/* * 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. * * When running on the HiFive Rev B hardware: * When executing correctly the blue LED will toggle every three seconds. If * the blue LED toggles every 500ms then one of the self-monitoring test tasks * discovered a potential issue. If the red led toggles rapidly then a hardware * exception occurred. * * 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! * */ /* FreeRTOS kernel includes. */ #include #include /* Freedom metal driver includes. */ #include #include /* 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. */ #define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 0 /* Set to 1 to use direct mode and set to 0 to use vectored mode. * * VECTOR MODE=Direct --> all traps into machine mode cause the pc to be set to the * vector base address (BASE) in the mtvec register. * * VECTOR MODE=Vectored --> all synchronous exceptions into machine mode cause the * pc to be set to the BASE, whereas interrupts cause the pc to be set to the * address BASE plus four times the interrupt cause number. */ #define mainVECTOR_MODE_DIRECT 0 /* Index to first HART (there is only one). */ #define mainHART_0 0 /* Registers used to initialise the PLIC. */ #define mainPLIC_PENDING_0 ( *( ( volatile uint32_t * ) 0x0C001000UL ) ) #define mainPLIC_PENDING_1 ( *( ( volatile uint32_t * ) 0x0C001004UL ) ) #define mainPLIC_ENABLE_0 ( *( ( volatile uint32_t * ) 0x0C002000UL ) ) #define mainPLIC_ENABLE_1 ( *( ( volatile uint32_t * ) 0x0C002004UL ) ) /*-----------------------------------------------------------*/ extern void freertos_risc_v_trap_handler( void ); extern void freertos_vector_table( 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. See https://www.freertos.org/a00016.html */ void vApplicationMallocFailedHook( void ); void vApplicationIdleHook( void ); void vApplicationStackOverflowHook( TaskHandle_t pxTask, char * pcTaskName ); void vApplicationTickHook( void ); /* * Setup the hardware to run this demo. */ static void prvSetupHardware( void ); /* * Used by the Freedom Metal drivers. */ static struct metal_led * pxBlueLED = NULL; /*-----------------------------------------------------------*/ int main( void ) { prvSetupHardware(); /* 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 } /*-----------------------------------------------------------*/ static void prvSetupHardware( void ) { struct metal_cpu * pxCPU; struct metal_interrupt * pxInterruptController; /* Initialise the blue LED. */ pxBlueLED = metal_led_get_rgb( "LD0", "blue" ); configASSERT( pxBlueLED ); metal_led_enable( pxBlueLED ); metal_led_off( pxBlueLED ); /* Initialise the interrupt controller. */ pxCPU = metal_cpu_get( mainHART_0 ); configASSERT( pxCPU ); pxInterruptController = metal_cpu_interrupt_controller( pxCPU ); configASSERT( pxInterruptController ); metal_interrupt_init( pxInterruptController ); #if ( mainVECTOR_MODE_DIRECT == 1 ) { __asm__ volatile ( "csrw mtvec, %0" : : "r" ( freertos_risc_v_trap_handler ) ); } #else { __asm__ volatile ( "csrw mtvec, %0" : : "r" ( ( uintptr_t ) freertos_vector_table | 0x1 ) ); } #endif /* Set all interrupt enable bits to 0. */ mainPLIC_ENABLE_0 = 0UL; mainPLIC_ENABLE_1 = 0UL; } /*-----------------------------------------------------------*/ 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). */ taskDISABLE_INTERRUPTS(); for( ; ; ) { } } /*-----------------------------------------------------------*/ void vApplicationIdleHook( void ) { /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set * to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle * task. It is essential that code added to this hook function never attempts * to block in any way (for example, call xQueueReceive() with a block time * specified, or call vTaskDelay()). If the application makes use of the * vTaskDelete() API function (as this demo application does) then it is also * important that vApplicationIdleHook() is permitted to return to its calling * function, because it is the responsibility of the idle task to clean up * memory allocated by the kernel to any task that has since been deleted. */ } /*-----------------------------------------------------------*/ void vApplicationStackOverflowHook( TaskHandle_t pxTask, char * pcTaskName ) { ( void ) pcTaskName; ( void ) pxTask; /* Run time stack overflow checking is performed if * configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook * function is called if a stack overflow is detected. */ taskDISABLE_INTERRUPTS(); for( ; ; ) { } } /*-----------------------------------------------------------*/ void vApplicationTickHook( void ) { /* The tests in the full demo expect some interaction with interrupts. */ #if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY != 1 ) { extern void vFullDemoTickHook( void ); vFullDemoTickHook(); } #endif } /*-----------------------------------------------------------*/ void vAssertCalled( void ) { static struct metal_led * pxRedLED = NULL; volatile uint32_t ul; const uint32_t ulNullLoopDelay = 0x1ffffUL; taskDISABLE_INTERRUPTS(); /* Initialise the red LED. */ pxRedLED = metal_led_get_rgb( "LD0", "red" ); configASSERT( pxRedLED ); metal_led_enable( pxRedLED ); metal_led_off( pxRedLED ); /* Flash the red LED to indicate that assert was hit - interrupts are off * here to prevent any further tick interrupts or context switches, so the * delay is implemented as a crude loop instead of a peripheral timer. */ for( ; ; ) { for( ul = 0; ul < ulNullLoopDelay; ul++ ) { __asm volatile ( "nop" ); } metal_led_toggle( pxRedLED ); } } /*-----------------------------------------------------------*/ void handle_trap( void ) { volatile uint32_t ulMEPC = 0UL, ulMCAUSE = 0UL, ulPLICPending0Register = 0UL, ulPLICPending1Register = 0UL; /* Store a few register values that might be useful when determining why this * function was called. */ __asm volatile ( "csrr %0, mepc" : "=r" ( ulMEPC ) ); __asm volatile ( "csrr %0, mcause" : "=r" ( ulMCAUSE ) ); ulPLICPending0Register = mainPLIC_PENDING_0; ulPLICPending1Register = mainPLIC_PENDING_1; /* Prevent compiler warnings about unused variables. */ ( void ) ulPLICPending0Register; ( void ) ulPLICPending1Register; /* Force an assert as this function has not been implemented as the demo * does not use external interrupts. */ configASSERT( metal_cpu_get( mainHART_0 ) == 0x00 ); } /*-----------------------------------------------------------*/ void freertos_risc_v_application_interrupt_handler( uint32_t ulMcause ) { ( void ) ulMcause; handle_trap(); } /*-----------------------------------------------------------*/ void freertos_risc_v_application_exception_handler( uint32_t ulMcause ) { ( void ) ulMcause; handle_trap(); } /*-----------------------------------------------------------*/ void vToggleLED( void ) { metal_led_toggle( pxBlueLED ); } /*-----------------------------------------------------------*/ void * malloc( size_t xSize ) { /* The linker script does not define a heap so artificially force an assert() * if something unexpectedly uses the C library heap. See * https://www.freertos.org/a00111.html for more information. */ configASSERT( metal_cpu_get( mainHART_0 ) == 0x00 ); /* Remove warnings about unused parameter. */ ( void ) xSize; return NULL; } /*-----------------------------------------------------------*/