/*\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
-\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
-\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
- 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
-\r
- ***************************************************************************\r
- * *\r
- * Having a problem? Start by reading the FAQ "My application does *\r
- * not run, what could be wrong?" *\r
- * *\r
- * http://www.FreeRTOS.org/FAQHelp.html *\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
-\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
- mission critical applications that require provable dependability.\r
-*/\r
+ * FreeRTOS Kernel V10.0.0\r
+ * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.\r
+ *\r
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of\r
+ * this software and associated documentation files (the "Software"), to deal in\r
+ * the Software without restriction, including without limitation the rights to\r
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of\r
+ * the Software, and to permit persons to whom the Software is furnished to do so,\r
+ * subject to the following conditions:\r
+ *\r
+ * The above copyright notice and this permission notice shall be included in all\r
+ * copies or substantial portions of the Software. If you wish to use our Amazon\r
+ * FreeRTOS name, please do so in a fair use way that does not cause confusion.\r
+ *\r
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\r
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS\r
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR\r
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER\r
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN\r
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.\r
+ *\r
+ * http://www.FreeRTOS.org\r
+ * http://aws.amazon.com/freertos\r
+ *\r
+ * 1 tab == 4 spaces!\r
+ */\r
\r
/* Scheduler includes. */\r
#include "FreeRTOS.h"\r
\r
/* The critical nesting value is initialised to a non zero value to ensure\r
interrupts don't accidentally become enabled before the scheduler is started. */\r
-#define portINITIAL_CRITICAL_NESTING ( ( unsigned short ) 10 )\r
+#define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 )\r
\r
/* Initial PSW value allocated to a newly created task.\r
* 1100011000000000\r
\r
/* The address of the pxCurrentTCB variable, but don't know or need to know its\r
type. */\r
-typedef void tskTCB;\r
-extern volatile tskTCB * volatile pxCurrentTCB;\r
+typedef void TCB_t;\r
+extern volatile TCB_t * volatile pxCurrentTCB;\r
\r
/* Each task maintains a count of the critical section nesting depth. Each time\r
a critical section is entered the count is incremented. Each time a critical\r
usCriticalNesting will get set to zero when the scheduler starts, but must\r
not be initialised to zero as that could cause problems during the startup\r
sequence. */\r
-volatile unsigned short usCriticalNesting = portINITIAL_CRITICAL_NESTING;\r
+volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING;\r
\r
/*-----------------------------------------------------------*/\r
\r
/*\r
- * Sets up the periodic ISR used for the RTOS tick.\r
+ * Sets up the periodic ISR used for the RTOS tick using the interval timer.\r
+ * The application writer can define configSETUP_TICK_INTERRUPT() (in\r
+ * FreeRTOSConfig.h) such that their own tick interrupt configuration is used\r
+ * in place of prvSetupTimerInterrupt().\r
*/\r
static void prvSetupTimerInterrupt( void );\r
+#ifndef configSETUP_TICK_INTERRUPT\r
+ /* The user has not provided their own tick interrupt configuration so use\r
+ the definition in this file (which uses the interval timer). */\r
+ #define configSETUP_TICK_INTERRUPT() prvSetupTimerInterrupt()\r
+#endif /* configSETUP_TICK_INTERRUPT */\r
\r
/*\r
* Defined in portasm.s87, this function starts the scheduler by loading the\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
*\r
* See the header file portable.h.\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
-unsigned long *pulLocal;\r
+uint32_t *pulLocal;\r
+\r
+ /* With large code and large data sizeof( StackType_t ) == 2, and\r
+ sizeof( StackType_t * ) == 4. With small code and small data\r
+ sizeof( StackType_t ) == 2 and sizeof( StackType_t * ) == 2. */\r
\r
#if __DATA_MODEL__ == __DATA_MODEL_FAR__\r
{\r
- /* Parameters are passed in on the stack, and written using a 32bit value\r
+ /* Parameters are passed in on the stack, and written using a 32-bit value\r
hence a space is left for the second two bytes. */\r
pxTopOfStack--;\r
\r
/* Write in the parameter value. */\r
- pulLocal = ( unsigned long * ) pxTopOfStack;\r
- *pulLocal = ( unsigned long ) pvParameters;\r
+ pulLocal = ( uint32_t * ) pxTopOfStack;\r
+ *pulLocal = ( uint32_t ) pvParameters;\r
pxTopOfStack--;\r
\r
- /* These values are just spacers. The return address of the function\r
- would normally be written here. */\r
- *pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd;\r
+ /* The return address, leaving space for the first two bytes of the\r
+ 32-bit value. See the comments above the prvTaskExitError() prototype\r
+ at the top of this file. */\r
pxTopOfStack--;\r
- *pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd;\r
+ pulLocal = ( uint32_t * ) pxTopOfStack;\r
+ *pulLocal = ( uint32_t ) prvTaskExitError;\r
pxTopOfStack--;\r
\r
- /* The start address / PSW value is also written in as a 32bit value,\r
+ /* The start address / PSW value is also written in as a 32-bit value,\r
so leave a space for the second two bytes. */\r
pxTopOfStack--;\r
- \r
+\r
/* Task function start address combined with the PSW. */\r
- pulLocal = ( unsigned long * ) pxTopOfStack;\r
- *pulLocal = ( ( ( unsigned long ) pxCode ) | ( portPSW << 24UL ) );\r
+ pulLocal = ( uint32_t * ) pxTopOfStack;\r
+ *pulLocal = ( ( ( uint32_t ) pxCode ) | ( portPSW << 24UL ) );\r
pxTopOfStack--;\r
\r
/* An initial value for the AX register. */\r
- *pxTopOfStack = ( portSTACK_TYPE ) 0x1111;\r
+ *pxTopOfStack = ( StackType_t ) 0x1111;\r
pxTopOfStack--;\r
}\r
#else\r
{\r
- /* Task function address is written to the stack first. As it is\r
- written as a 32bit value a space is left on the stack for the second\r
- two bytes. */\r
+ /* The return address, leaving space for the first two bytes of the\r
+ 32-bit value. See the comments above the prvTaskExitError() prototype\r
+ at the top of this file. */\r
+ pxTopOfStack--;\r
+ pulLocal = ( uint32_t * ) pxTopOfStack;\r
+ *pulLocal = ( uint32_t ) prvTaskExitError;\r
+ pxTopOfStack--;\r
+\r
+ /* Task function. Again as it is written as a 32-bit value a space is\r
+ left on the stack for the second two bytes. */\r
pxTopOfStack--;\r
\r
/* Task function start address combined with the PSW. */\r
- pulLocal = ( unsigned long * ) pxTopOfStack;\r
- *pulLocal = ( ( ( unsigned long ) pxCode ) | ( portPSW << 24UL ) );\r
+ pulLocal = ( uint32_t * ) pxTopOfStack;\r
+ *pulLocal = ( ( ( uint32_t ) pxCode ) | ( portPSW << 24UL ) );\r
pxTopOfStack--;\r
\r
/* The parameter is passed in AX. */\r
- *pxTopOfStack = ( portSTACK_TYPE ) pvParameters;\r
+ *pxTopOfStack = ( StackType_t ) pvParameters;\r
pxTopOfStack--;\r
}\r
#endif\r
\r
/* An initial value for the HL register. */\r
- *pxTopOfStack = ( portSTACK_TYPE ) 0x2222;\r
+ *pxTopOfStack = ( StackType_t ) 0x2222;\r
pxTopOfStack--;\r
\r
/* CS and ES registers. */\r
- *pxTopOfStack = ( portSTACK_TYPE ) 0x0F00;\r
+ *pxTopOfStack = ( StackType_t ) 0x0F00;\r
pxTopOfStack--;\r
\r
- /* Finally the remaining general purpose registers DE and BC */\r
- *pxTopOfStack = ( portSTACK_TYPE ) 0xDEDE;\r
+ /* The remaining general purpose registers DE and BC */\r
+ *pxTopOfStack = ( StackType_t ) 0xDEDE;\r
pxTopOfStack--;\r
- *pxTopOfStack = ( portSTACK_TYPE ) 0xBCBC;\r
+ *pxTopOfStack = ( StackType_t ) 0xBCBC;\r
pxTopOfStack--;\r
\r
/* Finally the critical section nesting count is set to zero when the task\r
first starts. */\r
- *pxTopOfStack = ( portSTACK_TYPE ) portNO_CRITICAL_SECTION_NESTING; \r
+ *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING;\r
\r
- /* Return a pointer to the top of the stack that has beene generated so it\r
+ /* Return a pointer to the top of the stack that has been generated so it\r
can be stored in the task control block for the task. */\r
return pxTopOfStack;\r
}\r
/*-----------------------------------------------------------*/\r
\r
-portBASE_TYPE xPortStartScheduler( void )\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( usCriticalNesting == ~0U );\r
+ portDISABLE_INTERRUPTS();\r
+ for( ;; );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+BaseType_t xPortStartScheduler( void )\r
{\r
/* Setup the hardware to generate the tick. Interrupts are disabled when\r
this function is called. */\r
- prvSetupTimerInterrupt();\r
+ configSETUP_TICK_INTERRUPT();\r
\r
/* Restore the context of the first task that is going to run. */\r
vPortStartFirstTask();\r
\r
- /* Execution should not reach here as the tasks are now running! */\r
+ /* Execution should not reach here as the tasks are now running!\r
+ prvSetupTimerInterrupt() is called here to prevent the compiler outputting\r
+ a warning about a statically declared function not being referenced in the\r
+ case that the application writer has provided their own tick interrupt\r
+ configuration routine (and defined configSETUP_TICK_INTERRUPT() such that\r
+ their own routine will be called in place of prvSetupTimerInterrupt()). */\r
+ prvSetupTimerInterrupt();\r
return pdTRUE;\r
}\r
/*-----------------------------------------------------------*/\r
\r
void vPortEndScheduler( void )\r
{\r
- /* It is unlikely that the RL78/G13 port will get stopped. If required simply\r
- disable the tick interrupt here. */\r
+ /* It is unlikely that the RL78 port will get stopped. */\r
}\r
/*-----------------------------------------------------------*/\r
\r
static void prvSetupTimerInterrupt( void )\r
{\r
-const unsigned short usClockHz = 15000UL; /* Internal clock. */\r
-const unsigned short usCompareMatch = ( usClockHz / configTICK_RATE_HZ ) + 1UL;\r
+const uint16_t usClockHz = 15000UL; /* Internal clock. */\r
+const uint16_t usCompareMatch = ( usClockHz / configTICK_RATE_HZ ) + 1UL;\r
\r
/* Use the internal 15K clock. */\r
- OSMC = ( unsigned char ) 0x16;\r
-\r
- /* Supply the RTC clock. */\r
- RTCEN = ( unsigned char ) 1U;\r
- \r
- /* Disable ITMC operation. */\r
- ITMC = ( unsigned char ) 0x0000;\r
- \r
- /* Disable INTIT interrupt. */\r
- ITMK = ( unsigned char ) 1;\r
- \r
- /* Set INTIT high priority */\r
- ITPR1 = ( unsigned char ) 1;\r
- ITPR0 = ( unsigned char ) 1;\r
- \r
- /* Clear INIT interrupt. */\r
- ITIF = ( unsigned char ) 0;\r
-\r
- /* Set interval and enable interrupt operation. */\r
- ITMC = usCompareMatch | 0x8000U;\r
- \r
- /* Enable INTIT interrupt. */\r
- ITMK = ( unsigned char ) 0;\r
- \r
- /* Enable IT operation. */\r
-// ITMC |= 0x8000;\r
+ OSMC = ( uint8_t ) 0x16;\r
+\r
+ #ifdef RTCEN\r
+ {\r
+ /* Supply the interval timer clock. */\r
+ RTCEN = ( uint8_t ) 1U;\r
+\r
+ /* Disable INTIT interrupt. */\r
+ ITMK = ( uint8_t ) 1;\r
+\r
+ /* Disable ITMC operation. */\r
+ ITMC = ( uint8_t ) 0x0000;\r
+\r
+ /* Clear INIT interrupt. */\r
+ ITIF = ( uint8_t ) 0;\r
+\r
+ /* Set interval and enable interrupt operation. */\r
+ ITMC = usCompareMatch | 0x8000U;\r
+\r
+ /* Enable INTIT interrupt. */\r
+ ITMK = ( uint8_t ) 0;\r
+ }\r
+ #endif\r
+\r
+ #ifdef TMKAEN\r
+ {\r
+ /* Supply the interval timer clock. */\r
+ TMKAEN = ( uint8_t ) 1U;\r
+\r
+ /* Disable INTIT interrupt. */\r
+ TMKAMK = ( uint8_t ) 1;\r
+\r
+ /* Disable ITMC operation. */\r
+ ITMC = ( uint8_t ) 0x0000;\r
+\r
+ /* Clear INIT interrupt. */\r
+ TMKAIF = ( uint8_t ) 0;\r
+\r
+ /* Set interval and enable interrupt operation. */\r
+ ITMC = usCompareMatch | 0x8000U;\r
+\r
+ /* Enable INTIT interrupt. */\r
+ TMKAMK = ( uint8_t ) 0;\r
+ }\r
+ #endif\r
}\r
/*-----------------------------------------------------------*/\r
\r
projects / freertos / blobdiff