/*\r
- FreeRTOS V8.0.0:rc2 - Copyright (C) 2014 Real Time Engineers Ltd. \r
+ FreeRTOS V8.1.1 - 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
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 distribute\r
- >>! a combined work that includes FreeRTOS without being obliged to provide\r
- >>! the source code for proprietary components outside of the FreeRTOS\r
- >>! kernel.\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
#include "FreeRTOS.h"\r
#include "Task.h"\r
\r
+/* Xilinx includes. */\r
+#include "xscutimer.h"\r
+#include "xscugic.h"\r
+\r
+#define XSCUTIMER_CLOCK_HZ ( XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ / 2UL )\r
+\r
+static XScuTimer xTimer;\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 Renesas RZ MPU.\r
+ * that is suitable for use on the Zynq SoC.\r
*/\r
void vConfigureTickInterrupt( void )\r
{\r
+static XScuGic xInterruptController; /* Interrupt controller instance */\r
+BaseType_t xStatus;\r
+extern void FreeRTOS_Tick_Handler( void );\r
+XScuTimer_Config *pxTimerConfig;\r
+XScuGic_Config *pxGICConfig;\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 priority must be the lowest possible. */\r
+ XScuGic_SetPriorityTriggerType( &xInterruptController, XPAR_SCUTIMER_INTR, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge );\r
+\r
+ /* Install the FreeRTOS tick handler. */\r
+ xStatus = XScuGic_Connect( &xInterruptController, XPAR_SCUTIMER_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, ( void * ) &xTimer );\r
+ configASSERT( xStatus == XST_SUCCESS );\r
+ ( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */\r
+\r
+ /* Initialise the timer. */\r
+ pxTimerConfig = XScuTimer_LookupConfig( XPAR_SCUTIMER_DEVICE_ID );\r
+ xStatus = XScuTimer_CfgInitialize( &xTimer, pxTimerConfig, pxTimerConfig->BaseAddr );\r
+ configASSERT( xStatus == XST_SUCCESS );\r
+ ( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */\r
+\r
+ /* Enable Auto reload mode. */\r
+ XScuTimer_EnableAutoReload( &xTimer );\r
+\r
+ /* Load the timer counter register. */\r
+ XScuTimer_LoadTimer( &xTimer, XSCUTIMER_CLOCK_HZ / configTICK_RATE_HZ );\r
+\r
+ /* Start the timer counter and then wait for it to timeout a number of\r
+ times. */\r
+ XScuTimer_Start( &xTimer );\r
+\r
+ /* Enable the interrupt for the xTimer in the interrupt controller. */\r
+ XScuGic_Enable( &xInterruptController, XPAR_SCUTIMER_INTR );\r
+\r
+ /* Enable the interrupt in the xTimer itself. */\r
+ vClearTickInterrupt();\r
+ XScuTimer_EnableInterrupt( &xTimer );\r
}\r
/*-----------------------------------------------------------*/\r
\r
-/*\r
- * Crude implementation of a run time counter used to measure how much time\r
- * each task spends in the Running state.\r
- */\r
-unsigned long ulGetRunTimeCounterValue( void )\r
+void vClearTickInterrupt( void )\r
{\r
- return 0;\r
+ XScuTimer_ClearInterruptStatus( &xTimer );\r
}\r
/*-----------------------------------------------------------*/\r
\r
-void vInitialiseRunTimeStats( void )\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 functions. */\r
+ pxVectorEntry = &( pxVectorTable[ ulInterruptID ] );\r
+ pxVectorEntry->Handler( pxVectorEntry->CallBackRef );\r
+ }\r
}\r
\r
\r
projects / freertos / blobdiff