/*\r
- FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.\r
+ FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.\r
+ All rights reserved\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
+ VISIT 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
+ * FreeRTOS provides completely free yet professionally developed, *\r
+ * robust, strictly quality controlled, supported, and cross *\r
+ * platform software that has become a de facto standard. *\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
+ * Help yourself get started quickly and support the FreeRTOS *\r
+ * project by purchasing a FreeRTOS tutorial book, reference *\r
+ * manual, or both from: http://www.FreeRTOS.org/Documentation *\r
* *\r
- * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
- * *\r
- * Thank you for using FreeRTOS, and thank you for your support! *\r
+ * Thank you! *\r
* *\r
***************************************************************************\r
\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
- >>>>>>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
+ >>! NOTE: The modification to the GPL is included to allow you to distribute\r
+ >>! a combined work that includes FreeRTOS without being obliged to provide\r
+ >>! the source code for proprietary components outside of the FreeRTOS\r
+ >>! kernel.\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
+ FOR A PARTICULAR PURPOSE. Full license text is available from the following\r
+ link: http://www.freertos.org/a00114.html\r
\r
1 tab == 4 spaces!\r
\r
* *\r
***************************************************************************\r
\r
-\r
http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
license and Real Time Engineers Ltd. contact details.\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
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
+ Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS\r
+ licenses offer ticketed support, indemnification and 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
+ 1 tab == 4 spaces!\r
*/\r
\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
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */\r
pxTopOfStack--;\r
*pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */\r
- pxTopOfStack -= 6; /* LR, R12, R3..R1 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( portSTACK_TYPE ) prvTaskExitError; /* LR */\r
+ pxTopOfStack -= 5; /* R12, R3, R2 and R1. */\r
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */\r
pxTopOfStack -= 8; /* R11..R4. */\r
\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
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
void vPortExitCritical( void )\r
{\r
+ configASSERT( uxCriticalNesting );\r
uxCriticalNesting--;\r
if( uxCriticalNesting == 0 )\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
+unsigned long ulPreviousMask;\r
\r
- ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();\r
+ ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();\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
- portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );\r
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );\r
}\r
/*-----------------------------------------------------------*/\r
\r
projects / freertos / blobdiff