Prepare for V9.0.0 release:

[freertos] / FreeRTOS / Source / portable / IAR / ARM_CM0 / port.c

diff --git a/FreeRTOS/Source/portable/IAR/ARM_CM0/port.c b/FreeRTOS/Source/portable/IAR/ARM_CM0/port.c
index aaa9a3c30a3bd013fd0dc0f97ecfa224d4f152e3..ed00f224758892b43ed629fd462670ed6c50cc07 100644 (file)
--- a/FreeRTOS/Source/portable/IAR/ARM_CM0/port.c
+++ b/FreeRTOS/Source/portable/IAR/ARM_CM0/port.c
@@ -1,75 +1,70 @@
 /*\r
 /*\r

-    FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd.\r
-\r
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT\r
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
-\r
-    ***************************************************************************\r
-     *                                                                       *\r
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *\r
-     *    Complete, revised, and edited pdf reference manuals are also       *\r
-     *    available.                                                         *\r
-     *                                                                       *\r
-     *    Purchasing FreeRTOS documentation will not only help you, by       *\r
-     *    ensuring you get running as quickly as possible and with an        *\r
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *\r
-     *    the FreeRTOS project to continue with its mission of providing     *\r
-     *    professional grade, cross platform, de facto standard solutions    *\r
-     *    for microcontrollers - completely free of charge!                  *\r
-     *                                                                       *\r
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *\r
-     *                                                                       *\r
-     *    Thank you for using FreeRTOS, and thank you for your support!      *\r
-     *                                                                       *\r
-    ***************************************************************************\r
+    FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.\r
+    All rights reserved\r

 \r
 \r

+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r

 \r
     This file is part of the FreeRTOS distribution.\r
 \r
     FreeRTOS is free software; you can redistribute it and/or modify it under\r
     the terms of the GNU General Public License (version 2) as published by the\r
 \r
     This file is part of the FreeRTOS distribution.\r
 \r
     FreeRTOS is free software; you can redistribute it and/or modify it under\r
     the terms of the GNU General Public License (version 2) as published by the\r

-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
+    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.\r

 \r
 \r

-    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to\r
-    distribute a combined work that includes FreeRTOS without being obliged to\r
-    provide the source code for proprietary components outside of the FreeRTOS\r
-    kernel.\r
+    ***************************************************************************\r
+    >>!   NOTE: The modification to the GPL is included to allow you to     !<<\r
+    >>!   distribute a combined work that includes FreeRTOS without being   !<<\r
+    >>!   obliged to provide the source code for proprietary components     !<<\r
+    >>!   outside of the FreeRTOS kernel.                                   !<<\r
+    ***************************************************************************\r

 \r
     FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
     WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
 \r
     FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
     WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r

-    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more\r
-    details. You should have received a copy of the GNU General Public License\r
-    and the FreeRTOS license exception along with FreeRTOS; if not it can be\r
-    viewed here: http://www.freertos.org/a00114.html and also obtained by\r
-    writing to Real Time Engineers Ltd., contact details for whom are available\r
-    on the FreeRTOS WEB site.\r
-\r
-    1 tab == 4 spaces!\r
+    FOR A PARTICULAR PURPOSE.  Full license text is available on the following\r
+    link: http://www.freertos.org/a00114.html\r

 \r
     ***************************************************************************\r
      *                                                                       *\r
 \r
     ***************************************************************************\r
      *                                                                       *\r

-     *    Having a problem?  Start by reading the FAQ "My application does   *\r
-     *    not run, what could be wrong?"                                     *\r
+     *    FreeRTOS provides completely free yet professionally developed,    *\r
+     *    robust, strictly quality controlled, supported, and cross          *\r
+     *    platform software that is more than just the market leader, it     *\r
+     *    is the industry's de facto standard.                               *\r

      *                                                                       *\r
      *                                                                       *\r

-     *    http://www.FreeRTOS.org/FAQHelp.html                               *\r
+     *    Help yourself get started quickly while simultaneously helping     *\r
+     *    to support the FreeRTOS project by purchasing a FreeRTOS           *\r
+     *    tutorial book, reference manual, or both:                          *\r
+     *    http://www.FreeRTOS.org/Documentation                              *\r

      *                                                                       *\r
     ***************************************************************************\r
 \r
      *                                                                       *\r
     ***************************************************************************\r
 \r

+    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading\r
+    the FAQ page "My application does not run, what could be wrong?".  Have you\r
+    defined configASSERT()?\r
+\r
+    http://www.FreeRTOS.org/support - In return for receiving this top quality\r
+    embedded software for free we request you assist our global community by\r
+    participating in the support forum.\r

 \r
 \r

-    http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
-    license and Real Time Engineers Ltd. contact details.\r
+    http://www.FreeRTOS.org/training - Investing in training allows your team to\r
+    be as productive as possible as early as possible.  Now you can receive\r
+    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers\r
+    Ltd, and the world's leading authority on the world's leading RTOS.\r

 \r
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
 \r
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r

-    including FreeRTOS+Trace - an indispensable productivity tool, and our new\r
-    fully thread aware and reentrant UDP/IP stack.\r
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.\r

 \r
 \r

-    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
-    Integrity Systems, who sell the code with commercial support,\r
-    indemnification and middleware, under the OpenRTOS brand.\r
+    http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.\r
+    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.\r
+\r
+    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High\r
+    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS\r
+    licenses offer ticketed support, indemnification and commercial middleware.\r

 \r
     http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
     engineered and independently SIL3 certified version for use in safety and\r
     mission critical applications that require provable dependability.\r
 \r
     http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
     engineered and independently SIL3 certified version for use in safety and\r
     mission critical applications that require provable dependability.\r

+\r
+    1 tab == 4 spaces!\r

 */\r
 \r
 /*-----------------------------------------------------------\r
 */\r
 \r
 /*-----------------------------------------------------------\r


@@ -84,9 +79,9 @@
 #include "task.h"\r
 \r
 /* Constants required to manipulate the NVIC. */\r
 #include "task.h"\r
 \r
 /* Constants required to manipulate the NVIC. */\r

-#define portNVIC_SYSTICK_CTRL          ( ( volatile unsigned long *) 0xe000e010 )\r
-#define portNVIC_SYSTICK_LOAD          ( ( volatile unsigned long *) 0xe000e014 )\r
-#define portNVIC_SYSPRI2                       ( ( volatile unsigned long *) 0xe000ed20 )\r
+#define portNVIC_SYSTICK_CTRL          ( ( volatile uint32_t *) 0xe000e010 )\r
+#define portNVIC_SYSTICK_LOAD          ( ( volatile uint32_t *) 0xe000e014 )\r
+#define portNVIC_SYSPRI2                       ( ( volatile uint32_t *) 0xe000ed20 )\r

 #define portNVIC_SYSTICK_CLK           0x00000004\r
 #define portNVIC_SYSTICK_INT           0x00000002\r
 #define portNVIC_SYSTICK_ENABLE                0x00000001\r
 #define portNVIC_SYSTICK_CLK           0x00000004\r
 #define portNVIC_SYSTICK_INT           0x00000002\r
 #define portNVIC_SYSTICK_ENABLE                0x00000001\r


@@ -106,7 +101,7 @@ FreeRTOS.org versions prior to V4.3.0 did not include this definition. */
 \r
 /* Each task maintains its own interrupt status in the critical nesting\r
 variable. */\r
 \r
 /* Each task maintains its own interrupt status in the critical nesting\r
 variable. */\r

-static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;\r
+static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;\r

 \r
 /*\r
  * Setup the timer to generate the tick interrupts.\r
 \r
 /*\r
  * Setup the timer to generate the tick interrupts.\r


@@ -123,31 +118,52 @@ void xPortSysTickHandler( void );
  */\r
 extern void vPortStartFirstTask( void );\r
 \r
  */\r
 extern void vPortStartFirstTask( void );\r
 \r

+/*\r
+ * Used to catch tasks that attempt to return from their implementing function.\r
+ */\r
+static void prvTaskExitError( void );\r
+\r

 /*-----------------------------------------------------------*/\r
 \r
 /*\r
  * See header file for description.\r
  */\r
 /*-----------------------------------------------------------*/\r
 \r
 /*\r
  * See header file for description.\r
  */\r

-portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )\r
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )\r

 {\r
        /* Simulate the stack frame as it would be created by a context switch\r
        interrupt. */\r
        pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */\r
        *pxTopOfStack = portINITIAL_XPSR;       /* xPSR */\r
        pxTopOfStack--;\r
 {\r
        /* Simulate the stack frame as it would be created by a context switch\r
        interrupt. */\r
        pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */\r
        *pxTopOfStack = portINITIAL_XPSR;       /* xPSR */\r
        pxTopOfStack--;\r

-       *pxTopOfStack = ( portSTACK_TYPE ) pxCode;      /* PC */\r
-       pxTopOfStack -= 6;      /* LR, R12, R3..R1 */\r
-       *pxTopOfStack = ( portSTACK_TYPE ) pvParameters;        /* R0 */\r
+       *pxTopOfStack = ( StackType_t ) pxCode; /* PC */\r
+       pxTopOfStack--;\r
+       *pxTopOfStack = ( StackType_t ) prvTaskExitError;       /* LR */\r
+       pxTopOfStack -= 5;      /* R12, R3, R2 and R1. */\r
+       *pxTopOfStack = ( StackType_t ) pvParameters;   /* R0 */\r

        pxTopOfStack -= 8; /* R11..R4. */\r
 \r
        return pxTopOfStack;\r
 }\r
 /*-----------------------------------------------------------*/\r
 \r
        pxTopOfStack -= 8; /* R11..R4. */\r
 \r
        return pxTopOfStack;\r
 }\r
 /*-----------------------------------------------------------*/\r
 \r

+static void prvTaskExitError( void )\r
+{\r
+       /* A function that implements a task must not exit or attempt to return to\r
+       its caller as there is nothing to return to.  If a task wants to exit it\r
+       should instead call vTaskDelete( NULL ).\r
+\r
+       Artificially force an assert() to be triggered if configASSERT() is\r
+       defined, then stop here so application writers can catch the error. */\r
+       configASSERT( uxCriticalNesting == ~0UL );\r
+       portDISABLE_INTERRUPTS();\r
+       for( ;; );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r

 /*\r
  * See header file for description.\r
  */\r
 /*\r
  * See header file for description.\r
  */\r

-portBASE_TYPE xPortStartScheduler( void )\r
+BaseType_t xPortStartScheduler( void )\r

 {\r
        /* Make PendSV and SysTick the lowest priority interrupts. */\r
        *(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;\r
 {\r
        /* Make PendSV and SysTick the lowest priority interrupts. */\r
        *(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;\r


@@ -170,8 +186,9 @@ portBASE_TYPE xPortStartScheduler( void )
 \r
 void vPortEndScheduler( void )\r
 {\r
 \r
 void vPortEndScheduler( void )\r
 {\r

-       /* It is unlikely that the CM0 port will require this function as there\r
-       is nothing to return to.  */\r
+       /* Not implemented in ports where there is nothing to return to.\r
+       Artificially force an assert. */\r
+       configASSERT( uxCriticalNesting == 1000UL );\r

 }\r
 /*-----------------------------------------------------------*/\r
 \r
 }\r
 /*-----------------------------------------------------------*/\r
 \r


@@ -198,6 +215,7 @@ void vPortEnterCritical( void )
 \r
 void vPortExitCritical( void )\r
 {\r
 \r
 void vPortExitCritical( void )\r
 {\r

+       configASSERT( uxCriticalNesting );\r

        uxCriticalNesting--;\r
        if( uxCriticalNesting == 0 )\r
        {\r
        uxCriticalNesting--;\r
        if( uxCriticalNesting == 0 )\r
        {\r


@@ -208,18 +226,18 @@ void vPortExitCritical( void )
 \r
 void xPortSysTickHandler( void )\r
 {\r
 \r
 void xPortSysTickHandler( void )\r
 {\r

-unsigned long ulDummy;\r
-\r
-       /* If using preemption, also force a context switch. */\r
-       #if configUSE_PREEMPTION == 1\r
-               *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;\r
-       #endif\r
+uint32_t ulPreviousMask;\r

 \r
 \r

-       ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();\r
+       ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();\r

        {\r
        {\r

-               vTaskIncrementTick();\r
+               /* Increment the RTOS tick. */\r
+               if( xTaskIncrementTick() != pdFALSE )\r
+               {\r
+                       /* Pend a context switch. */\r
+                       *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;\r
+               }\r

        }\r
        }\r

-       portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );\r
+       portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );\r

 }\r
 /*-----------------------------------------------------------*/\r
 \r
 }\r
 /*-----------------------------------------------------------*/\r
 \r