/* | |
* FreeRTOS Kernel V10.0.1 | |
* Copyright (C) 2017 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. | |
* | |
* http://www.FreeRTOS.org | |
* http://aws.amazon.com/freertos | |
* | |
* 1 tab == 4 spaces! | |
*/ | |
/* FreeRTOS includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Xilinx includes. */ | |
#include "xscutimer.h" | |
#include "xscugic.h" | |
#define XSCUTIMER_CLOCK_HZ ( XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ / 2UL ) | |
static XScuTimer xTimer; | |
XScuGic xInterruptController; /* Interrupt controller instance */ | |
/* | |
* The application must provide a function that configures a peripheral to | |
* create the FreeRTOS tick interrupt, then define configSETUP_TICK_INTERRUPT() | |
* in FreeRTOSConfig.h to call the function. This file contains a function | |
* that is suitable for use on the Zynq SoC. | |
*/ | |
void vConfigureTickInterrupt( void ) | |
{ | |
BaseType_t xStatus; | |
extern void FreeRTOS_Tick_Handler( void ); | |
XScuTimer_Config *pxTimerConfig; | |
XScuGic_Config *pxGICConfig; | |
const uint8_t ucRisingEdge = 3; | |
/* This function is called with the IRQ interrupt disabled, and the IRQ | |
interrupt should be left disabled. It is enabled automatically when the | |
scheduler is started. */ | |
/* Ensure XScuGic_CfgInitialize() has been called. In this demo it has | |
already been called from prvSetupHardware() in main(). */ | |
pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID ); | |
xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress ); | |
configASSERT( xStatus == XST_SUCCESS ); | |
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */ | |
/* The priority must be the lowest possible. */ | |
XScuGic_SetPriorityTriggerType( &xInterruptController, XPAR_SCUTIMER_INTR, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge ); | |
/* Install the FreeRTOS tick handler. */ | |
xStatus = XScuGic_Connect( &xInterruptController, XPAR_SCUTIMER_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, ( void * ) &xTimer ); | |
configASSERT( xStatus == XST_SUCCESS ); | |
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */ | |
/* Initialise the timer. */ | |
pxTimerConfig = XScuTimer_LookupConfig( XPAR_SCUTIMER_DEVICE_ID ); | |
xStatus = XScuTimer_CfgInitialize( &xTimer, pxTimerConfig, pxTimerConfig->BaseAddr ); | |
configASSERT( xStatus == XST_SUCCESS ); | |
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */ | |
/* Enable Auto reload mode. */ | |
XScuTimer_EnableAutoReload( &xTimer ); | |
/* Ensure there is no prescale. */ | |
XScuTimer_SetPrescaler( &xTimer, 0 ); | |
/* Load the timer counter register. */ | |
XScuTimer_LoadTimer( &xTimer, XSCUTIMER_CLOCK_HZ / configTICK_RATE_HZ ); | |
/* Start the timer counter and then wait for it to timeout a number of | |
times. */ | |
XScuTimer_Start( &xTimer ); | |
/* Enable the interrupt for the xTimer in the interrupt controller. */ | |
XScuGic_Enable( &xInterruptController, XPAR_SCUTIMER_INTR ); | |
/* Enable the interrupt in the xTimer itself. */ | |
vClearTickInterrupt(); | |
XScuTimer_EnableInterrupt( &xTimer ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vClearTickInterrupt( void ) | |
{ | |
XScuTimer_ClearInterruptStatus( &xTimer ); | |
} | |
/*-----------------------------------------------------------*/ | |
/* This is the callback function which is called by the FreeRTOS Cortex-A port | |
layer in response to an interrupt. If the function is called | |
vApplicationFPUSafeIRQHandler() then it is called after the floating point | |
registers have been saved. If the function is called vApplicationIRQHandler() | |
then it will be called without first having saved the FPU registers. See | |
http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html for | |
more information */ | |
void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR ) | |
{ | |
extern const XScuGic_Config XScuGic_ConfigTable[]; | |
static const XScuGic_VectorTableEntry *pxVectorTable = XScuGic_ConfigTable[ XPAR_SCUGIC_SINGLE_DEVICE_ID ].HandlerTable; | |
uint32_t ulInterruptID; | |
const XScuGic_VectorTableEntry *pxVectorEntry; | |
/* Re-enable interrupts. */ | |
__asm ( "cpsie i" ); | |
/* The ID of the interrupt is obtained by bitwise anding the ICCIAR value | |
with 0x3FF. */ | |
ulInterruptID = ulICCIAR & 0x3FFUL; | |
if( ulInterruptID < XSCUGIC_MAX_NUM_INTR_INPUTS ) | |
{ | |
/* Call the function installed in the array of installed handler functions. */ | |
pxVectorEntry = &( pxVectorTable[ ulInterruptID ] ); | |
pxVectorEntry->Handler( pxVectorEntry->CallBackRef ); | |
} | |
} | |