/* | |
FreeRTOS V9.0.1 - Copyright (C) 2017 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 | |
*************************************************************************** | |
* * | |
* 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 * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
the FAQ page "My application does not run, what could be wrong?". Have you | |
defined configASSERT()? | |
http://www.FreeRTOS.org/support - In return for receiving this top quality | |
embedded software for free we request you assist our global community by | |
participating in the support forum. | |
http://www.FreeRTOS.org/training - 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. | |
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" | |
/* Xilinx includes. */ | |
#include "platform.h" | |
#include "xttcps.h" | |
#include "xscugic.h" | |
/* Timer used to generate the tick interrupt. */ | |
static XTtcPs xRTOSTickTimerInstance; | |
/*-----------------------------------------------------------*/ | |
void vConfigureTickInterrupt( void ) | |
{ | |
BaseType_t xStatus; | |
XTtcPs_Config *pxTimerConfiguration; | |
XInterval usInterval; | |
uint8_t ucPrescale; | |
const uint8_t ucLevelSensitive = 1; | |
extern XScuGic xInterruptController; | |
pxTimerConfiguration = XTtcPs_LookupConfig( XPAR_XTTCPS_3_DEVICE_ID ); | |
/* Initialise the device. */ | |
xStatus = XTtcPs_CfgInitialize( &xRTOSTickTimerInstance, pxTimerConfiguration, pxTimerConfiguration->BaseAddress ); | |
if( xStatus != XST_SUCCESS ) | |
{ | |
/* Not sure how to do this before XTtcPs_CfgInitialize is called as | |
*xRTOSTickTimerInstance is set within XTtcPs_CfgInitialize(). */ | |
XTtcPs_Stop( &xRTOSTickTimerInstance ); | |
xStatus = XTtcPs_CfgInitialize( &xRTOSTickTimerInstance, pxTimerConfiguration, pxTimerConfiguration->BaseAddress ); | |
configASSERT( xStatus == XST_SUCCESS ); | |
} | |
/* Set the options. */ | |
XTtcPs_SetOptions( &xRTOSTickTimerInstance, ( XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_WAVE_DISABLE ) ); | |
/* Derive values from the tick rate. */ | |
XTtcPs_CalcIntervalFromFreq( &xRTOSTickTimerInstance, configTICK_RATE_HZ, &( usInterval ), &( ucPrescale ) ); | |
/* Set the interval and prescale. */ | |
XTtcPs_SetInterval( &xRTOSTickTimerInstance, usInterval ); | |
XTtcPs_SetPrescaler( &xRTOSTickTimerInstance, ucPrescale ); | |
/* The priority must be the lowest possible. */ | |
XScuGic_SetPriorityTriggerType( &xInterruptController, XPAR_XTTCPS_3_INTR, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucLevelSensitive ); | |
/* Connect to the interrupt controller. */ | |
xStatus = XScuGic_Connect( &xInterruptController, XPAR_XTTCPS_3_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, ( void * ) &xRTOSTickTimerInstance ); | |
configASSERT( xStatus == XST_SUCCESS); | |
/* Enable the interrupt in the GIC. */ | |
XScuGic_Enable( &xInterruptController, XPAR_XTTCPS_3_INTR ); | |
/* Enable the interrupts in the timer. */ | |
XTtcPs_EnableInterrupts( &xRTOSTickTimerInstance, XTTCPS_IXR_INTERVAL_MASK ); | |
/* Start the timer. */ | |
XTtcPs_Start( &xRTOSTickTimerInstance ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vClearTickInterrupt( void ) | |
{ | |
volatile uint32_t ulInterruptStatus; | |
/* Read the interrupt status, then write it back to clear the interrupt. */ | |
ulInterruptStatus = XTtcPs_GetInterruptStatus( &xRTOSTickTimerInstance ); | |
XTtcPs_ClearInterruptStatus( &xRTOSTickTimerInstance, ulInterruptStatus ); | |
__asm volatile( "DSB SY" ); | |
__asm volatile( "ISB SY" ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationIRQHandler( 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; | |
/* Interrupts cannot be re-enabled until the source of the interrupt is | |
cleared. 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 ] ); | |
configASSERT( pxVectorEntry ); | |
pxVectorEntry->Handler( pxVectorEntry->CallBackRef ); | |
} | |
} | |