| /* | |
| FreeRTOS V9.0.0rc2 - Copyright (C) 2016 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; | |
| uint16_t 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 ); | |
| } | |
| } | |