/*\r
- FreeRTOS V7.5.2 - Copyright (C) 2013 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
- >>! 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
+ >>! 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
\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
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
/* 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
/* The remaining general purpose registers DE and BC */\r
- *pxTopOfStack = ( portSTACK_TYPE ) 0xDEDE;\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 been generated so it\r
can be stored in the task control block for the task. */\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
\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
+ OSMC = ( uint8_t ) 0x16;\r
\r
#ifdef RTCEN\r
{\r
/* Supply the interval timer clock. */\r
- RTCEN = ( unsigned char ) 1U;\r
+ RTCEN = ( uint8_t ) 1U;\r
\r
/* Disable INTIT interrupt. */\r
- ITMK = ( unsigned char ) 1;\r
+ ITMK = ( uint8_t ) 1;\r
\r
/* Disable ITMC operation. */\r
- ITMC = ( unsigned char ) 0x0000;\r
+ ITMC = ( uint8_t ) 0x0000;\r
\r
/* Clear INIT interrupt. */\r
- ITIF = ( unsigned char ) 0;\r
+ ITIF = ( uint8_t ) 0;\r
\r
/* Set interval and enable interrupt operation. */\r
ITMC = usCompareMatch | 0x8000U;\r
\r
/* Enable INTIT interrupt. */\r
- ITMK = ( unsigned char ) 0;\r
+ ITMK = ( uint8_t ) 0;\r
}\r
#endif\r
\r
#ifdef TMKAEN\r
{\r
/* Supply the interval timer clock. */\r
- TMKAEN = ( unsigned char ) 1U;\r
+ TMKAEN = ( uint8_t ) 1U;\r
\r
/* Disable INTIT interrupt. */\r
- TMKAMK = ( unsigned char ) 1;\r
+ TMKAMK = ( uint8_t ) 1;\r
\r
/* Disable ITMC operation. */\r
- ITMC = ( unsigned char ) 0x0000;\r
+ ITMC = ( uint8_t ) 0x0000;\r
\r
/* Clear INIT interrupt. */\r
- TMKAIF = ( unsigned char ) 0;\r
+ TMKAIF = ( uint8_t ) 0;\r
\r
/* Set interval and enable interrupt operation. */\r
ITMC = usCompareMatch | 0x8000U;\r
\r
/* Enable INTIT interrupt. */\r
- TMKAMK = ( unsigned char ) 0;\r
+ TMKAMK = ( uint8_t ) 0;\r
}\r
#endif\r
}\r
projects / freertos / blobdiff