Prepare for V9.0.0 release:

[freertos] / FreeRTOS / Source / portable / MPLAB / PIC32MX / port.c

diff --git a/FreeRTOS/Source/portable/MPLAB/PIC32MX/port.c b/FreeRTOS/Source/portable/MPLAB/PIC32MX/port.c
index 8ea6e3a2bf53a000f53beef9b1ccae3a5fda4dbc..43da50f14c74997749317f16dec332a7b400c009 100644 (file)
--- a/FreeRTOS/Source/portable/MPLAB/PIC32MX/port.c
+++ b/FreeRTOS/Source/portable/MPLAB/PIC32MX/port.c
@@ -1,82 +1,77 @@
 /*\r
 /*\r

-    FreeRTOS V7.4.0 - 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 itcan 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
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      *                                                                       *\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
-\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
-    \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
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
+\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
     mission critical applications that require provable dependability.\r

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

 */\r
 \r
 /*-----------------------------------------------------------\r
  * Implementation of functions defined in portable.h for the PIC32MX port.\r
   *----------------------------------------------------------*/\r
 \r
 */\r
 \r
 /*-----------------------------------------------------------\r
  * Implementation of functions defined in portable.h for the PIC32MX port.\r
   *----------------------------------------------------------*/\r
 \r

-#ifndef __XC__\r
+#ifndef __XC\r

     #error This port is designed to work with XC32.  Please update your C compiler version.\r
 #endif\r
 \r
     #error This port is designed to work with XC32.  Please update your C compiler version.\r
 #endif\r
 \r


@@ -100,23 +95,67 @@
 the first task is being restored. */\r
 #define portINITIAL_SR                                 ( portIE_BIT | portEXL_BIT )\r
 \r
 the first task is being restored. */\r
 #define portINITIAL_SR                                 ( portIE_BIT | portEXL_BIT )\r
 \r

+/*\r
+By default port.c generates its tick interrupt from TIMER1.  The user can\r
+override this behaviour by:\r
+       1: Providing their own implementation of vApplicationSetupTickTimerInterrupt(),\r
+          which is the function that configures the timer.  The function is defined\r
+          as a weak symbol in this file so if the same function name is used in the\r
+          application code then the version in the application code will be linked\r
+          into the application in preference to the version defined in this file.\r
+       2: Define configTICK_INTERRUPT_VECTOR to the vector number of the timer used\r
+          to generate the tick interrupt.  For example, when timer 1 is used then\r
+          configTICK_INTERRUPT_VECTOR is set to _TIMER_1_VECTOR.\r
+          configTICK_INTERRUPT_VECTOR should be defined in FreeRTOSConfig.h.\r
+       3: Define configCLEAR_TICK_TIMER_INTERRUPT() to clear the interrupt in the\r
+          timer used to generate the tick interrupt.  For example, when timer 1 is\r
+          used configCLEAR_TICK_TIMER_INTERRUPT() is defined to\r
+          IFS0CLR = _IFS0_T1IF_MASK.\r
+*/\r

 #ifndef configTICK_INTERRUPT_VECTOR\r
        #define configTICK_INTERRUPT_VECTOR _TIMER_1_VECTOR\r
 #ifndef configTICK_INTERRUPT_VECTOR\r
        #define configTICK_INTERRUPT_VECTOR _TIMER_1_VECTOR\r

+       #define configCLEAR_TICK_TIMER_INTERRUPT() IFS0CLR = _IFS0_T1IF_MASK\r
+#else\r
+       #ifndef configCLEAR_TICK_TIMER_INTERRUPT\r
+               #error If configTICK_INTERRUPT_VECTOR is defined in application code then configCLEAR_TICK_TIMER_INTERRUPT must also be defined in application code.\r
+       #endif\r

 #endif\r
 \r
 #endif\r
 \r

-/* Records the interrupt nesting depth.  This starts at one as it will be\r
-decremented to 0 when the first task starts. */\r
-volatile unsigned portBASE_TYPE uxInterruptNesting = 0x01;\r
+/* Let the user override the pre-loading of the initial RA with the address of\r
+prvTaskExitError() in case it messes up unwinding of the stack in the\r
+debugger - in which case configTASK_RETURN_ADDRESS can be defined as 0 (NULL). */\r
+#ifdef configTASK_RETURN_ADDRESS\r
+       #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS\r
+#else\r
+       #define portTASK_RETURN_ADDRESS prvTaskExitError\r
+#endif\r

 \r
 \r

-/* Stores the task stack pointer when a switch is made to use the system stack. */\r
-unsigned portBASE_TYPE uxSavedTaskStackPointer = 0;\r
+/* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task\r
+stack checking.  A problem in the ISR stack will trigger an assert, not call the\r
+stack overflow hook function (because the stack overflow hook is specific to a\r
+task stack, not the ISR stack). */\r
+#if( configCHECK_FOR_STACK_OVERFLOW > 2 )\r
+\r
+       /* Don't use 0xa5 as the stack fill bytes as that is used by the kernerl for\r
+       the task stacks, and so will legitimately appear in many positions within\r
+       the ISR stack. */\r
+       #define portISR_STACK_FILL_BYTE 0xee\r
+\r
+       static const uint8_t ucExpectedStackBytes[] = {\r
+                                                                       portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE,             \\r
+                                                                       portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE,             \\r
+                                                                       portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE,             \\r
+                                                                       portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE,             \\r
+                                                                       portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE };   \\r
+\r
+       #define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) )\r
+#else\r
+       /* Define the function away. */\r
+       #define portCHECK_ISR_STACK()\r
+#endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */\r

 \r
 \r

-/* The stack used by interrupt service routines that cause a context switch. */\r
-portSTACK_TYPE xISRStack[ configISR_STACK_SIZE ] = { 0 };\r
+/*-----------------------------------------------------------*/\r

 \r
 \r

-/* The top of stack value ensures there is enough space to store 6 registers on\r
-the callers stack, as some functions seem to want to do this. */\r
-const portSTACK_TYPE * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE - 7 ] );\r

 \r
 /*\r
  * Place the prototype here to ensure the interrupt vector is correctly installed.\r
 \r
 /*\r
  * Place the prototype here to ensure the interrupt vector is correctly installed.\r


@@ -124,7 +163,7 @@ const portSTACK_TYPE * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE -
  * following line of code has no effect.  The interrupt priority is set by the\r
  * call to ConfigIntTimer1() in vApplicationSetupTickTimerInterrupt().\r
  */\r
  * following line of code has no effect.  The interrupt priority is set by the\r
  * call to ConfigIntTimer1() in vApplicationSetupTickTimerInterrupt().\r
  */\r

-extern void __attribute__( (interrupt(ipl1), vector( configTICK_INTERRUPT_VECTOR ))) vPortTickInterruptHandler( void );\r
+extern void __attribute__( (interrupt(IPL1AUTO), vector( configTICK_INTERRUPT_VECTOR ))) vPortTickInterruptHandler( void );\r

 \r
 /*\r
  * The software interrupt handler that performs the yield.  Note that, because\r
 \r
 /*\r
  * The software interrupt handler that performs the yield.  Note that, because\r


@@ -132,46 +171,78 @@ extern void __attribute__( (interrupt(ipl1), vector( configTICK_INTERRUPT_VECTOR
  * code has no effect.  The interrupt priority is set by the call to\r
  * mConfigIntCoreSW0() in xPortStartScheduler().\r
  */\r
  * code has no effect.  The interrupt priority is set by the call to\r
  * mConfigIntCoreSW0() in xPortStartScheduler().\r
  */\r

-void __attribute__( (interrupt(ipl1), vector(_CORE_SOFTWARE_0_VECTOR))) vPortYieldISR( void );\r
+void __attribute__( (interrupt(IPL1AUTO), vector(_CORE_SOFTWARE_0_VECTOR))) vPortYieldISR( 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
+/* Records the interrupt nesting depth.  This is initialised to one as it is\r
+decremented to 0 when the first task starts. */\r
+volatile UBaseType_t uxInterruptNesting = 0x01;\r
+\r
+/* Stores the task stack pointer when a switch is made to use the system stack. */\r
+UBaseType_t uxSavedTaskStackPointer = 0;\r
+\r
+/* The stack used by interrupt service routines that cause a context switch. */\r
+StackType_t xISRStack[ configISR_STACK_SIZE ] = { 0 };\r
+\r
+/* The top of stack value ensures there is enough space to store 6 registers on\r
+the callers stack, as some functions seem to want to do this. */\r
+const StackType_t * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE - 7 ] );\r

 \r
 /*-----------------------------------------------------------*/\r
 \r
 /*\r
  * See header file for description.\r
  */\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
        /* Ensure byte alignment is maintained when leaving this function. */\r
        pxTopOfStack--;\r
 \r
 {\r
        /* Ensure byte alignment is maintained when leaving this function. */\r
        pxTopOfStack--;\r
 \r

-       *pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF;\r
+       *pxTopOfStack = (StackType_t) 0xDEADBEEF;\r

        pxTopOfStack--;\r
 \r
        pxTopOfStack--;\r
 \r

-       *pxTopOfStack = (portSTACK_TYPE) 0x12345678;    /* Word to which the stack pointer will be left pointing after context restore. */\r
+       *pxTopOfStack = (StackType_t) 0x12345678;       /* Word to which the stack pointer will be left pointing after context restore. */\r

        pxTopOfStack--;\r
 \r
        pxTopOfStack--;\r
 \r

-       *pxTopOfStack = (portSTACK_TYPE) _CP0_GET_CAUSE();\r
+       *pxTopOfStack = (StackType_t) _CP0_GET_CAUSE();\r

        pxTopOfStack--;\r
 \r
        pxTopOfStack--;\r
 \r

-       *pxTopOfStack = (portSTACK_TYPE) portINITIAL_SR; /* CP0_STATUS */\r
+       *pxTopOfStack = (StackType_t) portINITIAL_SR;/* CP0_STATUS */\r

        pxTopOfStack--;\r
 \r
        pxTopOfStack--;\r
 \r

-       *pxTopOfStack = (portSTACK_TYPE) pxCode;                /* CP0_EPC */\r
+       *pxTopOfStack = (StackType_t) pxCode;           /* CP0_EPC */\r

        pxTopOfStack--;\r
 \r
        pxTopOfStack--;\r
 \r

-       *pxTopOfStack = (portSTACK_TYPE) NULL;                  /* ra */\r
+       *pxTopOfStack = (StackType_t) portTASK_RETURN_ADDRESS;  /* ra */\r

        pxTopOfStack -= 15;\r
 \r
        pxTopOfStack -= 15;\r
 \r

-       *pxTopOfStack = (portSTACK_TYPE) pvParameters; /* Parameters to pass in */\r
-       pxTopOfStack -= 14;\r
-\r
-       *pxTopOfStack = (portSTACK_TYPE) 0x00000000;    /* critical nesting level - no longer used. */\r
-       pxTopOfStack--;\r
+       *pxTopOfStack = (StackType_t) pvParameters; /* Parameters to pass in. */\r
+       pxTopOfStack -= 15;\r

 \r
        return pxTopOfStack;\r
 }\r
 /*-----------------------------------------------------------*/\r
 \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( uxSavedTaskStackPointer == 0UL );\r
+       portDISABLE_INTERRUPTS();\r
+       for( ;; );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r

 /*\r
  * Setup a timer for a regular tick.  This function uses peripheral timer 1.\r
  * The function is declared weak so an application writer can use a different\r
 /*\r
  * Setup a timer for a regular tick.  This function uses peripheral timer 1.\r
  * The function is declared weak so an application writer can use a different\r


@@ -183,7 +254,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
  */\r
 __attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )\r
 {\r
  */\r
 __attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )\r
 {\r

-const unsigned long ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1;\r
+const uint32_t ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1;\r

 \r
        T1CON = 0x0000;\r
        T1CONbits.TCKPS = portPRESCALE_BITS;\r
 \r
        T1CON = 0x0000;\r
        T1CONbits.TCKPS = portPRESCALE_BITS;\r


@@ -203,18 +274,24 @@ const unsigned long ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PR
 \r
 void vPortEndScheduler(void)\r
 {\r
 \r
 void vPortEndScheduler(void)\r
 {\r

-       /* It is unlikely that the scheduler for the PIC port will get stopped\r
-       once running.  If required disable the tick interrupt here, then return\r
-       to xPortStartScheduler(). */\r
-       for( ;; );\r
+       /* Not implemented in ports where there is nothing to return to.\r
+       Artificially force an assert. */\r
+       configASSERT( uxInterruptNesting == 1000UL );\r

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

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

 {\r
 extern void vPortStartFirstTask( void );\r
 extern void *pxCurrentTCB;\r
 \r
 {\r
 extern void vPortStartFirstTask( void );\r
 extern void *pxCurrentTCB;\r
 \r

+       #if ( configCHECK_FOR_STACK_OVERFLOW > 2 )\r
+       {\r
+               /* Fill the ISR stack to make it easy to asses how much is being used. */\r
+               memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) );\r
+       }\r
+       #endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */\r
+\r

        /* Clear the software interrupt flag. */\r
        IFS0CLR = _IFS0_CS0IF_MASK;\r
 \r
        /* Clear the software interrupt flag. */\r
        IFS0CLR = _IFS0_CS0IF_MASK;\r
 \r


@@ -232,38 +309,46 @@ extern void *pxCurrentTCB;
 \r
        /* Kick off the highest priority task that has been created so far.\r
        Its stack location is loaded into uxSavedTaskStackPointer. */\r
 \r
        /* Kick off the highest priority task that has been created so far.\r
        Its stack location is loaded into uxSavedTaskStackPointer. */\r

-       uxSavedTaskStackPointer = *( unsigned portBASE_TYPE * ) pxCurrentTCB;\r
+       uxSavedTaskStackPointer = *( UBaseType_t * ) pxCurrentTCB;\r

        vPortStartFirstTask();\r
 \r
        vPortStartFirstTask();\r
 \r

-       /* Should never get here as the tasks will now be executing. */\r
+       /* Should never get here as the tasks will now be executing!  Call the task\r
+       exit error function to prevent compiler warnings about a static function\r
+       not being called in the case that the application writer overrides this\r
+       functionality by defining configTASK_RETURN_ADDRESS. */\r
+       prvTaskExitError();\r
+\r

        return pdFALSE;\r
 }\r
 /*-----------------------------------------------------------*/\r
 \r
 void vPortIncrementTick( void )\r
 {\r
        return pdFALSE;\r
 }\r
 /*-----------------------------------------------------------*/\r
 \r
 void vPortIncrementTick( void )\r
 {\r

-unsigned portBASE_TYPE uxSavedStatus;\r
+UBaseType_t uxSavedStatus;\r

 \r
        uxSavedStatus = uxPortSetInterruptMaskFromISR();\r
 \r
        uxSavedStatus = uxPortSetInterruptMaskFromISR();\r

-       vTaskIncrementTick();\r
+       {\r
+               if( xTaskIncrementTick() != pdFALSE )\r
+               {\r
+                       /* Pend a context switch. */\r
+                       _CP0_BIS_CAUSE( portCORE_SW_0 );\r
+               }\r
+       }\r

        vPortClearInterruptMaskFromISR( uxSavedStatus );\r
 \r
        vPortClearInterruptMaskFromISR( uxSavedStatus );\r
 \r

-       /* If we are using the preemptive scheduler then we might want to select\r
-       a different task to execute. */\r
-       #if configUSE_PREEMPTION == 1\r
-               _CP0_BIS_CAUSE( portCORE_SW_0 );\r
-       #endif /* configUSE_PREEMPTION */\r
+       /* Look for the ISR stack getting near or past its limit. */\r
+       portCHECK_ISR_STACK();\r

 \r
 \r

-       /* Clear timer 1 interrupt. */\r
-       IFS0CLR = _IFS0_T1IF_MASK;\r
+       /* Clear timer interrupt. */\r
+       configCLEAR_TICK_TIMER_INTERRUPT();\r

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

-unsigned portBASE_TYPE uxPortSetInterruptMaskFromISR( void )\r
+UBaseType_t uxPortSetInterruptMaskFromISR( void )\r

 {\r
 {\r

-unsigned portBASE_TYPE uxSavedStatusRegister;\r
+UBaseType_t uxSavedStatusRegister;\r

 \r
 \r

-       asm volatile ( "di" );\r
+       __builtin_disable_interrupts();\r

        uxSavedStatusRegister = _CP0_GET_STATUS() | 0x01;\r
        /* This clears the IPL bits, then sets them to\r
        configMAX_SYSCALL_INTERRUPT_PRIORITY.  This function should not be called\r
        uxSavedStatusRegister = _CP0_GET_STATUS() | 0x01;\r
        /* This clears the IPL bits, then sets them to\r
        configMAX_SYSCALL_INTERRUPT_PRIORITY.  This function should not be called\r


@@ -277,7 +362,7 @@ unsigned portBASE_TYPE uxSavedStatusRegister;
 }\r
 /*-----------------------------------------------------------*/\r
 \r
 }\r
 /*-----------------------------------------------------------*/\r
 \r

-void vPortClearInterruptMaskFromISR( unsigned portBASE_TYPE uxSavedStatusRegister )\r
+void vPortClearInterruptMaskFromISR( UBaseType_t uxSavedStatusRegister )\r

 {\r
        _CP0_SET_STATUS( uxSavedStatusRegister );\r
 }\r
 {\r
        _CP0_SET_STATUS( uxSavedStatusRegister );\r
 }\r