2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 This file is part of the FreeRTOS distribution.
\r
9 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
10 the terms of the GNU General Public License (version 2) as published by the
\r
11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
\r
13 ***************************************************************************
\r
14 >>! NOTE: The modification to the GPL is included to allow you to !<<
\r
15 >>! distribute a combined work that includes FreeRTOS without being !<<
\r
16 >>! obliged to provide the source code for proprietary components !<<
\r
17 >>! outside of the FreeRTOS kernel. !<<
\r
18 ***************************************************************************
\r
20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
\r
23 link: http://www.freertos.org/a00114.html
\r
25 ***************************************************************************
\r
27 * FreeRTOS provides completely free yet professionally developed, *
\r
28 * robust, strictly quality controlled, supported, and cross *
\r
29 * platform software that is more than just the market leader, it *
\r
30 * is the industry's de facto standard. *
\r
32 * Help yourself get started quickly while simultaneously helping *
\r
33 * to support the FreeRTOS project by purchasing a FreeRTOS *
\r
34 * tutorial book, reference manual, or both: *
\r
35 * http://www.FreeRTOS.org/Documentation *
\r
37 ***************************************************************************
\r
39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
\r
40 the FAQ page "My application does not run, what could be wrong?". Have you
\r
41 defined configASSERT()?
\r
43 http://www.FreeRTOS.org/support - In return for receiving this top quality
\r
44 embedded software for free we request you assist our global community by
\r
45 participating in the support forum.
\r
47 http://www.FreeRTOS.org/training - Investing in training allows your team to
\r
48 be as productive as possible as early as possible. Now you can receive
\r
49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
\r
50 Ltd, and the world's leading authority on the world's leading RTOS.
\r
52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
\r
57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
\r
59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
\r
60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
61 licenses offer ticketed support, indemnification and commercial middleware.
\r
63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
64 engineered and independently SIL3 certified version for use in safety and
\r
65 mission critical applications that require provable dependability.
\r
70 /* FreeRTOS includes. */
\r
71 #include "FreeRTOS.h"
\r
74 /* Xilinx includes. */
\r
75 #include "platform.h"
\r
77 #include "xscugic.h"
\r
79 /* Timer used to generate the tick interrupt. */
\r
80 static XTtcPs xRTOSTickTimerInstance;
\r
82 /*-----------------------------------------------------------*/
\r
84 void vConfigureTickInterrupt( void )
\r
87 XTtcPs_Config *pxTimerConfiguration;
\r
88 uint16_t usInterval;
\r
90 const uint8_t ucLevelSensitive = 1;
\r
91 extern XScuGic xInterruptController;
\r
93 pxTimerConfiguration = XTtcPs_LookupConfig( XPAR_XTTCPS_3_DEVICE_ID );
\r
95 /* Initialise the device. */
\r
96 xStatus = XTtcPs_CfgInitialize( &xRTOSTickTimerInstance, pxTimerConfiguration, pxTimerConfiguration->BaseAddress );
\r
98 if( xStatus != XST_SUCCESS )
\r
100 /* Not sure how to do this before XTtcPs_CfgInitialize is called as
\r
101 *xRTOSTickTimerInstance is set within XTtcPs_CfgInitialize(). */
\r
102 XTtcPs_Stop( &xRTOSTickTimerInstance );
\r
103 xStatus = XTtcPs_CfgInitialize( &xRTOSTickTimerInstance, pxTimerConfiguration, pxTimerConfiguration->BaseAddress );
\r
104 configASSERT( xStatus == XST_SUCCESS );
\r
107 /* Set the options. */
\r
108 XTtcPs_SetOptions( &xRTOSTickTimerInstance, ( XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_WAVE_DISABLE ) );
\r
110 /* Derive values from the tick rate. */
\r
111 XTtcPs_CalcIntervalFromFreq( &xRTOSTickTimerInstance, configTICK_RATE_HZ, &( usInterval ), &( ucPrescale ) );
\r
113 /* Set the interval and prescale. */
\r
114 XTtcPs_SetInterval( &xRTOSTickTimerInstance, usInterval );
\r
115 XTtcPs_SetPrescaler( &xRTOSTickTimerInstance, ucPrescale );
\r
117 /* The priority must be the lowest possible. */
\r
118 XScuGic_SetPriorityTriggerType( &xInterruptController, XPAR_XTTCPS_3_INTR, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucLevelSensitive );
\r
120 /* Connect to the interrupt controller. */
\r
121 xStatus = XScuGic_Connect( &xInterruptController, XPAR_XTTCPS_3_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, ( void * ) &xRTOSTickTimerInstance );
\r
122 configASSERT( xStatus == XST_SUCCESS);
\r
124 /* Enable the interrupt in the GIC. */
\r
125 XScuGic_Enable( &xInterruptController, XPAR_XTTCPS_3_INTR );
\r
127 /* Enable the interrupts in the timer. */
\r
128 XTtcPs_EnableInterrupts( &xRTOSTickTimerInstance, XTTCPS_IXR_INTERVAL_MASK );
\r
130 /* Start the timer. */
\r
131 XTtcPs_Start( &xRTOSTickTimerInstance );
\r
133 /*-----------------------------------------------------------*/
\r
135 void vClearTickInterrupt( void )
\r
137 volatile uint32_t ulInterruptStatus;
\r
139 /* Read the interrupt status, then write it back to clear the interrupt. */
\r
140 ulInterruptStatus = XTtcPs_GetInterruptStatus( &xRTOSTickTimerInstance );
\r
141 XTtcPs_ClearInterruptStatus( &xRTOSTickTimerInstance, ulInterruptStatus );
\r
142 __asm volatile( "DSB SY" );
\r
143 __asm volatile( "ISB SY" );
\r
145 /*-----------------------------------------------------------*/
\r
147 void vApplicationIRQHandler( uint32_t ulICCIAR )
\r
149 extern const XScuGic_Config XScuGic_ConfigTable[];
\r
150 static const XScuGic_VectorTableEntry *pxVectorTable = XScuGic_ConfigTable[ XPAR_SCUGIC_SINGLE_DEVICE_ID ].HandlerTable;
\r
151 uint32_t ulInterruptID;
\r
152 const XScuGic_VectorTableEntry *pxVectorEntry;
\r
154 /* Interrupts cannot be re-enabled until the source of the interrupt is
\r
155 cleared. The ID of the interrupt is obtained by bitwise ANDing the ICCIAR
\r
156 value with 0x3FF. */
\r
157 ulInterruptID = ulICCIAR & 0x3FFUL;
\r
158 if( ulInterruptID < XSCUGIC_MAX_NUM_INTR_INPUTS )
\r
160 /* Call the function installed in the array of installed handler
\r
162 pxVectorEntry = &( pxVectorTable[ ulInterruptID ] );
\r
163 configASSERT( pxVectorEntry );
\r
164 pxVectorEntry->Handler( pxVectorEntry->CallBackRef );
\r