| /* | |
| FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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. | |
| 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 | |
| 1 tab == 4 spaces! | |
| *************************************************************************** | |
| * * | |
| * Having a problem? Start by reading the FAQ "My application does * | |
| * not run, what could be wrong?". Have you defined configASSERT()? * | |
| * * | |
| * http://www.FreeRTOS.org/FAQHelp.html * | |
| * * | |
| *************************************************************************** | |
| *************************************************************************** | |
| * * | |
| * 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: * | |
| * http://www.FreeRTOS.org/Documentation * | |
| * * | |
| *************************************************************************** | |
| *************************************************************************** | |
| * * | |
| * Investing in training allows your team to be as productive as * | |
| * possible as early as possible, lowering your overall development * | |
| * cost, and enabling you to bring a more robust product to market * | |
| * earlier than would otherwise be possible. Richard Barry is both * | |
| * the architect and key author of FreeRTOS, and so also the world's * | |
| * leading authority on what is the world's most popular real time * | |
| * kernel for deeply embedded MCU designs. Obtaining your training * | |
| * from Richard ensures your team will gain directly from his in-depth * | |
| * product knowledge and years of usage experience. Contact Real Time * | |
| * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented * | |
| * by Richard Barry: http://www.FreeRTOS.org/contact | |
| * * | |
| *************************************************************************** | |
| *************************************************************************** | |
| * * | |
| * You are receiving this top quality software for free. Please play * | |
| * fair and reciprocate by reporting any suspected issues and * | |
| * participating in the community forum: * | |
| * http://www.FreeRTOS.org/support * | |
| * * | |
| * Thank you! * | |
| * * | |
| *************************************************************************** | |
| http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
| license and Real Time Engineers Ltd. contact details. | |
| http://www.FreeRTOS.org/plus - 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. | |
| http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. | |
| Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. | |
| http://www.OpenRTOS.com - 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. | |
| http://www.SafeRTOS.com - 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" | |
| #include "Task.h" | |
| /* Library includes. */ | |
| #include "board.h" | |
| /* | |
| * The FreeRTOS tick handler. This function must be installed as the handler | |
| * for the timer used to generate the tick interrupt. Note that the interrupt | |
| * generated by the PIT is shared by other system peripherals, so if the PIT is | |
| * used for Tick generation then FreeRTOS_Tick_Handler() can only be installed | |
| * directly as the PIT handler if no other system interrupts need to be | |
| * serviced. If system interrupts other than the PIT need to be serviced then | |
| * install System_Handler() as the PIT interrupt handler in place of | |
| * FreeRTOS_Tick_Handler() and add additional interrupt processing into the | |
| * implementation of System_Handler(). | |
| */ | |
| extern void FreeRTOS_Tick_Handler( void ); | |
| static void System_Handler( void ); | |
| /*-----------------------------------------------------------*/ | |
| static void System_Handler( void ) | |
| { | |
| /* See the comments above the function prototype in this file. */ | |
| FreeRTOS_Tick_Handler(); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * 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 Atmel SAMA5. | |
| */ | |
| void vConfigureTickInterrupt( void ) | |
| { | |
| /* NOTE: The PIT interrupt is cleared by the configCLEAR_TICK_INTERRUPT() | |
| macro in FreeRTOSConfig.h. */ | |
| /* Enable the PIT clock. */ | |
| PMC->PMC_PCER0 = 1 << ID_PIT; | |
| /* Initialize the PIT to the desired frequency - specified in uS. */ | |
| PIT_Init( 1000000UL / configTICK_RATE_HZ, ( BOARD_MCK / 2 ) / 1000000 ); | |
| /* Enable IRQ / select PIT interrupt. */ | |
| PMC->PMC_PCER1 = ( 1 << ( ID_IRQ - 32 ) ); | |
| AIC->AIC_SSR = ID_PIT; | |
| /* Ensure interrupt is disabled before setting the mode and installing the | |
| handler. The priority of the tick interrupt should always be set to the | |
| lowest possible. */ | |
| AIC->AIC_IDCR = AIC_IDCR_INTD; | |
| AIC->AIC_SMR = AIC_SMR_SRCTYPE_EXT_POSITIVE_EDGE; | |
| AIC->AIC_SVR = ( uint32_t ) FreeRTOS_Tick_Handler; | |
| /* Start with the interrupt clear. */ | |
| AIC->AIC_ICCR = AIC_ICCR_INTCLR; | |
| /* Enable the interrupt in the AIC and peripheral. */ | |
| AIC_EnableIT( ID_PIT ); | |
| PIT_EnableIT(); | |
| /* Enable the peripheral. */ | |
| PIT_Enable(); | |
| /* Prevent compiler warnings in the case where System_Handler() is not used | |
| as the handler. See the comments above the System_Handler() function | |
| prototype at the top of this file. */ | |
| ( void ) System_Handler; | |
| } | |
| /*-----------------------------------------------------------*/ | |