/* | |
* FreeRTOS Kernel V10.1.1 | |
* Copyright (C) 2018 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" | |
/* Renesas includes. */ | |
#include "r_cg_macrodriver.h" | |
#include "r_cg_cmt.h" | |
#include "r_reset.h" | |
/*-----------------------------------------------------------*/ | |
/* | |
* Entry point for the FreeRTOS tick interrupt. This sets the pxISRFunction | |
* variable to point to the RTOS tick handler, then branches to the FreeRTOS | |
* IRQ handler. | |
*/ | |
#ifdef __GNUC__ | |
static void FreeRTOS_Tick_Handler_Entry( void ) __attribute__((naked)); | |
#endif /* __GNUC__ */ | |
#ifdef __ICCARM__ | |
/* IAR requires the entry point to be in an assembly file. The function is | |
implemented in $PROJ_DIR$/System/IAR/Interrupt_Entry_Stubs.asm. */ | |
extern void FreeRTOS_Tick_Handler_Entry( void ); | |
#endif /* __ICCARM__ */ | |
/* | |
* The FreeRTOS IRQ handler, which is implemented in the RTOS port layer. | |
*/ | |
extern void FreeRTOS_IRQ_Handler( void ); | |
/* | |
* The function called by the FreeRTOS_IRQ_Handler() to call the actual | |
* peripheral handler. | |
*/ | |
void vApplicationIRQHandler( void ); | |
/*-----------------------------------------------------------*/ | |
/* | |
* Variable used to hold the address of the interrupt handler the FreeRTOS IRQ | |
* handler will branch to. | |
*/ | |
ISRFunction_t pxISRFunction = NULL; | |
/*-----------------------------------------------------------*/ | |
/* | |
* 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. | |
*/ | |
void vConfigureTickInterrupt( void ) | |
{ | |
uint32_t ulCompareMatchValue; | |
const uint32_t ulPeripheralClockDivider = 6UL, ulCMTClockDivider = 8UL; | |
/* Disable CMI5 interrupt. */ | |
VIC.IEC9.LONG = 0x00001000UL; | |
/* Cancel CMT stop state in LPC. */ | |
r_rst_write_enable(); | |
MSTP( CMT2 ) = 0U; | |
r_rst_write_disable(); | |
/* Interrupt on compare match. */ | |
CMT5.CMCR.BIT.CMIE = 1; | |
/* Calculate the compare match value. */ | |
ulCompareMatchValue = configCPU_CLOCK_HZ / ulPeripheralClockDivider; | |
ulCompareMatchValue /= ulCMTClockDivider; | |
ulCompareMatchValue /= configTICK_RATE_HZ; | |
ulCompareMatchValue -= 1UL; | |
/* Set the compare match value. */ | |
CMT5.CMCOR = ( unsigned short ) ulCompareMatchValue; | |
/* Divide the PCLK by 8. */ | |
CMT5.CMCR.BIT.CKS = 0; | |
CMT5.CMCNT = 0; | |
/* Set CMI5 edge detection type. */ | |
VIC.PLS9.LONG |= 0x00001000UL; | |
/* Set CMI5 priority level to the lowest possible. */ | |
VIC.PRL300.LONG = _CMT_PRIORITY_LEVEL31; | |
/* Set CMI5 interrupt address */ | |
VIC.VAD300.LONG = ( uint32_t ) FreeRTOS_Tick_Handler_Entry; | |
/* Enable CMI5 interrupt in ICU. */ | |
VIC.IEN9.LONG |= 0x00001000UL; | |
/* Start CMT5 count. */ | |
CMT.CMSTR2.BIT.STR5 = 1U; | |
} | |
/*-----------------------------------------------------------*/ | |
/* | |
* The function called by the FreeRTOS IRQ handler, after it has managed | |
* interrupt entry. This function creates a local copy of pxISRFunction before | |
* re-enabling interrupts and actually calling the handler pointed to by | |
* pxISRFunction. | |
*/ | |
void vApplicationIRQHandler( void ) | |
{ | |
ISRFunction_t pxISRToCall = pxISRFunction; | |
portENABLE_INTERRUPTS(); | |
/* Call the installed ISR. */ | |
pxISRToCall(); | |
} | |
/*-----------------------------------------------------------*/ | |
/* | |
* The RZ/T vectors directly to a peripheral specific interrupt handler, rather | |
* than using the Cortex-R IRQ vector. Therefore each interrupt handler | |
* installed by the application must follow the example below, which saves a | |
* pointer to a standard C function in the pxISRFunction variable, before | |
* branching to the FreeRTOS IRQ handler. The FreeRTOS IRQ handler then manages | |
* interrupt entry (including interrupt nesting), before calling the C function | |
* saved in the pxISRFunction variable. NOTE: This entry point is a naked | |
* function - do not add C code to this function. | |
*/ | |
#ifdef __GNUC__ | |
/* The IAR equivalent is implemented in | |
$PROJ_DIR$/System/IAR/Interrupt_Entry_Stubs.asm */ | |
static void FreeRTOS_Tick_Handler_Entry( void ) | |
{ | |
__asm volatile ( | |
"PUSH {r0-r1} \t\n" | |
"LDR r0, =pxISRFunction \t\n" | |
"LDR R1, =FreeRTOS_Tick_Handler \t\n" | |
"STR R1, [r0] \t\n" | |
"POP {r0-r1} \t\n" | |
"B FreeRTOS_IRQ_Handler " | |
); | |
} | |
#endif /* __GNUC__ */ | |
/*-----------------------------------------------------------*/ | |