/* FreeRTOS V7.5.3 - Copyright (C) 2013 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" __declspec(interrupt:0) void vPIT0InterruptHandler( void ); /* 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. The name of the * handler function (currently vPIT0InterruptHandler()) should also be updated * to indicate which peripheral is generating the interrupt. * * 2) Make sure the interrupt source is cleared within the interrupt handler function. * Currently vPIT0InterruptHandler() clears the PIT0 interrupt. * * 3) Update the vector table within mcf5225x_vectors.s to install the tick * interrupt handler in the correct vector position. * * 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. * * 2) Change the definition of configYIELD_INTERRUPT_VECTOR within FreeRTOSConfig.h * to be correct for your chosen interrupt vector. * * 3) Update the vector table within mcf5225x_vectors.s to install the handler * _vPortYieldISR() in the correct vector position (by default vector number 16 is * used). */ void vApplicationSetupInterrupts( void ) { const unsigned portSHORT 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 63 (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_IMRL &= ~( MCF_INTC_IMRL_INT_MASK16 | 0x01 ); /* 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; } /*-----------------------------------------------------------*/ __declspec(interrupt:0) void vPIT0InterruptHandler( void ) { unsigned portLONG 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 ); }