/*\r
- FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.\r
-\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
+ FreeRTOS V8.2.2 - Copyright (C) 2015 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
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
- >>>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. FreeRTOS is distributed in the hope that it will be useful, but\r
- WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
- or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
- more details. You should have received a copy of the GNU General Public\r
- License and the FreeRTOS license exception along with FreeRTOS; if not it\r
- can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
- by writing to Richard Barry, contact details for whom are available on the\r
- FreeRTOS WEB site.\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 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
- \r
- http://www.FreeRTOS.org - Documentation, training, latest information, \r
- license and contact details.\r
- \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.\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.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
+ mission critical applications that require provable dependability.\r
\r
- Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell \r
- the code with commercial support, indemnification, and middleware, under \r
- the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also\r
- provide a safety engineered and independently SIL3 certified version under \r
- the SafeRTOS brand: http://www.SafeRTOS.com.\r
+ 1 tab == 4 spaces!\r
*/\r
\r
/*-----------------------------------------------------------\r
#include "FreeRTOS.h"\r
#include "task.h"\r
\r
-#if configMAX_SYSCALL_INTERRUPT_PRIORITY == 0\r
- #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html\r
-#endif\r
-\r
/* Constants required to manipulate the NVIC. */\r
-#define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long * ) 0xe000e010 )\r
-#define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long * ) 0xe000e014 )\r
-#define portNVIC_INT_CTRL ( ( volatile unsigned long * ) 0xe000ed04 )\r
-#define portNVIC_SYSPRI2 ( ( volatile unsigned long * ) 0xe000ed20 )\r
+#define portNVIC_SYSTICK_CTRL ( ( volatile uint32_t * ) 0xe000e010 )\r
+#define portNVIC_SYSTICK_LOAD ( ( volatile uint32_t * ) 0xe000e014 )\r
+#define portNVIC_SYSPRI2 ( ( volatile uint32_t * ) 0xe000ed20 )\r
#define portNVIC_SYSTICK_CLK 0x00000004\r
#define portNVIC_SYSTICK_INT 0x00000002\r
#define portNVIC_SYSTICK_ENABLE 0x00000001\r
-#define portNVIC_PENDSVSET 0x10000000\r
-#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )\r
-#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )\r
+#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )\r
+#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )\r
+\r
+/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */\r
+#define portVECTACTIVE_MASK ( 0xFFUL )\r
\r
/* Constants required to manipulate the VFP. */\r
-#define portFPCCR ( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */\r
+#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */\r
#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL )\r
\r
/* Constants required to set up the initial stack. */\r
#define portINITIAL_XPSR ( 0x01000000 )\r
#define portINITIAL_EXEC_RETURN ( 0xfffffffd )\r
\r
+/* Let the user override the pre-loading of the initial LR with the address of\r
+prvTaskExitError() in case is messes up unwinding of the stack in the\r
+debugger. */\r
+#ifdef configTASK_RETURN_ADDRESS\r
+ #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS\r
+#else\r
+ #define portTASK_RETURN_ADDRESS prvTaskExitError\r
+#endif\r
+\r
/* The priority used by the kernel is assigned to a variable to make access\r
from inline assembler easier. */\r
-const unsigned long ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY;\r
+const uint32_t ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY;\r
\r
/* Each task maintains its own interrupt status in the critical nesting\r
variable. */\r
-static unsigned long ulCriticalNesting = 0xaaaaaaaaUL;\r
+static uint32_t ulCriticalNesting = 0xaaaaaaaaUL;\r
\r
/*\r
* Setup the timer to generate the tick interrupts.\r
extern void vPortEnableVFP( void );\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
/* This exists purely to allow the const to be used from within the\r
port_asm.asm assembly file. */\r
-const unsigned long ulMaxSyscallInterruptPriorityConst = configMAX_SYSCALL_INTERRUPT_PRIORITY;\r
+const uint32_t ulMaxSyscallInterruptPriorityConst = configMAX_SYSCALL_INTERRUPT_PRIORITY;\r
\r
/*-----------------------------------------------------------*/\r
\r
/*\r
* See header file for description.\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
/* Simulate the stack frame as it would be created by a context switch\r
interrupt. */\r
\r
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */\r
pxTopOfStack--;\r
- *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */\r
+ *pxTopOfStack = ( StackType_t ) pxCode; /* PC */\r
pxTopOfStack--;\r
- *pxTopOfStack = 0; /* LR */\r
+ *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */\r
\r
/* Save code space by skipping register initialisation. */\r
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */\r
- *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */\r
+ *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */\r
\r
/* A save method is being used that requires each task to maintain its\r
own exec return value. */\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( ulCriticalNesting == ~0UL );\r
+ portDISABLE_INTERRUPTS();\r
+ for( ;; );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
/*\r
* See header file for description.\r
*/\r
-portBASE_TYPE xPortStartScheduler( void )\r
+BaseType_t xPortStartScheduler( void )\r
{\r
+ /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.\r
+ See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */\r
+ configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) );\r
+\r
/* Make PendSV and SysTick the lowest priority interrupts. */\r
*(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;\r
*(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;\r
\r
void vPortEndScheduler( void )\r
{\r
- /* It is unlikely that the CM4F 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( ulCriticalNesting == 1000UL );\r
}\r
/*-----------------------------------------------------------*/\r
\r
-void vPortYieldFromISR( void )\r
+void vPortYield( void )\r
{\r
/* Set a PendSV to request a context switch. */\r
*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;\r
+\r
+ /* Barriers are normally not required but do ensure the code is completely\r
+ within the specified behaviour for the architecture. */\r
+ __DSB();\r
+ __ISB();\r
}\r
/*-----------------------------------------------------------*/\r
\r
{\r
portDISABLE_INTERRUPTS();\r
ulCriticalNesting++;\r
+ __DSB();\r
+ __ISB();\r
+\r
+ /* This is not the interrupt safe version of the enter critical function so\r
+ assert() if it is being called from an interrupt context. Only API\r
+ functions that end in "FromISR" can be used in an interrupt. Only assert if\r
+ the critical nesting count is 1 to protect against recursive calls if the\r
+ assert function also uses a critical section. */\r
+ if( ulCriticalNesting == 1 )\r
+ {\r
+ configASSERT( ( ( *(portNVIC_INT_CTRL) ) & portVECTACTIVE_MASK ) == 0 );\r
+ }\r
}\r
/*-----------------------------------------------------------*/\r
\r
void vPortExitCritical( void )\r
{\r
+ configASSERT( ulCriticalNesting );\r
ulCriticalNesting--;\r
if( ulCriticalNesting == 0 )\r
{\r
\r
void SysTick_Handler( 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
+uint32_t ulDummy;\r
\r
ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();\r
{\r
- vTaskIncrementTick();\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
}\r
projects / freertos / blobdiff