Initial FreeRTOS support.
Signed-off-by: Yilin Sun <imi415@imi.moe>
This commit is contained in:
parent
11173b0dba
commit
f8fcd25e5f
GPG Key ID:
17F01E106F9F5E0A
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@ -0,0 +1,3 @@
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[submodule "lib/freertos"]
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path = lib/freertos
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url = https://github.com/imi415/FreeRTOS-Kernel.git
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@ -1,6 +1,6 @@
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cmake_minimum_required(VERSION 3.10)
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project(t113i_c906_template)
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project(t113i_c906_freertos)
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enable_language(CXX)
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enable_language(ASM)
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@ -9,10 +9,14 @@ enable_language(ASM)
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set(TARGET_LDSCRIPT_FLASH "${CMAKE_SOURCE_DIR}/GCC/T113i_RAM.ld")
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set(TARGET_SOURCES
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"startup/c906_it.c"
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"startup/resource_table.c"
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"startup/start_c906.S"
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"startup/startup_c906.S"
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"startup/system_c906.c"
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"src/freertos/port.c"
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"src/main.c"
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"src/tasks/app_task_hello.c"
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"src/tasks/app_tasks.c"
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)
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set(TARGET_C_DEFINES
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@ -24,6 +28,7 @@ set(TARGET_C_INCLUDES
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# Shared libraries linked with application
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set(TARGET_LIBS
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"freertos_kernel"
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"c"
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"m"
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"nosys"
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@ -51,6 +56,13 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -fno-common -fno-builtin -f
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set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp")
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set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--gc-sections")
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add_library(freertos_config INTERFACE)
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target_include_directories(freertos_config SYSTEM INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/include)
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set(FREERTOS_PORT GCC_RISC_V_GENERIC CACHE STRING "")
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set(FREERTOS_RISCV_EXTENSION RV64GCV_XuanTie_C906 CACHE STRING "")
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set(FREERTOS_HEAP "4" CACHE STRING "")
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add_subdirectory(lib/freertos)
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# Shared sources, includes and definitions
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add_compile_definitions(${TARGET_C_DEFINES})
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include_directories(${TARGET_C_INCLUDES})
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@ -5,8 +5,8 @@ ENTRY( _start )
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* too high may cause SDRAM overflow.
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* Collision may occur with heap when stack gets too deep.
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*/
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__stack_size = 2048;
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__heap_size = 2048;
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__stack_size = 32768;
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__heap_size = 32768;
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MEMORY
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{
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@ -18,28 +18,28 @@ SECTIONS
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{
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.resource_table :
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{
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. = ALIGN(4);
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. = ALIGN(8);
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KEEP(*(SORT_NONE(.resource_table)))
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. = ALIGN(4);
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. = ALIGN(8);
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} >SDRAM
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.init :
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{
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. = ALIGN(4);
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. = ALIGN(8);
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KEEP(*(SORT_NONE(.init)))
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. = ALIGN(4);
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. = ALIGN(8);
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} >SDRAM
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.vectors :
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{
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. = ALIGN(4);
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. = ALIGN(8);
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KEEP(*(SORT_NONE(.vectors)))
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. = ALIGN(4);
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. = ALIGN(8);
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} >SDRAM
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.text :
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{
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. = ALIGN(4);
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. = ALIGN(8);
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_stext = .;
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*(.text)
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@ -49,7 +49,7 @@ SECTIONS
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*(.rodata*)
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*(.gnu.linkonce.r.*)
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. = ALIGN(4);
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. = ALIGN(8);
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_etext = .;
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} >SDRAM
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@ -96,7 +96,7 @@ SECTIONS
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.data :
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{
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. = ALIGN(4);
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. = ALIGN(8);
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_sdata = .;
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*(.data .data.*)
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@ -105,7 +105,7 @@ SECTIONS
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*(.srodata .srodata.*)
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*(.gnu.linkonce.s.*)
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. = ALIGN(4);
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. = ALIGN(8);
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_edata = .;
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} >SDRAM
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@ -114,7 +114,7 @@ SECTIONS
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.bss :
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{
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. = ALIGN(4);
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. = ALIGN(8);
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_sbss = .;
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*(.sbss)
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@ -125,25 +125,25 @@ SECTIONS
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*(.gnu.linkonce.b.*)
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*(COMMON)
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. = ALIGN(4);
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. = ALIGN(8);
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_ebss = .;
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} >SDRAM
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.heap_stack :
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{
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. = ALIGN(8);
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. = ALIGN(16);
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_end = .;
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PROVIDE(end = . );
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. = . + __heap_size;
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. = ALIGN(8);
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. = ALIGN(16);
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PROVIDE(_heap_end = .);
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. = . + __stack_size;
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. = ALIGN(8);
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. = ALIGN(16);
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} >SDRAM
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/* Place initial SP to the end of SDRAM */
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__stack_top = ORIGIN(SDRAM) + LENGTH(SDRAM);
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PROVIDE(_eusrstack = __stack_top);
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__freertos_irq_stack_top = __stack_top;
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}
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@ -0,0 +1,95 @@
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#ifndef FREERTOS_CONFIG_H
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#define FREERTOS_CONFIG_H
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#define configUSE_PREEMPTION 1
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#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
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#define configUSE_TICKLESS_IDLE 0
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#define configCPU_CLOCK_HZ 24000000
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#define configSYSTICK_CLOCK_HZ 24000000
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#define configTICK_RATE_HZ 1000
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#define configMAX_PRIORITIES 16
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#define configMINIMAL_STACK_SIZE 512
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#define configMAX_TASK_NAME_LEN 16
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#define configUSE_16_BIT_TICKS 0
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#define configIDLE_SHOULD_YIELD 1
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#define configUSE_TASK_NOTIFICATIONS 1
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#define configTASK_NOTIFICATION_ARRAY_ENTRIES 3
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#define configUSE_MUTEXES 0
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#define configUSE_RECURSIVE_MUTEXES 0
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#define configUSE_COUNTING_SEMAPHORES 0
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#define configUSE_ALTERNATIVE_API 0 /* Deprecated! */
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#define configQUEUE_REGISTRY_SIZE 10
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#define configUSE_QUEUE_SETS 0
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#define configUSE_TIME_SLICING 0
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#define configUSE_NEWLIB_REENTRANT 0
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#define configENABLE_BACKWARD_COMPATIBILITY 0
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#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
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#define configUSE_MINI_LIST_ITEM 1
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#define configSTACK_DEPTH_TYPE uint64_t
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#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
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#define configHEAP_CLEAR_MEMORY_ON_FREE 1
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#define configUSE_APPLICATION_TASK_TAG 0
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#define configSTATS_BUFFER_MAX_LENGTH 0xFFFF
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/* Memory allocation related definitions. */
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#define configSUPPORT_STATIC_ALLOCATION 0
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#define configSUPPORT_DYNAMIC_ALLOCATION 1
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#define configKERNEL_PROVIDED_STATIC_MEMORY 1
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#define configTOTAL_HEAP_SIZE (64 * 1024)
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#define configAPPLICATION_ALLOCATED_HEAP 0
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#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0
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#define configENABLE_HEAP_PROTECTOR 0
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/* Hook function related definitions. */
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#define configUSE_IDLE_HOOK 0
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#define configUSE_TICK_HOOK 0
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#define configCHECK_FOR_STACK_OVERFLOW 0
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#define configUSE_MALLOC_FAILED_HOOK 0
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#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
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#define configUSE_SB_COMPLETED_CALLBACK 0
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/* Run time and task stats gathering related definitions. */
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#define configGENERATE_RUN_TIME_STATS 0
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#define configUSE_TRACE_FACILITY 0
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#define configUSE_STATS_FORMATTING_FUNCTIONS 0
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/* Co-routine related definitions. */
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#define configUSE_CO_ROUTINES 0
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#define configMAX_CO_ROUTINE_PRIORITIES 1
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/* Software timer related definitions. */
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#define configUSE_TIMERS 1
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#define configTIMER_TASK_PRIORITY 15
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#define configTIMER_QUEUE_LENGTH 10
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#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
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/* Define to trap errors during development. */
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#define configASSERT(x) if((x) == 0) {for(;;) {}}
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/* RISC-V related settings */
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#define configMTIME_BASE_ADDRESS 0
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#define configMTIMECMP_BASE_ADDRESS 0
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/* Optional functions - most linkers will remove unused functions anyway. */
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#define INCLUDE_vTaskPrioritySet 1
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#define INCLUDE_uxTaskPriorityGet 1
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#define INCLUDE_vTaskDelete 1
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#define INCLUDE_vTaskSuspend 1
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#define INCLUDE_xResumeFromISR 1
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#define INCLUDE_vTaskDelayUntil 1
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#define INCLUDE_vTaskDelay 1
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#define INCLUDE_xTaskGetSchedulerState 1
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#define INCLUDE_xTaskGetCurrentTaskHandle 1
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#define INCLUDE_uxTaskGetStackHighWaterMark 0
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#define INCLUDE_uxTaskGetStackHighWaterMark2 0
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#define INCLUDE_xTaskGetIdleTaskHandle 0
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#define INCLUDE_eTaskGetState 0
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#define INCLUDE_xEventGroupSetBitFromISR 1
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#define INCLUDE_xTimerPendFunctionCall 0
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#define INCLUDE_xTaskAbortDelay 0
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#define INCLUDE_xTaskGetHandle 0
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#define INCLUDE_xTaskResumeFromISR 1
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/* A header file that defines trace macro can be included here. */
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#endif /* FREERTOS_CONFIG_H */
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@ -0,0 +1,45 @@
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#ifndef T113I_H
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#define T113I_H
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#include <stdint.h>
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#define __PACKED __attribute__((packed))
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#define __IM volatile
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#define __OM const volatile
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#define __IOM volatile
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typedef struct {
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__IOM uint32_t CFG[4]; /* 0x00 - 0x0C */
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__IOM uint32_t DAT; /* 0x10 */
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__IOM uint32_t DRV[4]; /* 0x14 - 0x20 */
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__IOM uint32_t PULL[2]; /* 0x24 - 0x28 */
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} GPIO_Type;
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typedef struct {
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__IOM uint32_t RBR_THR_DLL;
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__IOM uint32_t DLH_IER;
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__IOM uint32_t IIR_FCR;
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__IOM uint32_t LCR;
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__IOM uint32_t MCR;
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__IOM uint32_t LSR;
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__IOM uint32_t MSR;
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__IOM uint32_t SCH;
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} UART_Type;
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#define GPIOB_BASE (0x02000030)
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#define GPIOC_BASE (0x02000060)
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#define GPIOD_BASE (0x02000090)
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#define GPIOE_BASE (0x020000C0)
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#define GPIOF_BASE (0x020000F0)
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#define GPIOG_BASE (0x02000120)
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#define GPIOB ((GPIO_Type *)GPIOB_BASE)
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#define GPIOC ((GPIO_Type *)GPIOC_BASE)
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#define GPIOD ((GPIO_Type *)GPIOD_BASE)
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#define GPIOE ((GPIO_Type *)GPIOE_BASE)
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#define GPIOF ((GPIO_Type *)GPIOF_BASE)
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#define GPIOG ((GPIO_Type *)GPIOG_BASE)
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#endif // T113I_H
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@ -0,0 +1 @@
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Subproject commit 62d75c88279c1f98f8eaef761a20c28b583e37f6
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@ -9,8 +9,8 @@ set(CMAKE_CXX_COMPILER riscv64-elf-g++)
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# Optionally set size binary name, for elf section size reporting.
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set(TARGET_TOOLCHAIN_SIZE riscv64-elf-size)
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set(CMAKE_C_FLAGS_INIT "-march=rv64imafdc_zicsr -mabi=lp64d")
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set(CMAKE_CXX_FLAGS_INIT "-march=rv64imafdc_zicsr -mabi=lp64d")
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set(CMAKE_C_FLAGS_INIT "-march=rv64gc -mabi=lp64d")
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set(CMAKE_CXX_FLAGS_INIT "-march=rv64gc -mabi=lp64d")
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set(CMAKE_EXE_LINKER_FLAGS_INIT "-specs=nano.specs -specs=nosys.specs -nostartfiles -Wl,--print-memory-usage -Wl,--no-warn-rwx-segments")
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# Make CMake happy about those compilers
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@ -0,0 +1,40 @@
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#include "FreeRTOS.h"
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#include "task.h"
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#define CLINT_BASE 0x14000000
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extern uint64_t ullNextTime;
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extern volatile uint64_t *pullMachineTimerCompareRegister;
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static inline uint64_t timer_get_current(void) {
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uint64_t ret;
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asm volatile("csrr %0, time" : "=r"(ret));
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return ret;
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}
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static inline void timer_set_match(uint64_t match) {
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*(uint32_t *)(CLINT_BASE + 0x4004) = match >> 32;
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*(uint32_t *)(CLINT_BASE + 0x4000) = match;
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}
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static inline void enable_timer_interrupt(void) {
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uint64_t mie;
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asm volatile("csrr %0, mie" : "=r"(mie));
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mie |= (1U << 7); /* Machine timer interrupt */
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asm volatile("csrw mie, %0" : : "r"(mie));
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}
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void vPortSetupTimerInterrupt(void) {
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uint64_t cur_time = timer_get_current();
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uint64_t match_inc = configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ;
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ullNextTime = cur_time + match_inc;
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pullMachineTimerCompareRegister = (volatile uint64_t *)(CLINT_BASE + 0x4000);
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timer_set_match(ullNextTime);
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enable_timer_interrupt();
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}
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13
src/main.c
13
src/main.c
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@ -1,9 +1,16 @@
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#include <stdint.h>
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static volatile uint64_t s_count = 0U;
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#include "FreeRTOS.h"
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#include "task.h"
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void app_tasks_init(void);
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int main(void) {
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for(;;) {
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s_count++;
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app_tasks_init();
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vTaskStartScheduler();
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for (;;) {
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/**/
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}
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}
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@ -0,0 +1,16 @@
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#include "FreeRTOS.h"
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#include "task.h"
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#include "t113i.h"
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#define LED_PIN (11) /* PG11 */
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void app_task_hello(void *arguments) {
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for(;;) {
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GPIOG->DAT &= ~(1U << LED_PIN);
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vTaskDelay(pdMS_TO_TICKS(1000));
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||||
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GPIOG->DAT |= (1U << LED_PIN);
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vTaskDelay(pdMS_TO_TICKS(1000));
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||||
}
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||||
}
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||||
|
|
@ -0,0 +1,8 @@
|
|||
#include "FreeRTOS.h"
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||||
#include "task.h"
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||||
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||||
void app_task_hello(void *arguments);
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||||
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||||
void app_tasks_init(void) {
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xTaskCreate(app_task_hello, "HELLO", 1024, NULL, 2, NULL);
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}
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|
@ -0,0 +1,16 @@
|
|||
#define __IRQ __attribute__((interrupt))
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#define __IRQ_NAKED __attribute__((naked))
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||||
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__IRQ void Default_Handler(void) {
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||||
for (;;) {
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||||
/* -- */
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||||
}
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||||
}
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||||
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||||
__IRQ_NAKED void Exception_Handler(void) {
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asm volatile("j freertos_risc_v_exception_handler");
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}
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||||
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__IRQ_NAKED void M_Timer_IRQHandler(void) {
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asm volatile("j freertos_risc_v_mtimer_interrupt_handler");
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||||
}
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|
@ -1,36 +0,0 @@
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|||
/* Custom CSR definitions */
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||||
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||||
#define CSR_MCOR 0x7C2
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#define CSR_MSMPR 0x7f3
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||||
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||||
/* Reset vector */
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||||
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||||
.section .init,"ax",@progbits
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||||
.global _start
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||||
_start:
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||||
/* Initialize GP */
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||||
.option push
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||||
.option norelax
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||||
la gp, __global_pointer$
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||||
.option pop
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||||
|
||||
|
||||
/* Initialize SP */
|
||||
la sp, __stack_top
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||||
|
||||
/* Data section has been copied by framework. */
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||||
|
||||
clear_bss:
|
||||
/* Clear bss section */
|
||||
la a0, _sbss
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||||
la a1, _ebss
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||||
bgeu a0, a1, post_crt0
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||||
|
||||
loop_clear_bss:
|
||||
sd zero, (a0)
|
||||
addi a0, a0, 8
|
||||
bltu a0, a1, loop_clear_bss
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||||
|
||||
post_crt0:
|
||||
jal SystemInit
|
||||
jal main
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||||
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|
@ -0,0 +1,83 @@
|
|||
/* Custom CSR definitions */
|
||||
|
||||
/* Reset vector */
|
||||
|
||||
.section .init,"ax",@progbits
|
||||
.global _start
|
||||
.align 8
|
||||
_start:
|
||||
|
||||
/* Initialize GP */
|
||||
.option push
|
||||
.option norelax
|
||||
la gp, __global_pointer$
|
||||
.option pop
|
||||
|
||||
csrw mie, x0
|
||||
csrw mip, x0
|
||||
|
||||
li t0, 0x70013
|
||||
csrw 0x7c2, t0 /* MCOR */
|
||||
|
||||
li t0, 0
|
||||
csrw 0x7c1, t0 /* MHCR */
|
||||
|
||||
/* Enable FP */
|
||||
li t0, 0xa00007900
|
||||
csrw mstatus, t0
|
||||
|
||||
/* Initialize SP */
|
||||
la sp, __stack_top
|
||||
|
||||
/* Data section has been copied by framework. */
|
||||
|
||||
clear_bss:
|
||||
/* Clear bss section */
|
||||
la a0, _sbss
|
||||
la a1, _ebss
|
||||
bgeu a0, a1, main_entry
|
||||
|
||||
loop_clear_bss:
|
||||
sd zero, (a0)
|
||||
addi a0, a0, 8
|
||||
bltu a0, a1, loop_clear_bss
|
||||
|
||||
/* Exception system */
|
||||
la t0, vec_base
|
||||
addi t0, t0, 1
|
||||
csrw mtvec, t0
|
||||
|
||||
main_entry:
|
||||
jal SystemInit
|
||||
jal main
|
||||
|
||||
dead_loop:
|
||||
j dead_loop
|
||||
|
||||
.option push
|
||||
.option norvc
|
||||
.align 8
|
||||
vec_base:
|
||||
j Exception_Handler /* 00 Exception */
|
||||
j S_Software_IRQHandler /* 01 Supervisor software interrupt */
|
||||
j Default_Handler /* 02 Reserved */
|
||||
j M_Software_IRQHandler /* 03 Machine software interrupt */
|
||||
j Default_Handler /* 04 Reserved */
|
||||
j S_Timer_IRQHandler /* 05 Supervisor timer interrupt */
|
||||
j Default_Handler /* 06 Reserved */
|
||||
j M_Timer_IRQHandler /* 07 Machine timer interrupt */
|
||||
.option pop
|
||||
|
||||
.weak Exception_Handler
|
||||
.weak S_Software_IRQHandler
|
||||
.weak M_Software_IRQHandler
|
||||
.weak S_Timer_IRQHandler
|
||||
.weak M_Timer_IRQHandler
|
||||
|
||||
.align 8
|
||||
Exception_Handler:
|
||||
S_Software_IRQHandler:
|
||||
M_Software_IRQHandler:
|
||||
S_Timer_IRQHandler:
|
||||
M_Timer_IRQHandler:
|
||||
j Default_Handler
|
||||
|
|
@ -1,3 +1,3 @@
|
|||
void SystemInit(void) {
|
||||
/* -- Nothing to do here for now. -- */
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue