| /* | |
| FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
| All rights reserved | |
| VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS provides completely free yet professionally developed, * | |
| * robust, strictly quality controlled, supported, and cross * | |
| * platform software that has become a de facto standard. * | |
| * * | |
| * Help yourself get started quickly and support the FreeRTOS * | |
| * project by purchasing a FreeRTOS tutorial book, reference * | |
| * manual, or both from: http://www.FreeRTOS.org/Documentation * | |
| * * | |
| * Thank you! * | |
| * * | |
| *************************************************************************** | |
| 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 from the following | |
| link: http://www.freertos.org/a00114.html | |
| 1 tab == 4 spaces! | |
| *************************************************************************** | |
| * * | |
| * Having a problem? Start by reading the FAQ "My application does * | |
| * not run, what could be wrong?" * | |
| * * | |
| * http://www.FreeRTOS.org/FAQHelp.html * | |
| * * | |
| *************************************************************************** | |
| http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
| license and Real Time Engineers Ltd. contact details. | |
| 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
| Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
| licenses offer ticketed support, indemnification and 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! | |
| */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| /* Constants used to configure the interrupts. */ | |
| #define portPRESCALE_VALUE 64 | |
| #define portPRESCALE_REG_SETTING ( 5 << 8 ) | |
| #define portPIT_INTERRUPT_ENABLED ( 0x08 ) | |
| #define configPIT0_INTERRUPT_VECTOR ( 55 ) | |
| /* | |
| * FreeRTOS.org requires two interrupts - a tick interrupt generated from a | |
| * timer source, and a spare interrupt vector used for context switching. | |
| * The configuration below uses PIT0 for the former, and vector 16 for the | |
| * latter. **IF YOUR APPLICATION HAS BOTH OF THESE INTERRUPTS FREE THEN YOU DO | |
| * NOT NEED TO CHANGE ANY OF THIS CODE** - otherwise instructions are provided | |
| * here for using alternative interrupt sources. | |
| * | |
| * To change the tick interrupt source: | |
| * | |
| * 1) Modify vApplicationSetupInterrupts() below to be correct for whichever | |
| * peripheral is to be used to generate the tick interrupt. | |
| * | |
| * 2) Change the name of the function __cs3_isr_interrupt_119() defined within | |
| * this file to be correct for the interrupt vector used by the timer peripheral. | |
| * The name of the function should contain the vector number, so by default vector | |
| * number 119 is being used. | |
| * | |
| * 3) Make sure the tick interrupt is cleared within the interrupt handler function. | |
| * Currently __cs3_isr_interrupt_119() clears the PIT0 interrupt. | |
| * | |
| * To change the spare interrupt source: | |
| * | |
| * 1) Modify vApplicationSetupInterrupts() below to be correct for whichever | |
| * interrupt vector is to be used. Make sure you use a spare interrupt on interrupt | |
| * controller 0, otherwise the register used to request context switches will also | |
| * require modification. By default vector 16 is used which is free on most MCF52xxx | |
| * devices. | |
| * | |
| * 2) Change the definition of configYIELD_INTERRUPT_VECTOR within FreeRTOSConfig.h | |
| * to be correct for your chosen interrupt vector. | |
| * | |
| * 3) Change the name of the function __cs3_isr_interrupt_80() within portasm.S | |
| * to be correct for whichever vector number is being used. By default interrupt | |
| * controller 0 vector number 16 is used, which corresponds to vector number 80. | |
| */ | |
| void vApplicationSetupInterrupts( void ) | |
| { | |
| const unsigned short usCompareMatchValue = ( ( configCPU_CLOCK_HZ / portPRESCALE_VALUE ) / configTICK_RATE_HZ ); | |
| /* Configure interrupt priority and level and unmask interrupt for PIT0. */ | |
| MCF_INTC0_ICR55 = ( 1 | ( configKERNEL_INTERRUPT_PRIORITY << 3 ) ); | |
| MCF_INTC0_IMRH &= ~( MCF_INTC_IMRH_INT_MASK55 ); | |
| /* Do the same for vector 16 (interrupt controller 0). I don't think the | |
| write to MCF_INTC0_IMRH is actually required here but is included for | |
| completeness. */ | |
| MCF_INTC0_ICR16 = ( 0 | ( configKERNEL_INTERRUPT_PRIORITY << 3 ) ); | |
| MCF_INTC0_IMRH &= ~( MCF_INTC_IPRL_INT16 ); | |
| /* Configure PIT0 to generate the RTOS tick. */ | |
| MCF_PIT0_PCSR |= MCF_PIT_PCSR_PIF; | |
| MCF_PIT0_PCSR = ( portPRESCALE_REG_SETTING | MCF_PIT_PCSR_PIE | MCF_PIT_PCSR_RLD | MCF_PIT_PCSR_EN ); | |
| MCF_PIT0_PMR = usCompareMatchValue; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void __attribute__ ((interrupt)) __cs3_isr_interrupt_119( void ) | |
| { | |
| unsigned long ulSavedInterruptMask; | |
| /* Clear the PIT0 interrupt. */ | |
| MCF_PIT0_PCSR |= MCF_PIT_PCSR_PIF; | |
| /* Increment the RTOS tick. */ | |
| ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); | |
| if( xTaskIncrementTick() != pdFALSE ) | |
| { | |
| taskYIELD(); | |
| } | |
| portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); | |
| } |