| /* | |
| FreeRTOS V8.1.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
| All rights reserved | |
| VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS provides completely free yet professionally developed, * | |
| * robust, strictly quality controlled, supported, and cross * | |
| * platform software that has become a de facto standard. * | |
| * * | |
| * Help yourself get started quickly and support the FreeRTOS * | |
| * project by purchasing a FreeRTOS tutorial book, reference * | |
| * manual, or both from: http://www.FreeRTOS.org/Documentation * | |
| * * | |
| * Thank you! * | |
| * * | |
| *************************************************************************** | |
| 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 from 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?" * | |
| * * | |
| * http://www.FreeRTOS.org/FAQHelp.html * | |
| * * | |
| *************************************************************************** | |
| 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
| Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
| licenses offer ticketed support, indemnification and 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 / 1000000 ); | |
| /* Configure interrupt on PIT. Note this is on the system interrupt, which | |
| is shared with other system peripherals, so System_Handler() must be | |
| installed in place of FreeRTOS_Tick_Handler() if other system handlers are | |
| required. The tick must be given the lowest priority (0 in the SAMA5 AIC) */ | |
| IRQ_ConfigureIT( ID_PIT, 0, FreeRTOS_Tick_Handler ); | |
| /* See commend directly above IRQ_ConfigureIT( ID_PIT, 0, System_Handler ); */ | |
| IRQ_EnableIT( ID_PIT ); | |
| PIT_EnableIT(); | |
| /* Enable the pit. */ | |
| 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; | |
| } | |
| /*-----------------------------------------------------------*/ | |