/* FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. *************************************************************************** >>! NOTE: The modification to the GPL is included to allow you to !<< >>! distribute a combined work that includes FreeRTOS without being !<< >>! obliged to provide the source code for proprietary components !<< >>! outside of the FreeRTOS kernel. !<< *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that is more than just the market leader, it * * is the industry's de facto standard. * * * * Help yourself get started quickly while simultaneously helping * * to support the FreeRTOS project by purchasing a FreeRTOS * * tutorial book, reference manual, or both: * * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading the FAQ page "My application does not run, what could be wrong?". Have you defined configASSERT()? http://www.FreeRTOS.org/support - In return for receiving this top quality embedded software for free we request you assist our global community by participating in the support forum. http://www.FreeRTOS.org/training - Investing in training allows your team to be as productive as possible as early as possible. Now you can receive FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and mission critical applications that require provable dependability. 1 tab == 4 spaces! */ /* FreeRTOS includes. */ #include "FreeRTOS.h" #include "task.h" /* Xilinx includes. */ #include "xscutimer.h" #include "xscugic.h" #define XSCUTIMER_CLOCK_HZ ( XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ / 2UL ) static XScuTimer xTimer; /* * The application must provide a function that configures a peripheral to * create the FreeRTOS tick interrupt, then define configSETUP_TICK_INTERRUPT() * in FreeRTOSConfig.h to call the function. This file contains a function * that is suitable for use on the Zynq SoC. */ void vConfigureTickInterrupt( void ) { static XScuGic xInterruptController; /* Interrupt controller instance */ BaseType_t xStatus; extern void FreeRTOS_Tick_Handler( void ); XScuTimer_Config *pxTimerConfig; XScuGic_Config *pxGICConfig; const uint8_t ucRisingEdge = 3; /* This function is called with the IRQ interrupt disabled, and the IRQ interrupt should be left disabled. It is enabled automatically when the scheduler is started. */ /* Ensure XScuGic_CfgInitialize() has been called. In this demo it has already been called from prvSetupHardware() in main(). */ pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID ); xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress ); configASSERT( xStatus == XST_SUCCESS ); ( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */ /* The priority must be the lowest possible. */ XScuGic_SetPriorityTriggerType( &xInterruptController, XPAR_SCUTIMER_INTR, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge ); /* Install the FreeRTOS tick handler. */ xStatus = XScuGic_Connect( &xInterruptController, XPAR_SCUTIMER_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, ( void * ) &xTimer ); configASSERT( xStatus == XST_SUCCESS ); ( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */ /* Initialise the timer. */ pxTimerConfig = XScuTimer_LookupConfig( XPAR_SCUTIMER_DEVICE_ID ); xStatus = XScuTimer_CfgInitialize( &xTimer, pxTimerConfig, pxTimerConfig->BaseAddr ); configASSERT( xStatus == XST_SUCCESS ); ( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */ /* Enable Auto reload mode. */ XScuTimer_EnableAutoReload( &xTimer ); /* Ensure there is no prescale. */ XScuTimer_SetPrescaler( &xTimer, 0 ); /* Load the timer counter register. */ XScuTimer_LoadTimer( &xTimer, XSCUTIMER_CLOCK_HZ / configTICK_RATE_HZ ); /* Start the timer counter and then wait for it to timeout a number of times. */ XScuTimer_Start( &xTimer ); /* Enable the interrupt for the xTimer in the interrupt controller. */ XScuGic_Enable( &xInterruptController, XPAR_SCUTIMER_INTR ); /* Enable the interrupt in the xTimer itself. */ vClearTickInterrupt(); XScuTimer_EnableInterrupt( &xTimer ); } /*-----------------------------------------------------------*/ void vClearTickInterrupt( void ) { XScuTimer_ClearInterruptStatus( &xTimer ); } /*-----------------------------------------------------------*/ void vApplicationIRQHandler( uint32_t ulICCIAR ) { extern const XScuGic_Config XScuGic_ConfigTable[]; static const XScuGic_VectorTableEntry *pxVectorTable = XScuGic_ConfigTable[ XPAR_SCUGIC_SINGLE_DEVICE_ID ].HandlerTable; uint32_t ulInterruptID; const XScuGic_VectorTableEntry *pxVectorEntry; /* The ID of the interrupt is obtained by bitwise anding the ICCIAR value with 0x3FF. */ ulInterruptID = ulICCIAR & 0x3FFUL; if( ulInterruptID < XSCUGIC_MAX_NUM_INTR_INPUTS ) { /* Call the function installed in the array of installed handler functions. */ pxVectorEntry = &( pxVectorTable[ ulInterruptID ] ); pxVectorEntry->Handler( pxVectorEntry->CallBackRef ); } }