2 * FreeRTOS Kernel V10.3.0
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3 * Copyright (C) 2020 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 #include "FreeRTOS.h"
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31 __declspec(interrupt:0) void vPIT0InterruptHandler( void );
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33 /* Constants used to configure the interrupts. */
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34 #define portPRESCALE_VALUE 64
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35 #define portPRESCALE_REG_SETTING ( 5 << 8 )
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36 #define portPIT_INTERRUPT_ENABLED ( 0x08 )
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37 #define configPIT0_INTERRUPT_VECTOR ( 55 )
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40 * FreeRTOS.org requires two interrupts - a tick interrupt generated from a
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41 * timer source, and a spare interrupt vector used for context switching.
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42 * The configuration below uses PIT0 for the former, and vector 16 for the
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43 * latter. **IF YOUR APPLICATION HAS BOTH OF THESE INTERRUPTS FREE THEN YOU DO
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44 * NOT NEED TO CHANGE ANY OF THIS CODE** - otherwise instructions are provided
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45 * here for using alternative interrupt sources.
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47 * To change the tick interrupt source:
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49 * 1) Modify vApplicationSetupInterrupts() below to be correct for whichever
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50 * peripheral is to be used to generate the tick interrupt. The name of the
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51 * handler function (currently vPIT0InterruptHandler()) should also be updated
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52 * to indicate which peripheral is generating the interrupt.
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54 * 2) Make sure the interrupt source is cleared within the interrupt handler function.
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55 * Currently vPIT0InterruptHandler() clears the PIT0 interrupt.
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57 * 3) Update the vector table within mcf5225x_vectors.s to install the tick
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58 * interrupt handler in the correct vector position.
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60 * To change the spare interrupt source:
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62 * 1) Modify vApplicationSetupInterrupts() below to be correct for whichever
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63 * interrupt vector is to be used. Make sure you use a spare interrupt on interrupt
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64 * controller 0, otherwise the register used to request context switches will also
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65 * require modification.
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67 * 2) Change the definition of configYIELD_INTERRUPT_VECTOR within FreeRTOSConfig.h
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68 * to be correct for your chosen interrupt vector.
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70 * 3) Update the vector table within mcf5225x_vectors.s to install the handler
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71 * _vPortYieldISR() in the correct vector position (by default vector number 16 is
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74 void vApplicationSetupInterrupts( void )
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76 const unsigned short usCompareMatchValue = ( ( configCPU_CLOCK_HZ / portPRESCALE_VALUE ) / configTICK_RATE_HZ );
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78 /* Configure interrupt priority and level and unmask interrupt for PIT0. */
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79 MCF_INTC0_ICR55 = ( 1 | ( configKERNEL_INTERRUPT_PRIORITY << 3 ) );
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80 MCF_INTC0_IMRH &= ~( MCF_INTC_IMRH_INT_MASK55 );
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82 /* Do the same for vector 63 (interrupt controller 0. I don't think the
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83 write to MCF_INTC0_IMRH is actually required here but is included for
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85 MCF_INTC0_ICR16 = ( 0 | configKERNEL_INTERRUPT_PRIORITY << 3 );
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86 MCF_INTC0_IMRL &= ~( MCF_INTC_IMRL_INT_MASK16 | 0x01 );
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88 /* Configure PIT0 to generate the RTOS tick. */
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89 MCF_PIT0_PCSR |= MCF_PIT_PCSR_PIF;
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90 MCF_PIT0_PCSR = ( portPRESCALE_REG_SETTING | MCF_PIT_PCSR_PIE | MCF_PIT_PCSR_RLD | MCF_PIT_PCSR_EN );
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91 MCF_PIT0_PMR = usCompareMatchValue;
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93 /*-----------------------------------------------------------*/
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95 __declspec(interrupt:0) void vPIT0InterruptHandler( void )
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97 unsigned long ulSavedInterruptMask;
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99 /* Clear the PIT0 interrupt. */
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100 MCF_PIT0_PCSR |= MCF_PIT_PCSR_PIF;
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102 /* Increment the RTOS tick. */
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103 ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
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104 if( xTaskIncrementTick() != pdFALSE )
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108 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
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