/* | |
* FreeRTOS Kernel V10.3.0 | |
* Copyright (C) 2020 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" | |
#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; | |
} | |
/*-----------------------------------------------------------*/ | |