2 FreeRTOS V8.0.0:rc2 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /* FreeRTOS includes. */
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67 #include "FreeRTOS.h"
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70 /* Xilinx includes. */
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71 #include "xscutimer.h"
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72 #include "xscugic.h"
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74 #define XSCUTIMER_CLOCK_HZ ( XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ / 2UL )
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76 static XScuTimer xTimer;
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79 * The application must provide a function that configures a peripheral to
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80 * create the FreeRTOS tick interrupt, then define configSETUP_TICK_INTERRUPT()
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81 * in FreeRTOSConfig.h to call the function. This file contains a function
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82 * that is suitable for use on the Zynq SoC.
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84 void vConfigureTickInterrupt( void )
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86 static XScuGic xInterruptController; /* Interrupt controller instance */
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88 extern void FreeRTOS_Tick_Handler( void );
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89 XScuTimer_Config *pxTimerConfig;
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90 XScuGic_Config *pxGICConfig;
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91 const uint8_t ucRisingEdge = 3;
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93 /* This function is called with the IRQ interrupt disabled, and the IRQ
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94 interrupt should be left disabled. It is enabled automatically when the
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95 scheduler is started. */
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97 /* Ensure XScuGic_CfgInitialize() has been called. In this demo it has
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98 already been called from prvSetupHardware() in main(). */
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99 pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID );
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100 xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress );
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101 configASSERT( xStatus == XST_SUCCESS );
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103 /* The priority must be the lowest possible. */
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104 XScuGic_SetPriorityTriggerType( &xInterruptController, XPAR_SCUTIMER_INTR, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge );
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106 /* Install the FreeRTOS tick handler. */
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107 xStatus = XScuGic_Connect( &xInterruptController, XPAR_SCUTIMER_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, ( void * ) &xTimer );
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108 configASSERT( xStatus == XST_SUCCESS );
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110 /* Initialise the timer. */
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111 pxTimerConfig = XScuTimer_LookupConfig( XPAR_SCUTIMER_DEVICE_ID );
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112 xStatus = XScuTimer_CfgInitialize( &xTimer, pxTimerConfig, pxTimerConfig->BaseAddr );
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113 configASSERT( xStatus == XST_SUCCESS );
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115 /* Enable Auto reload mode. */
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116 XScuTimer_EnableAutoReload( &xTimer );
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118 /* Load the timer counter register. */
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119 XScuTimer_LoadTimer( &xTimer, XSCUTIMER_CLOCK_HZ / configTICK_RATE_HZ );
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121 /* Start the timer counter and then wait for it to timeout a number of
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123 XScuTimer_Start( &xTimer );
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125 /* Enable the interrupt for the xTimer in the interrupt controller. */
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126 XScuGic_Enable( &xInterruptController, XPAR_SCUTIMER_INTR );
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128 /* Enable the interrupt in the xTimer itself. */
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129 vClearTickInterrupt();
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130 XScuTimer_EnableInterrupt( &xTimer );
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132 /*-----------------------------------------------------------*/
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134 void vClearTickInterrupt( void )
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136 XScuTimer_ClearInterruptStatus( &xTimer );
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138 /*-----------------------------------------------------------*/
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140 void vApplicationIRQHandler( uint32_t ulICCIAR )
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142 extern const XScuGic_Config XScuGic_ConfigTable[];
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143 static const XScuGic_VectorTableEntry *pxVectorTable = XScuGic_ConfigTable[ XPAR_SCUGIC_SINGLE_DEVICE_ID ].HandlerTable;
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144 uint32_t ulInterruptID;
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145 const XScuGic_VectorTableEntry *pxVectorEntry;
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147 /* Re-enable interrupts. */
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148 __asm ( "cpsie i" );
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150 /* The ID of the interrupt is obtained by bitwise anding the ICCIAR value
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152 ulInterruptID = ulICCIAR & 0x3FFUL;
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153 if( ulInterruptID < XSCUGIC_MAX_NUM_INTR_INPUTS )
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155 /* Call the function installed in the array of installed handler functions. */
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156 pxVectorEntry = &( pxVectorTable[ ulInterruptID ] );
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157 pxVectorEntry->Handler( pxVectorEntry->CallBackRef );
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