2 FreeRTOS V8.0.0:rc2 - Copyright (C) 2014 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS provides completely free yet professionally developed, *
\r
10 * robust, strictly quality controlled, supported, and cross *
\r
11 * platform software that has become a de facto standard. *
\r
13 * Help yourself get started quickly and support the FreeRTOS *
\r
14 * project by purchasing a FreeRTOS tutorial book, reference *
\r
15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
\r
19 ***************************************************************************
\r
21 This file is part of the FreeRTOS distribution.
\r
23 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
24 the terms of the GNU General Public License (version 2) as published by the
\r
25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
\r
27 >>! NOTE: The modification to the GPL is included to allow you to distribute
\r
28 >>! a combined work that includes FreeRTOS without being obliged to provide
\r
29 >>! the source code for proprietary components outside of the FreeRTOS
\r
32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
\r
35 link: http://www.freertos.org/a00114.html
\r
39 ***************************************************************************
\r
41 * Having a problem? Start by reading the FAQ "My application does *
\r
42 * not run, what could be wrong?" *
\r
44 * http://www.FreeRTOS.org/FAQHelp.html *
\r
46 ***************************************************************************
\r
48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
49 license and Real Time Engineers Ltd. contact details.
\r
51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
57 licenses offer ticketed support, indemnification and middleware.
\r
59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
60 engineered and independently SIL3 certified version for use in safety and
\r
61 mission critical applications that require provable dependability.
\r
66 /* FreeRTOS includes. */
\r
67 #include "FreeRTOS.h"
\r
70 /* Xilinx includes. */
\r
71 #include "xscutimer.h"
\r
72 #include "xscugic.h"
\r
74 #define XSCUTIMER_CLOCK_HZ ( XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ / 2UL )
\r
76 static XScuTimer xTimer;
\r
79 * The application must provide a function that configures a peripheral to
\r
80 * create the FreeRTOS tick interrupt, then define configSETUP_TICK_INTERRUPT()
\r
81 * in FreeRTOSConfig.h to call the function. This file contains a function
\r
82 * that is suitable for use on the Zynq SoC.
\r
84 void vConfigureTickInterrupt( void )
\r
86 static XScuGic xInterruptController; /* Interrupt controller instance */
\r
88 extern void FreeRTOS_Tick_Handler( void );
\r
89 XScuTimer_Config *pxTimerConfig;
\r
90 XScuGic_Config *pxGICConfig;
\r
92 /* This function is called with the IRQ interrupt disabled, and the IRQ
\r
93 interrupt should be left disabled. It is enabled automatically when the
\r
94 scheduler is started. */
\r
96 /* Ensure XScuGic_CfgInitialize() has been called. In this demo it has
\r
97 already been called from prvSetupHardware() in main(). */
\r
98 pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID );
\r
99 xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress );
\r
100 configASSERT( xStatus == XST_SUCCESS );
\r
102 /* Install the FreeRTOS tick handler. */
\r
103 xStatus = XScuGic_Connect(&xInterruptController, XPAR_SCUTIMER_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, (void *)&xTimer);
\r
104 configASSERT( xStatus == XST_SUCCESS );
\r
106 /* Initialise the timer. */
\r
107 pxTimerConfig = XScuTimer_LookupConfig( XPAR_SCUTIMER_DEVICE_ID );
\r
108 xStatus = XScuTimer_CfgInitialize( &xTimer, pxTimerConfig, pxTimerConfig->BaseAddr );
\r
109 configASSERT( xStatus == XST_SUCCESS );
\r
111 /* Enable Auto reload mode. */
\r
112 XScuTimer_EnableAutoReload( &xTimer );
\r
114 /* Load the timer counter register. */
\r
115 XScuTimer_LoadTimer( &xTimer, XSCUTIMER_CLOCK_HZ / configTICK_RATE_HZ );
\r
117 /* Start the timer counter and then wait for it to timeout a number of
\r
119 XScuTimer_Start( &xTimer );
\r
121 /* Enable the interrupt for the xTimer in the interrupt controller. */
\r
122 XScuGic_Enable( &xInterruptController, XPAR_SCUTIMER_INTR );
\r
124 /* Enable the interrupt in the xTimer itself. */
\r
125 vClearTickInterrupt();
\r
126 XScuTimer_EnableInterrupt( &xTimer );
\r
128 /*-----------------------------------------------------------*/
\r
131 * Crude implementation of a run time counter used to measure how much time
\r
132 * each task spends in the Running state.
\r
134 unsigned long ulGetRunTimeCounterValue( void )
\r
138 /*-----------------------------------------------------------*/
\r
140 void vInitialiseRunTimeStats( void )
\r
143 /*-----------------------------------------------------------*/
\r
145 void vClearTickInterrupt( void )
\r
147 XScuTimer_ClearInterruptStatus( &xTimer );
\r
149 /*-----------------------------------------------------------*/
\r
151 void vApplicationIRQHandler( uint32_t ulICCIAR )
\r
153 extern const XScuGic_Config XScuGic_ConfigTable[];
\r
154 static const XScuGic_VectorTableEntry *pxVectorTable = XScuGic_ConfigTable[ XPAR_SCUGIC_SINGLE_DEVICE_ID ].HandlerTable;
\r
155 uint32_t ulInterruptID;
\r
156 const XScuGic_VectorTableEntry *pxVectorEntry;
\r
158 /* Re-enable interrupts. */
\r
159 __asm ( "cpsie i" );
\r
161 /* The ID of the interrupt is obtained by bitwise anding the ICCIAR value
\r
163 ulInterruptID = ulICCIAR & 0x3FFUL;
\r
164 configASSERT( ulInterruptID < XSCUGIC_MAX_NUM_INTR_INPUTS );
\r
166 /* Call the function installed in the array of installed handler functions. */
\r
167 pxVectorEntry = &( pxVectorTable[ ulInterruptID ] );
\r
168 pxVectorEntry->Handler( pxVectorEntry->CallBackRef );
\r