2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 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 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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77 /*-----------------------------------------------------------
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78 * Port specific definitions.
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80 * The settings in this file configure FreeRTOS correctly for the
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81 * given hardware and compiler.
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83 * These settings should not be altered.
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84 *-----------------------------------------------------------
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87 /* Type definitions. */
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88 #define portCHAR char
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89 #define portFLOAT float
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90 #define portDOUBLE double
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91 #define portLONG long
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92 #define portSHORT short
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93 #define portSTACK_TYPE uint32_t
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94 #define portBASE_TYPE long
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96 typedef portSTACK_TYPE StackType_t;
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97 typedef long BaseType_t;
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98 typedef unsigned long UBaseType_t;
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100 #if( configUSE_16_BIT_TICKS == 1 )
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101 typedef uint16_t TickType_t;
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102 #define portMAX_DELAY ( TickType_t ) 0xffff
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104 typedef uint32_t TickType_t;
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105 #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
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107 /*-----------------------------------------------------------*/
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109 /* Hardware specifics. */
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110 #define portBYTE_ALIGNMENT 8
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111 #define portSTACK_GROWTH -1
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112 #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
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113 /*-----------------------------------------------------------*/
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115 /* Critical section management. */
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116 #define portIPL_SHIFT ( 10UL )
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117 /* Don't straddle the CEE bit. Interrupts calling FreeRTOS functions should
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118 never have higher IPL bits set anyway. */
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119 #define portALL_IPL_BITS ( 0x7FUL << portIPL_SHIFT )
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120 #define portSW0_BIT ( 0x01 << 8 )
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122 /* Interrupt priority conversion */
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123 #define portIPL_TO_CODE( iplNumber ) ( ( iplNumber >> 1 ) & 0x03ul )
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124 #define portCODE_TO_IPL( iplCode ) ( ( iplCode << 1 ) | 0x01ul )
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126 /*-----------------------------------------------------------*/
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128 static inline uint32_t ulPortGetCP0Status( void )
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134 "mfc0 %0,$12,0 \n\t"
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135 : "=r" ( rv ) :: );
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139 /*-----------------------------------------------------------*/
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141 static inline void vPortSetCP0Status( uint32_t new_status)
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143 ( void ) new_status;
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145 __asm__ __volatile__(
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147 "mtc0 %0,$12,0 \n\t"
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150 :"r" ( new_status ) : );
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152 /*-----------------------------------------------------------*/
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154 static inline uint32_t ulPortGetCP0Cause( void )
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160 "mfc0 %0,$13,0 \n\t"
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161 : "=r" ( rv ) :: );
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165 /*-----------------------------------------------------------*/
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167 static inline void vPortSetCP0Cause( uint32_t new_cause )
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169 ( void ) new_cause;
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171 __asm__ __volatile__(
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173 "mtc0 %0,$13,0 \n\t"
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176 :"r" ( new_cause ) : );
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178 /*-----------------------------------------------------------*/
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180 /* This clears the IPL bits, then sets them to
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181 configMAX_SYSCALL_INTERRUPT_PRIORITY. An extra check is performed if
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182 configASSERT() is defined to ensure an assertion handler does not inadvertently
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183 attempt to lower the IPL when the call to assert was triggered because the IPL
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184 value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY when an ISR
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185 safe FreeRTOS API function was executed. ISR safe FreeRTOS API functions are
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186 those that end in FromISR. FreeRTOS maintains a separate interrupt API to
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187 ensure API function and interrupt entry is as fast and as simple as possible. */
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188 #ifdef configASSERT
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189 #define portDISABLE_INTERRUPTS() \
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191 uint32_t ulStatus; \
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192 /* Mask interrupts at and below the kernel interrupt priority. */ \
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193 ulStatus = ulPortGetCP0Status(); \
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194 /* Is the current IPL below configMAX_SYSCALL_INTERRUPT_PRIORITY? */ \
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195 if( ( ( ulStatus & portALL_IPL_BITS ) >> portIPL_SHIFT ) < configMAX_SYSCALL_INTERRUPT_PRIORITY ) \
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197 ulStatus &= ~portALL_IPL_BITS; \
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198 vPortSetCP0Status( ( ulStatus | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ) ); \
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201 #else /* configASSERT */
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202 #define portDISABLE_INTERRUPTS() \
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204 uint32_t ulStatus; \
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205 /* Mask interrupts at and below the kernel interrupt priority. */ \
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206 ulStatus = ulPortGetCP0Status(); \
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207 ulStatus &= ~portALL_IPL_BITS; \
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208 vPortSetCP0Status( ( ulStatus | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ) ); \
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210 #endif /* configASSERT */
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212 #define portENABLE_INTERRUPTS() \
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214 uint32_t ulStatus; \
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215 /* Unmask all interrupts. */ \
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216 ulStatus = ulPortGetCP0Status(); \
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217 ulStatus &= ~portALL_IPL_BITS; \
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218 vPortSetCP0Status( ulStatus ); \
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222 extern void vTaskEnterCritical( void );
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223 extern void vTaskExitCritical( void );
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224 #define portCRITICAL_NESTING_IN_TCB 1
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225 #define portENTER_CRITICAL() vTaskEnterCritical()
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226 #define portEXIT_CRITICAL() vTaskExitCritical()
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228 extern UBaseType_t uxPortSetInterruptMaskFromISR();
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229 extern void vPortClearInterruptMaskFromISR( UBaseType_t );
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230 #define portSET_INTERRUPT_MASK_FROM_ISR() uxPortSetInterruptMaskFromISR()
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231 #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) vPortClearInterruptMaskFromISR( uxSavedStatusRegister )
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233 #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
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234 #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
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237 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
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239 /* Check the configuration. */
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240 #if( configMAX_PRIORITIES > 32 )
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241 #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
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244 /* Store/clear the ready priorities in a bit map. */
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245 #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
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246 #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
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248 /*-----------------------------------------------------------*/
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250 #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - _clz( ( uxReadyPriorities ) ) )
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252 #endif /* taskRECORD_READY_PRIORITY */
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254 /*-----------------------------------------------------------*/
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256 /* Task utilities. */
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258 #define portYIELD() \
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260 uint32_t ulCause; \
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261 /* Trigger software interrupt. */ \
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262 ulCause = ulPortGetCP0Cause(); \
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263 ulCause |= portSW0_BIT; \
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264 vPortSetCP0Cause( ulCause ); \
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267 extern volatile UBaseType_t uxInterruptNesting;
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268 #define portASSERT_IF_IN_ISR() configASSERT( uxInterruptNesting == 0 )
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270 #define portNOP() __asm volatile ( "nop" )
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272 /*-----------------------------------------------------------*/
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274 /* Task function macros as described on the FreeRTOS.org WEB site. */
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275 #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) __attribute__((noreturn))
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276 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
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277 /*-----------------------------------------------------------*/
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279 #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) \
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284 /* Required by the kernel aware debugger. */
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286 #define portREMOVE_STATIC_QUALIFIER
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293 #endif /* PORTMACRO_H */
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