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/*
FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and thank you for your support! *
* *
***************************************************************************
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. See the GNU General Public License for
more details. You should have received a copy of the GNU General Public
License and the FreeRTOS license exception along with FreeRTOS; if not it
can be viewed here: http://www.freertos.org/a00114.html and also obtained
by writing to Richard Barry, contact details for whom are available on the
FreeRTOS WEB site.
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, training, latest versions, license
and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
*/
#include "FreeRTOS.h"
#include "task.h"
/* Constants used to configure the interrupts. */
#define portPRESCALE_VALUE 64
#define portPRESCALE_REG_SETTING ( 5 << 8 )
#define portPIT_INTERRUPT_ENABLED ( 0x08 )
#define configPIT0_INTERRUPT_VECTOR ( 55 )
/*
* FreeRTOS.org requires two interrupts - a tick interrupt generated from a
* timer source, and a spare interrupt vector used for context switching.
* The configuration below uses PIT0 for the former, and vector 16 for the
* latter. **IF YOUR APPLICATION HAS BOTH OF THESE INTERRUPTS FREE THEN YOU DO
* NOT NEED TO CHANGE ANY OF THIS CODE** - otherwise instructions are provided
* here for using alternative interrupt sources.
*
* To change the tick interrupt source:
*
* 1) Modify vApplicationSetupInterrupts() below to be correct for whichever
* peripheral is to be used to generate the tick interrupt.
*
* 2) Change the name of the function __cs3_isr_interrupt_119() defined within
* this file to be correct for the interrupt vector used by the timer peripheral.
* The name of the function should contain the vector number, so by default vector
* number 119 is being used.
*
* 3) Make sure the tick interrupt is cleared within the interrupt handler function.
* Currently __cs3_isr_interrupt_119() clears the PIT0 interrupt.
*
* To change the spare interrupt source:
*
* 1) Modify vApplicationSetupInterrupts() below to be correct for whichever
* interrupt vector is to be used. Make sure you use a spare interrupt on interrupt
* controller 0, otherwise the register used to request context switches will also
* require modification. By default vector 16 is used which is free on most MCF52xxx
* devices.
*
* 2) Change the definition of configYIELD_INTERRUPT_VECTOR within FreeRTOSConfig.h
* to be correct for your chosen interrupt vector.
*
* 3) Change the name of the function __cs3_isr_interrupt_80() within portasm.S
* to be correct for whichever vector number is being used. By default interrupt
* controller 0 vector number 16 is used, which corresponds to vector number 80.
*/
void vApplicationSetupInterrupts( void )
{
const unsigned portSHORT usCompareMatchValue = ( ( configCPU_CLOCK_HZ / portPRESCALE_VALUE ) / configTICK_RATE_HZ );
/* Configure interrupt priority and level and unmask interrupt for PIT0. */
MCF_INTC0_ICR55 = ( 1 | ( configKERNEL_INTERRUPT_PRIORITY << 3 ) );
MCF_INTC0_IMRH &= ~( MCF_INTC_IMRH_INT_MASK55 );
/* Do the same for vector 16 (interrupt controller 0). I don't think the
write to MCF_INTC0_IMRH is actually required here but is included for
completeness. */
MCF_INTC0_ICR16 = ( 0 | ( configKERNEL_INTERRUPT_PRIORITY << 3 ) );
MCF_INTC0_IMRH &= ~( MCF_INTC_IPRL_INT16 );
/* Configure PIT0 to generate the RTOS tick. */
MCF_PIT0_PCSR |= MCF_PIT_PCSR_PIF;
MCF_PIT0_PCSR = ( portPRESCALE_REG_SETTING | MCF_PIT_PCSR_PIE | MCF_PIT_PCSR_RLD | MCF_PIT_PCSR_EN );
MCF_PIT0_PMR = usCompareMatchValue;
}
/*-----------------------------------------------------------*/
void __attribute__ ((interrupt)) __cs3_isr_interrupt_119( void )
{
unsigned portLONG ulSavedInterruptMask;
/* Clear the PIT0 interrupt. */
MCF_PIT0_PCSR |= MCF_PIT_PCSR_PIF;
/* Increment the RTOS tick. */
ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
vTaskIncrementTick();
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
/* If we are using the pre-emptive scheduler then also request a
context switch as incrementing the tick could have unblocked a task. */
#if configUSE_PREEMPTION == 1
{
taskYIELD();
}
#endif
}
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