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/*
* FreeRTOS Kernel V10.3.0
* Copyright (C) 2020 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"
/* Xilinx includes. */
#include "xscugic.h"
#include "xttcps.h"
/* Settings to generate the tick from channel 0 of TTC 0. */
#define tickTTC_ID XPAR_PSU_TTC_0_DEVICE_ID
#define tickINTERRUPT_ID XPAR_XTTCPS_0_INTR
/* The timer used to generate the tick interrupt. */
static XTtcPs xTimerInstance;
/*
* 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 )
{
XTtcPs_Config *pxTimerConfig;
BaseType_t xStatus;
XScuGic_Config *pxGICConfig;
static XScuGic xInterruptController; /* Interrupt controller instance */
uint16_t usInterval;
uint8_t ucPrescale = 0;
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 interrupt priority must be the lowest possible. */
XScuGic_SetPriorityTriggerType( &xInterruptController, tickINTERRUPT_ID, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge );
/* Install the FreeRTOS tick handler. */
xStatus = XScuGic_Connect( &xInterruptController, tickINTERRUPT_ID, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, NULL );
configASSERT( xStatus == XST_SUCCESS );
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
/* Initialise the Triple Timer Counter (TTC) that is going to be used to
generate the tick interrupt. */
pxTimerConfig = XTtcPs_LookupConfig( tickTTC_ID );
xStatus = XTtcPs_CfgInitialize( &xTimerInstance, pxTimerConfig, pxTimerConfig->BaseAddress );
configASSERT( xStatus == XST_SUCCESS );
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
/* Configure the interval to be the require tick rate. */
XTtcPs_CalcIntervalFromFreq( &xTimerInstance, configTICK_RATE_HZ, &usInterval, &ucPrescale );
XTtcPs_SetInterval( &xTimerInstance, usInterval );
XTtcPs_SetPrescaler( &xTimerInstance, ucPrescale );
/* Interval mode used. */
XTtcPs_SetOptions( &xTimerInstance, XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_WAVE_DISABLE );
/* Start the timer. */
XTtcPs_Start( &xTimerInstance );
/* Enable the interrupt in the interrupt controller. */
XScuGic_Enable( &xInterruptController, tickINTERRUPT_ID );
/* Enable the interrupt in the timer itself. */
XTtcPs_EnableInterrupts( &xTimerInstance, XTTCPS_IXR_INTERVAL_MASK );
}
/*-----------------------------------------------------------*/
void vClearTickInterrupt( void )
{
volatile uint32_t ulStatus;
ulStatus = XTtcPs_GetInterruptStatus( &xTimerInstance );
( void ) ulStatus;
}
/*-----------------------------------------------------------*/
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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