main.c

/*
    FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
    All rights reserved

    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

    This file is part of the FreeRTOS distribution and was contributed
    to the project by Technolution B.V. (www.technolution.nl,
    freertos-riscv@technolution.eu) under the terms of the FreeRTOS
    contributors license.

    FreeRTOS is free software; you can redistribute it and/or modify it under
    the terms of the GNU General Public License (version 2) as published by the
    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

    ***************************************************************************
    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
    >>!   distribute a combined work that includes FreeRTOS without being   !<<
    >>!   obliged to provide the source code for proprietary components     !<<
    >>!   outside of the FreeRTOS kernel.                                   !<<
    ***************************************************************************

    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
    FOR A PARTICULAR PURPOSE.  Full license text is available on the following
    link: http://www.freertos.org/a00114.html

    ***************************************************************************
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    ***************************************************************************

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*/

/*
 * main() creates a set of standard demo task and a timer.
 * It 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 timer are
 * defined and/or created within this file:
 *
 * "Check" software timer - The check timer period is initially set to three
 * seconds.  Its callback function checks that all the standard demo tasks, and
 * the register check tasks, are not only still executing, but are executing
 * without reporting any errors.
 */

/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "timers.h"

/* Common demo includes. */
#include "blocktim.h"
#include "countsem.h"
#include "recmutex.h"

/* RISCV includes */
#include "arch/syscalls.h"
#include "arch/clib.h"

/* The period after which the check timer will expire provided no errors have
been reported by any of the standard demo tasks.  ms are converted to the
equivalent in ticks using the portTICK_PERIOD_MS constant. */
#define mainCHECK_TIMER_PERIOD_MS			( 3000UL / portTICK_PERIOD_MS )

/* A block time of zero simply means "don't block". */
#define mainDONT_BLOCK						( 0UL )

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

/*
 * The check timer callback function, as described at the top of this file.
 */
static void prvCheckTimerCallback( TimerHandle_t xTimer );

/*
 * FreeRTOS hook for when malloc fails, enable in FreeRTOSConfig.
 */
void vApplicationMallocFailedHook( void );

/*
 * FreeRTOS hook for when freertos is idling, enable in FreeRTOSConfig.
 */
void vApplicationIdleHook( void );

/*
 * FreeRTOS hook for when a stackoverflow occurs, enable in FreeRTOSConfig.
 */
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );

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

int main( void )
{
TimerHandle_t xCheckTimer = NULL;

	/* Create the standard demo tasks, including the interrupt nesting test
	tasks. */
	vCreateBlockTimeTasks();
	vStartCountingSemaphoreTasks();
	vStartRecursiveMutexTasks();

	/* Create the software timer that performs the 'check' functionality,
	as described at the top of this file. */
	xCheckTimer = xTimerCreate( "CheckTimer",					/* A text name, purely to help debugging. */
								( mainCHECK_TIMER_PERIOD_MS ),	/* The timer period, in this case 3000ms (3s). */
								pdTRUE,							/* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
								( void * ) 0,					/* The ID is not used, so can be set to anything. */
								prvCheckTimerCallback			/* The callback function that inspects the status of all the other tasks. */
							  );

	/* If the software timer was created successfully, start it.  It won't
	actually start running until the scheduler starts.  A block time of
	zero is used in this call, although any value could be used as the block
	time will be ignored because the scheduler has not started yet. */
	if( xCheckTimer != NULL )
	{
		xTimerStart( xCheckTimer, mainDONT_BLOCK );
	}


	/* Start the kernel.  From here on, only tasks and interrupts will run. */
	vTaskStartScheduler();

	/* Exit FreeRTOS */
	return 0;
}
/*-----------------------------------------------------------*/

/* See the description at the top of this file. */
static void prvCheckTimerCallback(__attribute__ ((unused)) TimerHandle_t xTimer )
{
static int count = 0;
unsigned long ulErrorFound = pdFALSE;

	/* Check all the demo and test tasks to ensure that they are all still
	running, and that none have detected an error. */

	if( xAreBlockTimeTestTasksStillRunning() != pdPASS )
	{
		printf("Error in block time test tasks \r\n");
		ulErrorFound |= ( 0x01UL << 1UL );
	}

	if( xAreCountingSemaphoreTasksStillRunning() != pdPASS )
	{
		printf("Error in counting semaphore tasks \r\n");
		ulErrorFound |= ( 0x01UL << 2UL );
	}

	if( xAreRecursiveMutexTasksStillRunning() != pdPASS )
	{
		printf("Error in recursive mutex tasks \r\n");
		ulErrorFound |= ( 0x01UL << 3UL );
	}

	if( ulErrorFound != pdFALSE )
	{
		__asm volatile("li t6, 0xbeefdead");
		printf("One or more threads has exited! \r\n");
	}else{
		__asm volatile("li t6, 0xdeadbeef");
		printf("[%d] All threads still alive! \r\n", count++);
	}

    /* Do _not_ stop the scheduler; this would halt the system, but was left for reference on how to do so */
	/* Stop scheduler */
//    vTaskEndScheduler();

}
/*-----------------------------------------------------------*/

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( ;; );
}
/*-----------------------------------------------------------*/