE_MASK) "\n"
"mov %0, r11\n"
"clrsr " RTOS_STRINGIFY(XS1_SR_IEBLE_MASK)
: "=r"(mask)
: /* no inputs */
: /* clobbers */ "r11", "memory"
);
return mask;
}
/**
* This function unmasks (enables) all interrupts on the
* calling core.
*/
inline void rtos_interrupt_unmask_all(void)
{
asm volatile(
"setsr" RTOS_STRINGIFY(XS1_SR_IEBLE_MASK)
: /* no outputs */
: /* no inputs */
: /* clobbers */ "memory"
);
}
/**
* This function sets the interrupt mask.
* A non-zero mask value unmasks (enables) interrupts.
*
* \param mask The value to set the interrupt mask to.
*/
inline void rtos_interrupt_mask_set(uint32_t mask)
{
if (mask != 0) {
rtos_interrupt_unmask_all();
}
}
/*
* This function checks to see if it is called from
* within an ISR.
*
* \returns non-zero when called from within an ISR or kcall.
*/
inline uint32_t rtos_isr_running(void)
{
uint32_t kernel_mode;
asm volatile(
"getsr r11," RTOS_STRINGIFY(XS1_SR_INK_MASK) "\n"
"mov %0, r11"
: "=r"(kernel_mode)
: /* no inputs */
: /* clobbers */ "r11"
);
return kernel_mode;
}
#endif /* RTOS_INTERRUPT_H_ */

84
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/lib_rtos_support/api/rtos_irq.h vendored Normal file
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// Copyright 2019-2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
#ifndef RTOS_IRQ_H_
#define RTOS_IRQ_H_
#include <xcore/chanend.h>
/**
* IRQ ISR callback function pointer type.
*
* ISRs registered with the RTOS IRQ system must be
* compatible with this type.
*/
typedef void (*rtos_irq_isr_t)( void *param );
/**
* This macro must precede the definition of ISRs that
* get registered with the RTOS IRQ system.
*
* It adds the function to the rtos_irq_isr function pointer
* group which allows the compiler to correctly calculate
* the stack size for ISRs.
*/
#define RTOS_IRQ_ISR_ATTR __attribute__((fptrgroup("rtos_irq_isr")))
/**
* This function sends an IRQ to an RTOS core. It may be called both by
* RTOS cores and non-RTOS cores. It must be called by a core on the
* same tile as the core being interrupted.
*
* \param core_id The core ID of the RTOS core to interrupt. The core must have
* previously called rtos_irq_enable.
* \param source_id The ID of source of the IRQ. When called by an RTOS core,
* this must be the core ID of the calling core.
* When called by a non-RTOS core then this must be an ID returned
* by rtos_irq_source_register().
*/
void rtos_irq(int core_id, int source_id);
/**
* This function sends an IRQ to a peripheral on a non-RTOS core.
* It must be called by an RTOS core. The non-RTOS core does not
* need to be on the same tile as the RTOS core.
*
* \param dest_chanend The channel end used by the peripheral to receive
* the interrupt.
*/
void rtos_irq_peripheral(chanend_t dest_chanend);
/**
* This function registers a non-RTOS IRQ source. The source ID
* returned must be passed to the non-RTOS peripheral that will be
* generating the IRQs. The peripheral can then subsequently send
* IRQs with rtos_irq().
*
* \param isr The interrupt service routine to run when the IRQ is received.
* \param param A pointer to user data to pass to the ISR.
* \param source_chanend The channel end to use to send the IRQ.
*
* \returns the IRQ source ID that may be passed to rtos_irq() when the
* peripheral needs to send an IRQ.
*/
int rtos_irq_register(rtos_irq_isr_t isr, void *data, chanend_t source_chanend);
/**
* This function enables the calling core to receive RTOS IRQs. It
* should be called once during initialization by each RTOS core
* after calling rtos_core_register().
*
* \param The total number of cores used by the RTOS.
*/
void rtos_irq_enable(int total_rtos_cores);
/**
* This function checks to see if the IRQ system is ready.
*
* \returns true if all of the cores have enabled IRQs. Otherwise false.
*/
int rtos_irq_ready(void);
#endif /* RTOS_IRQ_H_ */

76
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/lib_rtos_support/api/rtos_locks.h vendored Normal file
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// Copyright 2019-2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
#ifndef RTOS_LOCKS_H_
#define RTOS_LOCKS_H_
#if !defined(__XC__)
#include "rtos_support_rtos_config.h"
#include <xcore/lock.h>
#include <xcore/assert.h>
#ifndef RTOS_LOCK_COUNT
#error You must define RTOS_LOCK_COUNT in rtos_support_rtos_config.h
#endif
#if RTOS_LOCK_COUNT == 0
/* If the RTOS does not need any locks
* that is fine, but the IRQ functions still
* need one. */
#undef RTOS_LOCK_COUNT
#define RTOS_LOCK_COUNT 1
#endif
#if RTOS_LOCK_COUNT > 4
#error XCORE does not support more than 4 hardware locks
#endif
void rtos_locks_initialize(void);
inline int rtos_lock_acquire(int lock_id)
{
extern lock_t rtos_locks[RTOS_LOCK_COUNT];
extern int rtos_lock_counters[RTOS_LOCK_COUNT];
xassert(lock_id >= 0 && lock_id < RTOS_LOCK_COUNT);
if (rtos_locks[lock_id] != -1) {
lock_acquire(rtos_locks[lock_id]);
rtos_lock_counters[lock_id]++;
}
return rtos_lock_counters[lock_id];
}
/**
*
* \warning Be careful not to release a lock that the calling
* core does not own or else bad things will happen.
* Defining RTOS_LOCKS_SAFE to 1 will enable a check
* to see the lock is owned. If it is not it will
* throw an exception.
*/
inline int rtos_lock_release(int lock_id)
{
extern lock_t rtos_locks[RTOS_LOCK_COUNT];
extern int rtos_lock_counters[RTOS_LOCK_COUNT];
int counter = 0;
xassert(lock_id >= 0 && lock_id < RTOS_LOCK_COUNT);
if (rtos_locks[lock_id] != -1) {
#if RTOS_LOCKS_SAFE
lock_acquire(rtos_locks[lock_id]);
xassert(rtos_lock_counters[lock_id] > 0);
#endif
counter = --rtos_lock_counters[lock_id];
if (counter == 0) {
lock_release(rtos_locks[lock_id]);
}
}
return counter;
}
#endif // !defined(__XC__)
#endif /* RTOS_LOCKS_H_ */

39
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/lib_rtos_support/api/rtos_macros.h vendored Normal file
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// Copyright 2019-2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
#ifndef RTOS_MACROS_H_
#define RTOS_MACROS_H_
#include "rtos_support_rtos_config.h"
#define RTOS_STRINGIFY_I(...) #__VA_ARGS__
#define RTOS_STRINGIFY(...) RTOS_STRINGIFY_I(__VA_ARGS__)
/*
* Inserts a compile time memory barrier
*/
#define RTOS_MEMORY_BARRIER() asm volatile( "" ::: "memory" )
/*
* Returns the number of 32-bit stack words required by the given thread entry function.
*
* This will not just "work" if there is any recursion or function pointers in the thread.
* For function pointers the fptrgroup attribute may be used. For recursive functions, the
* "stackfunction" #pragma may be used.
*
* Example FreeRTOS usage:
* xTaskCreate( vTask, "task_name", RTOS_THREAD_STACK_SIZE(vTask), pvParameters, uxPriority, &pxTaskHandle );
*/
#define RTOS_THREAD_STACK_SIZE(thread_entry) \
({ \
uint32_t stack_size; \
asm volatile ( \
"ldc %0, " RTOS_STRINGIFY(thread_entry) ".nstackwords + " RTOS_STRINGIFY(RTOS_SUPPORT_INTERRUPT_STACK_GROWTH) "\n\t" \
: "=r"(stack_size) /* output 0 is stack_size */ \
: /* there are no inputs */ \
: /* nothing gets clobbered */ \
); \
stack_size; \
})
#endif /* RTOS_MACROS_H_ */

122
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/lib_rtos_support/api/rtos_printf.h vendored Normal file
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// Copyright 2019-2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
#ifndef _rtos_printf_h_
#define _rtos_printf_h_
/**
Debug Printing Module
=====================
This module provides a lightweight RTOS safe printf function that can
be enabled or disabled via configuration macros. Code can be declared
to be within a "debug unit" (usually a module) and prints can be
enabled/disabled per debug unit.
This uses the same DEBUG macros as lib_logging to control "debug units",
but implements a slightly more capable and RTOS safe printf function.
It also provides sprintf and snprintf functions.
**/
#include "rtos_support_rtos_config.h"
#ifdef __rtos_support_conf_h_exists__
#include "rtos_support_conf.h"
#endif
#ifndef RTOS_DEBUG_PRINTF_REMAP
#define RTOS_DEBUG_PRINTF_REMAP 0
#endif
/* remap calls to debug_printf to rtos_printf */
#if RTOS_DEBUG_PRINTF_REMAP
#ifdef _debug_printf_h_
#error Do not include debug_print.h when using rtos_printf
#endif
/* Ensure that if debug_print.h is included later that it is ignored */
#define _debug_printf_h_
#define debug_printf rtos_printf
#endif /* RTOS_DEBUG_PRINTF_REMAP */
#ifndef DEBUG_UNIT
#define DEBUG_UNIT APPLICATION
#endif
#ifndef DEBUG_PRINT_ENABLE_ALL
#define DEBUG_PRINT_ENABLE_ALL 0
#endif
#ifndef DEBUG_PRINT_ENABLE
#define DEBUG_PRINT_ENABLE 0
#endif
#if !defined(DEBUG_PRINT_ENABLE_APPLICATION) && !defined(DEBUG_PRINT_DISABLE_APPLICATION)
#define DEBUG_PRINT_ENABLE_APPLICATION DEBUG_PRINT_ENABLE
#endif
#define DEBUG_UTILS_JOIN0(x,y) x ## y
#define DEBUG_UTILS_JOIN(x,y) DEBUG_UTILS_JOIN0(x,y)
#if DEBUG_UTILS_JOIN(DEBUG_PRINT_ENABLE_,DEBUG_UNIT)
#define DEBUG_PRINT_ENABLE0 1
#endif
#if DEBUG_UTILS_JOIN(DEBUG_PRINT_DISABLE_,DEBUG_UNIT)
#define DEBUG_PRINT_ENABLE0 0
#endif
#if !defined(DEBUG_PRINT_ENABLE0)
#define DEBUG_PRINT_ENABLE0 DEBUG_PRINT_ENABLE_ALL
#endif
#if defined(__cplusplus) || defined(__XC__)
extern "C" {
#endif
#include <stddef.h>
#include <stdarg.h>
/**
* Just like snprintf, but not all of the
* standard C format control are supported.
*/
int rtos_snprintf(char *str, size_t size, const char *fmt, ...);
/**
* Just like sprintf, but not all of the
* standard C format control are supported.
*/
int rtos_sprintf(char *str, const char *fmt, ...);
/**
* Just like vprintf, but not all of the
* standard C format control are supported.
*/
#ifndef __XC__
int rtos_vprintf(const char *fmt, va_list ap);
#endif
/**
* Just like printf, but not all of the
* standard C format control are supported.
*/
int rtos_printf(const char *fmt, ...);
#if defined(__cplusplus) || defined(__XC__)
}
#endif
#if DEBUG_PRINT_ENABLE0
#define rtos_vprintf(...) rtos_vprintf(__VA_ARGS__)
#define rtos_printf(...) rtos_printf(__VA_ARGS__)
#else
#define rtos_vprintf(...)
#define rtos_printf(...)
#endif
#endif // _rtos_printf_h_

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// Copyright 2019-2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
#ifndef RTOS_SUPPORT_H_
#define RTOS_SUPPORT_H_
/* Config file to be provided by the RTOS */
#include "rtos_support_rtos_config.h"
/* Library header files */
#include "rtos_cores.h"
#include "rtos_interrupt.h"
#include "rtos_locks.h"
#include "rtos_time.h"
#include "rtos_macros.h"
#include "rtos_printf.h"
#ifndef __XC__
#include "rtos_irq.h"
#endif
#endif /* RTOS_SUPPORT_H_ */

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// Copyright 2020-2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
#ifndef RTOS_TIME_H_
#define RTOS_TIME_H_
#include <stdint.h>
/**
* \defgroup RTOS time standard periods
*
* These values represent the period of various
* standard interrupt frequencies that may be
* used as the parameter for rtos_time_increment().
* @{
*/
/** Period of 1000 Hz in microseconds in Q12 format */
#define RTOS_TICK_PERIOD_1000_HZ 4096000 /* 1000000 / 1000 * 2^12 */
/** Period of 100 Hz in microseconds in Q12 format */
#define RTOS_TICK_PERIOD_100_HZ 40960000 /* 1000000 / 100 * 2^12 */
/** Period of 32768 Hz in microseconds in Q12 format */
#define RTOS_TICK_PERIOD_32768_HZ 125000 /* 1000000 / 32768 * 2^12 */
/**@}*/
/**
* Converts a frequency in hertz to its period in
* microseconds in Q12 format that may be used as
* the parameter for rtos_time_increment().
*/
#define RTOS_TICK_PERIOD(hz) ((uint32_t)(((uint64_t)1000000 << 12) / (hz)))
/**
* Structure representing the time.
*/
typedef struct {
uint64_t seconds; /**< The number of seconds. */
uint32_t microseconds; /**< The number of microseconds. */
} rtos_time_t;
/**
* This function increments the current time by
* \p tick_period microseconds.
*
* It is intended to be called by a periodic
* interrupt, either the system tick interrupt
* or an RTC interrupt, at a frequency of 1 /
* \p tick_period.
*
* \param[in] tick_period The number of microseconds
* to increment the current time by. It must be
* formatted as a fixed point number with 12
* fractional bits.
*/
void rtos_time_increment(uint32_t tick_period);
/**
* This function sets the current time to \p new_time.
*
* \param[in] new_time The value to set the current time to.
* See rtos_time_t.
*/
void rtos_time_set(rtos_time_t new_time);
/**
* This function returns the current time.
*
* \returns the current time. See rtos_time_t.
*/
rtos_time_t rtos_time_get(void);
#endif /* RTOS_TIME_H_ */

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VERSION = 0.5.0
DEPENDENT_MODULES =
MODULE_XCC_FLAGS = $(XCC_FLAGS) -Os
OPTIONAL_HEADERS += rtos_support_conf.h
EXPORT_INCLUDE_DIRS = api src
INCLUDE_DIRS = $(EXPORT_INCLUDE_DIRS)
SOURCE_DIRS = src

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// Copyright 2019-2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
#include <xs1.h>
#include "rtos_support.h"
/*
* This is indexed by the logical core ID
* returned by get_logical_core_id().
* It returns the RTOS core ID which is
* guaranteed to be between 0 and the number of
* cores used by the RTOS - 1.
*
* Not static so that it can be accessed directly by
* RTOS functions written in assembly.
*/
int rtos_core_map[RTOS_MAX_CORE_COUNT] = {0};
/*
* This is indexed by the RTOS core ID
* which must be between 0 and the number of
* cores used by the RTOS - 1.
* It returns the logical core ID which is
* returned by get_logical_core_id().
*/
static int rtos_core_map_reverse[RTOS_MAX_CORE_COUNT];
/*
* The number of RTOS cores that have been initialized.
*
* TODO: I don't think this needs to be volatile anymore
* since it is only read through rtos_core_count(), which
* should always read the value in memory.
*/
static /*volatile*/ int rtos_core_init_count;
/*
* Registers a new RTOS core. Returns its core ID.
* Note this is not the necessarily the same as the
* ID returned by get_logical_core_id().
*/
int rtos_core_register(void)
{
int core_id;
core_id = (int) get_logical_core_id();
rtos_lock_acquire(0);
{
rtos_core_map[core_id] = rtos_core_init_count;
rtos_core_map_reverse[rtos_core_init_count] = core_id;
core_id = rtos_core_init_count++;
}
rtos_lock_release(0);
return core_id;
}
/* Note, always returns 0 before the scheduler is started. */
int rtos_core_id_get(void)
{
return rtos_core_map[get_logical_core_id()];
}
int rtos_logical_core_id_get(int core_id)
{
xassert(core_id < rtos_core_init_count);
return rtos_core_map_reverse[ core_id ];
}
int rtos_core_count(void)
{
return rtos_core_init_count;
}

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// Copyright 2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
#include "rtos_support.h"
/*
* Ensure that these normally inline functions exist
* when compiler optimizations are disabled.
*/
extern inline uint32_t rtos_interrupt_mask_get(void);
extern inline uint32_t rtos_interrupt_mask_all(void);
extern inline void rtos_interrupt_unmask_all(void);
extern inline void rtos_interrupt_mask_set(uint32_t mask);
extern inline uint32_t rtos_isr_running(void);

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// Copyright 2019-2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
/*
* This file extends the interrupt support in lib_xcore_c to support
* interrupts in an RTOS environment where thread context needs to
* be saved on the stack.
*/
#ifndef RTOS_INTERRUPT_IMPL_H_
#define RTOS_INTERRUPT_IMPL_H_
#include "rtos_support_rtos_config.h"
#include <xcore/interrupt_wrappers.h>
#define _DEFINE_RTOS_KERNEL_ENTRY_DEF(root_function) \
.weak _fptrgroup.rtos_isr.nstackwords.group; \
.max_reduce _fptrgroup.rtos_isr.nstackwords, _fptrgroup.rtos_isr.nstackwords.group, 0; \
.set _kstack_words, _XCORE_STACK_ALIGN(_fptrgroup.rtos_isr.nstackwords); \
.globl __xcore_interrupt_permitted_common; \
.globl _XCORE_INTERRUPT_PERMITTED(root_function); \
.align _XCORE_CODE_ALIGNMENT; \
.type _XCORE_INTERRUPT_PERMITTED(root_function),@function; \
.issue_mode single; \
.cc_top _XCORE_INTERRUPT_PERMITTED(root_function).function,_XCORE_INTERRUPT_PERMITTED(root_function); \
_XCORE_INTERRUPT_PERMITTED(root_function):; \
_XCORE_ENTSP(_XCORE_STACK_ALIGN(5)); \
/* Save CP into SP[4] */ \
ldaw r11, cp[0]; \
stw r11, sp[4]; \
/* Save DP into SP[3] */ \
ldaw r11, dp[0]; \
stw r11, sp[3]; \
stw r5, sp[2]; \
stw r4, sp[1]; \
ldc r4, _kstack_words; \
ldap r11, root_function; \
add r5, r11, 0; \
ldap r11, __xcore_interrupt_permitted_common; \
bau r11; \
.cc_bottom _XCORE_INTERRUPT_PERMITTED(root_function).function; \
/* The stack size for this function must be big enough for: */ \
/* - This wrapper function: _XCORE_STACK_ALIGN(5) + __xcore_interrupt_permitted_common.nstackwords */ \
/* - The size of the stack required by the root function: root_function.nstackwords */ \
/* - The size of the stack required by the ISR group: _kstack_words */ \
.set _XCORE_INTERRUPT_PERMITTED(root_function).nstackwords, _XCORE_STACK_ALIGN(5) + __xcore_interrupt_permitted_common.nstackwords + root_function.nstackwords + _kstack_words; \
.globl _XCORE_INTERRUPT_PERMITTED(root_function).nstackwords; \
.set _XCORE_INTERRUPT_PERMITTED(root_function).maxcores, 1 $M __xcore_interrupt_permitted_common.maxcores $M root_function.maxcores; \
.globl _XCORE_INTERRUPT_PERMITTED(root_function).maxcores; \
.set _XCORE_INTERRUPT_PERMITTED(root_function).maxtimers, 0 $M __xcore_interrupt_permitted_common.maxtimers $M root_function.maxtimers; \
.globl _XCORE_INTERRUPT_PERMITTED(root_function).maxtimers; \
.set _XCORE_INTERRUPT_PERMITTED(root_function).maxchanends, 0 $M _xcore_c_select_callback_common.maxchanends $M root_function.maxchanends; \
.globl _XCORE_INTERRUPT_PERMITTED(root_function).maxchanends; \
.size _XCORE_INTERRUPT_PERMITTED(root_function), . - _XCORE_INTERRUPT_PERMITTED(root_function); \
#define _DEFINE_RTOS_KERNEL_ENTRY(ret, root_function, ...) \
asm(RTOS_STRINGIFY(_DEFINE_RTOS_KERNEL_ENTRY_DEF(root_function))); \
_XCORE_DECLARE_INTERRUPT_PERMITTED(ret, root_function, __VA_ARGS__)
#define _DECLARE_RTOS_INTERRUPT_CALLBACK(intrpt, data) \
void _XCORE_INTERRUPT_CALLBACK(intrpt)(void);\
void intrpt(void *data)
#define _DEFINE_RTOS_INTERRUPT_CALLBACK_DEF(intrpt) \
.weak _fptrgroup.rtos_isr.nstackwords.group; \
.add_to_set _fptrgroup.rtos_isr.nstackwords.group, _XCORE_INTERRUPT_CALLBACK(intrpt).nstackwords, _XCORE_INTERRUPT_CALLBACK(intrpt); \
.globl _XCORE_INTERRUPT_CALLBACK(intrpt); \
.align _XCORE_CODE_ALIGNMENT; \
.type _XCORE_INTERRUPT_CALLBACK(intrpt),@function; \
.issue_mode dual; \
.cc_top _XCORE_INTERRUPT_CALLBACK(intrpt).function,_XCORE_INTERRUPT_CALLBACK(intrpt); \
_XCORE_INTERRUPT_CALLBACK(intrpt):; \
/* Extend the stack by enough words to store the thread context. */ \
extsp RTOS_SUPPORT_INTERRUPT_STACK_GROWTH; \
/* We need to use R1 and R11 now so save them where the RTOS wants */ \
/* them. The RTOS provided function rtos_interrupt_callback_common */ \
/* will save the rest of the registers. */ \
stw r1, sp[RTOS_SUPPORT_INTERRUPT_R1_STACK_OFFSET]; \
stw r11, sp[RTOS_SUPPORT_INTERRUPT_R11_STACK_OFFSET]; \
ldap r11, intrpt; \
mov r1, r11; \
ldap r11, rtos_interrupt_callback_common; \
bau r11; \
.cc_bottom _XCORE_INTERRUPT_CALLBACK(intrpt).function; \
.set _XCORE_INTERRUPT_CALLBACK(intrpt).nstackwords, intrpt.nstackwords; \
.globl _XCORE_INTERRUPT_CALLBACK(intrpt).nstackwords; \
.set _XCORE_INTERRUPT_CALLBACK(intrpt).maxcores, 1 $M intrpt.maxcores; \
.globl _XCORE_INTERRUPT_CALLBACK(intrpt).maxcores; \
.set _XCORE_INTERRUPT_CALLBACK(intrpt).maxtimers, 0 $M intrpt.maxtimers; \
.globl _XCORE_INTERRUPT_CALLBACK(intrpt).maxtimers; \
.set _XCORE_INTERRUPT_CALLBACK(intrpt).maxchanends, 0 $M intrpt.maxchanends; \
.globl _XCORE_INTERRUPT_CALLBACK(intrpt).maxchanends; \
.size _XCORE_INTERRUPT_CALLBACK(intrpt), . - _XCORE_INTERRUPT_CALLBACK(intrpt); \
#define _DEFINE_RTOS_INTERRUPT_CALLBACK(intrpt, data) \
asm(RTOS_STRINGIFY(_DEFINE_RTOS_INTERRUPT_CALLBACK_DEF(intrpt))); \
_DECLARE_RTOS_INTERRUPT_CALLBACK(intrpt, data)
#endif /* RTOS_INTERRUPT_IMPL_H_ */

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// Copyright 2019-2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
#include <xcore/triggerable.h>
#include "rtos_support.h"
/*
* Source IDs 0-7 are reserved for RTOS cores
* Source IDs 8-15 are allowed for other use
*
* (Assuming RTOS_MAX_CORE_COUNT == 8)
*/
#define RTOS_CORE_SOURCE_MASK ( ( 1 << RTOS_MAX_CORE_COUNT ) - 1)
#define MAX_ADDITIONAL_SOURCES 8
#define MAX_SOURCE_ID ( RTOS_MAX_CORE_COUNT + MAX_ADDITIONAL_SOURCES - 1 )
/*
* The channel ends used by RTOS cores to send and receive IRQs.
*/
static chanend_t rtos_irq_chanend[ RTOS_MAX_CORE_COUNT ];
/*
* The channel ends used by peripherals to send IRQs.
*/
static chanend_t peripheral_irq_chanend[ MAX_ADDITIONAL_SOURCES ];
/*
* Flag set per core indicating which IRQ sources are pending
*/
static volatile uint32_t irq_pending[ RTOS_MAX_CORE_COUNT ];
static int peripheral_source_count;
/*
* The IRQ enabled bitfield. Represents which cores have
* their IRQ enabled.
*/
static uint32_t irq_enable_bf;
/*
* Set to 1 when all cores have enabled their IRQ.
*/
static int irq_ready;
typedef struct {
RTOS_IRQ_ISR_ATTR rtos_irq_isr_t isr;
void *data;
} isr_info_t;
static isr_info_t isr_info[MAX_ADDITIONAL_SOURCES];
DEFINE_RTOS_INTERRUPT_CALLBACK( rtos_irq_handler, data )
{
int core_id;
uint32_t pending;
core_id = rtos_core_id_get();
xassert( irq_pending[ core_id ] );
chanend_check_end_token( rtos_irq_chanend[ core_id ] );
/* just ensure the channel read is done before clearing the pending flags. */
RTOS_MEMORY_BARRIER();
/* grab a snapshot of the pending flags before clearing them.
After the clear, this core may be interrupted again. We will
handle all the interrupts at the time the snapshot is taken now,
and any more will be handled when this ISR is called again. */
rtos_lock_acquire(0);
{
pending = irq_pending[ core_id ];
irq_pending[ core_id ] = 0;
}
rtos_lock_release(0);
if (pending & RTOS_CORE_SOURCE_MASK )
{
/* This core is being yielded by at least one other RTOS core.
Clear the pending flags from all of them and enter the scheduler. */
pending &= ~RTOS_CORE_SOURCE_MASK;
RTOS_INTERCORE_INTERRUPT_ISR();
}
while ( pending != 0 )
{
int source_id = 31UL - ( uint32_t ) __builtin_clz( pending );
xassert( source_id >= RTOS_MAX_CORE_COUNT && source_id <= MAX_SOURCE_ID );
pending &= ~( 1 << source_id );
source_id -= RTOS_MAX_CORE_COUNT;
if ( isr_info[ source_id ].isr != NULL )
{
isr_info[ source_id ].isr( isr_info[ source_id ].data );
}
}
}
/*
* May be called by a non-RTOS core provided
* xSourceID >= RTOS_MAX_CORE_COUNT.
*/
void rtos_irq( int core_id, int source_id )
{
chanend_t source_chanend;
uint32_t pending;
int num_cores = rtos_core_count();
xassert( core_id >= 0 && core_id < num_cores );
xassert( source_id >= 0 && source_id < RTOS_MAX_CORE_COUNT + peripheral_source_count );
/*
* Atomically set the pending flag and, if the core we are
* sending an IRQ does not already have a pending IRQ, interrupt
* it with a channel send. This guarantees that if two cores
* simultaneously send a core an IRQ that only one will perform
* the channel send. Another channel send will not be performed
* until the core reads the token from the channel and clears the
* pending flags.
*/
rtos_lock_acquire(0);
{
pending = irq_pending[ core_id ];
irq_pending[ core_id ] |= ( 1 << source_id );
if( pending == 0 )
{
if( source_id >= 0 && source_id < num_cores )
{
source_chanend = rtos_irq_chanend[ source_id ];
}
else if ( source_id >= RTOS_MAX_CORE_COUNT && source_id < RTOS_MAX_CORE_COUNT + peripheral_source_count )
{
source_chanend = peripheral_irq_chanend[ source_id - RTOS_MAX_CORE_COUNT ];
}
else
{
xassert(0);
/* If assertions are disabled, setting this to 0
* here should cause a resource exception below. */
source_chanend = 0;
}
/* just ensure the pending flag is set before the channel send. */
RTOS_MEMORY_BARRIER();
chanend_set_dest( source_chanend, rtos_irq_chanend[ core_id ] );
chanend_out_end_token( source_chanend );
}
}
rtos_lock_release(0);
}
/*
* Must be called by an RTOS core to interrupt a
* non-RTOS core.
*/
void rtos_irq_peripheral( chanend_t dest_chanend )
{
int core_id;
uint32_t mask = rtos_interrupt_mask_all();
core_id = rtos_core_id_get();
chanend_set_dest( rtos_irq_chanend[ core_id ], dest_chanend );
chanend_out_end_token( rtos_irq_chanend[ core_id ] );
rtos_interrupt_mask_set(mask);
}
int rtos_irq_register(rtos_irq_isr_t isr, void *data, chanend_t source_chanend)
{
int source_id;
xassert( peripheral_source_count < MAX_ADDITIONAL_SOURCES );
rtos_lock_acquire(0);
source_id = peripheral_source_count++;
rtos_lock_release(0);
isr_info[ source_id ].isr = isr;
isr_info[ source_id ].data = data;
peripheral_irq_chanend[ source_id ] = source_chanend;
return RTOS_MAX_CORE_COUNT + source_id;
}
void rtos_irq_enable( int total_rtos_cores )
{
int core_id;
core_id = rtos_core_id_get();
rtos_irq_chanend[ core_id ] = chanend_alloc();
triggerable_setup_interrupt_callback( rtos_irq_chanend[ core_id ], NULL, RTOS_INTERRUPT_CALLBACK( rtos_irq_handler ) );
triggerable_enable_trigger( rtos_irq_chanend[ core_id ] );
rtos_lock_acquire(0);
{
irq_enable_bf |= (1 << core_id);
if (irq_enable_bf == (1 << total_rtos_cores) - 1) {
irq_ready = 1;
}
}
rtos_lock_release(0);
}
int rtos_irq_ready(void)
{
return irq_ready;
}

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// Copyright 2019-2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
#include "rtos_support.h"
lock_t rtos_locks[RTOS_LOCK_COUNT] = {
#if RTOS_LOCK_COUNT >= 1
-1,
#endif
#if RTOS_LOCK_COUNT >= 2
-1,
#endif
#if RTOS_LOCK_COUNT >= 3
-1,
#endif
#if RTOS_LOCK_COUNT >= 4
-1
#endif
};
int rtos_lock_counters[RTOS_LOCK_COUNT] = {0};
void rtos_locks_initialize(void)
{
int i;
for (i = 0; i < RTOS_LOCK_COUNT; i++) {
rtos_locks[i] = lock_alloc();
xassert(rtos_locks[i] != 0);
}
}
/*
* Ensure that these normally inline functions exist
* when compiler optimizations are disabled.
*/
extern inline int rtos_lock_acquire(int lock_id);
extern inline int rtos_lock_release(int lock_id);

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// Copyright 2019-2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
/*---------------------------------------------------*/
/* Modified from : */
/* Public Domain version of printf */
/* Rud Merriam, Compsult, Inc. Houston, Tx. */
/* For Embedded Systems Programming, 1991 */
/* */
/*---------------------------------------------------*/
#include <stdarg.h>
#include <syscall.h>
#include <limits.h>
#include <string.h>
#include <stdint.h>
#include <ctype.h>
#include "rtos_support.h"
#undef rtos_printf
#undef rtos_vprintf
#define LONG64 (LONG_MAX == 9223372036854775807L)
#define POINTER64 (INTPTR_MAX == 9223372036854775807L)
typedef struct {
size_t size;
size_t pos;
char *str;
int writeout;
int32_t len;
int32_t num1;
int32_t num2;
int32_t do_padding;
int32_t left_flag;
int32_t unsigned_flag;
char pad_character;
} params_t;
static void outbyte(char b, params_t *par)
{
if (par->pos < par->size) {
par->str[par->pos] = b;
}
par->pos++;
if (par->writeout && par->pos >= par->size) {
_write(FD_STDOUT, par->str, par->size);
par->pos = 0;
}
}
/*---------------------------------------------------*/
/* The purpose of this routine is to output data the */
/* same as the standard printf function without the */
/* overhead most run-time libraries involve. Usually */
/* the printf brings in many kilobytes of code and */
/* that is unacceptable in most embedded systems. */
/*---------------------------------------------------*/
/*---------------------------------------------------*/
/* */
/* This routine puts pad characters into the output */
/* buffer. */
/* */
static void padding(const int32_t l_flag, params_t *par)
{
int32_t i;
if ((par->do_padding != 0) && (l_flag != 0) && (par->len < par->num1)) {
i=(par->len);
for (; i<(par->num1); i++) {
outbyte(par->pad_character, par);
}
}
}
/*---------------------------------------------------*/
/* */
/* This routine moves a string to the output buffer */
/* as directed by the padding and positioning flags. */
/* */
static void outs(const char *lp, params_t *par)
{
/* pad on left if needed */
if(lp != NULL) {
par->len = (int32_t) strlen(lp);
}
padding(!(par->left_flag), par);
/* Move string to the buffer */
while (((*lp) != (char)0) && ((par->num2) != 0)) {
(par->num2)--;
outbyte(*lp, par);
lp += 1;
}
padding(par->left_flag, par);
}
/*---------------------------------------------------*/
/* */
/* This routine moves a number to the output buffer */
/* as directed by the padding and positioning flags. */
/* */
static void outnum(const int32_t n, const int32_t base, params_t *par)
{
int32_t negative;
int32_t i;
char outbuf[32];
const char digits[] = "0123456789ABCDEF";
uint32_t num;
for(i = 0; i<32; i++) {
outbuf[i] = '0';
}
/* Check if number is negative */
if ((par->unsigned_flag == 0) && (base == 10) && (n < 0L)) {
negative = 1;
num =(-(n));
}
else{
num = n;
negative = 0;
}
/* Build number (backwards) in outbuf */
i = 0;
do {
outbuf[i] = digits[(num % base)];
i++;
num /= base;
} while (num > 0);
if (negative != 0) {
outbuf[i] = '-';
i++;
}
outbuf[i] = '\0';
i--;
/* Move the converted number to the buffer and */
/* add in the padding where needed. */
par->len = (int32_t)strlen(outbuf);
padding(!(par->left_flag), par);
while (&outbuf[i] >= outbuf) {
outbyte(outbuf[i], par);
i--;
}
padding(par->left_flag, par);
}
/*---------------------------------------------------*/
/* */
/* This routine moves a 64-bit number to the output */
/* buffer as directed by the padding and positioning */
/* flags. */
/* */
#if LONG64
static void outnum1(const int64_t n, const int32_t base, params_t *par)
{
int32_t negative;
int32_t i;
char outbuf[64];
const char digits[] = "0123456789ABCDEF";
uint64_t num;
for(i = 0; i<64; i++) {
outbuf[i] = '0';
}
/* Check if number is negative */
if ((par->unsigned_flag == 0) && (base == 10) && (n < 0L)) {
negative = 1;
num =(-(n));
}
else{
num = (n);
negative = 0;
}
/* Build number (backwards) in outbuf */
i = 0;
do {
outbuf[i] = digits[(num % base)];
i++;
num /= base;
} while (num > 0);
if (negative != 0) {
outbuf[i] = '-';
i++;
}
outbuf[i] = '\0';
i--;
/* Move the converted number to the buffer and */
/* add in the padding where needed. */
par->len = (int32_t)strlen(outbuf);
padding(!(par->left_flag), par);
while (&outbuf[i] >= outbuf) {
outbyte(outbuf[i], par);
i--;
}
padding(par->left_flag, par);
}
#endif
/*---------------------------------------------------*/
/* */
/* This routine gets a number from the format */
/* string. */
/* */
static int32_t getnum(char **linep)
{
int32_t n;
int32_t ResultIsDigit = 0;
char *cptr;
n = 0;
cptr = *linep;
if(cptr != NULL){
ResultIsDigit = isdigit(((int32_t)*cptr));
}
while (ResultIsDigit != 0) {
if(cptr != NULL){
n = ((n*10) + (((int32_t)*cptr) - (int32_t)'0'));
cptr += 1;
if(cptr != NULL){
ResultIsDigit = isdigit(((int32_t)*cptr));
}
}
ResultIsDigit = isdigit(((int32_t)*cptr));
}
*linep = ((char *)(cptr));
return(n);
}
/*---------------------------------------------------*/
/* */
/* This routine operates just like a printf/sprintf */
/* routine. It outputs a set of data under the */
/* control of a formatting string. Not all of the */
/* standard C format control are supported. The ones */
/* provided are primarily those needed for embedded */
/* systems work. Primarily the floating point */
/* routines are omitted. Other formats could be */
/* added easily by following the examples shown for */
/* the supported formats. */
/* */
static int rtos_vsnwprintf(char *str, size_t size, int writeout, const char *fmt, va_list ap)
{
int32_t Check;
#if LONG64
int32_t long_flag;
#endif
int32_t dot_flag;
params_t par;
char ch;
char *ctrl = (char *)fmt;
par.size = size;
par.pos = 0;
par.str = str;
par.writeout = writeout;
while ((ctrl != NULL) && (*ctrl != (char)0)) {
/* move format string chars to buffer until a */
/* format control is found. */
if (*ctrl != '%') {
outbyte(*ctrl, &par);
ctrl += 1;
continue;
}
/* initialize all the flags for this format. */
dot_flag = 0;
#if LONG64
long_flag = 0;
#endif
par.unsigned_flag = 0;
par.left_flag = 0;
par.do_padding = 0;
par.pad_character = ' ';
par.num2=32767;
par.num1=0;
par.len=0;
try_next:
if(ctrl != NULL) {
ctrl += 1;
}
if(ctrl != NULL) {
ch = *ctrl;
}
else {
ch = *ctrl;
}
if (isdigit((int32_t)ch) != 0) {
if (dot_flag != 0) {
par.num2 = getnum(&ctrl);
}
else {
if (ch == '0') {
par.pad_character = '0';
}
if(ctrl != NULL) {
par.num1 = getnum(&ctrl);
}
par.do_padding = 1;
}
if(ctrl != NULL) {
ctrl -= 1;
}
goto try_next;
}
if (dot_flag != 0 && ch == '*') {
par.num2 = va_arg(ap, int32_t);
goto try_next;
}
switch (tolower((int32_t)ch)) {
case '%':
outbyte('%', &par);
Check = 1;
break;
case '-':
par.left_flag = 1;
Check = 0;
break;
case '.':
dot_flag = 1;
Check = 0;
break;
case 'l':
#if LONG64
long_flag = 1;
#endif
Check = 0;
break;
case 'u':
par.unsigned_flag = 1;
/* fall through */
case 'i':
case 'd':
#if LONG64
if (long_flag != 0){
outnum1((int64_t)va_arg(ap, int64_t), 10L, &par);
}
else {
outnum(va_arg(ap, int32_t), 10L, &par);
}
#else
outnum(va_arg(ap, int32_t), 10L, &par);
#endif
Check = 1;
break;
case 'p':
#if POINTER64
par.unsigned_flag = 1;
outnum1((int64_t)va_arg(ap, int64_t), 16L, &par);
Check = 1;
break;
#endif
case 'X':
case 'x':
par.unsigned_flag = 1;
#if LONG64
if (long_flag != 0) {
outnum1((int64_t)va_arg(ap, int64_t), 16L, &par);
}
else {
outnum((int32_t)va_arg(ap, int32_t), 16L, &par);
}
#else
outnum((int32_t)va_arg(ap, int32_t), 16L, &par);
#endif
Check = 1;
break;
case 's':
outs(va_arg(ap, char *), &par);
Check = 1;
break;
case 'c':
outbyte(va_arg(ap, int32_t), &par);
Check = 1;
break;
case '\\':
switch (*ctrl) {
case 'a':
outbyte((char)0x07, &par);
break;
case 'h':
outbyte((char)0x08, &par);
break;
case 'r':
outbyte((char)0x0D, &par);
break;
case 'n':
outbyte((char)0x0D, &par);
outbyte((char)0x0A, &par);
break;
default:
outbyte(*ctrl, &par);
break;
}
ctrl += 1;
Check = 0;
break;
default:
Check = 1;
break;
}
if(Check == 1) {
if(ctrl != NULL) {
ctrl += 1;
}
continue;
}
goto try_next;
}
if (par.pos < par.size) {
par.str[par.pos] = '\0';
}
return par.pos;
}
/*---------------------------------------------------*/
int rtos_snprintf(char *str, size_t size, const char *fmt, ...)
{
int len;
va_list ap;
va_start(ap, fmt);
len = rtos_vsnwprintf(str, size, 0, fmt, ap);
va_end(ap);
return len;
}
int rtos_sprintf(char *str, const char *fmt, ...)
{
int len;
va_list ap;
va_start(ap, fmt);
len = rtos_vsnwprintf(str, SIZE_MAX, 0, fmt, ap);
va_end(ap);
return len;
}
#ifndef RTOS_PRINTF_BUFSIZE
#ifdef DEBUG_PRINTF_BUFSIZE
#define RTOS_PRINTF_BUFSIZE DEBUG_PRINTF_BUFSIZE
#else
#define RTOS_PRINTF_BUFSIZE 130
#endif
#endif
int rtos_vprintf(const char *fmt, va_list ap)
{
int len;
uint32_t mask;
char buf[RTOS_PRINTF_BUFSIZE];
mask = rtos_interrupt_mask_all();
len = rtos_vsnwprintf(buf, RTOS_PRINTF_BUFSIZE, 1, fmt, ap);
_write(FD_STDOUT, buf, len);
rtos_interrupt_mask_set(mask);
return len;
}
int rtos_printf(const char *fmt, ...)
{
int len;
va_list ap;
va_start(ap, fmt);
len = rtos_vprintf(fmt, ap);
va_end(ap);
return len;
}

49
FreeRTOS/Demo/ThirdParty/Community-Supported/XCORE.AI_xClang/lib_rtos_support/src/rtos_time.c vendored Normal file
View file

@ -0,0 +1,49 @@
// Copyright 2020-2021 XMOS LIMITED.
// This Software is subject to the terms of the XMOS Public Licence: Version 1.
#include "rtos_time.h"
#include "rtos_locks.h"
static rtos_time_t current_time;
#define US_FRACTIONAL_BITS 12
#define ONE_SECOND_US (1000000 << US_FRACTIONAL_BITS)
void rtos_time_increment(uint32_t tick_period)
{
rtos_lock_acquire(0);
{
current_time.microseconds += tick_period;
if (current_time.microseconds >= ONE_SECOND_US) {
current_time.microseconds -= ONE_SECOND_US;
current_time.seconds++;
}
}
rtos_lock_release(0);
}
void rtos_time_set(rtos_time_t new_time)
{
new_time.microseconds <<= US_FRACTIONAL_BITS;
rtos_lock_acquire(0);
{
current_time = new_time;
}
rtos_lock_release(0);
}
rtos_time_t rtos_time_get(void)
{
rtos_time_t tmp_time;
rtos_lock_acquire(0);
{
tmp_time = current_time;
}
rtos_lock_release(0);
tmp_time.microseconds >>= US_FRACTIONAL_BITS;
return tmp_time;
}

2
FreeRTOS/Source

@ -1 +1 @@
Subproject commit c3dc20fdb4f15115fcaf8ad3f71fdf5696a30415 Subproject commit ae3a498e435cecdb25b889f2740ea99027dd0cb1

2
manifest.yml
View file

@ -4,7 +4,7 @@ description: "This is the standard distribution of FreeRTOS."
dependencies: dependencies:
- name: "FreeRTOS-Kernel" - name: "FreeRTOS-Kernel"
version: "c3dc20f" version: "ae3a498e4"
repository: repository:
type: "git" type: "git"
url: "https://github.com/FreeRTOS/FreeRTOS-Kernel.git" url: "https://github.com/FreeRTOS/FreeRTOS-Kernel.git"