/* | |
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. | |
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*/ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Constants used to configure the interrupts. */ | |
#define portPRESCALE_VALUE 64 | |
#define portPRESCALE_REG_SETTING ( 5 << 8 ) | |
#define portPIT_INTERRUPT_ENABLED ( 0x08 ) | |
#define configPIT0_INTERRUPT_VECTOR ( 55 ) | |
/* | |
* FreeRTOS.org requires two interrupts - a tick interrupt generated from a | |
* timer source, and a spare interrupt vector used for context switching. | |
* The configuration below uses PIT0 for the former, and vector 16 for the | |
* latter. **IF YOUR APPLICATION HAS BOTH OF THESE INTERRUPTS FREE THEN YOU DO | |
* NOT NEED TO CHANGE ANY OF THIS CODE** - otherwise instructions are provided | |
* here for using alternative interrupt sources. | |
* | |
* To change the tick interrupt source: | |
* | |
* 1) Modify vApplicationSetupInterrupts() below to be correct for whichever | |
* peripheral is to be used to generate the tick interrupt. | |
* | |
* 2) Change the name of the function __cs3_isr_interrupt_119() defined within | |
* this file to be correct for the interrupt vector used by the timer peripheral. | |
* The name of the function should contain the vector number, so by default vector | |
* number 119 is being used. | |
* | |
* 3) Make sure the tick interrupt is cleared within the interrupt handler function. | |
* Currently __cs3_isr_interrupt_119() clears the PIT0 interrupt. | |
* | |
* To change the spare interrupt source: | |
* | |
* 1) Modify vApplicationSetupInterrupts() below to be correct for whichever | |
* interrupt vector is to be used. Make sure you use a spare interrupt on interrupt | |
* controller 0, otherwise the register used to request context switches will also | |
* require modification. By default vector 16 is used which is free on most MCF52xxx | |
* devices. | |
* | |
* 2) Change the definition of configYIELD_INTERRUPT_VECTOR within FreeRTOSConfig.h | |
* to be correct for your chosen interrupt vector. | |
* | |
* 3) Change the name of the function __cs3_isr_interrupt_80() within portasm.S | |
* to be correct for whichever vector number is being used. By default interrupt | |
* controller 0 vector number 16 is used, which corresponds to vector number 80. | |
*/ | |
void vApplicationSetupInterrupts( void ) | |
{ | |
const unsigned short usCompareMatchValue = ( ( configCPU_CLOCK_HZ / portPRESCALE_VALUE ) / configTICK_RATE_HZ ); | |
/* Configure interrupt priority and level and unmask interrupt for PIT0. */ | |
MCF_INTC0_ICR55 = ( 1 | ( configKERNEL_INTERRUPT_PRIORITY << 3 ) ); | |
MCF_INTC0_IMRH &= ~( MCF_INTC_IMRH_INT_MASK55 ); | |
/* Do the same for vector 16 (interrupt controller 0). I don't think the | |
write to MCF_INTC0_IMRH is actually required here but is included for | |
completeness. */ | |
MCF_INTC0_ICR16 = ( 0 | ( configKERNEL_INTERRUPT_PRIORITY << 3 ) ); | |
MCF_INTC0_IMRH &= ~( MCF_INTC_IPRL_INT16 ); | |
/* Configure PIT0 to generate the RTOS tick. */ | |
MCF_PIT0_PCSR |= MCF_PIT_PCSR_PIF; | |
MCF_PIT0_PCSR = ( portPRESCALE_REG_SETTING | MCF_PIT_PCSR_PIE | MCF_PIT_PCSR_RLD | MCF_PIT_PCSR_EN ); | |
MCF_PIT0_PMR = usCompareMatchValue; | |
} | |
/*-----------------------------------------------------------*/ | |
void __attribute__ ((interrupt)) __cs3_isr_interrupt_119( void ) | |
{ | |
unsigned long ulSavedInterruptMask; | |
/* Clear the PIT0 interrupt. */ | |
MCF_PIT0_PCSR |= MCF_PIT_PCSR_PIF; | |
/* Increment the RTOS tick. */ | |
ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); | |
if( xTaskIncrementTick() != pdFALSE ) | |
{ | |
taskYIELD(); | |
} | |
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); | |
} |