2 FreeRTOS V7.5.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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66 * main-blinky.c is included when the "Blinky" build configuration is used.
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67 * main-full.c is included when the "Full" build configuration is used.
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69 * main-blinky.c (this file) defines a very simple demo that creates two tasks,
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70 * one queue, and one timer. It also demonstrates how MicroBlaze interrupts
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71 * can interact with FreeRTOS tasks/timers.
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73 * This simple demo project was developed and tested on the Spartan-6 SP605
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74 * development board, using the hardware configuration found in the hardware
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75 * project that is already included in the Eclipse project.
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77 * The idle hook function:
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78 * The idle hook function demonstrates how to query the amount of FreeRTOS heap
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79 * space that is remaining (see vApplicationIdleHook() defined in this file).
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81 * The main() Function:
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82 * main() creates one software timer, one queue, and two tasks. It then starts
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85 * The Queue Send Task:
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86 * The queue send task is implemented by the prvQueueSendTask() function in
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87 * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
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88 * block for 200 milliseconds, before sending the value 100 to the queue that
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89 * was created within main(). Once the value is sent, the task loops back
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90 * around to block for another 200 milliseconds.
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92 * The Queue Receive Task:
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93 * The queue receive task is implemented by the prvQueueReceiveTask() function
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94 * in this file. prvQueueReceiveTask() sits in a loop that causes it to
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95 * repeatedly attempt to read data from the queue that was created within
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96 * main(). When data is received, the task checks the value of the data, and
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97 * if the value equals the expected 100, toggles an LED. The 'block time'
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98 * parameter passed to the queue receive function specifies that the task
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99 * should be held in the Blocked state indefinitely to wait for data to be
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100 * available on the queue. The queue receive task will only leave the Blocked
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101 * state when the queue send task writes to the queue. As the queue send task
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102 * writes to the queue every 200 milliseconds, the queue receive task leaves
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103 * the Blocked state every 200 milliseconds, and therefore toggles the LED
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104 * every 200 milliseconds.
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106 * The LED Software Timer and the Button Interrupt:
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107 * The user buttons are configured to generate an interrupt each time one is
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108 * pressed. The interrupt service routine switches an LED on, and resets the
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109 * LED software timer. The LED timer has a 5000 millisecond (5 second) period,
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110 * and uses a callback function that is defined to just turn the LED off again.
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111 * Therefore, pressing the user button will turn the LED on, and the LED will
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112 * remain on until a full five seconds pass without the button being pressed.
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115 /* Kernel includes. */
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116 #include "FreeRTOS.h"
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119 #include "timers.h"
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121 /* BSP includes. */
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122 #include "xtmrctr.h"
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125 /* Priorities at which the tasks are created. */
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126 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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127 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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129 /* The rate at which data is sent to the queue, specified in milliseconds, and
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130 converted to ticks using the portTICK_RATE_MS constant. */
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131 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_RATE_MS )
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133 /* The number of items the queue can hold. This is 1 as the receive task
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134 will remove items as they are added because it has the higher priority, meaning
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135 the send task should always find the queue empty. */
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136 #define mainQUEUE_LENGTH ( 1 )
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138 /* The LED toggled by the queue receive task. */
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139 #define mainTASK_CONTROLLED_LED 0x01UL
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141 /* The LED turned on by the button interrupt, and turned off by the LED timer. */
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142 #define mainTIMER_CONTROLLED_LED 0x02UL
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144 /* A block time of 0 simply means, "don't block". */
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145 #define mainDONT_BLOCK ( portTickType ) 0
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147 /*-----------------------------------------------------------*/
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150 * Setup the NVIC, LED outputs, and button inputs.
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152 static void prvSetupHardware( void );
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155 * The tasks as described in the comments at the top of this file.
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157 static void prvQueueReceiveTask( void *pvParameters );
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158 static void prvQueueSendTask( void *pvParameters );
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161 * The LED timer callback function. This does nothing but switch off the
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162 * LED defined by the mainTIMER_CONTROLLED_LED constant.
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164 static void vLEDTimerCallback( xTimerHandle xTimer );
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167 * The handler executed each time a button interrupt is generated. This ensures
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168 * the LED defined by mainTIMER_CONTROLLED_LED is on, and resets the timer so
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169 * the timer will not turn the LED off for a full 5 seconds after the button
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170 * interrupt occurred.
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172 static void prvButtonInputInterruptHandler( void *pvUnused );
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174 /*-----------------------------------------------------------*/
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176 /* The queue used by the queue send and queue receive tasks. */
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177 static xQueueHandle xQueue = NULL;
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179 /* The LED software timer. This uses vLEDTimerCallback() as its callback
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181 static xTimerHandle xLEDTimer = NULL;
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183 /* Maintains the current LED output state. */
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184 static volatile unsigned char ucGPIOState = 0U;
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186 /*-----------------------------------------------------------*/
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188 /* Structures that hold the state of the various peripherals used by this demo.
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189 These are used by the Xilinx peripheral driver API functions. */
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190 static XTmrCtr xTimer0Instance;
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191 static XGpio xOutputGPIOInstance, xInputGPIOInstance;
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193 /* Constants required by the Xilinx peripheral driver API functions that are
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194 relevant to the particular hardware set up. */
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195 static const unsigned long ulGPIOOutputChannel = 1UL, ulGPIOInputChannel = 1UL;
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197 /*-----------------------------------------------------------*/
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201 /* *************************************************************************
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202 This is a very simple project suitable for getting started with FreeRTOS.
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203 If you would prefer a more complex project that demonstrates a lot more
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204 features and tests, then select the 'Full' build configuration within the
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206 ***************************************************************************/
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208 /* Configure the interrupt controller, LED outputs and button inputs. */
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209 prvSetupHardware();
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211 /* Create the queue used by the queue send and queue receive tasks as
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212 described in the comments at the top of this file. */
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213 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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215 /* Sanity check that the queue was created. */
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216 configASSERT( xQueue );
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218 /* Start the two tasks as described in the comments at the top of this
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220 xTaskCreate( prvQueueReceiveTask, ( signed char * ) "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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221 xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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223 /* Create the software timer that is responsible for turning off the LED
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224 if the button is not pushed within 5000ms, as described at the top of
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225 this file. The timer is not actually started until a button interrupt is
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226 pushed, as it is not until that point that the LED is turned on. */
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227 xLEDTimer = xTimerCreate( ( const signed char * ) "LEDTimer", /* A text name, purely to help debugging. */
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228 ( 5000 / portTICK_RATE_MS ), /* The timer period, in this case 5000ms (5s). */
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229 pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
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230 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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231 vLEDTimerCallback /* The callback function that switches the LED off. */
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234 /* Start the tasks and timer running. */
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235 vTaskStartScheduler();
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237 /* If all is well, the scheduler will now be running, and the following line
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238 will never be reached. If the following line does execute, then there was
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239 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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240 to be created. See the memory management section on the FreeRTOS web site
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241 for more details. */
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244 /*-----------------------------------------------------------*/
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246 /* The callback is executed when the LED timer expires. */
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247 static void vLEDTimerCallback( xTimerHandle xTimer )
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249 /* The timer has expired - so no button pushes have occurred in the last
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250 five seconds - turn the LED off. NOTE - accessing the LED port should use
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251 a critical section because it is accessed from multiple tasks, and the
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252 button interrupt - in this trivial case, for simplicity, the critical
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253 section is omitted. */
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254 ucGPIOState &= ~mainTIMER_CONTROLLED_LED;
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255 XGpio_DiscreteWrite( &xOutputGPIOInstance, ulGPIOOutputChannel, ucGPIOState );
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257 /*-----------------------------------------------------------*/
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259 /* The ISR is executed when the user button is pushed. */
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260 static void prvButtonInputInterruptHandler( void *pvUnused )
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262 long lHigherPriorityTaskWoken = pdFALSE;
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264 /* The button was pushed, so ensure the LED is on before resetting the
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265 LED timer. The LED timer will turn the LED off if the button is not
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266 pushed within 5000ms. */
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267 ucGPIOState |= mainTIMER_CONTROLLED_LED;
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268 XGpio_DiscreteWrite( &xOutputGPIOInstance, ulGPIOOutputChannel, ucGPIOState );
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270 /* Ensure only the ISR safe reset API function is used, as this is executed
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271 in an interrupt context. */
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272 xTimerResetFromISR( xLEDTimer, &lHigherPriorityTaskWoken );
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274 /* Clear the interrupt before leaving. */
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275 XGpio_InterruptClear( &xInputGPIOInstance, ulGPIOInputChannel );
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277 /* If calling xTimerResetFromISR() caused a task (in this case the timer
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278 service/daemon task) to unblock, and the unblocked task has a priority
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279 higher than or equal to the task that was interrupted, then
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280 lHigherPriorityTaskWoken will now be set to pdTRUE, and calling
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281 portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
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282 portYIELD_FROM_ISR( lHigherPriorityTaskWoken );
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284 /*-----------------------------------------------------------*/
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286 static void prvQueueSendTask( void *pvParameters )
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288 portTickType xNextWakeTime;
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289 const unsigned long ulValueToSend = 100UL;
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291 /* Initialise xNextWakeTime - this only needs to be done once. */
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292 xNextWakeTime = xTaskGetTickCount();
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296 /* Place this task in the blocked state until it is time to run again.
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297 The block time is specified in ticks, the constant used converts ticks
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298 to ms. While in the Blocked state this task will not consume any CPU
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300 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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302 /* Send to the queue - causing the queue receive task to unblock and
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303 toggle an LED. 0 is used as the block time so the sending operation
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304 will not block - it shouldn't need to block as the queue should always
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305 be empty at this point in the code. */
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306 xQueueSend( xQueue, &ulValueToSend, mainDONT_BLOCK );
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309 /*-----------------------------------------------------------*/
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311 static void prvQueueReceiveTask( void *pvParameters )
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313 unsigned long ulReceivedValue;
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317 /* Wait until something arrives in the queue - this task will block
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318 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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319 FreeRTOSConfig.h. */
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320 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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322 /* To get here something must have been received from the queue, but
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323 is it the expected value? If it is, toggle the green LED. */
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324 if( ulReceivedValue == 100UL )
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326 /* NOTE - accessing the LED port should use a critical section
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327 because it is accessed from multiple tasks, and the button interrupt
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328 - in this trivial case, for simplicity, the critical section is
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330 if( ( ucGPIOState & mainTASK_CONTROLLED_LED ) != 0 )
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332 ucGPIOState &= ~mainTASK_CONTROLLED_LED;
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336 ucGPIOState |= mainTASK_CONTROLLED_LED;
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339 XGpio_DiscreteWrite( &xOutputGPIOInstance, ulGPIOOutputChannel, ucGPIOState );
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343 /*-----------------------------------------------------------*/
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345 static void prvSetupHardware( void )
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347 portBASE_TYPE xStatus;
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348 const unsigned char ucSetToOutput = 0U;
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350 /* Initialize the GPIO for the LEDs. */
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351 xStatus = XGpio_Initialize( &xOutputGPIOInstance, XPAR_LEDS_4BITS_DEVICE_ID );
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352 if( xStatus == XST_SUCCESS )
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354 /* All bits on this channel are going to be outputs (LEDs). */
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355 XGpio_SetDataDirection( &xOutputGPIOInstance, ulGPIOOutputChannel, ucSetToOutput );
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357 /* Start with all LEDs off. */
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359 XGpio_DiscreteWrite( &xOutputGPIOInstance, ulGPIOOutputChannel, ucGPIOState );
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362 /* Initialise the GPIO for the button inputs. */
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363 if( xStatus == XST_SUCCESS )
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365 xStatus = XGpio_Initialize( &xInputGPIOInstance, XPAR_PUSH_BUTTONS_4BITS_DEVICE_ID );
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368 if( xStatus == XST_SUCCESS )
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370 /* Install the handler defined in this task for the button input.
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371 *NOTE* The FreeRTOS defined xPortInstallInterruptHandler() API function
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372 must be used for this purpose. */
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373 xStatus = xPortInstallInterruptHandler( XPAR_MICROBLAZE_0_INTC_PUSH_BUTTONS_4BITS_IP2INTC_IRPT_INTR, prvButtonInputInterruptHandler, NULL );
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375 if( xStatus == pdPASS )
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377 /* Set buttons to input. */
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378 XGpio_SetDataDirection( &xInputGPIOInstance, ulGPIOInputChannel, ~( ucSetToOutput ) );
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380 /* Enable the button input interrupts in the interrupt controller.
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381 *NOTE* The vPortEnableInterrupt() API function must be used for this
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383 vPortEnableInterrupt( XPAR_MICROBLAZE_0_INTC_PUSH_BUTTONS_4BITS_IP2INTC_IRPT_INTR );
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385 /* Enable GPIO channel interrupts. */
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386 XGpio_InterruptEnable( &xInputGPIOInstance, ulGPIOInputChannel );
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387 XGpio_InterruptGlobalEnable( &xInputGPIOInstance );
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391 configASSERT( ( xStatus == pdPASS ) );
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393 /*-----------------------------------------------------------*/
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395 void vApplicationMallocFailedHook( void )
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397 /* vApplicationMallocFailedHook() will only be called if
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398 configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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399 function that will get called if a call to pvPortMalloc() fails.
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400 pvPortMalloc() is called internally by the kernel whenever a task, queue or
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401 semaphore is created. It is also called by various parts of the demo
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402 application. If heap_1.c or heap_2.c are used, then the size of the heap
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403 available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
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404 FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
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405 to query the size of free heap space that remains (although it does not
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406 provide information on how the remaining heap might be fragmented). */
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407 taskDISABLE_INTERRUPTS();
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410 /*-----------------------------------------------------------*/
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412 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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414 ( void ) pcTaskName;
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417 /* vApplicationStackOverflowHook() will only be called if
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418 configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2. The handle and name
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419 of the offending task will be passed into the hook function via its
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420 parameters. However, when a stack has overflowed, it is possible that the
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421 parameters will have been corrupted, in which case the pxCurrentTCB variable
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422 can be inspected directly. */
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423 taskDISABLE_INTERRUPTS();
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426 /*-----------------------------------------------------------*/
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428 void vApplicationIdleHook( void )
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430 #ifdef EXAMPLE_CODE_ONLY
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432 The following code can only be included if heap_1.c or heap_2.c is used in
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433 the project. By default, heap_3.c is used, so the example code is
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434 excluded. See http://www.freertos.org/a00111.html for more information on
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435 memory management options.
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437 volatile size_t xFreeHeapSpace;
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439 /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
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440 to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
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441 task. It is essential that code added to this hook function never attempts
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442 to block in any way (for example, call xQueueReceive() with a block time
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443 specified, or call vTaskDelay()). If the application makes use of the
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444 vTaskDelete() API function (as this demo application does) then it is also
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445 important that vApplicationIdleHook() is permitted to return to its calling
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446 function, because it is the responsibility of the idle task to clean up
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447 memory allocated by the kernel to any task that has since been deleted. */
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449 /* This implementation of vApplicationIdleHook() simply demonstrates how
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450 the xPortGetFreeHeapSize() function can be used. */
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451 xFreeHeapSpace = xPortGetFreeHeapSize();
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453 if( xFreeHeapSpace > 100 )
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455 /* By now, the kernel has allocated everything it is going to, so
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456 if there is a lot of heap remaining unallocated then
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457 the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
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458 reduced accordingly. */
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462 /*-----------------------------------------------------------*/
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464 /* This is an application defined callback function used to install the tick
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465 interrupt handler. It is provided as an application callback because the kernel
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466 will run on lots of different MicroBlaze and FPGA configurations - not all of
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467 which will have the same timer peripherals defined or available. This example
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468 uses the AXI Timer 0. If that is available on your hardware platform then this
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469 example callback implementation should not require modification. The name of
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470 the interrupt handler that should be installed is vPortTickISR(), which the
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471 function below declares as an extern. */
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472 void vApplicationSetupTimerInterrupt( void )
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474 portBASE_TYPE xStatus;
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475 const unsigned char ucTimerCounterNumber = ( unsigned char ) 0U;
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476 const unsigned long ulCounterValue = ( ( XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL );
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477 extern void vPortTickISR( void *pvUnused );
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479 /* Initialise the timer/counter. */
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480 xStatus = XTmrCtr_Initialize( &xTimer0Instance, XPAR_AXI_TIMER_0_DEVICE_ID );
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482 if( xStatus == XST_SUCCESS )
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484 /* Install the tick interrupt handler as the timer ISR.
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485 *NOTE* The xPortInstallInterruptHandler() API function must be used for
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487 xStatus = xPortInstallInterruptHandler( XPAR_INTC_0_TMRCTR_0_VEC_ID, vPortTickISR, NULL );
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490 if( xStatus == pdPASS )
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492 /* Enable the timer interrupt in the interrupt controller.
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493 *NOTE* The vPortEnableInterrupt() API function must be used for this
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495 vPortEnableInterrupt( XPAR_INTC_0_TMRCTR_0_VEC_ID );
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497 /* Configure the timer interrupt handler. */
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498 XTmrCtr_SetHandler( &xTimer0Instance, ( void * ) vPortTickISR, NULL );
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500 /* Set the correct period for the timer. */
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501 XTmrCtr_SetResetValue( &xTimer0Instance, ucTimerCounterNumber, ulCounterValue );
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503 /* Enable the interrupts. Auto-reload mode is used to generate a
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504 periodic tick. Note that interrupts are disabled when this function is
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505 called, so interrupts will not start to be processed until the first
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506 task has started to run. */
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507 XTmrCtr_SetOptions( &xTimer0Instance, ucTimerCounterNumber, ( XTC_INT_MODE_OPTION | XTC_AUTO_RELOAD_OPTION | XTC_DOWN_COUNT_OPTION ) );
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509 /* Start the timer. */
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510 XTmrCtr_Start( &xTimer0Instance, ucTimerCounterNumber );
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513 /* Sanity check that the function executed as expected. */
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514 configASSERT( ( xStatus == pdPASS ) );
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516 /*-----------------------------------------------------------*/
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518 /* This is an application defined callback function used to clear whichever
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519 interrupt was installed by the the vApplicationSetupTimerInterrupt() callback
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520 function - in this case the interrupt generated by the AXI timer. It is
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521 provided as an application callback because the kernel will run on lots of
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522 different MicroBlaze and FPGA configurations - not all of which will have the
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523 same timer peripherals defined or available. This example uses the AXI Timer 0.
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524 If that is available on your hardware platform then this example callback
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525 implementation should not require modification provided the example definition
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526 of vApplicationSetupTimerInterrupt() is also not modified. */
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527 void vApplicationClearTimerInterrupt( void )
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529 unsigned long ulCSR;
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531 /* Clear the timer interrupt */
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532 ulCSR = XTmrCtr_GetControlStatusReg( XPAR_AXI_TIMER_0_BASEADDR, 0 );
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533 XTmrCtr_SetControlStatusReg( XPAR_AXI_TIMER_0_BASEADDR, 0, ulCSR );
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535 /*-----------------------------------------------------------*/
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537 /* These functions are not used by the Blinky build configuration. However,
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538 they need to be defined because the Blinky and Full build configurations share
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539 a FreeRTOSConifg.h configuration file. */
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540 void vMainConfigureTimerForRunTimeStats( void ) {}
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541 unsigned long ulMainGetRunTimeCounterValue( void ) { return 1; }
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