forked from ROMEO/obsw
137 lines
5.5 KiB
C
137 lines
5.5 KiB
C
/*
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* FreeRTOS V202212.00
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/* FreeRTOS includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Xilinx includes. */
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#include "xscutimer.h"
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#include "xscugic.h"
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#define XSCUTIMER_CLOCK_HZ ( XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ / 2UL )
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static XScuTimer xTimer;
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extern XScuGic xInterruptController; /* Interrupt controller instance */
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/*
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* The application must provide a function that configures a peripheral to
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* create the FreeRTOS tick interrupt, then define configSETUP_TICK_INTERRUPT()
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* in FreeRTOSConfig.h to call the function. This file contains a function
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* that is suitable for use on the Zynq SoC.
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*/
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void vConfigureTickInterrupt( void )
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{
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BaseType_t xStatus;
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extern void FreeRTOS_Tick_Handler( void );
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XScuTimer_Config *pxTimerConfig;
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XScuGic_Config *pxGICConfig;
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const uint8_t ucRisingEdge = 3;
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/* This function is called with the IRQ interrupt disabled, and the IRQ
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interrupt should be left disabled. It is enabled automatically when the
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scheduler is started. */
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/* Ensure XScuGic_CfgInitialize() has been called. In this demo it has
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already been called from prvSetupHardware() in main(). */
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pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID );
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xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress );
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configASSERT( xStatus == XST_SUCCESS );
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( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
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/* The priority must be the lowest possible. */
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XScuGic_SetPriorityTriggerType( &xInterruptController, XPAR_SCUTIMER_INTR, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge );
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/* Install the FreeRTOS tick handler. */
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xStatus = XScuGic_Connect( &xInterruptController, XPAR_SCUTIMER_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, ( void * ) &xTimer );
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configASSERT( xStatus == XST_SUCCESS );
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( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
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/* Initialise the timer. */
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pxTimerConfig = XScuTimer_LookupConfig( XPAR_SCUTIMER_DEVICE_ID );
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xStatus = XScuTimer_CfgInitialize( &xTimer, pxTimerConfig, pxTimerConfig->BaseAddr );
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configASSERT( xStatus == XST_SUCCESS );
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( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
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/* Enable Auto reload mode. */
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XScuTimer_EnableAutoReload( &xTimer );
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/* Ensure there is no prescale. */
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XScuTimer_SetPrescaler( &xTimer, 0 );
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/* Load the timer counter register. */
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XScuTimer_LoadTimer( &xTimer, XSCUTIMER_CLOCK_HZ / configTICK_RATE_HZ );
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/* Start the timer counter and then wait for it to timeout a number of
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times. */
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XScuTimer_Start( &xTimer );
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/* Enable the interrupt for the xTimer in the interrupt controller. */
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XScuGic_Enable( &xInterruptController, XPAR_SCUTIMER_INTR );
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/* Enable the interrupt in the xTimer itself. */
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vClearTickInterrupt();
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XScuTimer_EnableInterrupt( &xTimer );
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}
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/*-----------------------------------------------------------*/
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void vClearTickInterrupt( void )
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{
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XScuTimer_ClearInterruptStatus( &xTimer );
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}
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/*-----------------------------------------------------------*/
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/* This is the callback function which is called by the FreeRTOS Cortex-A port
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layer in response to an interrupt. If the function is called
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vApplicationFPUSafeIRQHandler() then it is called after the floating point
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registers have been saved. If the function is called vApplicationIRQHandler()
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then it will be called without first having saved the FPU registers. See
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http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html for
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more information */
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void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR )
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{
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extern XScuGic_Config XScuGic_ConfigTable[];
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static const XScuGic_VectorTableEntry *pxVectorTable = XScuGic_ConfigTable[ XPAR_SCUGIC_SINGLE_DEVICE_ID ].HandlerTable;
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uint32_t ulInterruptID;
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const XScuGic_VectorTableEntry *pxVectorEntry;
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/* Re-enable interrupts. */
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__asm ( "cpsie i" );
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/* The ID of the interrupt is obtained by bitwise anding the ICCIAR value
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with 0x3FF. */
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ulInterruptID = ulICCIAR & 0x3FFUL;
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if( ulInterruptID < XSCUGIC_MAX_NUM_INTR_INPUTS )
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{
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/* Call the function installed in the array of installed handler functions. */
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pxVectorEntry = &( pxVectorTable[ ulInterruptID ] );
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pxVectorEntry->Handler( pxVectorEntry->CallBackRef );
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}
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}
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