2 FreeRTOS V8.1.1 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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70 /*-----------------------------------------------------------
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71 * Port specific definitions.
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73 * The settings in this file configure FreeRTOS correctly for the
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74 * given hardware and compiler.
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76 * These settings should not be altered.
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77 *-----------------------------------------------------------
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80 /* Type definitions. */
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81 #define portCHAR char
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82 #define portFLOAT float
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83 #define portDOUBLE double
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84 #define portLONG long
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85 #define portSHORT short
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86 #define portSTACK_TYPE uint8_t
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87 #define portBASE_TYPE char
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89 typedef portSTACK_TYPE StackType_t;
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90 typedef signed char BaseType_t;
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91 typedef unsigned char UBaseType_t;
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93 #if( configUSE_16_BIT_TICKS == 1 )
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94 typedef uint16_t TickType_t;
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95 #define portMAX_DELAY ( TickType_t ) 0xffff
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97 typedef uint32_t TickType_t;
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98 #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
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100 /*-----------------------------------------------------------*/
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102 /* Hardware specifics. */
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103 #define portBYTE_ALIGNMENT 1
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104 #define portSTACK_GROWTH ( -1 )
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105 #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
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106 #define portYIELD() __asm( "swi" );
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107 #define portNOP() __asm( "nop" );
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108 /*-----------------------------------------------------------*/
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110 /* Critical section handling. */
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111 #define portENABLE_INTERRUPTS() __asm( "cli" )
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112 #define portDISABLE_INTERRUPTS() __asm( "sei" )
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115 * Disable interrupts before incrementing the count of critical section nesting.
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116 * The nesting count is maintained so we know when interrupts should be
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117 * re-enabled. Once interrupts are disabled the nesting count can be accessed
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118 * directly. Each task maintains its own nesting count.
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120 #define portENTER_CRITICAL() \
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122 extern volatile UBaseType_t uxCriticalNesting; \
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124 portDISABLE_INTERRUPTS(); \
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125 uxCriticalNesting++; \
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129 * Interrupts are disabled so we can access the nesting count directly. If the
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130 * nesting is found to be 0 (no nesting) then we are leaving the critical
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131 * section and interrupts can be re-enabled.
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133 #define portEXIT_CRITICAL() \
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135 extern volatile UBaseType_t uxCriticalNesting; \
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137 uxCriticalNesting--; \
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138 if( uxCriticalNesting == 0 ) \
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140 portENABLE_INTERRUPTS(); \
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143 /*-----------------------------------------------------------*/
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145 /* Task utilities. */
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148 * These macros are very simple as the processor automatically saves and
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149 * restores its registers as interrupts are entered and exited. In
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150 * addition to the (automatically stacked) registers we also stack the
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151 * critical nesting count. Each task maintains its own critical nesting
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152 * count as it is legitimate for a task to yield from within a critical
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153 * section. If the banked memory model is being used then the PPAGE
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154 * register is also stored as part of the tasks context.
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157 #ifdef BANKED_MODEL
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159 * Load the stack pointer for the task, then pull the critical nesting
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160 * count and PPAGE register from the stack. The remains of the
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161 * context are restored by the RTI instruction.
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163 #define portRESTORE_CONTEXT() \
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165 extern volatile void * pxCurrentTCB; \
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166 extern volatile UBaseType_t uxCriticalNesting; \
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168 __asm( "ldx pxCurrentTCB" ); \
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169 __asm( "lds 0, x" ); \
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171 __asm( "staa uxCriticalNesting" ); \
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173 __asm( "staa 0x30" ); /* 0x30 = PPAGE */ \
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177 * By the time this macro is called the processor has already stacked the
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178 * registers. Simply stack the nesting count and PPAGE value, then save
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179 * the task stack pointer.
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181 #define portSAVE_CONTEXT() \
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183 extern volatile void * pxCurrentTCB; \
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184 extern volatile UBaseType_t uxCriticalNesting; \
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186 __asm( "ldaa 0x30" ); /* 0x30 = PPAGE */ \
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188 __asm( "ldaa uxCriticalNesting" ); \
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190 __asm( "ldx pxCurrentTCB" ); \
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191 __asm( "sts 0, x" ); \
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196 * These macros are as per the BANKED versions above, but without saving
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197 * and restoring the PPAGE register.
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200 #define portRESTORE_CONTEXT() \
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202 extern volatile void * pxCurrentTCB; \
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203 extern volatile UBaseType_t uxCriticalNesting; \
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205 __asm( "ldx pxCurrentTCB" ); \
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206 __asm( "lds 0, x" ); \
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208 __asm( "staa uxCriticalNesting" ); \
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211 #define portSAVE_CONTEXT() \
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213 extern volatile void * pxCurrentTCB; \
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214 extern volatile UBaseType_t uxCriticalNesting; \
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216 __asm( "ldaa uxCriticalNesting" ); \
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218 __asm( "ldx pxCurrentTCB" ); \
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219 __asm( "sts 0, x" ); \
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224 * Utility macro to call macros above in correct order in order to perform a
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225 * task switch from within a standard ISR. This macro can only be used if
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226 * the ISR does not use any local (stack) variables. If the ISR uses stack
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227 * variables portYIELD() should be used in it's place.
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229 #define portTASK_SWITCH_FROM_ISR() \
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230 portSAVE_CONTEXT(); \
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231 vTaskSwitchContext(); \
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232 portRESTORE_CONTEXT();
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235 /* Task function macros as described on the FreeRTOS.org WEB site. */
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236 #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
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237 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
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239 #endif /* PORTMACRO_H */
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