2 * FreeRTOS Kernel V10.2.0
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* FreeRTOS includes. */
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29 #include "FreeRTOS.h"
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32 /* Xilinx includes. */
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33 #include "xscugic.h"
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36 /* Settings to generate the tick from channel 0 of TTC 0. */
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37 #define tickTTC_ID XPAR_PSU_TTC_0_DEVICE_ID
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38 #define tickINTERRUPT_ID XPAR_XTTCPS_0_INTR
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40 /* The timer used to generate the tick interrupt. */
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41 static XTtcPs xTimerInstance;
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44 * The application must provide a function that configures a peripheral to
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45 * create the FreeRTOS tick interrupt, then define configSETUP_TICK_INTERRUPT()
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46 * in FreeRTOSConfig.h to call the function. This file contains a function
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47 * that is suitable for use on the Zynq SoC.
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49 void vConfigureTickInterrupt( void )
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51 XTtcPs_Config *pxTimerConfig;
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53 XScuGic_Config *pxGICConfig;
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54 static XScuGic xInterruptController; /* Interrupt controller instance */
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55 uint16_t usInterval;
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56 uint8_t ucPrescale = 0;
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57 const uint8_t ucRisingEdge = 3;
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59 /* This function is called with the IRQ interrupt disabled, and the IRQ
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60 interrupt should be left disabled. It is enabled automatically when the
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61 scheduler is started. */
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63 /* Ensure XScuGic_CfgInitialize() has been called. In this demo it has
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64 already been called from prvSetupHardware() in main(). */
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65 pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID );
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66 xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress );
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67 configASSERT( xStatus == XST_SUCCESS );
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68 ( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
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70 /* The interrupt priority must be the lowest possible. */
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71 XScuGic_SetPriorityTriggerType( &xInterruptController, tickINTERRUPT_ID, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge );
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73 /* Install the FreeRTOS tick handler. */
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74 xStatus = XScuGic_Connect( &xInterruptController, tickINTERRUPT_ID, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, NULL );
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75 configASSERT( xStatus == XST_SUCCESS );
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76 ( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
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78 /* Initialise the Triple Timer Counter (TTC) that is going to be used to
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79 generate the tick interrupt. */
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80 pxTimerConfig = XTtcPs_LookupConfig( tickTTC_ID );
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81 xStatus = XTtcPs_CfgInitialize( &xTimerInstance, pxTimerConfig, pxTimerConfig->BaseAddress );
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82 configASSERT( xStatus == XST_SUCCESS );
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83 ( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
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85 /* Configure the interval to be the require tick rate. */
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86 XTtcPs_CalcIntervalFromFreq( &xTimerInstance, configTICK_RATE_HZ, &usInterval, &ucPrescale );
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87 XTtcPs_SetInterval( &xTimerInstance, usInterval );
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88 XTtcPs_SetPrescaler( &xTimerInstance, ucPrescale );
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90 /* Interval mode used. */
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91 XTtcPs_SetOptions( &xTimerInstance, XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_WAVE_DISABLE );
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93 /* Start the timer. */
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94 XTtcPs_Start( &xTimerInstance );
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96 /* Enable the interrupt in the interrupt controller. */
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97 XScuGic_Enable( &xInterruptController, tickINTERRUPT_ID );
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99 /* Enable the interrupt in the timer itself. */
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100 XTtcPs_EnableInterrupts( &xTimerInstance, XTTCPS_IXR_INTERVAL_MASK );
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102 /*-----------------------------------------------------------*/
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104 void vClearTickInterrupt( void )
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106 volatile uint32_t ulStatus;
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108 ulStatus = XTtcPs_GetInterruptStatus( &xTimerInstance );
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111 /*-----------------------------------------------------------*/
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113 void vApplicationIRQHandler( uint32_t ulICCIAR )
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115 extern const XScuGic_Config XScuGic_ConfigTable[];
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116 static const XScuGic_VectorTableEntry *pxVectorTable = XScuGic_ConfigTable[ XPAR_SCUGIC_SINGLE_DEVICE_ID ].HandlerTable;
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117 uint32_t ulInterruptID;
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118 const XScuGic_VectorTableEntry *pxVectorEntry;
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120 /* Re-enable interrupts. */
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121 __asm ( "cpsie i" );
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123 /* The ID of the interrupt is obtained by bitwise anding the ICCIAR value
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125 ulInterruptID = ulICCIAR & 0x3FFUL;
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126 if( ulInterruptID < XSCUGIC_MAX_NUM_INTR_INPUTS )
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128 /* Call the function installed in the array of installed handler
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130 pxVectorEntry = &( pxVectorTable[ ulInterruptID ] );
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131 pxVectorEntry->Handler( pxVectorEntry->CallBackRef );
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