/* | |
FreeRTOS V8.2.3 - Copyright (C) 2015 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" | |
/* 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, AIC_SMR_SRCTYPE_EXT_POSITIVE_EDGE, 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; | |
} | |
/*-----------------------------------------------------------*/ | |