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/*
* FreeRTOS Kernel V10.2.1
* Copyright (C) 2019 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 "peripherals/aic.h"
#include "peripherals/pio.h"
#include "peripherals/pit.h"
#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 );
/* 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) */
aic_configure( ID_PIT, AIC_SMR_SRCTYPE_EXT_POSITIVE_EDGE );
aic_set_source_vector( ID_PIT, FreeRTOS_Tick_Handler );
/* See commend directly above IRQ_ConfigureIT( ID_PIT, 0, System_Handler ); */
aic_enable( ID_PIT );
pit_enable_it();
/* 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;
}
/*-----------------------------------------------------------*/
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