/*\r
- FreeRTOS V8.1.1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
+ FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.\r
All rights reserved\r
\r
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
\r
- ***************************************************************************\r
- * *\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
- * 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
- * Thank you! *\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
+ ***************************************************************************\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
- FOR A PARTICULAR PURPOSE. Full license text is available from the following\r
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following\r
link: http://www.freertos.org/a00114.html\r
\r
- 1 tab == 4 spaces!\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
- * 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
- http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
- license and Real Time Engineers Ltd. contact details.\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
+ 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
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 to sell under the OpenRTOS brand. Low cost OpenRTOS\r
- licenses offer ticketed support, indemnification and middleware.\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
#define portIE_BIT ( 0x00000001 )\r
#define portEXL_BIT ( 0x00000002 )\r
#define portMX_BIT ( 0x01000000 ) /* Allow access to DSP instructions. */\r
+#define portCU1_BIT ( 0x20000000 ) /* enable CP1 for parts with hardware. */\r
+#define portFR_BIT ( 0x04000000 ) /* Enable 64 bit floating point registers. */\r
\r
/* Bits within the CAUSE register. */\r
#define portCORE_SW_0 ( 0x00000100 )\r
\r
/* The EXL bit is set to ensure interrupts do not occur while the context of\r
the first task is being restored. */\r
-#define portINITIAL_SR ( portIE_BIT | portEXL_BIT | portMX_BIT )\r
+#if ( __mips_hard_float == 1 )\r
+ #define portINITIAL_SR ( portIE_BIT | portEXL_BIT | portMX_BIT | portFR_BIT | portCU1_BIT )\r
+#else\r
+ #define portINITIAL_SR ( portIE_BIT | portEXL_BIT | portMX_BIT )\r
+#endif\r
+\r
+/* The initial value to store into the FPU status and control register. This is\r
+ only used on parts that support a hardware FPU. */\r
+#define portINITIAL_FPSCR (0x1000000) /* High perf on denormal ops */\r
+\r
\r
/*\r
By default port.c generates its tick interrupt from TIMER1. The user can\r
#endif\r
\r
/* Let the user override the pre-loading of the initial RA with the address of\r
-prvTaskExitError() in case is messes up unwinding of the stack in the\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
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
+/* Saved as part of the task context. Set to pdFALSE if the task does not\r
+ require an FPU context. */\r
+#if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 )\r
+ uint32_t ulTaskHasFPUContext = 0;\r
+#endif\r
+\r
/*-----------------------------------------------------------*/\r
\r
/*\r
*/\r
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )\r
{\r
- /* Ensure byte alignment is maintained when leaving this function. */\r
+ /* Ensure 8 byte alignment is maintained when leaving this function. */\r
+ pxTopOfStack--;\r
pxTopOfStack--;\r
\r
*pxTopOfStack = (StackType_t) 0xDEADBEEF;\r
pxTopOfStack--;\r
\r
*pxTopOfStack = (StackType_t) pxCode; /* CP0_EPC */\r
- pxTopOfStack -= 7; /* Includes space for AC1 - AC3. */\r
+ pxTopOfStack--;\r
\r
*pxTopOfStack = (StackType_t) 0x00000000; /* DSPControl */\r
- pxTopOfStack--;\r
+ pxTopOfStack -= 7; /* Includes space for AC1 - AC3. */\r
\r
*pxTopOfStack = (StackType_t) portTASK_RETURN_ADDRESS; /* ra */\r
pxTopOfStack -= 15;\r
*pxTopOfStack = (StackType_t) pvParameters; /* Parameters to pass in. */\r
pxTopOfStack -= 15;\r
\r
+ *pxTopOfStack = (StackType_t) pdFALSE; /*by default disable FPU context save on parts with FPU */\r
+\r
return pxTopOfStack;\r
}\r
/*-----------------------------------------------------------*/\r
*/\r
__attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )\r
{\r
-const uint32_t ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1;\r
+const uint32_t ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1UL;\r
\r
T1CON = 0x0000;\r
T1CONbits.TCKPS = portPRESCALE_BITS;\r
}\r
/*-----------------------------------------------------------*/\r
\r
+#if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 )\r
+\r
+ void vPortTaskUsesFPU(void)\r
+ {\r
+ extern void vPortInitialiseFPSCR( uint32_t uxFPSCRInit );\r
+\r
+ portENTER_CRITICAL();\r
+\r
+ /* Initialise the floating point status register. */\r
+ vPortInitialiseFPSCR(portINITIAL_FPSCR);\r
+\r
+ /* A task is registering the fact that it needs a FPU context. Set the\r
+ FPU flag (saved as part of the task context). */\r
+ ulTaskHasFPUContext = pdTRUE;\r
+\r
+ portEXIT_CRITICAL();\r
+ }\r
+\r
+#endif /* __mips_hard_float == 1 */\r
+\r
+/*-----------------------------------------------------------*/\r
\r
\r
\r
projects / freertos / blobdiff