/*\r
- FreeRTOS.org V5.0.3 - Copyright (C) 2003-2008 Richard Barry.\r
+ FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.\r
+ \r
\r
- This file is part of the FreeRTOS.org distribution.\r
-\r
- FreeRTOS.org is free software; you can redistribute it and/or modify\r
- it under the terms of the GNU General Public License as published by\r
- the Free Software Foundation; either version 2 of the License, or\r
- (at your option) any later version.\r
-\r
- FreeRTOS.org is distributed in the hope that it will be useful,\r
- but WITHOUT ANY WARRANTY; without even the implied warranty of\r
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
- GNU General Public License for more details.\r
+ ***************************************************************************\r
+ * *\r
+ * FreeRTOS tutorial books are available in pdf and paperback. *\r
+ * Complete, revised, and edited pdf reference manuals are also *\r
+ * available. *\r
+ * *\r
+ * Purchasing FreeRTOS documentation will not only help you, by *\r
+ * ensuring you get running as quickly as possible and with an *\r
+ * in-depth knowledge of how to use FreeRTOS, it will also help *\r
+ * the FreeRTOS project to continue with its mission of providing *\r
+ * professional grade, cross platform, de facto standard solutions *\r
+ * for microcontrollers - completely free of charge! *\r
+ * *\r
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
+ * *\r
+ * Thank you for using FreeRTOS, and thank you for your support! *\r
+ * *\r
+ ***************************************************************************\r
\r
- You should have received a copy of the GNU General Public License\r
- along with FreeRTOS.org; if not, write to the Free Software\r
- Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
\r
- A special exception to the GPL can be applied should you wish to distribute\r
- a combined work that includes FreeRTOS.org, without being obliged to provide\r
- the source code for any proprietary components. See the licensing section\r
- of http://www.FreeRTOS.org for full details of how and when the exception\r
- can be applied.\r
+ This file is part of the FreeRTOS distribution.\r
\r
- ***************************************************************************\r
- ***************************************************************************\r
- * *\r
- * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *\r
- * and even write all or part of your application on your behalf. *\r
- * See http://www.OpenRTOS.com for details of the services we provide to *\r
- * expedite your project. *\r
- * *\r
- ***************************************************************************\r
- ***************************************************************************\r
+ FreeRTOS is free software; you can redistribute it and/or modify it under\r
+ the terms of the GNU General Public License (version 2) as published by the\r
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
+ >>>NOTE<<< The modification to the GPL is included to allow you to\r
+ distribute a combined work that includes FreeRTOS without being obliged to\r
+ provide the source code for proprietary components outside of the FreeRTOS\r
+ kernel. FreeRTOS is distributed in the hope that it will be useful, but\r
+ WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
+ or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
+ more details. You should have received a copy of the GNU General Public\r
+ License and the FreeRTOS license exception along with FreeRTOS; if not it\r
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
+ by writing to Richard Barry, contact details for whom are available on the\r
+ FreeRTOS WEB site.\r
\r
- Please ensure to read the configuration and relevant port sections of the\r
- online documentation.\r
+ 1 tab == 4 spaces!\r
\r
- http://www.FreeRTOS.org - Documentation, latest information, license and\r
- contact details.\r
+ http://www.FreeRTOS.org - Documentation, latest information, license and\r
+ contact details.\r
\r
- http://www.SafeRTOS.com - A version that is certified for use in safety\r
- critical systems.\r
+ http://www.SafeRTOS.com - A version that is certified for use in safety\r
+ critical systems.\r
\r
- http://www.OpenRTOS.com - Commercial support, development, porting,\r
- licensing and training services.\r
+ http://www.OpenRTOS.com - Commercial support, development, porting,\r
+ licensing and training services.\r
*/\r
\r
#include "FreeRTOS.h"\r
+#include "task.h"\r
\r
+/* Constants used to configure the interrupts. */\r
#define portPRESCALE_VALUE 64\r
#define portPRESCALE_REG_SETTING ( 5 << 8 )\r
#define portPIT_INTERRUPT_ENABLED ( 0x08 )\r
#define configPIT0_INTERRUPT_VECTOR ( 55 )\r
\r
+/*\r
+ * FreeRTOS.org requires two interrupts - a tick interrupt generated from a\r
+ * timer source, and a spare interrupt vector used for context switching.\r
+ * The configuration below uses PIT0 for the former, and vector 16 for the\r
+ * latter. **IF YOUR APPLICATION HAS BOTH OF THESE INTERRUPTS FREE THEN YOU DO\r
+ * NOT NEED TO CHANGE ANY OF THIS CODE** - otherwise instructions are provided\r
+ * here for using alternative interrupt sources.\r
+ *\r
+ * To change the tick interrupt source:\r
+ *\r
+ * 1) Modify vApplicationSetupInterrupts() below to be correct for whichever\r
+ * peripheral is to be used to generate the tick interrupt.\r
+ *\r
+ * 2) Change the name of the function __cs3_isr_interrupt_119() defined within\r
+ * this file to be correct for the interrupt vector used by the timer peripheral.\r
+ * The name of the function should contain the vector number, so by default vector\r
+ * number 119 is being used.\r
+ *\r
+ * 3) Make sure the tick interrupt is cleared within the interrupt handler function.\r
+ * Currently __cs3_isr_interrupt_119() clears the PIT0 interrupt.\r
+ *\r
+ * To change the spare interrupt source:\r
+ *\r
+ * 1) Modify vApplicationSetupInterrupts() below to be correct for whichever\r
+ * interrupt vector is to be used. Make sure you use a spare interrupt on interrupt\r
+ * controller 0, otherwise the register used to request context switches will also\r
+ * require modification. By default vector 16 is used which is free on most MCF52xxx\r
+ * devices.\r
+ *\r
+ * 2) Change the definition of configYIELD_INTERRUPT_VECTOR within FreeRTOSConfig.h\r
+ * to be correct for your chosen interrupt vector.\r
+ *\r
+ * 3) Change the name of the function __cs3_isr_interrupt_80() within portasm.S\r
+ * to be correct for whichever vector number is being used. By default interrupt\r
+ * controller 0 vector number 16 is used, which corresponds to vector number 80.\r
+ */\r
void vApplicationSetupInterrupts( void )\r
{\r
const unsigned portSHORT usCompareMatchValue = ( ( configCPU_CLOCK_HZ / portPRESCALE_VALUE ) / configTICK_RATE_HZ );\r
\r
- /* Configure interrupt priority and level and unmask interrupt. */\r
- MCF_INTC0_ICR55 = ( configKERNEL_INTERRUPT_PRIORITY | ( 1 << 3 ) );\r
+ /* Configure interrupt priority and level and unmask interrupt for PIT0. */\r
+ MCF_INTC0_ICR55 = ( 1 | ( configKERNEL_INTERRUPT_PRIORITY << 3 ) );\r
MCF_INTC0_IMRH &= ~( MCF_INTC_IMRH_INT_MASK55 );\r
\r
- MCF_INTC0_ICR63 = ( configKERNEL_INTERRUPT_PRIORITY | ( 1 << 3 ) );\r
- MCF_INTC0_IMRH &= ~( MCF_INTC_IMRH_INT_MASK63 );\r
+ /* Do the same for vector 16 (interrupt controller 0). I don't think the\r
+ write to MCF_INTC0_IMRH is actually required here but is included for\r
+ completeness. */\r
+ MCF_INTC0_ICR16 = ( 0 | ( configKERNEL_INTERRUPT_PRIORITY << 3 ) );\r
+ MCF_INTC0_IMRH &= ~( MCF_INTC_IPRL_INT16 );\r
\r
+ /* Configure PIT0 to generate the RTOS tick. */\r
MCF_PIT0_PCSR |= MCF_PIT_PCSR_PIF;\r
MCF_PIT0_PCSR = ( portPRESCALE_REG_SETTING | MCF_PIT_PCSR_PIE | MCF_PIT_PCSR_RLD | MCF_PIT_PCSR_EN );\r
MCF_PIT0_PMR = usCompareMatchValue;\r
}\r
+/*-----------------------------------------------------------*/\r
\r
-void __attribute__ ((interrupt)) __cs3_isr_interrupt_127(void)\r
+void __attribute__ ((interrupt)) __cs3_isr_interrupt_119( void )\r
{\r
- MCF_INTC0_INTFRCH &= ~( 1UL << 31UL );\r
-}\r
+unsigned portLONG ulSavedInterruptMask;\r
\r
-void __attribute__ ((interrupt)) __cs3_isr_interrupt_119(void)\r
-{\r
+ /* Clear the PIT0 interrupt. */\r
MCF_PIT0_PCSR |= MCF_PIT_PCSR_PIF;\r
- MCF_INTC0_INTFRCH |= ( 1UL << 31UL );\r
+\r
+ /* Increment the RTOS tick. */\r
+ ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();\r
+ vTaskIncrementTick();\r
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );\r
+\r
+ /* If we are using the pre-emptive scheduler then also request a\r
+ context switch as incrementing the tick could have unblocked a task. */\r
+ #if configUSE_PREEMPTION == 1\r
+ {\r
+ taskYIELD();\r
+ }\r
+ #endif\r
}\r
projects / freertos / blobdiff