From f87de543ebd3366e898f2a76b919faf8f8e3819a Mon Sep 17 00:00:00 2001
From: Rahix <rahix@rahix.de>
Date: Wed, 3 Jul 2019 20:28:44 +0200
Subject: [PATCH] feat(epicardium): Port to FreeRTOS
Signed-off-by: Rahix <rahix@rahix.de>
---
epicardium/FreeRTOSConfig.h | 45 +++++++++++++++++++
epicardium/cdcacm.c | 3 ++
epicardium/main.c | 90 ++++++++++++++++++++++++++++++-------
epicardium/meson.build | 20 ++++++++-
epicardium/serial.c | 68 ++++++++++++++++++++++++++++
epicardium/serial.h | 8 ++++
6 files changed, 216 insertions(+), 18 deletions(-)
create mode 100644 epicardium/FreeRTOSConfig.h
create mode 100644 epicardium/serial.c
create mode 100644 epicardium/serial.h
diff --git a/epicardium/FreeRTOSConfig.h b/epicardium/FreeRTOSConfig.h
new file mode 100644
index 000000000..26e51bc4c
--- /dev/null
+++ b/epicardium/FreeRTOSConfig.h
@@ -0,0 +1,45 @@
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+#include "max32665.h"
+
+/* CMSIS keeps a global updated with current system clock in Hz */
+#define configCPU_CLOCK_HZ ((unsigned long)120000000)
+
+/* TODO: Adjust this for tickless idle */
+#define configTICK_RATE_HZ ((portTickType)1000)
+
+/* Memory */
+#define configTOTAL_HEAP_SIZE ((size_t)(26 * 1024))
+#define configMINIMAL_STACK_SIZE ((unsigned short)128)
+
+#define configMAX_PRIORITIES 5
+/* # of priority bits (configured in hardware) is provided by CMSIS */
+#define configPRIO_BITS __NVIC_PRIO_BITS
+/* Priority 7, or 255 as only the top three bits are implemented. This is the lowest priority. */
+#define configKERNEL_INTERRUPT_PRIORITY ( ( unsigned char ) 7 << ( 8 - configPRIO_BITS) )
+/* Priority 5, or 160 as only the top three bits are implemented. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( ( unsigned char ) 5 << ( 8 - configPRIO_BITS) )
+
+/* We want to use preemption to easier integrate components */
+#define configUSE_PREEMPTION 1
+
+/* TODO: Adjust */
+#define configUSE_IDLE_HOOK 0
+#define configUSE_TICK_HOOK 0
+#define configUSE_CO_ROUTINES 0
+#define configUSE_16_BIT_TICKS 0
+#define configUSE_MUTEXES 1
+
+#define INCLUDE_vTaskSuspend 1
+#define INCLUDE_vTaskDelay 1
+
+/* Allow static allocation of data structures */
+#define configSUPPORT_STATIC_ALLOCATION 1
+
+/* Alias the default handler names to match CMSIS weak symbols */
+#define vPortSVCHandler SVC_Handler
+#define xPortPendSVHandler PendSV_Handler
+#define xPortSysTickHandler SysTick_Handler
+
+#endif /* FREERTOS_CONFIG_H */
diff --git a/epicardium/cdcacm.c b/epicardium/cdcacm.c
index a11d38e05..5bc8f706d 100644
--- a/epicardium/cdcacm.c
+++ b/epicardium/cdcacm.c
@@ -344,7 +344,10 @@ void USB_IRQHandler(void)
}
/******************************************************************************/
+/* TODO: We probably need to fix something related to this */
+#if 0
void SysTick_Handler(void)
{
mxc_delay_handler();
}
+#endif /* 0 */
diff --git a/epicardium/main.c b/epicardium/main.c
index 40ef9e9ac..3490b026d 100644
--- a/epicardium/main.c
+++ b/epicardium/main.c
@@ -1,35 +1,59 @@
#include <stdio.h>
-#include "card10.h"
+#include <stdlib.h>
+
#include "uart.h"
#include "cdcacm.h"
+
+#include "card10.h"
#include "leds.h"
#include "api/dispatcher.h"
+#include "serial.h"
-extern mxc_uart_regs_t * ConsoleUart;
+#include "FreeRTOS.h"
+#include "task.h"
-void epic_uart_write_str(char*str, intptr_t length)
+void epic_leds_set(int led, uint8_t r, uint8_t g, uint8_t b)
{
- UART_Write(ConsoleUart, (uint8_t*)str, length);
- cdcacm_write((uint8_t*)str, length);
+ leds_set(led, r, g, b);
+ leds_update();
}
-char epic_uart_read_chr(void)
+void vApiDispatcher(void*pvParameters)
{
- while(1) {
- if(UART_NumReadAvail(ConsoleUart) > 0) {
- return UART_ReadByte(ConsoleUart);
- }
-
- if(cdcacm_num_read_avail() > 0) {
- return cdcacm_read();
- }
+ while (1) {
+ api_dispatcher_poll();
+ vTaskDelay(portTICK_PERIOD_MS * 10);
}
}
-void epic_leds_set(int led, uint8_t r, uint8_t g, uint8_t b)
+void vApplicationGetIdleTaskMemory(
+ StaticTask_t**ppxIdleTaskTCBBuffer,
+ StackType_t**ppxIdleTaskStackBuffer,
+ uint32_t *pulIdleTaskStackSize)
{
- leds_set(led, r, g, b);
- leds_update();
+ /*
+ * If the buffers to be provided to the Idle task are declared inside this
+ * function then they must be declared static - otherwise they will be allocated on
+ * the stack and so not exists after this function exits.
+ */
+ static StaticTask_t xIdleTaskTCB;
+ static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
+
+ /*
+ * Pass out a pointer to the StaticTask_t structure in which the Idle task's
+ * ktate will be stored.
+ */
+ *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
+
+ /* Pass out the array that will be used as the Idle task's stack. */
+ *ppxIdleTaskStackBuffer = uxIdleTaskStack;
+
+ /*
+ * Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
+ * Note that, as the array is necessarily of type StackType_t,
+ * configMINIMAL_STACK_SIZE is specified in words, not bytes.
+ */
+ *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}
int main(void)
@@ -39,14 +63,46 @@ int main(void)
cdcacm_init();
+ printf("Initializing tasks ...\n");
+
+ /* Serial */
+ if (xTaskCreate(
+ vSerialTask,
+ (const char*)"Serial",
+ configMINIMAL_STACK_SIZE,
+ NULL,
+ tskIDLE_PRIORITY + 1,
+ NULL
+ ) != pdPASS) {
+ printf("Failed to create serial-comms task!\n");
+ abort();
+ }
+
+ if (xTaskCreate(
+ vApiDispatcher,
+ (const char*)"API Dispatcher",
+ configMINIMAL_STACK_SIZE,
+ NULL,
+ tskIDLE_PRIORITY + 2,
+ NULL
+ ) != pdPASS) {
+ printf("Failed to create api dispatcher task!\n");
+ abort();
+ }
+
printf("Initializing dispatcher ...\n");
api_dispatcher_init();
printf("Staring core1 payload ...\n");
core1_start();
+ vTaskStartScheduler();
+ printf("ERROR: FreeRTOS did not start due to above error!\n");
+
+#if 0
while(1) {
__WFE();
api_dispatcher_poll();
}
+#endif
}
diff --git a/epicardium/meson.build b/epicardium/meson.build
index f84abbe79..7aa214405 100644
--- a/epicardium/meson.build
+++ b/epicardium/meson.build
@@ -39,6 +39,22 @@ api_dispatcher_lib = static_library(
dependencies: periphdriver,
)
+##########################################################################
+#
+# FreeRTOS
+#
+##########################################################################
+
+freertos = static_library(
+ 'freertos',
+ freertos_sources,
+ dependencies: periphdriver,
+ include_directories: [
+ freertos_includes,
+ include_directories('./'),
+ ],
+)
+
##########################################################################
#
# Epicardium executable
@@ -49,9 +65,11 @@ elf = executable(
name + '.elf',
'main.c',
'cdcacm.c',
+ 'serial.c',
dependencies: [libcard10, max32665_startup_core0, maxusb],
- link_with: api_dispatcher_lib,
+ link_with: [api_dispatcher_lib, freertos],
link_whole: [max32665_startup_core0_lib, board_card10_lib],
+ include_directories: [freertos_includes],
link_args: [
'-Wl,-Map=' + meson.current_build_dir() + '/' + name + '.map',
],
diff --git a/epicardium/serial.c b/epicardium/serial.c
new file mode 100644
index 000000000..0a062c23d
--- /dev/null
+++ b/epicardium/serial.c
@@ -0,0 +1,68 @@
+#include <stdint.h>
+#include <stdio.h>
+
+#include "serial.h"
+
+#include "cdcacm.h"
+#include "uart.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+
+extern mxc_uart_regs_t * ConsoleUart;
+
+static QueueHandle_t read_queue;
+
+void epic_uart_write_str(char*str, intptr_t length)
+{
+ UART_Write(ConsoleUart, (uint8_t*)str, length);
+ cdcacm_write((uint8_t*)str, length);
+}
+
+char epic_uart_read_chr(void)
+{
+ char chr;
+ xQueueReceive(read_queue, &chr, portMAX_DELAY);
+ return chr;
+}
+
+void vSerialTask(void*pvParameters)
+{
+ static uint8_t buffer[sizeof(char) * SERIAL_READ_BUFFER_SIZE];
+ static StaticQueue_t read_queue_data;
+
+ /* Setup read queue */
+ read_queue = xQueueCreateStatic(
+ SERIAL_READ_BUFFER_SIZE,
+ sizeof(char),
+ buffer,
+ &read_queue_data
+ );
+
+ /* Setup UART interrupt */
+ NVIC_ClearPendingIRQ(UART0_IRQn);
+ NVIC_DisableIRQ(UART0_IRQn);
+ NVIC_SetPriority(UART0_IRQn, 1);
+ NVIC_EnableIRQ(UART0_IRQn);
+
+ while (1) {
+ char chr;
+
+ /* TODO: Wait for interrupt on either device */
+ vTaskDelay(portTICK_PERIOD_MS * 10);
+
+ if(UART_NumReadAvail(ConsoleUart) > 0) {
+ chr = UART_ReadByte(ConsoleUart);
+ } else if(cdcacm_num_read_avail() > 0) {
+ chr = cdcacm_read();
+ } else {
+ continue;
+ }
+
+ if (xQueueSend(read_queue, &chr, 100) == errQUEUE_FULL) {
+ /* Queue overran, wait a bit */
+ vTaskDelay(portTICK_PERIOD_MS * 50);
+ }
+ }
+}
diff --git a/epicardium/serial.h b/epicardium/serial.h
new file mode 100644
index 000000000..5e2e17795
--- /dev/null
+++ b/epicardium/serial.h
@@ -0,0 +1,8 @@
+#ifndef EPIC_SERIAL_H
+#define EPIC_SERIAL_H
+
+#define SERIAL_READ_BUFFER_SIZE 128
+
+void vSerialTask(void*pvParameters);
+
+#endif /* EPIC_SERIAL_H */
--
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