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/*
FreeRTOS V8.1.0 - 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"
/* Xilinx includes. */
#include "xscutimer.h"
#include "xscugic.h"
#define XSCUTIMER_CLOCK_HZ ( XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ / 2UL )
static XScuTimer xTimer;
/*
* 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 Zynq SoC.
*/
void vConfigureTickInterrupt( void )
{
static XScuGic xInterruptController; /* Interrupt controller instance */
BaseType_t xStatus;
extern void FreeRTOS_Tick_Handler( void );
XScuTimer_Config *pxTimerConfig;
XScuGic_Config *pxGICConfig;
const uint8_t ucRisingEdge = 3;
/* This function is called with the IRQ interrupt disabled, and the IRQ
interrupt should be left disabled. It is enabled automatically when the
scheduler is started. */
/* Ensure XScuGic_CfgInitialize() has been called. In this demo it has
already been called from prvSetupHardware() in main(). */
pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID );
xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress );
configASSERT( xStatus == XST_SUCCESS );
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
/* The priority must be the lowest possible. */
XScuGic_SetPriorityTriggerType( &xInterruptController, XPAR_SCUTIMER_INTR, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge );
/* Install the FreeRTOS tick handler. */
xStatus = XScuGic_Connect( &xInterruptController, XPAR_SCUTIMER_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, ( void * ) &xTimer );
configASSERT( xStatus == XST_SUCCESS );
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
/* Initialise the timer. */
pxTimerConfig = XScuTimer_LookupConfig( XPAR_SCUTIMER_DEVICE_ID );
xStatus = XScuTimer_CfgInitialize( &xTimer, pxTimerConfig, pxTimerConfig->BaseAddr );
configASSERT( xStatus == XST_SUCCESS );
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
/* Enable Auto reload mode. */
XScuTimer_EnableAutoReload( &xTimer );
/* Load the timer counter register. */
XScuTimer_LoadTimer( &xTimer, XSCUTIMER_CLOCK_HZ / configTICK_RATE_HZ );
/* Start the timer counter and then wait for it to timeout a number of
times. */
XScuTimer_Start( &xTimer );
/* Enable the interrupt for the xTimer in the interrupt controller. */
XScuGic_Enable( &xInterruptController, XPAR_SCUTIMER_INTR );
/* Enable the interrupt in the xTimer itself. */
vClearTickInterrupt();
XScuTimer_EnableInterrupt( &xTimer );
}
/*-----------------------------------------------------------*/
void vClearTickInterrupt( void )
{
XScuTimer_ClearInterruptStatus( &xTimer );
}
/*-----------------------------------------------------------*/
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;
/* Re-enable interrupts. */
__asm ( "cpsie i" );
/* 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 ] );
pxVectorEntry->Handler( pxVectorEntry->CallBackRef );
}
}
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