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FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
All rights reserved
This file is part of the FreeRTOS distribution.
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
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* *
* *
*************************************************************************** - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()? - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum. - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS. - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack. - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware. - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
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. */
MSTP( CMT2 ) = 0U;
/* Interrupt on compare match. */
/* 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. */
/* Set CMI5 edge detection type. */
VIC.PLS9.LONG |= 0x00001000UL;
/* Set CMI5 priority level to the lowest possible. */
/* 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. */
* 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;
/* Call the installed ISR. */
* 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__ */