FreeRTOS-Kernel/Demo/ColdFire_MCF52259_CodeWarrior/FreeRTOS_Tick_Setup.c

/*
	FreeRTOS V5.4.1 - Copyright (C) 2009 Real Time Engineers Ltd.

	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 exception 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.  
	Alternative commercial license and support terms are also available upon 
	request.  See the licensing section of http://www.FreeRTOS.org for full 
	license details.

	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.  See the GNU General Public License for
	more details.

	You should have received a copy of the GNU General Public License along
	with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
	Temple Place, Suite 330, Boston, MA  02111-1307  USA.


	***************************************************************************
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	Please ensure to read the configuration and relevant port sections of the
	online documentation.

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*/

#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();
		vTaskIncrementTick();
	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );

	/* If we are using the pre-emptive scheduler then also request a
	context switch as incrementing the tick could have unblocked a task. */
	#if configUSE_PREEMPTION == 1
	{
		taskYIELD();
	}
	#endif
}