/*\r
- FreeRTOS V8.0.1 - Copyright (C) 2014 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
- ***************************************************************************\r
- * *\r
- * FreeRTOS provides completely free yet professionally developed, *\r
- * robust, strictly quality controlled, supported, and cross *\r
- * platform software that has become a de facto standard. *\r
- * *\r
- * Help yourself get started quickly and support the FreeRTOS *\r
- * project by purchasing a FreeRTOS tutorial book, reference *\r
- * manual, or both from: http://www.FreeRTOS.org/Documentation *\r
- * *\r
- * Thank you! *\r
- * *\r
- ***************************************************************************\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
- >>! 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
- 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 from the following\r
- link: http://www.freertos.org/a00114.html\r
-\r
- 1 tab == 4 spaces!\r
-\r
- ***************************************************************************\r
- * *\r
- * Having a problem? Start by reading the FAQ "My application does *\r
- * not run, what could be wrong?" *\r
- * *\r
- * http://www.FreeRTOS.org/FAQHelp.html *\r
- * *\r
- ***************************************************************************\r
-\r
- http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
- license and Real Time Engineers Ltd. contact details.\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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
- Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS\r
- licenses offer ticketed support, indemnification and 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
+ * FreeRTOS Kernel V10.1.0\r
+ * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.\r
+ *\r
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of\r
+ * this software and associated documentation files (the "Software"), to deal in\r
+ * the Software without restriction, including without limitation the rights to\r
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of\r
+ * the Software, and to permit persons to whom the Software is furnished to do so,\r
+ * subject to the following conditions:\r
+ *\r
+ * The above copyright notice and this permission notice shall be included in all\r
+ * copies or substantial portions of the Software.\r
+ *\r
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\r
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS\r
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR\r
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER\r
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN\r
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.\r
+ *\r
+ * http://www.FreeRTOS.org\r
+ * http://aws.amazon.com/freertos\r
+ *\r
+ * 1 tab == 4 spaces!\r
+ */\r
\r
/* FreeRTOS includes. */\r
#include "FreeRTOS.h"\r
-#include "Task.h"\r
+#include "task.h"\r
\r
/* Library includes. */\r
#include "board.h"\r
\r
+/*\r
+ * The FreeRTOS tick handler. This function must be installed as the handler\r
+ * for the timer used to generate the tick interrupt. Note that the interrupt\r
+ * generated by the PIT is shared by other system peripherals, so if the PIT is\r
+ * used for Tick generation then FreeRTOS_Tick_Handler() can only be installed\r
+ * directly as the PIT handler if no other system interrupts need to be\r
+ * serviced. If system interrupts other than the PIT need to be serviced then\r
+ * install System_Handler() as the PIT interrupt handler in place of\r
+ * FreeRTOS_Tick_Handler() and add additional interrupt processing into the\r
+ * implementation of System_Handler().\r
+ */\r
+extern void FreeRTOS_Tick_Handler( void );\r
+static void System_Handler( void );\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+static void System_Handler( void )\r
+{\r
+ /* See the comments above the function prototype in this file. */\r
+ FreeRTOS_Tick_Handler();\r
+}\r
+/*-----------------------------------------------------------*/\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
*/\r
void vConfigureTickInterrupt( void )\r
{\r
-extern void FreeRTOS_Tick_Handler( void );\r
-\r
/* NOTE: The PIT interrupt is cleared by the configCLEAR_TICK_INTERRUPT()\r
macro in FreeRTOSConfig.h. */\r
\r
/* Enable the PIT clock. */\r
PMC->PMC_PCER0 = 1 << ID_PIT;\r
- \r
+\r
/* Initialize the PIT to the desired frequency - specified in uS. */\r
PIT_Init( 1000000UL / configTICK_RATE_HZ, BOARD_MCK / 1000000 );\r
- \r
- /* Configure interrupt on PIT */\r
-#warning This is on the system interrupt and other interrupts may need processing to.\r
- IRQ_ConfigureIT( ID_PIT, 0, FreeRTOS_Tick_Handler );\r
+\r
+ /* Configure interrupt on PIT. Note this is on the system interrupt, which\r
+ is shared with other system peripherals, so System_Handler() must be\r
+ installed in place of FreeRTOS_Tick_Handler() if other system handlers are\r
+ required. The tick must be given the lowest priority (0 in the SAMA5 AIC) */\r
+ IRQ_ConfigureIT( ID_PIT, AIC_SMR_SRCTYPE_EXT_POSITIVE_EDGE, FreeRTOS_Tick_Handler );\r
+ /* See commend directly above IRQ_ConfigureIT( ID_PIT, 0, System_Handler ); */\r
IRQ_EnableIT( ID_PIT );\r
PIT_EnableIT();\r
- \r
+\r
/* Enable the pit. */\r
PIT_Enable();\r
+\r
+ /* Prevent compiler warnings in the case where System_Handler() is not used\r
+ as the handler. See the comments above the System_Handler() function\r
+ prototype at the top of this file. */\r
+ ( void ) System_Handler;\r
}\r
/*-----------------------------------------------------------*/\r
\r
-\r
-\r