FreeRTOS-Kernel/FreeRTOS/Demo/IA32_flat_GCC_Galileo_Gen_2/main.c

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

/******************************************************************************
 * 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 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!
 * https://www.FreeRTOS.org/RTOS_Intel_Quark_Galileo_GCC.html
 *
 */

/* Standard includes. */
#include <stdlib.h>

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

/* Standard demo includes, only necessary for the tick hook. */
#include "TimerDemo.h"
#include "QueueOverwrite.h"
#include "EventGroupsDemo.h"
#include "QueueSet.h"
#include "TaskNotify.h"
#include "IntQueue.h"

/* Added Galileo serial support. */
#include "galileo_support.h"

/* Set to 1 to sit in a loop on start up, allowing a debugger to connect to the
 * application before main() executes. */
#define mainWAIT_FOR_DEBUG_CONNECTION         0

/* 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    1

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

/*
 * 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 /* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 */

/* Prototypes for functions called from asm start up code. */
int main( void );
void CRT_Init( void );

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

/*
 * Perform any hardware/peripheral related initialisation necessary to run the
 * demo.
 */
static void prvSetupHardware( void );
static void prvCalibrateLVTimer( void );

/*
 * If mainWAIT_FOR_DEBUG_CONNECTION is set to 1 then the following function will
 * sit in a loop on start up, allowing a debugger to connect to the application
 * before main() executes.  If mainWAIT_FOR_DEBUG_CONNECTION is not set to 1
 * then the following function does nothing.
 */
static void prvLoopToWaitForDebugConnection( void );

/*
 * Helper functions used when an assert is triggered.  The first periodically
 * displays an assert message, and the second clears the assert message when the
 * function called by the configASSERT() macro is exited.
 */
static void prvDisplayAssertion( const char * pcFile,
                                 unsigned long ulLine );
static void prvClearAssertionLine( void );

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

/* See http://www.FreeRTOS.org/RTOS_Intel_Quark_Galileo_GCC.html for usage
 * instructions. */
int main( void )
{
    /* Optionally wait for a debugger to connect. */
    prvLoopToWaitForDebugConnection();

    /* Init the UART, GPIO, etc. */
    prvSetupHardware();

    /* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
     * of this file. */
    #if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
    {
        g_printf_rcc( 3, 2, DEFAULT_SCREEN_COLOR, "Running main_blinky()." );
        main_blinky();
    }
    #else
    {
        g_printf_rcc( 3, 2, DEFAULT_SCREEN_COLOR, "Running main_full()." );
        main_full();
    }
    #endif

    return 0;
}
/*-----------------------------------------------------------*/

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( xTaskGetTickCount() == 0 );
    taskDISABLE_INTERRUPTS();

    for( ; ; )
    {
    }
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( TaskHandle_t pxTask,
                                    char * pcTaskName )
{
    ( void ) pcTaskName;
    ( void ) pxTask;

    /* Run time stack overflow checking is performed if
     * configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook
     * function is called if a stack overflow is detected.
     *
     * Increase the size of the stack allocated to the offending task.
     *
     * Force an assert. */
    configASSERT( pxTask == NULL );
    taskDISABLE_INTERRUPTS();

    for( ; ; )
    {
    }
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook( void )
{
    volatile unsigned long 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;
}
/*-----------------------------------------------------------*/

static void prvDisplayAssertion( const char * pcFile,
                                 unsigned long ulLine )
{
    extern void vMilliSecondDelay( uint32_t DelayTime );
    const uint32_t ul500ms = 500UL;

    /* Display assertion file and line. Don't use the gated g_printf just in
     * the assert was triggered while the gating semaphore was taken.  Always print
     * on line 23. */
    UngatedMoveToScreenPosition( 23, 2 );
    printf( ANSI_COLOR_RED );
    printf( "ASSERT: File = %s, Line = %u\n\r", pcFile, ulLine );
    printf( ANSI_COLOR_RESET );
    printf( ANSI_SHOW_CURSOR );
    vMilliSecondDelay( ul500ms );
}
/*-----------------------------------------------------------*/

static void prvClearAssertionLine( void )
{
    UngatedMoveToScreenPosition( 23, 1 );
    printf( ANSI_COLOR_RESET );
    printf( ANSI_CLEAR_LINE );
    printf( ANSI_HIDE_CURSOR );
}
/*-----------------------------------------------------------*/

void vAssertCalled( const char * pcFile,
                    unsigned long ulLine )
{
    volatile uint32_t ul = 0;

    ( void ) pcFile;
    ( void ) ulLine;

    taskENTER_CRITICAL();
    {
        /* Set ul to a non-zero value or press a key to step out of this
         * function in order to inspect the location of the assert(). */

        /* Clear any pending key presses. */
        while( ucGalileoGetchar() != 0 )
        {
            /* Nothing to do here - the key press is just discarded. */
        }

        do
        {
            prvDisplayAssertion( pcFile, ulLine );
        } while( ( ul == pdFALSE ) && ( ucGalileoGetchar() == 0 ) );

        prvClearAssertionLine();
    }
    taskEXIT_CRITICAL();
}
/*-----------------------------------------------------------*/

void vApplicationTickHook( void )
{
    #if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 )
    {
        extern void vTimerPeriodicISRTests( void );

        /* The full demo includes a software timer demo/test that requires
         * prodding periodically from the tick interrupt. */
        vTimerPeriodicISRTests();

        /* Call the periodic queue overwrite from ISR demo. */
        vQueueOverwritePeriodicISRDemo();

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

        /* Call the periodic queue set from ISR demo. */
        vQueueSetAccessQueueSetFromISR();

        /* Use task notifications from an interrupt. */
        xNotifyTaskFromISR();
    }
    #endif /* if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 ) */
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
    /* Initialise the serial port and GPIO. */
    vInitializeGalileoSerialPort( DEBUG_SERIAL_PORT );
    vGalileoInitializeGpioController();
    vGalileoInitializeLegacyGPIO();

    /* Initialise HPET interrupt(s) */
    #if ( ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY != 1 ) && ( hpetHPET_TIMER_IN_USE != 0 ) )
    {
        portDISABLE_INTERRUPTS();
        vInitializeAllHPETInterrupts();
    }
    #endif

    /* Setup the LED. */
    vGalileoLegacyGPIOInitializationForLED();

    /* Demonstrates how to calibrate LAPIC Timer.  The calibration value
     * calculated here may get overwritten when the scheduler starts. */
    prvCalibrateLVTimer();

    /* Print RTOS loaded message. */
    vPrintBanner();
}
/*-----------------------------------------------------------*/

static void prvLoopToWaitForDebugConnection( void )
{
    /* Debug if define = 1. */
    #if ( mainWAIT_FOR_DEBUG_CONNECTION == 1 )
    {
        /* When using the debugger, set this value to pdFALSE, and the application
         * will sit in a loop at the top of main() to allow the debugger to attached
         * before the application starts running.  Once attached, set
         * ulExitResetSpinLoop to a non-zero value to leave the loop. */
        volatile uint32_t ulExitResetSpinLoop = pdFALSE;

        /* Must initialize UART before anything will print. */
        vInitializeGalileoSerialPort( DEBUG_SERIAL_PORT );

        /* RTOS loaded message. */
        vPrintBanner();

        /* Output instruction message. */
        MoveToScreenPosition( 3, 1 );
        g_printf( DEFAULT_SCREEN_COLOR );
        g_printf( " Waiting for JTAG connection.\n\n\r" );
        g_printf( ANSI_COLOR_RESET );
        g_printf( " Once connected, either set ulExitResetSpinLoop to a non-zero value,\n\r" );
        g_printf( " or you can [PRESS ANY KEY] to start the debug session.\n\n\r" );
        printf( ANSI_SHOW_CURSOR );

        /* Use the debugger to set the ulExitResetSpinLoop to a non-zero value
         * or press a key to exit this loop, and step through the application.  In
         * Eclipse, simple hover over the variable to see its value in a pop-over
         * box, then edit the value in the pop-over box. */
        do
        {
            portNOP();
        } while( ( ulExitResetSpinLoop == pdFALSE ) && ( ucGalileoGetchar() == 0 ) );
    }
    #endif /* if ( mainWAIT_FOR_DEBUG_CONNECTION == 1 ) */
}
/*-----------------------------------------------------------*/

void CRT_Init( void )
{
    extern uint32_t __bss_start[];
    extern uint32_t __bss_end[];
    extern uint32_t __data_vma[];
    extern uint32_t __data_lma[];
    extern uint32_t __data_start[];
    extern uint32_t __data_end[];
    uint32_t x = 255;
    size_t xSize;

    /* Zero out bss. */
    xSize = ( ( size_t ) __bss_end ) - ( ( size_t ) __bss_start );
    memset( ( void * ) __bss_start, 0x00, xSize );

    /* Copy initialised variables. */
    xSize = ( ( size_t ) __data_end ) - ( ( size_t ) __data_start );
    memcpy( ( void * ) __data_vma, __data_lma, xSize );

    /* Ensure no interrupts are pending. */
    do
    {
        portAPIC_EOI = 0;
        x--;
    } while( x > 0 );
}
/*-----------------------------------------------------------*/

static void prvCalibrateLVTimer( void )
{
    uint32_t uiInitialTimerCounts, uiCalibratedTimerCounts;

    /* Disable LAPIC Counter. */
    portAPIC_LVT_TIMER = portAPIC_DISABLE;

    /* Calibrate the LV Timer counts to ensure it matches the HPET timer over
     * extended periods. */
    uiInitialTimerCounts = ( ( configCPU_CLOCK_HZ >> 4UL ) / configTICK_RATE_HZ );
    uiCalibratedTimerCounts = uiCalibrateTimer( 0, hpetLVTIMER );

    if( uiCalibratedTimerCounts != 0 )
    {
        uiInitialTimerCounts = uiCalibratedTimerCounts;
    }

    /* Set the interrupt frequency. */
    portAPIC_TMRDIV = portAPIC_DIV_16;
    portAPIC_TIMER_INITIAL_COUNT = uiInitialTimerCounts;

    /* Enable LAPIC Counter. */
    portAPIC_LVT_TIMER = portAPIC_TIMER_PERIODIC | portAPIC_TIMER_INT_VECTOR;

    /* Sometimes needed. */
    portAPIC_TMRDIV = portAPIC_DIV_16;
}