--- /dev/null
+/*\r
+ FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.\r
+ All rights reserved\r
+\r
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
+\r
+ This file is part of the FreeRTOS distribution.\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
+\r
+ ***************************************************************************\r
+ >>! NOTE: The modification to the GPL is included to allow you to !<<\r
+ >>! distribute a combined work that includes FreeRTOS without being !<<\r
+ >>! obliged to provide the source code for proprietary components !<<\r
+ >>! outside of the FreeRTOS kernel. !<<\r
+ ***************************************************************************\r
+\r
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following\r
+ link: http://www.freertos.org/a00114.html\r
+\r
+ ***************************************************************************\r
+ * *\r
+ * FreeRTOS provides completely free yet professionally developed, *\r
+ * robust, strictly quality controlled, supported, and cross *\r
+ * platform software that is more than just the market leader, it *\r
+ * is the industry's de facto standard. *\r
+ * *\r
+ * Help yourself get started quickly while simultaneously helping *\r
+ * to support the FreeRTOS project by purchasing a FreeRTOS *\r
+ * tutorial book, reference manual, or both: *\r
+ * http://www.FreeRTOS.org/Documentation *\r
+ * *\r
+ ***************************************************************************\r
+\r
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading\r
+ the FAQ page "My application does not run, what could be wrong?". Have you\r
+ defined configASSERT()?\r
+\r
+ http://www.FreeRTOS.org/support - In return for receiving this top quality\r
+ embedded software for free we request you assist our global community by\r
+ participating in the support forum.\r
+\r
+ http://www.FreeRTOS.org/training - Investing in training allows your team to\r
+ be as productive as possible as early as possible. Now you can receive\r
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers\r
+ Ltd, and the world's leading authority on the world's leading RTOS.\r
+\r
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
+\r
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.\r
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.\r
+\r
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High\r
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS\r
+ licenses offer ticketed support, indemnification and commercial middleware.\r
+\r
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
+ engineered and independently SIL3 certified version for use in safety and\r
+ mission critical applications that require provable dependability.\r
+\r
+ 1 tab == 4 spaces!\r
+*/\r
+\r
+/* FreeRTOS includes. */\r
+#include "FreeRTOS.h"\r
+#include "Task.h"\r
+\r
+/* Xilinx includes. */\r
+#include "xscugic.h"\r
+#include "xttcps.h"\r
+\r
+/* Settings to generate the tick from channel 0 of TTC 0. */\r
+#define tickTTC_ID XPAR_PSU_TTC_0_DEVICE_ID\r
+#define tickINTERRUPT_ID XPAR_XTTCPS_0_INTR\r
+\r
+/* The timer used to generate the tick interrupt. */\r
+static XTtcPs xTimerInstance;\r
+\r
+/*\r
+ * The application must provide a function that configures a peripheral to\r
+ * create the FreeRTOS tick interrupt, then define configSETUP_TICK_INTERRUPT()\r
+ * in FreeRTOSConfig.h to call the function. This file contains a function\r
+ * that is suitable for use on the Zynq SoC.\r
+ */\r
+void vConfigureTickInterrupt( void )\r
+{\r
+XTtcPs_Config *pxTimerConfig;\r
+BaseType_t xStatus;\r
+XScuGic_Config *pxGICConfig;\r
+static XScuGic xInterruptController; /* Interrupt controller instance */\r
+uint16_t usInterval;\r
+uint8_t ucPrescale = 0;\r
+const uint8_t ucRisingEdge = 3;\r
+\r
+ /* This function is called with the IRQ interrupt disabled, and the IRQ\r
+ interrupt should be left disabled. It is enabled automatically when the\r
+ scheduler is started. */\r
+\r
+ /* Ensure XScuGic_CfgInitialize() has been called. In this demo it has\r
+ already been called from prvSetupHardware() in main(). */\r
+ pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID );\r
+ xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress );\r
+ configASSERT( xStatus == XST_SUCCESS );\r
+ ( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */\r
+\r
+ /* The interrupt priority must be the lowest possible. */\r
+ XScuGic_SetPriorityTriggerType( &xInterruptController, tickINTERRUPT_ID, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge );\r
+\r
+ /* Install the FreeRTOS tick handler. */\r
+ xStatus = XScuGic_Connect( &xInterruptController, tickINTERRUPT_ID, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, NULL );\r
+ configASSERT( xStatus == XST_SUCCESS );\r
+ ( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */\r
+\r
+ /* Initialise the Triple Timer Counter (TTC) that is going to be used to\r
+ generate the tick interrupt. */\r
+ pxTimerConfig = XTtcPs_LookupConfig( tickTTC_ID );\r
+ xStatus = XTtcPs_CfgInitialize( &xTimerInstance, pxTimerConfig, pxTimerConfig->BaseAddress );\r
+ configASSERT( xStatus == XST_SUCCESS );\r
+ ( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */\r
+\r
+ /* Configure the interval to be the require tick rate. */\r
+ XTtcPs_CalcIntervalFromFreq( &xTimerInstance, configTICK_RATE_HZ, &usInterval, &ucPrescale );\r
+ XTtcPs_SetInterval( &xTimerInstance, usInterval );\r
+ XTtcPs_SetPrescaler( &xTimerInstance, ucPrescale );\r
+\r
+ /* Interval mode used. */\r
+ XTtcPs_SetOptions( &xTimerInstance, XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_WAVE_DISABLE );\r
+\r
+ /* Start the timer. */\r
+ XTtcPs_Start( &xTimerInstance );\r
+\r
+ /* Enable the interrupt in the interrupt controller. */\r
+ XScuGic_Enable( &xInterruptController, tickINTERRUPT_ID );\r
+\r
+ /* Enable the interrupt in the timer itself. */\r
+ XTtcPs_EnableInterrupts( &xTimerInstance, XTTCPS_IXR_INTERVAL_MASK );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vClearTickInterrupt( void )\r
+{\r
+volatile uint32_t ulStatus;\r
+\r
+ ulStatus = XTtcPs_GetInterruptStatus( &xTimerInstance );\r
+ ( void ) ulStatus;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vApplicationIRQHandler( uint32_t ulICCIAR )\r
+{\r
+extern const XScuGic_Config XScuGic_ConfigTable[];\r
+static const XScuGic_VectorTableEntry *pxVectorTable = XScuGic_ConfigTable[ XPAR_SCUGIC_SINGLE_DEVICE_ID ].HandlerTable;\r
+uint32_t ulInterruptID;\r
+const XScuGic_VectorTableEntry *pxVectorEntry;\r
+\r
+ /* Re-enable interrupts. */\r
+ __asm ( "cpsie i" );\r
+\r
+ /* The ID of the interrupt is obtained by bitwise anding the ICCIAR value\r
+ with 0x3FF. */\r
+ ulInterruptID = ulICCIAR & 0x3FFUL;\r
+ if( ulInterruptID < XSCUGIC_MAX_NUM_INTR_INPUTS )\r
+ {\r
+ /* Call the function installed in the array of installed handler\r
+ functions. */\r
+ pxVectorEntry = &( pxVectorTable[ ulInterruptID ] );\r
+ pxVectorEntry->Handler( pxVectorEntry->CallBackRef );\r
+ }\r
+}\r
+\r
+\r
projects / freertos / blobdiff